--- Step 0 ---
qpos:
[ 5.87807429e-05,-1.13528394e-04, 1.95293476e-04, 8.15256210e-04,
 -4.28234529e-05, 2.93341605e-05,-3.18773707e-04, 5.78478925e-04,
  1.12770428e-04, 1.65731118e-04,-2.49354882e-04, 5.02551426e-04,
  1.99185840e-03,-4.29871768e-05, 1.09694917e-03, 9.97187719e-04,
  9.50009891e-02,-6.99853800e-02, 1.10118263e-01, 9.99999988e-01,
 -1.51648241e-04, 1.13123740e-05, 2.56956450e-06]

qacc:
[ 5.25954816e+02, 9.82145977e+02,-7.16220182e+03, 2.10430864e+04,
 -3.87131637e+02, 2.12230850e+03,-9.95068744e+03, 2.04468156e+04,
  9.82125972e+02, 1.94946996e+03,-8.75710614e+03, 1.77331285e+04,
  6.67966592e+02,-4.55410919e+02,-1.39960189e+03, 7.24904065e+03,
  2.47286904e-01, 3.65500586e+00, 2.95657688e+01,-7.58241208e+01,
  5.65618701e+00, 1.28478225e+00]

qfrc_actuator:
[ 0.00301033,-0.00323588, 0.01196972, 0.0418203 ,-0.00220503,-0.00216623,
 -0.01760779, 0.02874959, 0.00581995, 0.01696155,-0.0092515 , 0.02600838,
  0.12211568,-0.00254069, 0.08442267, 0.06107697, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011999825227468161
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.25199329e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.25199329e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491092, -0.08975979,  0.06170835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02153104e-03,-3.16284708e-03, 1.20427576e-02, 4.18585390e-02,
 -2.20502879e-03,-2.09292393e-03,-1.75344703e-02, 2.87879695e-02,
  5.80875089e-03, 1.70345768e-02,-9.17846617e-03, 2.60466158e-02,
  1.22604612e-01,-2.54431305e-03, 1.05533982e-01, 6.59068009e-02,
  0.00000000e+00, 0.00000000e+00,-1.21644000e+00, 9.70408357e-05,
  1.48398119e-03, 0.00000000e+00]


--- Step 1 ---
qpos:
[ 1.17720215e-04,-2.12860414e-04, 4.15870208e-04, 1.63255521e-03,
 -8.57965340e-05, 3.30785114e-05,-6.44720638e-04, 1.14660963e-03,
  2.26906603e-04, 3.91832007e-04,-4.71293688e-04, 1.00340666e-03,
  5.63694591e-03,-8.93701335e-05, 2.75840723e-03, 2.16386123e-03,
  9.49946494e-02,-6.99807839e-02, 1.10330917e-01, 9.99999978e-01,
 -2.00499422e-04,-5.48007594e-05, 8.76542656e-06]

qacc:
[ 1.95196714e+00,-4.77160903e+01, 1.88708068e+02,-2.04179633e+02,
 -1.10939455e+00,-3.50871793e+01, 1.19714528e+02,-2.68498271e+02,
  1.18468626e+01,-3.60004106e-01, 1.24150658e+02,-2.41676478e+02,
  5.54879134e+02,-2.71099588e+01, 3.21784970e+02, 8.56820597e+01,
 -1.83221730e+00,-2.50598246e+00, 2.35977318e+01, 5.13984098e+01,
 -3.87131603e+01, 1.80785948e+00]

qfrc_actuator:
[ 0.00293684,-0.00314169, 0.011762  , 0.04101766,-0.00215007,-0.0021812 ,
 -0.01729369, 0.02815723, 0.00572255, 0.0167927 ,-0.00894084, 0.02550552,
  0.12193828,-0.00245782, 0.08436831, 0.06027189, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011885434074617632
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67051947e-15,  4.67051947e-15,  1.00000000e+00, -2.18137521e-29,
        1.00000000e+00, -4.67051947e-15, -1.00000000e+00,  0.00000000e+00,
        4.67051947e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10735072, -0.05431325,  0.06171114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.00687371e-06, 2.60751126e-03, 2.06749764e-03, 2.91070223e-04,
 -8.89938894e-06,-3.57322756e-03,-1.27958884e-03,-7.28982589e-04,
  7.31969886e-05, 8.57531298e-03, 3.59991334e-03, 4.15271906e-04,
  2.28466054e-02,-3.09928974e-04, 5.06347361e-02, 1.52430938e-02,
  9.85023836e-07,-2.35063290e-08,-1.21638176e+00, 8.95678659e-05,
  1.48474291e-03, 2.82256524e-07]


--- Step 2 ---
qpos:
[ 1.75693208e-04,-2.96317810e-04, 6.38850678e-04, 2.43619558e-03,
 -1.27116010e-04, 1.98836253e-05,-9.70877014e-04, 1.70161961e-03,
  3.39075412e-04, 6.55139308e-04,-6.72501835e-04, 1.49931066e-03,
  1.06405893e-02,-1.38361877e-04, 4.67063856e-03, 3.38509369e-03,
  9.49888293e-02,-6.99823160e-02, 1.10618968e-01, 9.99999976e-01,
 -1.85871773e-04,-1.15398290e-04, 1.37801993e-05]

qacc:
[-8.71149459e+00,-1.38516961e+01, 1.37507575e+02,-3.89423083e+02,
  1.48306482e+01,-4.88628693e+01, 1.97064334e+02,-4.11259164e+02,
 -1.73050376e+01,-1.89380158e+01, 1.59813463e+02,-3.06050005e+02,
  4.56000260e+02,-3.32250897e+01, 2.05820963e+02,-1.81860118e+02,
  1.29907444e-01,-1.53206383e+00, 1.88491871e+01, 3.17394071e+01,
  2.75764197e+00,-5.91731110e-01]

qfrc_actuator:
[ 0.00288683,-0.00301846, 0.01155171, 0.04024343,-0.00206431,-0.00215857,
 -0.0169528 , 0.02758077, 0.00561763, 0.01661799,-0.00871762, 0.02507549,
  0.12161135,-0.00238751, 0.08422943, 0.05914948, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011672347355523797
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.16236764e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.16236764e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09526108, -0.05869845,  0.06171632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90104108e-05, 2.01992811e-03, 5.89749691e-04,-5.87402653e-04,
  8.43402877e-05,-2.26868957e-03,-5.77524676e-04,-7.88582053e-04,
 -9.94175814e-05, 5.37576191e-03, 2.45128073e-03, 6.89469691e-05,
 -6.01232330e-02,-6.63796568e-05, 2.22723397e-02, 5.64653955e-03,
  1.45724254e-06, 5.23082154e-07,-1.21642296e+00, 8.69112453e-05,
  1.48146853e-03, 7.99534831e-07]


--- Step 3 ---
qpos:
[ 2.32963341e-04,-3.68403431e-04, 8.61139438e-04, 3.22509357e-03,
 -1.67782238e-04,-4.26124962e-06,-1.29499656e-03, 2.24443088e-03,
  4.49144565e-04, 9.40170168e-04,-8.58504825e-04, 1.98794618e-03,
  1.67455649e-02,-1.89773354e-04, 6.69204021e-03, 4.61781552e-03,
  9.49888471e-02,-6.99871246e-02, 1.10963395e-01, 9.99999984e-01,
 -1.37967620e-04,-1.15633286e-04, 1.55108912e-05]

qacc:
[  -6.41217015, -13.38693348, 131.7861993 ,-394.19421091,   5.99459034,
  -45.30909081, 192.01686148,-398.28842586, -18.37947477, -28.72871197,
  174.82013388,-340.94237183, 369.71159454, -42.3365398 , 126.78665512,
 -209.25638651,   1.45946461,  -0.819088  ,  14.09421217,  16.63847848,
   30.18134274,  -1.63835059]

qfrc_actuator:
[ 0.00285197,-0.00290291, 0.01133491, 0.03946563,-0.00203283,-0.00216506,
 -0.01663543, 0.02702076, 0.005511  , 0.01631451,-0.00851564, 0.02458657,
  0.12115637,-0.00235967, 0.08406371, 0.05802581, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011385322682898491
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75135317e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.75135317e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08386072, -0.06281963,  0.0617233 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56700440e-05, 1.34018729e-03, 2.49275947e-04,-6.84384898e-04,
  3.31453831e-05,-1.42514858e-03,-2.46940444e-04,-6.93036507e-04,
 -1.06960408e-04, 3.20402246e-03, 1.61500773e-03,-1.73628152e-04,
 -1.28477854e-01, 9.51387555e-05, 9.56675739e-03, 1.79376059e-03,
  3.64177639e-07, 8.97901288e-07,-1.21643024e+00, 8.76891719e-05,
  1.47823849e-03, 4.81362992e-07]


--- Step 4 ---
qpos:
[ 2.89025384e-04,-4.32528199e-04, 1.08091625e-03, 3.99872859e-03,
 -2.08102518e-04,-3.59790145e-05,-1.61530121e-03, 2.77571839e-03,
  5.56759796e-04, 1.23688836e-03,-1.03343110e-03, 2.46818368e-03,
  2.37281000e-02,-2.41902097e-04, 8.75959014e-03, 5.84251121e-03,
  9.49937986e-02,-6.99947110e-02, 1.11348799e-01, 9.99999996e-01,
 -6.21458256e-05,-6.52314545e-05, 1.44872778e-05]

qacc:
[ -10.857856  , -13.87077234, 129.18584446,-395.20577695,   3.28836989,
  -44.42027965, 192.48441005,-392.41514442, -21.45670837, -32.77470267,
  174.78181687,-346.48424779, 294.62282519, -30.49661521,  92.66347882,
 -225.13281452,   1.23342579,  -0.69448317,  10.24394552,  13.95905465,
   25.3183872 ,  -1.37527367]

qfrc_actuator:
[ 0.00279081,-0.00282932, 0.01108082, 0.03867449,-0.00201582,-0.00222373,
 -0.01631658, 0.02647495, 0.00538649, 0.01598762,-0.00832917, 0.02408438,
  0.1205988 ,-0.00230319, 0.08386964, 0.05686938, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011040103406675925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08380066, -0.06278455,  0.06173169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18369598e-05, 8.43260289e-04, 2.61995274e-05,-7.40517798e-04,
  1.74961027e-05,-9.32856960e-04,-2.70609309e-05,-6.29346645e-04,
 -1.25672337e-04, 1.78206650e-03, 1.03907945e-03,-3.13687846e-04,
 -1.84066009e-01, 2.75411434e-04, 3.90904405e-03, 6.02338052e-05,
 -2.08889791e-07,-1.84125989e-08,-1.21643424e+00, 9.02307487e-05,
  1.47822139e-03, 3.79910093e-07]


--- Step 5 ---
qpos:
[ 3.43917387e-04,-4.91293426e-04, 1.29761169e-03, 4.75686284e-03,
 -2.47562917e-04,-7.23305630e-05,-1.93121669e-03, 3.29623546e-03,
  6.61723375e-04, 1.53915904e-03,-1.20082739e-03, 2.93971213e-03,
  3.13940939e-02,-2.93705945e-04, 1.08453760e-02, 7.04767300e-03,
  9.50029478e-02,-7.00046695e-02, 1.11762540e-01, 9.99999999e-01,
  3.71893890e-05, 2.78228223e-05, 1.11509741e-05]

qacc:
[ -10.49627877, -16.20824566, 133.53624926,-400.84995551,   7.77922165,
  -40.59749018, 181.29642207,-371.2578682 , -23.2042976 , -31.60605496,
  160.17229954,-327.08502625, 229.48084685, -21.96980358,  86.22970111,
 -262.52538214,   1.04944131,  -0.59300398,   7.08434383,  11.75694331,
   21.32612399,  -1.15578666]

qfrc_actuator:
[ 0.00273242,-0.00278205, 0.01084197, 0.03788175,-0.00197194,-0.0022062 ,
 -0.01599944, 0.02595961, 0.00525246, 0.01568354,-0.00818948, 0.02359601,
  0.11997083,-0.00224802, 0.08364965, 0.05554844, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010652114274161406
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.21128011e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.21128011e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08373315, -0.062745  ,  0.06174111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.99993908e-05, 4.90344500e-04,-9.06616052e-05,-7.72189563e-04,
  4.40798361e-05,-5.32958275e-04, 1.02278605e-04,-5.68894179e-04,
 -1.36150012e-04, 8.84189571e-04, 6.22556513e-04,-3.83481243e-04,
 -2.28530741e-01, 3.68893799e-04, 1.37290181e-03,-8.63303109e-04,
  6.15123961e-07,-5.02337080e-07,-1.21641913e+00, 9.39400574e-05,
  1.48081630e-03, 4.10018334e-07]


--- Step 6 ---
qpos:
[ 3.98370064e-04,-5.46325069e-04, 1.51132617e-03, 5.49976667e-03,
 -2.86192555e-04,-1.11122296e-04,-2.24229863e-03, 3.80654000e-03,
  7.64629616e-04, 1.84315444e-03,-1.36218861e-03, 3.40196631e-03,
  3.95757990e-02,-3.44340892e-04, 1.29372965e-02, 8.23032888e-03,
  9.50125077e-02,-7.00090658e-02, 1.12194789e-01, 9.99999989e-01,
  8.08626659e-05, 1.24854761e-04, 9.00296578e-06]

qacc:
[-4.03386571e+00,-1.80943666e+01, 1.35981680e+02,-3.97560796e+02,
  7.49935057e+00,-3.77902765e+01, 1.73140758e+02,-3.55775602e+02,
 -1.79547692e+01,-3.36613643e+01, 1.62530164e+02,-3.34002926e+02,
  1.73160249e+02,-1.24532148e+01, 7.73228447e+01,-2.57337428e+02,
  1.02661271e-01, 1.39054256e+00, 4.62715173e+00,-2.78309631e+01,
  1.98916366e+00, 5.93299485e-01]

qfrc_actuator:
[ 0.00271163,-0.00271564, 0.01064933, 0.03711216,-0.00193034,-0.00214286,
 -0.01568542, 0.02546642, 0.00514941, 0.01543011,-0.00802546, 0.02310184,
  0.11928116,-0.0021944 , 0.08349483, 0.05428553, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.8952577 ,  8.58983647, -0.8952577 , 26.6958993 ,
        1.88221725,  8.58983647,  1.88221725,  8.83253378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010238987633927984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42154686e-15, -5.42154686e-15,  1.00000000e+00, -2.93931703e-29,
        1.00000000e+00,  5.42154686e-15, -1.00000000e+00,  0.00000000e+00,
       -5.42154686e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487874, -0.09025381,  0.06175115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24671112e-05, 2.86508176e-04,-1.32823747e-04,-7.68801159e-04,
  4.26826725e-05,-2.34060363e-04, 1.99807469e-04,-5.23941710e-04,
 -1.05748432e-04, 3.43428417e-04, 4.07548155e-04,-4.43524565e-04,
 -2.63348472e-01, 4.08454023e-04, 2.94825316e-04,-1.15433384e-03,
  2.23952130e-06,-7.18243905e-07,-1.21639334e+00, 9.86867635e-05,
  1.48557834e-03, 4.89409214e-07]


--- Step 7 ---
qpos:
[ 4.51457084e-04,-5.98653336e-04, 1.72193079e-03, 6.22846274e-03,
 -3.24024107e-04,-1.51282204e-04,-2.54765967e-03, 4.30640324e-03,
  8.65519638e-04, 2.14630526e-03,-1.51881589e-03, 3.85476467e-03,
  4.81288677e-02,-3.92811163e-04, 1.50301634e-02, 9.38579505e-03,
  9.50224322e-02,-7.00086796e-02, 1.12637077e-01, 9.99999972e-01,
  7.70183067e-05, 2.25270298e-04, 7.88673122e-06]

qacc:
[-1.21721742e+01,-1.69735828e+01, 1.25721977e+02,-3.68671704e+02,
  7.22099616e+00,-3.93245548e+01, 1.81634149e+02,-3.70438597e+02,
 -1.75898910e+01,-3.37948560e+01, 1.58845712e+02,-3.29491401e+02,
  1.24649582e+02, 1.28750435e+00, 8.38391818e+01,-2.91259226e+02,
  9.11465948e-02, 1.19562035e+00, 2.50966354e+00,-2.37588667e+01,
  1.69205464e+00, 5.12783697e-01]

qfrc_actuator:
[ 0.00264214,-0.00265603, 0.0104678 , 0.03639788,-0.00189043,-0.00210562,
 -0.01535773, 0.02495476, 0.00504764, 0.01515542,-0.00788389, 0.02260826,
  0.11853965,-0.00212492, 0.08331565, 0.05285519, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009808694673589524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82969106e-15,  1.69781464e-14,  1.00000000e+00,  4.80429089e-29,
        1.00000000e+00, -1.69781464e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82969106e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487039, -0.0903743 ,  0.06176161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.01847609e-05, 1.57114119e-04,-1.68870730e-04,-7.23577813e-04,
  4.10561804e-05,-7.08974107e-05, 2.88790014e-04,-5.25336948e-04,
 -1.03757382e-04,-2.73249691e-05, 2.44778864e-04,-4.74727273e-04,
 -2.89828266e-01, 4.21468403e-04,-2.04238623e-04,-1.46470381e-03,
  1.71025474e-06,-1.39621350e-07,-1.21641150e+00, 1.00889653e-04,
  1.49021452e-03, 7.80281332e-08]


--- Step 8 ---
qpos:
[ 5.02950199e-04,-6.48781691e-04, 1.92875501e-03, 6.94334815e-03,
 -3.61083764e-04,-1.91821430e-04,-2.84728355e-03, 4.79610468e-03,
  9.63734497e-04, 2.44644234e-03,-1.67118710e-03, 4.29876571e-03,
  5.69295118e-02,-4.38779712e-04, 1.71209370e-02, 1.05169061e-02,
  9.50326841e-02,-7.00041357e-02, 1.13082571e-01, 9.99999945e-01,
  3.22414841e-05, 3.28585738e-04, 7.67933381e-06]

qacc:
[-1.41930986e+01,-1.49426343e+01, 1.15847283e+02,-3.50493239e+02,
  6.97395395e+00,-3.74864531e+01, 1.75798646e+02,-3.60522989e+02,
 -2.33677274e+01,-3.39587074e+01, 1.52511296e+02,-3.09424560e+02,
  8.30436303e+01, 9.61262208e+00, 7.07435495e+01,-2.51968383e+02,
  8.18803791e-02, 1.03942316e+00, 8.01409592e-01,-2.04663217e+01,
  1.45014940e+00, 4.49696485e-01]

qfrc_actuator:
[ 0.00256228,-0.00260095, 0.01025876, 0.03570412,-0.00185183,-0.00204864,
 -0.0150424 , 0.02445408, 0.00491193, 0.01483434,-0.00773913, 0.02215441,
  0.11776677,-0.00206514, 0.0831434 , 0.05162213, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00936616200808675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96338838e-15, -5.92677675e-15,  1.00000000e+00, -1.75633413e-29,
        1.00000000e+00,  5.92677675e-15, -1.00000000e+00,  0.00000000e+00,
       -2.96338838e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486171, -0.09049812,  0.06177237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.19587987e-05, 7.46672741e-05,-2.25952358e-04,-7.08945887e-04,
  3.97525829e-05, 5.84144095e-05, 3.21011061e-04,-5.04295528e-04,
 -1.37768263e-04,-3.16004725e-04, 1.50219353e-04,-4.57099801e-04,
 -3.09120720e-01, 3.74813214e-04,-4.37601069e-04,-1.34374310e-03,
  1.52225647e-06, 3.38490500e-07,-1.21641460e+00, 1.00744161e-04,
  1.49509644e-03,-1.82877978e-07]


--- Step 9 ---
qpos:
[ 5.52736998e-04,-6.97208180e-04, 2.13148255e-03, 7.64371519e-03,
 -3.97047658e-04,-2.32567818e-04,-3.14063620e-03, 5.27558083e-03,
  1.05923194e-03, 2.74271829e-03,-1.82030901e-03, 4.73472285e-03,
  6.58721710e-02,-4.82014452e-04, 1.92082471e-02, 1.16281788e-02,
  9.50407595e-02,-7.00026321e-02, 1.13527036e-01, 9.99999916e-01,
  1.70151189e-05, 4.09627497e-04, 8.48014333e-06]

qacc:
[-1.51840558e+01,-1.61727315e+01, 1.22270256e+02,-3.68298634e+02,
  9.83742411e+00,-3.88882934e+01, 1.81386180e+02,-3.68181752e+02,
 -2.37561406e+01,-3.07114339e+01, 1.36130430e+02,-2.77775877e+02,
  4.75349491e+01, 1.81305953e+01, 5.50210020e+01,-1.99903351e+02,
 -5.44153654e-01,-7.60069663e-01,-2.57152903e-01, 1.47749768e+01,
 -1.11369366e+01, 5.09317451e-01]

qfrc_actuator:
[ 0.00247696,-0.00256692, 0.01003512, 0.03497468,-0.00179655,-0.00203352,
 -0.01471904, 0.02394614, 0.00477507, 0.01455896,-0.00761163, 0.02174529,
  0.11696753,-0.00201238, 0.08298088, 0.05063974, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008923397558139687
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24417075e-14, -1.86625613e-14,  1.00000000e+00, -2.32194129e-28,
        1.00000000e+00,  1.86625613e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24417075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10781794, -0.05365054,  0.06178313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.77684526e-05,-3.65925472e-06,-2.64052285e-04,-7.49800588e-04,
  5.64316190e-05, 9.63993149e-05, 3.60407102e-04,-5.04484181e-04,
 -1.39988422e-04,-4.50467735e-04, 6.22941484e-05,-4.27659467e-04,
 -3.22249422e-01, 3.04138085e-04,-5.08988006e-04,-1.11364216e-03,
  1.56450404e-06, 7.36525766e-07,-1.21640811e+00, 9.85754810e-05,
  1.50017438e-03,-3.07183989e-07]


--- Step 10 ---
qpos:
[ 6.01110286e-04,-7.44438428e-04, 2.33021441e-03, 8.32887657e-03,
 -4.32759440e-04,-2.73145276e-04,-3.42792605e-03, 5.74450587e-03,
  1.15270862e-03, 3.03412036e-03,-1.96559982e-03, 5.16210712e-03,
  7.48672524e-02,-5.22717267e-04, 2.12922793e-02, 1.27176408e-02,
  9.50469057e-02,-7.00038316e-02, 1.13965953e-01, 9.99999889e-01,
  2.78472335e-05, 4.71025630e-04, 1.01685204e-05]

qacc:
[ -12.59552549, -18.54452419, 132.65093644,-390.35666469,   2.40042681,
  -38.46482598, 181.99909743,-374.40671609, -17.58813102, -34.77850139,
  150.90191042,-301.86563707,  17.40121553,  22.91308049,  61.27116932,
 -221.35555005,  -0.48230816,  -0.67577303,  -1.38704591,  13.02897373,
   -9.82191584,   0.44928801]

qfrc_actuator:
[ 0.00240688,-0.00254591, 0.0098223 , 0.03421233,-0.00178517,-0.00200802,
 -0.01441145, 0.02342021, 0.00467414, 0.01425978,-0.00744193, 0.0213125 ,
  0.11615838,-0.00198283, 0.08281373, 0.04954669, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008481790587103813
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30894887e-14,  6.54474437e-15,  1.00000000e+00, -8.56673579e-29,
        1.00000000e+00, -6.54474437e-15, -1.00000000e+00,  0.00000000e+00,
        1.30894887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10788718, -0.05355161,  0.06179387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.27219783e-05,-7.00733167e-05,-2.75452615e-04,-7.88152731e-04,
  1.30305203e-05, 1.36105964e-04, 3.57285608e-04,-5.19471719e-04,
 -1.04178742e-04,-5.66243346e-04, 6.69359800e-05,-4.59531312e-04,
 -3.30109914e-01, 1.98533152e-04,-5.15481408e-04,-1.21959760e-03,
  1.02581276e-06, 2.20788285e-08,-1.21642289e+00, 9.78897506e-05,
  1.50420192e-03,-3.37524458e-08]


--- Step 11 ---
qpos:
[ 6.48953412e-04,-7.90833832e-04, 2.52520768e-03, 8.99990783e-03,
 -4.68401802e-04,-3.13193657e-04,-3.70999878e-03, 6.20382970e-03,
  1.24495538e-03, 3.31980268e-03,-2.10669998e-03, 5.58138561e-03,
  8.38394331e-02,-5.60692831e-04, 2.33725029e-02, 1.37881691e-02,
  9.50513138e-02,-7.00074734e-02, 1.14395781e-01, 9.99999865e-01,
  6.19912696e-05, 5.14849580e-04, 1.26497703e-05]

qacc:
[  -4.8064593 , -17.54089739, 123.81338376,-363.02327205,   0.76056836,
  -33.66440838, 161.57069836,-336.46017725, -10.60018507, -35.95335367,
  151.47383499,-294.28172415,  -8.00273532,  32.50671584,  51.76481871,
 -189.22725163,  -0.43450364,  -0.61057976,  -2.27219695,  11.65568337,
   -8.78719883,   0.40217127]

qfrc_actuator:
[ 0.00238184,-0.00251513, 0.00963526, 0.03350773,-0.00178195,-0.00197659,
 -0.01415112, 0.02294117, 0.00461291, 0.01393113,-0.00724879, 0.02090478,
  0.11535689,-0.00195034, 0.08264392, 0.04861018, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008044217008126589
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.90075257e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.90075257e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1079557 , -0.05345361,  0.06180451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72770420e-05,-1.01395338e-04,-2.66051162e-04,-7.34346965e-04,
  3.63805801e-06, 1.62884786e-04, 3.17272718e-04,-4.71274599e-04,
 -6.35145149e-05,-6.60706894e-04, 6.59591857e-05,-4.39876475e-04,
 -3.33483433e-01, 1.05829665e-04,-5.32362996e-04,-1.06975493e-03,
  5.40382432e-07,-3.63644046e-07,-1.21643022e+00, 9.84582015e-05,
  1.50722106e-03, 6.11715611e-08]


--- Step 12 ---
qpos:
[ 6.96120071e-04,-8.36163275e-04, 2.71624312e-03, 9.65756698e-03,
 -5.03383217e-04,-3.53137993e-04,-3.98656885e-03, 6.65421217e-03,
  1.33576738e-03, 3.59957320e-03,-2.24500572e-03, 5.99261435e-03,
  9.27256540e-02,-5.96200740e-04, 2.54491176e-02, 1.48377795e-02,
  9.50541285e-02,-7.00133602e-02, 1.14813792e-01, 9.99999846e-01,
  1.17320928e-04, 5.42703215e-04, 1.58518174e-05]

qacc:
[  -6.10435769, -15.05860954, 112.21126783,-338.12900122,   5.98178592,
  -33.67539894, 157.99243604,-321.58861137, -12.44370036, -32.18466747,
  137.43929643,-276.91341299, -29.25935286,  37.45977028,  58.07315575,
 -210.84869152,  -0.39835181,  -0.56125784,  -2.95425742,  10.59252295,
   -7.98526894,   0.36634727]

qfrc_actuator:
[ 0.002348  ,-0.00244309, 0.00944729, 0.03284279,-0.00174806,-0.00199529,
 -0.01388522, 0.02249353, 0.00454001, 0.0135876 ,-0.00713223, 0.02049729,
  0.11455423,-0.00193504, 0.0824567 , 0.04756041, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007614377557816729
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29030716e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.29030716e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10802297, -0.05335733,  0.06181495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47976656e-05,-7.33514914e-05,-2.70378542e-04,-6.94622108e-04,
  3.40628523e-05, 1.21470016e-04, 3.25065537e-04,-4.39163645e-04,
 -7.40767688e-05,-7.27591981e-04,-2.95511070e-05,-4.43313029e-04,
 -3.33092858e-01,-1.39541805e-05,-5.38199897e-04,-1.17627571e-03,
  9.98526118e-08,-5.14095475e-07,-1.21643225e+00, 1.00154481e-04,
  1.50934570e-03, 1.39742596e-08]


--- Step 13 ---
qpos:
[ 7.42510630e-04,-8.80335655e-04, 2.90312896e-03, 1.03017592e-02,
 -5.37686490e-04,-3.92930152e-04,-4.25774930e-03, 7.09572098e-03,
  1.42467100e-03, 3.87296656e-03,-2.38056684e-03, 6.39545603e-03,
  1.01473867e-01,-6.29118240e-04, 2.75227831e-02, 1.58615698e-02,
  9.50554081e-02,-7.00194610e-02, 1.15218938e-01, 9.99999830e-01,
  1.74468491e-04, 5.55744571e-04, 1.94218332e-05]

qacc:
[-6.98872212e+00,-1.45956671e+01, 1.11139181e+02,-3.38462757e+02,
  6.12846861e+00,-3.31563310e+01, 1.55948522e+02,-3.18229019e+02,
 -1.66053909e+01,-3.33472873e+01, 1.42130751e+02,-2.87037086e+02,
 -4.68807980e+01, 4.66223298e+01, 7.39081824e+01,-2.64805425e+02,
 -3.83776120e-01,-5.34733364e-02,-3.21604820e+00, 9.08734677e-01,
 -7.40613272e+00, 1.85346424e-01]

qfrc_actuator:
[ 0.00230923,-0.00238238, 0.00924271, 0.03217103,-0.00171412,-0.00199059,
 -0.01361836, 0.02205016, 0.00444305, 0.01323761,-0.00700865, 0.02007539,
  0.11375738,-0.00191314, 0.08228578, 0.04625697, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.7467444 ,  7.78130344, -3.7467444 , 64.86744164,
       27.0756022 ,  7.78130344, 27.0756022 , 21.67342892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0071962957249667725
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.71385076e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.71385076e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10782807, -0.06856559,  0.06182511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99225426e-05,-6.81446165e-05,-2.80282040e-04,-6.99576387e-04,
  3.49489228e-05, 1.24653354e-04, 3.19502624e-04,-4.35768916e-04,
 -9.84701541e-05,-7.91132348e-04,-4.81727499e-05,-4.63946291e-04,
 -3.29544643e-01,-1.14276605e-04,-5.35587921e-04,-1.43645218e-03,
 -3.04785307e-07,-4.92023557e-07,-1.21643037e+00, 1.02879700e-04,
  1.51066234e-03,-1.50363579e-07]


--- Step 14 ---
qpos:
[ 7.88072222e-04,-9.23390671e-04, 3.08573151e-03, 1.09328673e-02,
 -5.71315883e-04,-4.32836104e-04,-4.52372192e-03, 7.52852187e-03,
  1.51173693e-03, 4.13990581e-03,-2.51328174e-03, 6.79008695e-03,
  1.10041753e-01,-6.58748660e-04, 2.95921625e-02, 1.68638605e-02,
  9.50552330e-02,-7.00257698e-02, 1.15609628e-01, 9.99999819e-01,
  2.33308262e-04, 5.54884007e-04, 2.33245330e-05]

qacc:
[-7.45711847e+00,-1.34852484e+01, 1.05490399e+02,-3.25950855e+02,
  6.08967642e+00,-3.26579954e+01, 1.52962898e+02,-3.11890358e+02,
 -1.59780990e+01,-3.33709972e+01, 1.41321817e+02,-2.83281435e+02,
 -6.13362116e+01, 6.16992593e+01, 5.88397638e+01,-2.14945397e+02,
 -3.63687306e-01,-5.20387565e-02,-3.61421213e+00, 8.45876186e-01,
 -6.95094698e+00, 1.68024938e-01]

qfrc_actuator:
[ 0.00226788,-0.00232898, 0.00902995, 0.03151838,-0.00168045,-0.00202521,
 -0.01337076, 0.02161285, 0.00435046, 0.01292208,-0.00686418, 0.01966614,
  0.11297178,-0.00185288, 0.08207146, 0.0451874 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00679132821101594
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.17382837e-15, -8.17382837e-15,  1.00000000e+00, -6.68114703e-29,
        1.00000000e+00,  8.17382837e-15, -1.00000000e+00,  0.00000000e+00,
       -8.17382837e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10789013, -0.06855724,  0.06183496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26459776e-05,-7.47637881e-05,-2.88718366e-04,-6.80648697e-04,
  3.47163688e-05, 8.60704796e-05, 3.00287475e-04,-4.29681477e-04,
 -9.48364427e-05,-7.96728581e-04,-4.33464925e-05,-4.55030056e-04,
 -3.23384280e-01,-1.82501585e-04,-6.07146629e-04,-1.21681642e-03,
 -4.72842766e-07,-2.66280543e-07,-1.21643139e+00, 1.05678937e-04,
  1.51128657e-03,-3.70976537e-07]


--- Step 15 ---
qpos:
[ 8.32435311e-04,-9.65337255e-04, 3.26421978e-03, 1.15515427e-02,
 -6.04280125e-04,-4.72712117e-04,-4.78437512e-03, 7.95268234e-03,
  1.59737554e-03, 4.40120167e-03,-2.64421871e-03, 7.17703389e-03,
  1.18394964e-01,-6.85080109e-04, 3.16570558e-02, 1.78478070e-02,
  9.50552264e-02,-7.00296368e-02, 1.15984691e-01, 9.99999809e-01,
  2.69366577e-04, 5.55850403e-04, 2.74533623e-05]

qacc:
[-1.07029622e+01,-1.26211338e+01, 9.96526503e+01,-3.09111971e+02,
  6.01372157e+00,-3.26404785e+01, 1.52891973e+02,-3.10936888e+02,
 -1.24129331e+01,-2.82345194e+01, 1.22327506e+02,-2.54048059e+02,
 -7.30390078e+01, 6.90414209e+01, 4.89822188e+01,-1.80875027e+02,
  4.21429371e-02, 6.10487474e-01,-3.90692165e+00,-1.13907674e+01,
  9.13771325e-01, 1.06531053e-01]

qfrc_actuator:
[ 0.00220759,-0.00226264, 0.00883182, 0.03089995,-0.0016472 ,-0.0020122 ,
 -0.01310118, 0.02118258, 0.00427894, 0.01268312,-0.00676162, 0.01928542,
  0.11219639,-0.00178909, 0.08187392, 0.0442819 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.63020089,  8.22610601,  2.63020089, 28.28642859,
       -6.28287773,  8.22610601, -6.28287773, 10.64524008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006400594995673511
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87845624e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.87845624e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948032 , -0.0913284 ,  0.06184445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16621285e-05,-6.64131337e-05,-2.75768611e-04,-6.46598722e-04,
  3.42744855e-05, 1.08377852e-04, 3.12096587e-04,-4.24847325e-04,
 -7.36899162e-05,-7.21700899e-04,-8.54591194e-05,-4.26377885e-04,
 -3.15099655e-01,-2.82127289e-04,-5.92912944e-04,-1.04832445e-03,
 -5.70962789e-07,-2.22850545e-08,-1.21643132e+00, 1.08556142e-04,
  1.51122534e-03,-5.98118939e-07]


--- Step 16 ---
qpos:
[ 8.76072386e-04,-1.00648853e-03, 3.43923997e-03, 1.21579535e-02,
 -6.35899935e-04,-5.11866860e-04,-5.04005190e-03, 8.36831346e-03,
  1.68150508e-03, 4.65747209e-03,-2.77335393e-03, 7.55664684e-03,
  1.26506130e-01,-7.08546648e-04, 3.37182587e-02, 1.88140839e-02,
  9.50553854e-02,-7.00311320e-02, 1.16343321e-01, 9.99999803e-01,
  2.83412012e-04, 5.58572272e-04, 3.18142038e-05]

qacc:
[-6.51912501e+00,-1.45042735e+01, 1.05043772e+02,-3.12385732e+02,
  1.19665490e+01,-3.05503431e+01, 1.46276976e+02,-3.02339554e+02,
 -1.31412949e+01,-2.67617686e+01, 1.16786720e+02,-2.42946038e+02,
 -8.23357115e+01, 7.11715862e+01, 4.81161665e+01,-1.76120211e+02,
  4.13923918e-02, 5.92916709e-01,-4.10808232e+00,-1.10064792e+01,
  8.78068847e-01, 1.09651621e-01]

qfrc_actuator:
[ 0.00217214,-0.00222447, 0.00866177, 0.03028888,-0.00157895,-0.0019352 ,
 -0.01283836, 0.02075993, 0.00420262, 0.01249187,-0.00664877, 0.01892457,
  0.11144203,-0.00174227, 0.08172391, 0.04340929, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006027197188612429
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87815949e-15,  1.84202207e-14,  1.00000000e+00,  5.30163330e-29,
        1.00000000e+00, -1.84202207e-14, -1.00000000e+00,  0.00000000e+00,
       -2.87815949e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0947959 , -0.09143277,  0.06185353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73555455e-05,-8.57537717e-05,-2.43128310e-04,-6.37732829e-04,
  6.92600873e-05, 1.87439002e-04, 3.11520748e-04,-4.15750203e-04,
 -7.78690950e-05,-6.39303166e-04,-6.38121077e-05,-4.04164868e-04,
 -3.05078381e-01,-3.99388955e-04,-5.19067041e-04,-1.00397424e-03,
 -3.69609924e-07,-3.01610834e-08,-1.21643675e+00, 1.10339921e-04,
  1.51132484e-03,-6.93400377e-07]


--- Step 17 ---
qpos:
[ 9.19631678e-04,-1.04711071e-03, 3.61119061e-03, 1.27522954e-02,
 -6.66455707e-04,-5.50501355e-04,-5.29024635e-03, 8.77597440e-03,
  1.76373517e-03, 4.90881856e-03,-2.90001616e-03, 7.92820666e-03,
  1.34353811e-01,-7.30185596e-04, 3.57754648e-02, 1.97644397e-02,
  9.50557091e-02,-7.00302911e-02, 1.16685034e-01, 9.99999803e-01,
  2.75915628e-04, 5.63003846e-04, 3.64133077e-05]

qacc:
[-7.97633135e-01,-1.55782478e+01, 1.07516263e+02,-3.11888734e+02,
  9.51924794e+00,-3.10735391e+01, 1.45405149e+02,-2.92461147e+02,
 -1.65568597e+01,-2.99787901e+01, 1.31499262e+02,-2.71265847e+02,
 -8.95333106e+01, 6.62856272e+01, 4.23629610e+01,-1.56636343e+02,
  4.11624697e-02, 5.84052972e-01,-4.22922221e+00,-1.07709473e+01,
  8.55227288e-01, 1.12872501e-01]

qfrc_actuator:
[ 0.00216936,-0.00220334, 0.00850956, 0.02968703,-0.00152617,-0.00190927,
 -0.01256363, 0.02036296, 0.00410634, 0.01227763,-0.00651274, 0.01852511,
  0.11072114,-0.00174201, 0.08152795, 0.04261633, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005669213772155929
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52995066e-14,  9.79168426e-15,  1.00000000e+00,  1.49807938e-28,
        1.00000000e+00, -9.79168426e-15, -1.00000000e+00,  0.00000000e+00,
       -1.52995066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478891, -0.09153278,  0.06186223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00483881e-06,-1.06433758e-04,-2.24892322e-04,-6.28004984e-04,
  5.48255803e-05, 1.80792400e-04, 3.39957306e-04,-3.86523892e-04,
 -9.79497511e-05,-6.10624210e-04,-2.01158473e-05,-4.38039823e-04,
 -2.93656861e-01,-5.41583509e-04,-5.29047400e-04,-9.13016158e-04,
 -1.49361619e-07,-3.81378926e-08,-1.21643949e+00, 1.11037303e-04,
  1.51151335e-03,-7.31080488e-07]


--- Step 18 ---
qpos:
[ 9.62815570e-04,-1.08724725e-03, 3.77970343e-03, 1.33344533e-02,
 -6.96830785e-04,-5.88435978e-04,-5.53494318e-03, 9.17602061e-03,
  1.84384138e-03, 5.15484042e-03,-3.02396022e-03, 8.29210028e-03,
  1.41922639e-01,-7.49708247e-04, 3.78288603e-02, 2.06956572e-02,
  9.50561982e-02,-7.00271213e-02, 1.17009604e-01, 9.99999807e-01,
  2.47106436e-04, 5.69120241e-04, 4.12572703e-05]

qacc:
[-3.42737669e+00,-1.48385160e+01, 1.05291341e+02,-3.11048736e+02,
  1.74622145e+00,-3.01312370e+01, 1.40915956e+02,-2.82005821e+02,
 -1.85156984e+01,-3.03929581e+01, 1.30581168e+02,-2.63756233e+02,
 -9.49178960e+01, 7.52056160e+01, 5.23913045e+01,-1.91296900e+02,
  4.13561409e-02, 5.82228263e-01,-4.28573744e+00,-1.06564408e+01,
  8.42830731e-01, 1.16197222e-01]

qfrc_actuator:
[ 0.00215031,-0.00219248, 0.00833355, 0.02907767,-0.00151842,-0.00186082,
 -0.01228425, 0.01998425, 0.00399906, 0.01199824,-0.00638194, 0.01814164,
  0.11002564,-0.00171654, 0.08130457, 0.0416457 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.49145544, -1.57542416,  8.49145544, 10.84091588,
       11.88242354, -1.57542416, 11.88242354, 72.6820171 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005327151311300279
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10716957e-14, -1.04204195e-14,  1.00000000e+00, -1.15371713e-28,
        1.00000000e+00,  1.04204195e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10716957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478221, -0.09162833,  0.06187054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93258445e-05,-1.24032887e-04,-2.50335257e-04,-6.35548954e-04,
  9.37451459e-06, 2.06656430e-04, 3.47696020e-04,-3.66992457e-04,
 -1.09515260e-04,-6.52002815e-04,-1.51681167e-05,-4.19942670e-04,
 -2.81139615e-01,-6.06759520e-04,-5.49405320e-04,-1.08654724e-03,
  9.27211396e-08,-4.70694326e-08,-1.21643980e+00, 1.10671603e-04,
  1.51178954e-03,-7.11836593e-07]


--- Step 19 ---
qpos:
[ 1.00543240e-03,-1.12699732e-03, 3.94507360e-03, 1.39043938e-02,
 -7.27221968e-04,-6.24731077e-04,-5.77527472e-03, 9.56802110e-03,
  1.92239782e-03, 5.39523192e-03,-3.14468283e-03, 8.64855009e-03,
  1.49201375e-01,-7.67656938e-04, 3.98788056e-02, 2.16063219e-02,
  9.50568548e-02,-7.00216072e-02, 1.17317012e-01, 9.99999813e-01,
  1.97017846e-04, 5.76913433e-04, 4.63529805e-05]

qacc:
[-5.10274970e+00,-1.58602731e+01, 1.08890516e+02,-3.15629468e+02,
 -3.70107849e-02,-2.66076579e+01, 1.31980819e+02,-2.79418984e+02,
 -1.34417427e+01,-3.17559062e+01, 1.33898684e+02,-2.63786610e+02,
 -9.87625822e+01, 7.45845057e+01, 5.72112857e+01,-2.07367583e+02,
  4.18912945e-02, 5.86049052e-01,-4.29049806e+00,-1.06397342e+01,
  8.38867559e-01, 1.19611271e-01]

qfrc_actuator:
[ 0.00212183,-0.0021702 , 0.00818035, 0.02846876,-0.00151948,-0.00174599,
 -0.01205755, 0.01958382, 0.00392168, 0.01171764,-0.00622001, 0.0177706 ,
  0.10934027,-0.00171248, 0.08112346, 0.04061355, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0050012463410595565
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.24344822e-15,  1.10994635e-14,  1.00000000e+00,  6.92989257e-29,
        1.00000000e+00, -1.10994635e-14, -1.00000000e+00,  0.00000000e+00,
       -6.24344822e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477581, -0.09171938,  0.06187846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91912315e-05,-1.27987948e-04,-2.34486878e-04,-6.36858623e-04,
 -7.20646410e-07, 2.89851594e-04, 3.01937602e-04,-3.86948725e-04,
 -7.99794460e-05,-6.74388796e-04, 8.69770864e-06,-4.08740143e-04,
 -2.67846012e-01,-7.07835168e-04,-5.35343165e-04,-1.16022696e-03,
  3.59765216e-07,-5.71227295e-08,-1.21643780e+00, 1.09254184e-04,
  1.51215301e-03,-6.36012006e-07]


--- Step 20 ---
qpos:
[ 1.04668355e-03,-1.16640794e-03, 4.10750729e-03, 1.44632526e-02,
 -7.57389755e-04,-6.59143191e-04,-6.01137175e-03, 9.95110803e-03,
  2.00011882e-03, 5.63050393e-03,-3.26272234e-03, 8.99738450e-03,
  1.56182397e-01,-7.85134230e-04, 4.19251749e-02, 2.24942777e-02,
  9.50561035e-02,-7.00162974e-02, 1.17608530e-01, 9.99999824e-01,
  1.48519881e-04, 5.71553429e-04, 5.17534216e-05]

qacc:
[-1.21215666e+01,-1.41458690e+01, 9.79167456e+01,-2.85320920e+02,
  2.06072511e+00,-2.77116127e+01, 1.40041191e+02,-3.02463172e+02,
 -7.18206345e+00,-2.99410800e+01, 1.29111361e+02,-2.61462478e+02,
 -1.01263529e+02, 6.73831985e+01, 6.35555906e+01,-2.29817068e+02,
 -3.51980483e-01,-5.10673096e-02,-3.97262149e+00, 7.94919348e-01,
 -6.57660479e+00, 1.54119847e-01]

qfrc_actuator:
[ 0.00205254,-0.00214117, 0.00804192, 0.02791826,-0.00150795,-0.0016458 ,
 -0.01184577, 0.01913833, 0.00388026, 0.01149201,-0.00607649, 0.01739211,
  0.10867735,-0.00175706, 0.08090922, 0.03946481, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0046937695178592975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18265609e-14, -3.54796828e-14,  1.00000000e+00, -4.19602631e-28,
        1.00000000e+00,  3.54796828e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18265609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10821119, -0.06851314,  0.06188593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.02903573e-05,-1.20176835e-04,-2.18567315e-04,-5.78044167e-04,
  1.16144699e-05, 3.11324868e-04, 2.97824429e-04,-4.30409295e-04,
 -4.32002923e-05,-6.26342572e-04,-1.09741137e-05,-4.16086137e-04,
 -2.53969780e-01,-8.30485186e-04,-5.71176870e-04,-1.27935056e-03,
  6.55037952e-07,-6.78505100e-08,-1.21643350e+00, 1.06786747e-04,
  1.51260416e-03,-5.03652715e-07]


--- Step 21 ---
qpos:
[ 1.08678021e-03,-1.20529184e-03, 4.26658059e-03, 1.50114848e-02,
 -7.87184468e-04,-6.92284912e-04,-6.24255421e-03, 1.03259017e-02,
  2.07640746e-03, 5.86059822e-03,-3.37843745e-03, 9.33932555e-03,
  1.62862499e-01,-8.01560817e-04, 4.39674183e-02, 2.33616112e-02,
  9.50539183e-02,-7.00111878e-02, 1.17884354e-01, 9.99999840e-01,
  1.01649772e-04, 5.52971691e-04, 5.74845559e-05]

qacc:
[-1.02792734e+01,-1.17794697e+01, 8.79113912e+01,-2.66894023e+02,
  3.40944360e+00,-2.91470211e+01, 1.41361400e+02,-2.93679392e+02,
 -1.24427509e+01,-2.75176182e+01, 1.17328713e+02,-2.36586627e+02,
 -1.02621432e+02, 7.75247099e+01, 5.64245434e+01,-2.06035295e+02,
 -3.58488288e-01,-5.00420004e-02,-3.92332499e+00, 8.13490721e-01,
 -6.61088495e+00, 1.66793483e-01]

qfrc_actuator:
[ 0.00199528,-0.00210819, 0.0078779 , 0.02738883,-0.0014891 ,-0.00160856,
 -0.01160905, 0.01872315, 0.00380707, 0.01123009,-0.00596253, 0.01704781,
  0.10804436,-0.00175935, 0.08069656, 0.038434  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004402258408950879
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26096985e-14, -2.52193970e-14,  1.00000000e+00, -3.18008992e-28,
        1.00000000e+00,  2.52193970e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26096985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10825576, -0.0685071 ,  0.06189302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.94164195e-05,-1.06016661e-04,-2.38492572e-04,-5.54926541e-04,
  1.92956664e-05, 2.57581937e-04, 3.25135323e-04,-4.00162806e-04,
 -7.39255489e-05,-6.39961149e-04,-3.32361993e-05,-3.80646393e-04,
 -2.39684342e-01,-8.55745635e-04,-5.98114944e-04,-1.17237197e-03,
  6.73835343e-07, 7.83612281e-09,-1.21643397e+00, 1.04357194e-04,
  1.51234664e-03,-3.18395297e-07]


--- Step 22 ---
qpos:
[ 1.12656521e-03,-1.24352680e-03, 4.42259693e-03, 1.55490386e-02,
 -8.16176264e-04,-7.24537277e-04,-6.46889048e-03, 1.06935432e-02,
  2.15089369e-03, 6.08597996e-03,-3.49238609e-03, 9.67409292e-03,
  1.69241323e-01,-8.16258361e-04, 4.60054434e-02, 2.42134273e-02,
  9.50502673e-02,-7.00071935e-02, 1.18144760e-01, 9.99999860e-01,
  6.46045219e-05, 5.20793314e-04, 6.37332314e-05]

qacc:
[-2.85621152e+00,-1.25873112e+01, 9.12191333e+01,-2.71644195e+02,
  7.19480867e+00,-2.71163610e+01, 1.28560491e+02,-2.60725965e+02,
 -1.57224827e+01,-2.59137940e+01, 1.13697334e+02,-2.37270098e+02,
 -1.03051640e+02, 8.80737790e+01, 4.08266024e+01,-1.51654917e+02,
 -3.66449279e-01,-2.78824835e-01,-3.85456753e+00, 4.91189442e+00,
 -6.79857553e+00, 2.62177930e-01]

qfrc_actuator:
[ 0.00198108,-0.00205541, 0.00773563, 0.02685825,-0.00144834,-0.00159148,
 -0.01137749, 0.01836461, 0.00371575, 0.01101951,-0.00586701, 0.01669083,
  0.10744566,-0.00171928, 0.08052761, 0.03767623, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004125755176054626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.84921702e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.84921702e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10842961, -0.06073186,  0.06189974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60357496e-05,-8.13746120e-05,-2.15416052e-04,-5.55671472e-04,
  4.13991690e-05, 2.14228433e-04, 3.13226426e-04,-3.44292071e-04,
 -9.29521558e-05,-5.99153408e-04,-5.59628555e-05,-3.93958718e-04,
 -2.25206311e-01,-8.67631848e-04,-5.53080389e-04,-8.96436342e-04,
  7.45868229e-07, 1.11728966e-07,-1.21643357e+00, 1.02001815e-04,
  1.51143643e-03,-1.42135059e-07]


--- Step 23 ---
qpos:
[ 1.16586723e-03,-1.28079637e-03, 4.57519209e-03, 1.60760051e-02,
 -8.43764019e-04,-7.56025450e-04,-6.69055202e-03, 1.10543959e-02,
  2.22371860e-03, 6.30703139e-03,-3.60458273e-03, 1.00019085e-02,
  1.75320848e-01,-8.28542390e-04, 4.80396439e-02, 2.50498456e-02,
  9.50451347e-02,-7.00052863e-02, 1.18389789e-01, 9.99999884e-01,
  4.59947730e-05, 4.74747750e-04, 7.06384937e-05]

qacc:
[  -4.38024105, -10.960224  ,  85.64540574,-264.15097359,  12.4780871 ,
  -26.06424921, 123.0177482 ,-248.50984126, -14.487302  , -24.91329181,
  109.92215989,-229.90797879,-102.70726279,  98.15555156,  41.05325631,
 -151.58698161,  -0.37039853,  -0.52178202,  -3.84423961,   9.21713642,
   -6.93415995,   0.33354175]

qfrc_actuator:
[ 0.00195684,-0.00199108, 0.00757194, 0.02633128,-0.00137726,-0.00156886,
 -0.01115093, 0.01802447, 0.00363224, 0.01084134,-0.00576519, 0.01634704,
  0.10687839,-0.00163713, 0.08034245, 0.03690791, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003865469230353469
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43607795e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43607795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10860833, -0.05251544,  0.06190606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48407100e-05,-5.12618241e-05,-2.28874438e-04,-5.50186904e-04,
  7.23278360e-05, 1.95385993e-04, 2.99689745e-04,-3.27067330e-04,
 -8.56758515e-05,-5.49033091e-04,-4.44307445e-05,-3.80044722e-04,
 -2.10681118e-01,-8.71367899e-04,-5.19087956e-04,-8.86137014e-04,
  7.61416487e-07, 3.09424912e-07,-1.21643391e+00, 1.00120525e-04,
  1.50982861e-03,-1.37254119e-08]


--- Step 24 ---
qpos:
[ 1.20422537e-03,-1.31712220e-03, 4.72400999e-03, 1.65922090e-02,
 -8.71320117e-04,-7.86616710e-04,-6.90772833e-03, 1.14080103e-02,
  2.29533353e-03, 6.52375027e-03,-3.71452389e-03, 1.03229980e-02,
  1.81103830e-01,-8.39383595e-04, 5.00704807e-02, 2.58692257e-02,
  9.50384785e-02,-7.00055110e-02, 1.18619853e-01, 9.99999910e-01,
  4.61320227e-05, 4.14645317e-04, 7.82592186e-05]

qacc:
[  -8.44601032, -10.34662432,  84.17013073,-265.13997017,   0.40002838,
  -26.26089004, 125.91228698,-259.02322267, -10.50032937, -25.86672952,
  112.3515228 ,-229.22166903,-101.6995083 ,  90.14278848,  46.70171625,
 -170.34849679,  -0.38088664,  -0.53296703,  -3.74137617,   9.37283186,
   -7.02907968,   0.36250446]

qfrc_actuator:
[ 0.0019091 ,-0.00195591, 0.00737923, 0.02579292,-0.00137768,-0.00152539,
 -0.01092914, 0.01766236, 0.00357176, 0.01064862,-0.00564251, 0.01601382,
  0.10633533,-0.00160213, 0.08016366, 0.03605058, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036198183137337164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.06706837e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.06706837e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10864673, -0.05246041,  0.06191203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85632730e-05,-6.60943659e-05,-2.53083787e-04,-5.60627920e-04,
  1.70526933e-06, 2.03575920e-04, 2.89911990e-04,-3.49970927e-04,
 -6.24439821e-05,-5.32433401e-04,-1.12837333e-05,-3.66646315e-04,
 -1.96232636e-01,-9.56482348e-04,-4.98073439e-04,-9.70718074e-04,
  6.65283196e-07, 6.65055063e-07,-1.21643378e+00, 9.91349958e-05,
  1.50749456e-03, 1.63320452e-08]


--- Step 25 ---
qpos:
[ 1.24136568e-03,-1.35293844e-03, 4.86970691e-03, 1.70982722e-02,
 -8.99011209e-04,-8.16490612e-04,-7.12041950e-03, 1.17545519e-02,
  2.36602334e-03, 6.73662424e-03,-3.82266393e-03, 1.06368537e-02,
  1.86594651e-01,-8.49837917e-04, 5.20979738e-02, 2.66687240e-02,
  9.50302546e-02,-7.00079180e-02, 1.18835414e-01, 9.99999936e-01,
  6.53647120e-05, 3.40257099e-04, 8.66431878e-05]

qacc:
[ -10.82739969, -11.47001215,  84.72558861,-255.67170708,  -1.06230832,
  -26.15371876, 124.49201893,-254.61037277,  -8.01725565, -25.00241273,
  112.34016431,-237.62087451,-100.09492369,  80.74684362,  55.34234929,
 -200.5251409 ,  -0.39193287,  -0.5455835 ,  -3.62559803,   9.54700167,
   -7.14362135,   0.38591059]

qfrc_actuator:
[ 0.00184794,-0.0019386 , 0.0072241 , 0.02528763,-0.00138469,-0.00150537,
 -0.01071188, 0.017308  , 0.0035253 , 0.0104844 ,-0.00554403, 0.01565397,
  0.10582265,-0.00161317, 0.07995682, 0.03504112, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003388045576067783
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27688338e-14, -1.63844169e-14,  1.00000000e+00, -5.36898235e-28,
        1.00000000e+00,  1.63844169e-14, -1.00000000e+00,  0.00000000e+00,
       -3.27688338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10868303, -0.0524085 ,  0.06191766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.26754984e-05,-9.76654745e-05,-2.21858372e-04,-5.29198680e-04,
 -6.87906225e-06, 1.81622079e-04, 2.85023756e-04,-3.42658144e-04,
 -4.77662336e-05,-4.87073410e-04,-2.74719509e-05,-3.91122909e-04,
 -1.81893102e-01,-1.03909460e-03,-5.27891554e-04,-1.12534523e-03,
  5.60020308e-07, 1.15255327e-06,-1.21643092e+00, 9.90601590e-05,
  1.50444777e-03,-4.69479170e-08]


--- Step 26 ---
qpos:
[ 1.27748094e-03,-1.38805177e-03, 5.01252661e-03, 1.75942717e-02,
 -9.25881229e-04,-8.45384961e-04,-7.32890290e-03, 1.20941309e-02,
  2.43561933e-03, 6.94483155e-03,-3.92851711e-03, 1.09443540e-02,
  1.91800333e-01,-8.59299352e-04, 5.41211716e-02, 2.74526818e-02,
  9.50204173e-02,-7.00125619e-02, 1.19036972e-01, 9.99999958e-01,
  1.04068319e-04, 2.51324650e-04, 9.58290880e-05]

qacc:
[  -9.12685962, -11.74028078,  85.72786589,-255.86252385,   7.3316819 ,
  -24.82131801, 119.75158386,-247.6849902 ,  -9.47008146, -25.63431644,
  109.31404651,-219.56935751, -98.01706979,  88.31777943,  40.78858635,
 -151.64442133,  -0.40334527,  -0.55921367,  -3.50082306,   9.73469205,
   -7.27293182,   0.4047535 ]

qfrc_actuator:
[ 0.00179711,-0.00187868, 0.00709237, 0.02478812,-0.00134222,-0.00144633,
 -0.01049914, 0.01696101, 0.0034697 , 0.01021427,-0.00544277, 0.01533462,
  0.10533314,-0.00158034, 0.07974394, 0.0342696 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031696680097988428
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50264766e-14, -1.75132383e-14,  1.00000000e+00, -6.13427032e-28,
        1.00000000e+00,  1.75132383e-14, -1.00000000e+00,  0.00000000e+00,
       -3.50264766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1087173 , -0.05235958,  0.06192297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.27448450e-05,-6.48833159e-05,-1.99992962e-04,-5.23055052e-04,
  4.23324120e-05, 2.07598463e-04, 2.75577546e-04,-3.36248166e-04,
 -5.64810307e-05,-5.71883259e-04,-1.81199169e-05,-3.49708155e-04,
 -1.67750982e-01,-1.02503666e-03,-5.64665767e-04,-8.99839528e-04,
  4.37386434e-07, 1.78126897e-06,-1.21642518e+00, 9.99118239e-05,
  1.50067437e-03,-2.06454827e-07]


--- Step 27 ---
qpos:
[ 1.31304802e-03,-1.42242971e-03, 5.15286840e-03, 1.80796746e-02,
 -9.52378915e-04,-8.72762921e-04,-7.53371347e-03, 1.24268716e-02,
  2.50367480e-03, 7.14835368e-03,-4.03204891e-03, 1.12459622e-02,
  1.96727717e-01,-8.68668944e-04, 5.61399508e-02, 2.82213615e-02,
  9.50107110e-02,-7.00142161e-02, 1.19226205e-01, 9.99999974e-01,
  1.16969235e-04, 1.64804164e-04, 1.04796610e-04]

qacc:
[-4.91947446e+00,-1.39204755e+01, 9.58000565e+01,-2.75809310e+02,
  3.35958324e+00,-2.23522266e+01, 1.11466094e+02,-2.36801541e+02,
 -1.33952778e+01,-2.47932069e+01, 1.04336749e+02,-2.06628629e+02,
 -9.55848134e+01, 7.96346573e+01, 3.98080256e+01,-1.48475129e+02,
  3.27415715e-02, 7.47400404e-01,-3.08124745e+00,-1.29012019e+01,
  1.20720703e+00,-1.12556601e-01]

qfrc_actuator:
[ 0.00177054,-0.00182911, 0.00697568, 0.02426054,-0.00132424,-0.00134668,
 -0.01030838, 0.01662116, 0.00339141, 0.00998946,-0.00532329, 0.01504157,
  0.10486211,-0.00159295, 0.07951165, 0.03350243, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029675001092775155
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35318436e-15, -1.87063687e-14,  1.00000000e+00,  1.74964115e-28,
        1.00000000e+00,  1.87063687e-14, -1.00000000e+00,  0.00000000e+00,
        9.35318436e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473869, -0.09228951,  0.06192788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81976600e-05,-5.20760203e-05,-1.75223179e-04,-5.48808091e-04,
  1.92586569e-05, 2.61008548e-04, 2.57974626e-04,-3.28192315e-04,
 -7.94707013e-05,-5.70129361e-04,-1.47956128e-05,-3.25885564e-04,
 -1.53943197e-01,-1.08671731e-03,-5.73363026e-04,-8.87102154e-04,
  2.90612634e-07, 2.55954690e-06,-1.21641640e+00, 1.01707306e-04,
  1.49615934e-03,-4.65445223e-07]


--- Step 28 ---
qpos:
[ 1.34836245e-03,-1.45650831e-03, 5.29086139e-03, 1.85549984e-02,
 -9.78454506e-04,-8.99010925e-04,-7.73446508e-03, 1.27526228e-02,
  2.57027381e-03, 7.34788294e-03,-4.13395728e-03, 1.15416525e-02,
  2.01384721e-01,-8.78618702e-04, 5.81548262e-02, 2.89748137e-02,
  9.50011491e-02,-7.00128401e-02, 1.19403458e-01, 9.99999985e-01,
  1.03707952e-04, 8.06325600e-05, 1.13673041e-04]

qacc:
[-2.30796213e+00,-1.37969240e+01, 9.23292056e+01,-2.63256205e+02,
  3.81569589e+00,-2.42542849e+01, 1.18144017e+02,-2.46428019e+02,
 -1.26888592e+01,-2.19813696e+01, 9.57459016e+01,-1.97877063e+02,
 -9.28284538e+01, 7.29618392e+01, 4.04140841e+01,-1.49487245e+02,
  3.61117714e-02, 7.57583600e-01,-2.99517591e+00,-1.30809680e+01,
  1.17580698e+00,-4.78385448e-02]

qfrc_actuator:
[ 0.00175845,-0.00183931, 0.00685102, 0.02375619,-0.00130308,-0.00131236,
 -0.0101142 , 0.0162705 , 0.00331814, 0.00982923,-0.00522934, 0.01474864,
  0.10441181,-0.00163233, 0.07932646, 0.03274382, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027789214257911282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99757901e-14,  1.99757901e-14,  1.00000000e+00,  3.99032192e-28,
        1.00000000e+00, -1.99757901e-14, -1.00000000e+00,  0.00000000e+00,
       -1.99757901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0947357 , -0.09234246,  0.06193246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30089486e-05,-1.00641539e-04,-1.78349081e-04,-5.24649603e-04,
  2.18054491e-05, 2.22169688e-04, 2.70489781e-04,-3.37157417e-04,
 -7.51195852e-05,-5.02713518e-04,-3.86837152e-05,-3.25101906e-04,
 -1.40458116e-01,-1.13009277e-03,-5.28920901e-04,-8.78993861e-04,
  8.48253352e-07, 2.11654119e-06,-1.21642077e+00, 1.02369565e-04,
  1.49204329e-03,-3.67274001e-07]


--- Step 29 ---
qpos:
[ 1.38290986e-03,-1.49021023e-03, 5.42564927e-03, 1.90212942e-02,
 -1.00338338e-03,-9.24549738e-04,-7.93080125e-03, 1.30716623e-02,
  2.63548784e-03, 7.54345036e-03,-4.23433187e-03, 1.18315155e-02,
  2.05781211e-01,-8.88290583e-04, 6.01660673e-02, 2.97142731e-02,
  9.49917431e-02,-7.00083864e-02, 1.19569108e-01, 9.99999990e-01,
  6.39000124e-05,-1.23692164e-06, 1.22566432e-04]

qacc:
[-6.86028329e+00,-9.12625117e+00, 7.14019858e+01,-2.22840494e+02,
  1.02053374e+01,-2.52468695e+01, 1.19682024e+02,-2.43395058e+02,
 -1.20625219e+01,-2.15041835e+01, 9.37193220e+01,-1.94159050e+02,
 -8.98455710e+01, 8.18896853e+01, 3.70775063e+01,-1.37228930e+02,
  3.89477304e-02, 7.69411247e-01,-2.90042012e+00,-1.32731980e+01,
  1.15257113e+00, 7.29068604e-03]

qfrc_actuator:
[ 0.00171947,-0.00183199, 0.00668693, 0.02330501,-0.0012447 ,-0.00129969,
 -0.00990208, 0.015934  , 0.00324841, 0.00963793,-0.00515093, 0.01445815,
  0.10398857,-0.00161613, 0.07915901, 0.03204967, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026011110485136962
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06706615e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06706615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473285, -0.09239235,  0.06193678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94826197e-05,-1.09831459e-04,-2.27312328e-04,-4.73179651e-04,
  5.90810125e-05, 1.80917525e-04, 2.81600342e-04,-3.24403798e-04,
 -7.14402181e-05,-5.00857058e-04,-4.31788577e-05,-3.20557102e-04,
 -1.27343133e-01,-1.08425695e-03,-4.92739726e-04,-8.09061926e-04,
  1.39385302e-06, 1.70622925e-06,-1.21642172e+00, 1.01733522e-04,
  1.48803748e-03,-2.00542927e-07]


--- Step 30 ---
qpos:
[ 1.41671892e-03,-1.52335907e-03, 5.55699207e-03, 1.94785231e-02,
 -1.02741837e-03,-9.49631607e-04,-8.12287926e-03, 1.33845713e-02,
  2.69902502e-03, 7.73488331e-03,-4.33241885e-03, 1.21155942e-02,
  2.09926357e-01,-8.98062518e-04, 6.21737122e-02, 3.04380684e-02,
  9.49825024e-02,-7.00008030e-02, 1.19723559e-01, 9.99999988e-01,
 -2.85700513e-06,-8.08383109e-05, 1.31569637e-04]

qacc:
[-6.61846363e+00,-8.30287006e+00, 6.89678283e+01,-2.20824903e+02,
  7.98172145e+00,-2.39389643e+01, 1.12088483e+02,-2.25311960e+02,
 -1.46001989e+01,-2.37460339e+01, 1.01208435e+02,-2.01990462e+02,
 -8.67259436e+01, 7.76198970e+01, 4.21940089e+01,-1.55044166e+02,
  4.13471821e-02, 7.82416763e-01,-2.79980701e+00,-1.34743994e+01,
  1.13570120e+00, 5.48515916e-02]

qfrc_actuator:
[ 0.00168272,-0.00179658, 0.00651873, 0.02285319,-0.00120039,-0.00130006,
 -0.00969892, 0.01562626, 0.00316356, 0.00944729,-0.00502915, 0.01417141,
  0.10359042,-0.00162046, 0.07895437, 0.03125703, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002433672108073215
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.28096263e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.28096263e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473015, -0.09243932,  0.06194085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80009984e-05,-9.47662871e-05,-2.37513713e-04,-4.74865417e-04,
  4.60568948e-05, 1.47612581e-04, 2.65878048e-04,-2.96772980e-04,
 -8.64626610e-05,-4.99745265e-04, 2.19124358e-07,-3.16780634e-04,
 -1.14697936e-01,-1.10183888e-03,-5.07584991e-04,-8.99503889e-04,
  1.94903621e-06, 1.32093322e-06,-1.21641910e+00, 9.97816159e-05,
  1.48414530e-03, 3.59913422e-08]


--- Step 31 ---
qpos:
[ 1.44982190e-03,-1.55580351e-03, 5.68514492e-03, 1.99260261e-02,
 -1.05142442e-03,-9.74759956e-04,-8.31069553e-03, 1.36914187e-02,
  2.76106225e-03, 7.92183411e-03,-4.42814180e-03, 1.23940487e-02,
  2.13829995e-01,-9.07946538e-04, 6.41776967e-02, 3.11500294e-02,
  9.49754629e-02,-6.99944196e-02, 1.19869064e-01, 9.99999979e-01,
 -5.88488406e-05,-1.41512685e-04, 1.39240790e-04]

qacc:
[  -6.32934583, -10.17437232,  78.71154293,-242.49149938,   0.38595797,
  -24.4576278 , 112.70824209,-224.40557372, -13.03553984, -24.09265749,
  101.09704456,-198.97092882, -83.47923146,  76.78098391,  30.50012461,
 -114.27207448,   0.55031024,  -0.299984  ,  -2.23665385,   5.38378227,
    9.46280118,  -0.66643332]

qfrc_actuator:
[ 0.00164759,-0.00174466, 0.00636734, 0.02236915,-0.00120023,-0.00134377,
 -0.00950275, 0.01532014, 0.00308825, 0.00920556,-0.00491821, 0.0138892 ,
  0.10321056,-0.00161909, 0.07880211, 0.03067885, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002276773876903976
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43814951e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.43814951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226293, -0.06189061,  0.06194466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63313864e-05,-7.19594793e-05,-2.18852183e-04,-5.06810283e-04,
  1.52219669e-06, 8.35133867e-05, 2.50989433e-04,-2.96593629e-04,
 -7.73742263e-05,-5.40969203e-04,-4.89185730e-06,-3.10605063e-04,
 -1.02494212e-01,-1.09480546e-03,-4.72338414e-04,-6.92058371e-04,
  2.53162984e-06, 9.55845949e-07,-1.21641276e+00, 9.64950915e-05,
  1.48036981e-03, 3.43471899e-07]


--- Step 32 ---
qpos:
[ 1.48224382e-03,-1.58742934e-03, 5.81027917e-03, 2.03645395e-02,
 -1.07524145e-03,-9.99963843e-04,-8.49458363e-03, 1.39925787e-02,
  2.82172481e-03, 8.10435078e-03,-4.52235571e-03, 1.26673377e-02,
  2.17502441e-01,-9.17630599e-04, 6.61783898e-02, 3.18491918e-02,
  9.49706388e-02,-6.99892543e-02, 1.20005855e-01, 9.99999967e-01,
 -1.04045854e-04,-1.83094975e-04, 1.45625875e-04]

qacc:
[  -6.10540894,  -8.98618744,  71.58467273,-222.97819729,   1.78328944,
  -22.79521246, 105.14006536,-209.79850772, -11.96072069, -20.69629016,
   87.13938007,-175.73914755, -80.16549081,  79.07627017,  33.96723006,
 -125.60694845,   0.55383858,  -0.30455499,  -2.17855411,   5.39864898,
    9.54532755,  -0.64323648]

qfrc_actuator:
[ 0.00161369,-0.0016832 , 0.00622716, 0.02192331,-0.00119055,-0.00135993,
 -0.00931248, 0.01503511, 0.00301914, 0.00897068,-0.00485029, 0.01362962,
  0.10285515,-0.00159649, 0.07863349, 0.03003651, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002133794323240623
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08223788, -0.06187626,  0.06194814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50384774e-05,-4.71449077e-05,-2.01687824e-04,-4.67576876e-04,
  9.75537680e-06, 7.21168381e-05, 2.29987779e-04,-2.78744591e-04,
 -7.09318662e-05,-5.57819172e-04,-5.67944884e-05,-2.89784086e-04,
 -9.07590769e-02,-1.06591666e-03,-4.50673021e-04,-7.40440942e-04,
  1.67556155e-06, 6.28438897e-07,-1.21642279e+00, 9.38740777e-05,
  1.47726567e-03, 3.69857085e-07]


--- Step 33 ---
qpos:
[ 1.51469508e-03,-1.61864133e-03, 5.93310659e-03, 2.07942756e-02,
 -1.09772261e-03,-1.02507580e-03,-8.67450494e-03, 1.42882962e-02,
  2.88109760e-03, 8.28240683e-03,-4.61529299e-03, 1.29350484e-02,
  2.20953057e-01,-9.27871819e-04, 6.81760359e-02, 3.25339162e-02,
  9.49680489e-02,-6.99853261e-02, 1.20134197e-01, 9.99999958e-01,
 -1.38399333e-04,-2.05407250e-04, 1.50759356e-04]

qacc:
[ 1.73071895e-01,-1.10865211e+01, 7.73795195e+01,-2.25916496e+02,
  1.18637933e+01,-2.21969581e+01, 1.02260426e+02,-2.02829183e+02,
 -1.12205123e+01,-2.09329954e+01, 8.96727504e+01,-1.85022279e+02,
 -7.68135490e+01, 7.01118723e+01, 3.92882167e+01,-1.43700848e+02,
  5.58539997e-01,-3.09234268e-01,-2.11215956e+00, 5.42305597e+00,
  9.63428320e+00,-6.25791792e-01]

qfrc_actuator:
[ 0.0016163 ,-0.00166967, 0.00611256, 0.02148579,-0.00112207,-0.00134174,
 -0.00910936, 0.0147648 , 0.00295424, 0.00874165,-0.00479051, 0.01334991,
  0.10252218,-0.00161468, 0.07846579, 0.0293081 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019988471790256396
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77715834e-14,  2.77715834e-14,  1.00000000e+00,  7.71260847e-28,
        1.00000000e+00, -2.77715834e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77715834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221428, -0.06186271,  0.06195142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50993002e-06,-7.59438556e-05,-1.67461393e-04,-4.56806698e-04,
  6.87846453e-05, 9.64827474e-05, 2.38473579e-04,-2.64897256e-04,
 -6.65654304e-05,-5.71064737e-04,-7.40454311e-05,-3.12017061e-04,
 -7.95185276e-02,-1.09340272e-03,-4.46998374e-04,-8.26837567e-04,
  1.00920250e-06, 3.65642048e-07,-1.21643047e+00, 9.17561815e-05,
  1.47512363e-03, 3.95049262e-07]


--- Step 34 ---
qpos:
[ 1.54726785e-03,-1.64944854e-03, 6.05357170e-03, 2.12154059e-02,
 -1.11920849e-03,-1.04982220e-03,-8.85038508e-03, 1.45784276e-02,
  2.93958547e-03, 8.45623923e-03,-4.70694465e-03, 1.31969319e-02,
  2.24191770e-01,-9.38916865e-04, 7.01704640e-02, 3.32052837e-02,
  9.49677154e-02,-6.99826536e-02, 1.20254379e-01, 9.99999953e-01,
 -1.61845713e-04,-2.08261697e-04, 1.54666750e-04]

qacc:
[   0.98198961, -10.5915866 ,  74.8701506 ,-220.33887975,   8.86693238,
  -22.33294156, 103.8869139 ,-207.27359543,  -7.66606163, -21.16447491,
   91.99173124,-191.82608407, -73.42015716,  66.1566717 ,  35.75888835,
 -131.72425082,   0.56411806,  -0.31396849,  -2.03990166,   5.45489025,
    9.72817651,  -0.6128175 ]

qfrc_actuator:
[ 0.00162262,-0.00164931, 0.00599606, 0.02105666,-0.00107279,-0.00130308,
 -0.00890015, 0.01448759, 0.00291008, 0.00855344,-0.00471823, 0.01306059,
  0.10222081,-0.00163892, 0.07830407, 0.02864134, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018716623168529012
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96587428e-14, -5.93174856e-14,  1.00000000e+00, -1.75928205e-27,
        1.00000000e+00,  5.93174856e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96587428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219207, -0.06184991,  0.06195451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.25081952e-06,-7.76484637e-05,-1.70689414e-04,-4.48246449e-04,
  5.12699448e-05, 1.32904220e-04, 2.51088531e-04,-2.70185109e-04,
 -4.57197904e-05,-5.42013791e-04,-6.71312130e-05,-3.23198858e-04,
 -6.87153495e-02,-1.08905172e-03,-4.50018021e-04,-7.69791948e-04,
  5.29095276e-07, 1.61783238e-07,-1.21643575e+00, 9.01450365e-05,
  1.47395137e-03, 4.19372948e-07]


--- Step 35 ---
qpos:
[ 1.57897101e-03,-1.67969017e-03, 6.17156166e-03, 2.16284256e-02,
 -1.14062636e-03,-1.07369158e-03,-9.02308640e-03, 1.48622776e-02,
  2.99744333e-03, 8.62644375e-03,-4.79743553e-03, 1.34539165e-02,
  2.27230112e-01,-9.49322560e-04, 7.21607650e-02, 3.38649410e-02,
  9.49696633e-02,-6.99812561e-02, 1.20366706e-01, 9.99999954e-01,
 -1.74309989e-04,-1.91463114e-04, 1.57366660e-04]

qacc:
[  -7.74101828,  -9.02651583,  67.53722389,-204.40563667,   0.67913254,
  -20.66166135, 101.87148868,-216.31687901,  -5.43931489, -18.1201579 ,
   78.35271223,-162.35015006, -70.06315477,  79.30460013,  29.43446076,
 -111.54479623,   0.57033603,  -0.31871388,  -1.96376969,   5.49244627,
    9.82576386,  -0.60329587]

qfrc_actuator:
[ 0.00157781,-0.00160726, 0.00587938, 0.02065364,-0.00107073,-0.00125246,
 -0.0087422 , 0.01417306, 0.00287847, 0.00842678,-0.00463898, 0.01282125,
  0.10194548,-0.00157755, 0.07807683, 0.02805176, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017519453052880773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16854362e-14, -6.33708724e-14,  1.00000000e+00, -2.00793374e-27,
        1.00000000e+00,  6.33708724e-14, -1.00000000e+00,  0.00000000e+00,
       -3.16854362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217119, -0.06183785,  0.06195742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47474692e-05,-5.71775678e-05,-1.71267435e-04,-4.22122343e-04,
  3.56474294e-06, 1.67565824e-04, 2.08682394e-04,-3.05609429e-04,
 -3.25756238e-05,-4.63120627e-04,-5.36418219e-05,-2.71937857e-04,
 -5.83834760e-02,-9.86735380e-04,-5.10484281e-04,-6.89796671e-04,
  2.34349162e-07, 1.28905947e-08,-1.21643858e+00, 8.90444953e-05,
  1.47375745e-03, 4.43254175e-07]


--- Step 36 ---
qpos:
[ 1.60988845e-03,-1.70922961e-03, 6.28740094e-03, 2.20329927e-02,
 -1.16185272e-03,-1.09656411e-03,-9.19258959e-03, 1.51397833e-02,
  3.05448172e-03, 8.79324717e-03,-4.88593171e-03, 1.37055834e-02,
  2.30077925e-01,-9.59003406e-04, 7.41475383e-02, 3.45113534e-02,
  9.49739192e-02,-6.99811523e-02, 1.20471492e-01, 9.99999960e-01,
 -1.75708454e-04,-1.54810957e-04, 1.58872391e-04]

qacc:
[  -6.99536224, -10.45916001,  74.34793775,-217.7507424 ,   1.76318297,
  -20.68914884, 102.46249038,-218.11614001,  -7.08104185, -21.01093242,
   90.86842042,-183.62064512, -66.80740786,  78.48029421,  34.96512506,
 -129.60949282,   0.57700578,  -0.32343514,  -1.88538209,   5.5343531 ,
    9.92602043,  -0.5964191 ]

qfrc_actuator:
[ 0.00153876,-0.00155253, 0.00578142, 0.02023373,-0.00106097,-0.00119531,
 -0.00858026, 0.01385681, 0.00283674, 0.00830262,-0.00452042, 0.01256003,
  0.10167108,-0.0015192 , 0.07790102, 0.02738792, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016393854784009093
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.38609509e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.38609509e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215155, -0.0618265 ,  0.06196016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04219100e-05,-3.20267305e-05,-1.47452053e-04,-4.37618783e-04,
  9.92601271e-06, 1.83123448e-04, 2.13355604e-04,-3.07984922e-04,
 -4.23092641e-05,-4.11374109e-04, 5.43145084e-06,-2.88946666e-04,
 -4.86286203e-02,-9.59587112e-04,-4.74615188e-04,-7.66587825e-04,
  1.26141250e-07,-8.38509785e-08,-1.21643889e+00, 8.84585948e-05,
  1.47455108e-03, 4.67194936e-07]


--- Step 37 ---
qpos:
[ 1.64009492e-03,-1.73777100e-03, 6.40070689e-03, 2.24289998e-02,
 -1.18279711e-03,-1.11845115e-03,-9.35857923e-03, 1.54116599e-02,
  3.11058580e-03, 8.95678951e-03,-4.97214915e-03, 1.39517622e-02,
  2.32743423e-01,-9.69266223e-04, 7.61317434e-02, 3.51436199e-02,
  9.49805111e-02,-6.99823609e-02, 1.20569053e-01, 9.99999969e-01,
 -1.65950894e-04,-9.81010095e-05, 1.59193231e-04]

qacc:
[  -6.35494442,  -9.22084722,  70.95129348,-215.81659527,   2.5687297 ,
  -20.1138915 ,  97.36632858,-201.13039161,  -8.0826308 , -21.96866535,
   95.27441682,-191.53593963, -63.58270642,  63.37544907,  39.10346715,
 -142.03890785,   0.58397884,  -0.32810438,  -1.80604684,   5.57951447,
   10.02811283,  -0.59154635]

qfrc_actuator:
[ 0.00150343,-0.00149054, 0.00565985, 0.01980728,-0.00104674,-0.00113471,
 -0.00839946, 0.01357762, 0.00278937, 0.00816345,-0.00439733, 0.01228808,
  0.10140355,-0.00153401, 0.07779343, 0.02668574, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015336624981618363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.23903092e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.23903092e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213311, -0.06181581,  0.06196273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65648989e-05,-6.43187463e-06,-1.63436501e-04,-4.42542331e-04,
  1.45831694e-05, 1.96073310e-04, 2.35885595e-04,-2.70143898e-04,
 -4.82109190e-05,-3.85877318e-04, 2.73666741e-05,-2.95744400e-04,
 -3.93599246e-02,-1.00985896e-03,-4.00957348e-04,-8.05162650e-04,
  2.07348282e-07,-1.30520290e-07,-1.21643661e+00, 8.83915224e-05,
  1.47634197e-03, 4.91753174e-07]


--- Step 38 ---
qpos:
[ 1.66964102e-03,-1.76554710e-03, 6.51169413e-03, 2.28168080e-02,
 -1.20340776e-03,-1.13970580e-03,-9.52093893e-03, 1.56784535e-02,
  3.16535006e-03, 9.11757930e-03,-5.05728475e-03, 1.41924238e-02,
  2.35253078e-01,-9.82641057e-04, 7.81125194e-02, 3.57646374e-02,
  9.49894674e-02,-6.99849003e-02, 1.20659707e-01, 9.99999977e-01,
 -1.44942325e-04,-2.11267185e-05, 1.58335474e-04]

qacc:
[  -5.89894144,  -9.38557747,  69.5658213 ,-208.35033122,   3.0337897 ,
  -19.78224598,  93.19999728,-187.43850971, -11.69002672, -18.00354972,
   82.24771796,-177.48888746, -53.44211168,  28.09982348,  29.03700323,
 -108.72158313,   0.59113899,  -0.33270015,  -1.72681252,   5.62705942,
   10.13137371,  -0.58816954]

qfrc_actuator:
[ 0.00147058,-0.00146028, 0.0055431 , 0.01939814,-0.00102999,-0.0011257 ,
 -0.00822669, 0.01332249, 0.00272132, 0.00803424,-0.00434361, 0.01201197,
  0.10115692,-0.00157395, 0.0776203 , 0.02612652, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014344516549651548
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.73970333e-14, -3.86985166e-14,  1.00000000e+00, -2.99515038e-27,
        1.00000000e+00,  3.86985166e-14, -1.00000000e+00,  0.00000000e+00,
       -7.73970333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211579, -0.06180577,  0.06196514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39704678e-05,-2.73463247e-05,-1.55423363e-04,-4.24758383e-04,
  1.72331501e-05, 1.57948578e-04, 2.34572308e-04,-2.44015615e-04,
 -6.90684860e-05,-3.57319615e-04,-3.42509652e-05,-2.98159266e-04,
 -3.04814389e-02,-1.01988469e-03,-4.41240236e-04,-6.55865389e-04,
  4.82278134e-07,-1.28786688e-07,-1.21643167e+00, 8.88475862e-05,
  1.47914014e-03, 5.17527275e-07]


--- Step 39 ---
qpos:
[ 1.69856152e-03,-1.79262491e-03, 6.62007968e-03, 2.31973932e-02,
 -1.22331235e-03,-1.16029212e-03,-9.68011204e-03, 1.59391005e-02,
  3.21853704e-03, 9.27549205e-03,-5.14113948e-03, 1.44278924e-02,
  2.37645635e-01,-9.99897103e-04, 8.00897583e-02, 3.63767523e-02,
  9.49962591e-02,-6.99904067e-02, 1.20743839e-01, 9.99999982e-01,
 -9.86850081e-05, 3.69653994e-05, 1.58506664e-04]

qacc:
[  -5.60001497,  -6.67298095,  55.6443406 ,-177.03441102,   6.29067678,
  -20.69182654, 100.99236255,-212.94668626, -13.76548646, -18.05276318,
   80.82297462,-170.68814129, -39.60604974,   6.03456566,  21.75281201,
  -83.53187659,  -0.54119273,  -0.74175712,  -1.63072487,  12.62288977,
   -9.44315979,   0.51283872]

qfrc_actuator:
[ 0.00143945,-0.00143147, 0.0054123 , 0.01903796,-0.00099414,-0.00111217,
 -0.00807802, 0.01301248, 0.00264164, 0.00789405,-0.00427798, 0.01175335,
  0.10092701,-0.00157294, 0.07746661, 0.02569136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013428214092574275
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.20087871e-14, -8.26783828e-14,  1.00000000e+00, -5.12678623e-27,
        1.00000000e+00,  8.26783828e-14, -1.00000000e+00,  0.00000000e+00,
       -6.20087871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900388, -0.05194987,  0.06196736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21853925e-05,-3.80560583e-05,-1.72161677e-04,-3.76053181e-04,
  3.63915574e-05, 1.41940833e-04, 2.03306877e-04,-3.00056518e-04,
 -8.12923716e-05,-3.65073710e-04,-2.40746276e-05,-2.81610094e-04,
 -2.29093910e-02,-8.62336308e-04,-4.19977160e-04,-5.27685133e-04,
  9.56477632e-07,-8.01654554e-08,-1.21642398e+00, 8.98311875e-05,
  1.48295585e-03, 5.45144201e-07]


--- Step 40 ---
qpos:
[ 1.72619220e-03,-1.81933273e-03, 6.72588868e-03, 2.35703754e-02,
 -1.24297744e-03,-1.18017885e-03,-9.83624239e-03, 1.61940071e-02,
  3.27036458e-03, 9.42978225e-03,-5.22275718e-03, 1.46591360e-02,
  2.39949903e-01,-1.01928469e-03, 8.20640409e-02, 3.69768519e-02,
  9.50008726e-02,-6.99989055e-02, 1.20821621e-01, 9.99999984e-01,
 -2.70607705e-05, 7.60937858e-05, 1.59717187e-04]

qacc:
[ -11.43487342,  -7.94923667,  61.18973544,-188.97950413,   2.18534607,
  -19.4037043 ,  94.75804135,-199.48854826, -11.80780604, -19.7207001 ,
   81.24581549,-155.32578901, -30.22879843,  13.8198474 ,  32.02949194,
 -118.2672474 ,  -0.54450817,  -0.74809019,  -1.58736692,  12.68193757,
   -9.48392726,   0.51920015]

qfrc_actuator:
[ 0.00137407,-0.00143928, 0.00527427, 0.0186562 ,-0.00098285,-0.00107846,
 -0.00792706, 0.01272591, 0.0025735 , 0.00769524,-0.00417032, 0.01154262,
  0.10070393,-0.0015276 , 0.07730873, 0.02508424, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012586465828848675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.4103843e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.4103843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901714, -0.0519311 ,  0.06196941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.63829025e-05,-8.20073264e-05,-1.81935295e-04,-3.97703485e-04,
  1.23818782e-05, 1.44261886e-04, 1.96465471e-04,-2.79479097e-04,
 -7.01075194e-05,-4.25127469e-04, 1.82036441e-05,-2.33372115e-04,
 -1.72673308e-02,-6.21832963e-04,-3.98735363e-04,-6.89215304e-04,
  5.17334016e-07,-4.50902569e-07,-1.21642613e+00, 9.21661116e-05,
  1.48580915e-03, 4.76579234e-07]


--- Step 41 ---
qpos:
[ 1.75282261e-03,-1.84602688e-03, 6.82963224e-03, 2.39355257e-02,
 -1.26269886e-03,-1.19953217e-03,-9.98902311e-03, 1.64441826e-02,
  3.32098084e-03, 9.58048726e-03,-5.30243776e-03, 1.48864028e-02,
  2.42187414e-01,-1.04024922e-03, 8.40353251e-02, 3.75594406e-02,
  9.50032935e-02,-7.00104231e-02, 1.20893238e-01, 9.99999980e-01,
  7.00659552e-05, 9.61671267e-05, 1.61980718e-04]

qacc:
[  -8.8661969 , -10.32568371,  69.93606861,-202.22945855,  -0.40159871,
  -18.39744876,  86.59860433,-174.23703395, -10.51565134, -18.32438076,
   75.28704243,-144.61601284, -22.90903652,  11.54534936,  48.5914287 ,
 -176.32926336,  -0.54816518,  -0.75469085,  -1.54111294,  12.74968203,
   -9.52957323,   0.52721681]

qfrc_actuator:
[ 0.00132457,-0.00145126, 0.00516842, 0.01826476,-0.0009861 ,-0.00105071,
 -0.0077581 , 0.01249095, 0.0025127 , 0.00751641,-0.00407442, 0.01134396,
  0.10049189,-0.00149136, 0.07710048, 0.02418534, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011793499387730277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70692789e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.70692789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902962, -0.0519134 ,  0.06197134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14934669e-05,-1.13673922e-04,-1.60735293e-04,-4.10001794e-04,
 -2.84829340e-06, 1.39024775e-04, 2.14778609e-04,-2.27593797e-04,
 -6.24835710e-05,-4.27813607e-04, 9.39973922e-07,-2.21447288e-04,
 -1.30548996e-02,-4.77830548e-04,-4.57803278e-04,-9.87191453e-04,
  4.28302303e-08,-5.93476153e-07,-1.21642326e+00, 9.57288990e-05,
  1.48768959e-03, 2.65776629e-07]


--- Step 42 ---
qpos:
[ 1.77865010e-03,-1.87257526e-03, 6.93169350e-03, 2.42941156e-02,
 -1.28196107e-03,-1.21816188e-03,-1.01386085e-02, 1.66892322e-02,
  3.37082783e-03, 9.72787623e-03,-5.38047071e-03, 1.51098381e-02,
  2.44374254e-01,-1.06200414e-03, 8.60029116e-02, 3.81277116e-02,
  9.50059670e-02,-7.00179874e-02, 1.20960408e-01, 9.99999970e-01,
  1.33721130e-04, 1.18839165e-04, 1.64671607e-04]

qacc:
[-7.11993921e+00,-8.60619148e+00, 5.86846859e+01,-1.69674790e+02,
  4.12063249e+00,-1.85362322e+01, 8.91099255e+01,-1.83457920e+02,
 -6.64743196e+00,-1.68676271e+01, 6.99827884e+01,-1.36518728e+02,
 -1.75917536e+01, 1.34988953e+01, 3.78882083e+01,-1.40404229e+02,
  6.31335242e-02, 9.88300683e-01,-1.11192523e+00,-1.67355849e+01,
  1.30207503e+00, 2.11978921e-01]

qfrc_actuator:
[ 0.00128481,-0.00141227, 0.00510017, 0.01794179,-0.00096238,-0.00100888,
 -0.00759763, 0.01223499, 0.00247445, 0.00736873,-0.00398617, 0.011154  ,
  0.10029305,-0.00144253, 0.07692602, 0.02347674, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001109765925223008
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00041189e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00041189e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470746, -0.09281116,  0.06197303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13280056e-05,-7.65148559e-05,-1.27465127e-04,-3.42369788e-04,
  2.36905654e-05, 1.56119763e-04, 2.09233592e-04,-2.47173305e-04,
 -3.97250780e-05,-4.01102435e-04,-8.95224331e-06,-2.13222938e-04,
 -9.90597319e-03,-3.48897953e-04,-4.81632184e-04,-8.20332126e-04,
 -4.69218029e-07,-5.06319560e-07,-1.21641529e+00, 1.00525698e-04,
  1.48859154e-03,-8.85942695e-08]


--- Step 43 ---
qpos:
[ 1.80379781e-03,-1.89864074e-03, 7.03226256e-03, 2.46452760e-02,
 -1.30044434e-03,-1.23600339e-03,-1.02853787e-02, 1.69293221e-02,
  3.41949225e-03, 9.87164194e-03,-5.45668880e-03, 1.53289280e-02,
  2.46522444e-01,-1.08397947e-03, 8.79664619e-02, 3.86866343e-02,
  9.50088973e-02,-7.00216050e-02, 1.21023071e-01, 9.99999962e-01,
  1.63966542e-04, 1.44087908e-04, 1.67812745e-04]

qacc:
[-6.03735387e+00,-1.04847822e+01, 6.96941028e+01,-1.96273431e+02,
  6.91732362e+00,-1.70517526e+01, 8.32301191e+01,-1.74132957e+02,
 -1.02648422e+01,-1.87924562e+01, 7.84386223e+01,-1.53923361e+02,
 -1.36099628e+01, 1.46199436e+01, 2.23439384e+01,-8.67638327e+01,
  6.42039825e-02, 9.86692169e-01,-1.12653311e+00,-1.67046957e+01,
  1.29113255e+00, 2.22966946e-01]

qfrc_actuator:
[ 0.00125111,-0.00136059, 0.00503715, 0.01757301,-0.00092297,-0.00097676,
 -0.00746118, 0.01198647, 0.00241427, 0.0071699 ,-0.00390299, 0.0109352 ,
  0.10010309,-0.00138631, 0.0767667 , 0.02302813, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010455234589862167
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.30941231e-14,  1.06188246e-13,  1.00000000e+00,  5.63797181e-27,
        1.00000000e+00, -1.06188246e-13, -1.00000000e+00,  0.00000000e+00,
       -5.30941231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470637, -0.09282921,  0.06197459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49749332e-05,-3.32400837e-05,-1.08077393e-04,-3.84110192e-04,
  4.01456136e-05, 1.53938105e-04, 1.87342545e-04,-2.39572866e-04,
 -6.10087078e-05,-4.38894891e-04,-9.41754492e-06,-2.41093491e-04,
 -7.55253921e-03,-2.51836380e-04,-4.55882021e-04,-5.53292693e-04,
 -3.35754831e-07,-4.15235901e-07,-1.21642854e+00, 1.03675133e-04,
  1.48974341e-03,-2.90963410e-07]


--- Step 44 ---
qpos:
[ 1.82799888e-03,-1.92389986e-03, 7.13059260e-03, 2.49885843e-02,
 -1.31865622e-03,-1.25314683e-03,-1.04292856e-02, 1.71642251e-02,
  3.46672040e-03, 1.00117602e-02,-5.53210949e-03, 1.55437534e-02,
  2.48640952e-01,-1.10610943e-03, 8.99263036e-02, 3.92367460e-02,
  9.50120882e-02,-7.00212759e-02, 1.21081211e-01, 9.99999958e-01,
  1.60822262e-04, 1.71899499e-04, 1.71420790e-04]

qacc:
[-8.41299679e+00,-8.83561046e+00, 6.62270911e+01,-1.99176305e+02,
  2.45981633e+00,-1.77639295e+01, 8.65708213e+01,-1.81431529e+02,
 -1.25222756e+01,-1.58091061e+01, 6.74212999e+01,-1.39869980e+02,
 -1.04815772e+01, 1.16616740e+01, 2.11968491e+01,-8.20629293e+01,
  6.51796280e-02, 9.86665124e-01,-1.13098090e+00,-1.66946643e+01,
  1.28426429e+00, 2.30837581e-01]

qfrc_actuator:
[ 0.00120348,-0.00131945, 0.0049245 , 0.01718022,-0.00091014,-0.00095083,
 -0.00732229, 0.01172655, 0.00234166, 0.00695977,-0.00387695, 0.01071889,
  0.09991386,-0.00134365, 0.07660063, 0.02259427, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009842409629660098
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.63999603e-14,  1.12799921e-13,  1.00000000e+00,  6.36191104e-27,
        1.00000000e+00, -1.12799921e-13, -1.00000000e+00,  0.00000000e+00,
       -5.63999603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470532, -0.0928464 ,  0.06197608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86997704e-05,-1.73378079e-05,-1.47796392e-04,-4.06376214e-04,
  1.40207283e-05, 1.42294778e-04, 1.86865568e-04,-2.51678439e-04,
 -7.40750951e-05,-4.72516573e-04,-7.53448960e-05,-2.40764539e-04,
 -5.79952319e-03,-1.96791363e-04,-4.20334825e-04,-5.20119683e-04,
 -1.32379016e-07,-3.25486578e-07,-1.21643611e+00, 1.05176659e-04,
  1.49103624e-03,-4.10693814e-07]


--- Step 45 ---
qpos:
[ 1.85178408e-03,-1.94848533e-03, 7.22675508e-03, 2.53251982e-02,
 -1.33726233e-03,-1.26961641e-03,-1.05706491e-02, 1.73942075e-02,
  3.51306339e-03, 1.01485967e-02,-5.60709480e-03, 1.57539361e-02,
  2.50736469e-01,-1.12865481e-03, 9.18827019e-02, 3.97766900e-02,
  9.50155435e-02,-7.00169963e-02, 1.21134832e-01, 9.99999956e-01,
  1.24281515e-04, 2.02266095e-04, 1.75507304e-04]

qacc:
[-3.74064789e+00,-6.83438654e+00, 5.39329159e+01,-1.66839948e+02,
 -3.39865106e+00,-1.63417888e+01, 8.03491958e+01,-1.70093032e+02,
 -7.70188599e+00,-1.51017491e+01, 6.71811597e+01,-1.45847837e+02,
 -8.00313121e+00, 6.20037973e+00, 2.56883584e+01,-9.72218405e+01,
  6.60651673e-02, 9.87646036e-01,-1.12959904e+00,-1.66980552e+01,
  1.28040256e+00, 2.36158148e-01]

qfrc_actuator:
[ 0.00118355,-0.00128514, 0.00481892, 0.01684745,-0.00093083,-0.00092883,
 -0.00720086, 0.01147974, 0.00229781, 0.00681533,-0.00384938, 0.01048798,
  0.09972566,-0.00132686, 0.07642531, 0.02208368, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009259378481739355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99756357e-14,  5.99512714e-14,  1.00000000e+00, -1.79707747e-27,
        1.00000000e+00, -5.99512714e-14, -1.00000000e+00,  0.00000000e+00,
        2.99756357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470429, -0.09286275,  0.0619775 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13903900e-05,-2.44285312e-05,-1.43067653e-04,-3.47474485e-04,
 -2.02383585e-05, 1.31175427e-04, 1.66490278e-04,-2.39304030e-04,
 -4.56986736e-05,-4.39098665e-04,-8.88378790e-05,-2.59063820e-04,
 -4.49380875e-03,-1.70861142e-04,-4.10728460e-04,-5.90632262e-04,
  1.47340026e-07,-2.39704154e-07,-1.21643803e+00, 1.05031265e-04,
  1.49247073e-03,-4.47711149e-07]


--- Step 46 ---
qpos:
[ 1.87548834e-03,-1.97254116e-03, 7.32118813e-03, 2.56551740e-02,
 -1.35493658e-03,-1.28571107e-03,-1.07093265e-02, 1.76198136e-02,
  3.55852742e-03, 1.02825465e-02,-5.68092427e-03, 1.59596019e-02,
  2.52813988e-01,-1.15207931e-03, 9.38358498e-02, 4.03059418e-02,
  9.50192662e-02,-7.00087590e-02, 1.21183958e-01, 9.99999955e-01,
  5.43153271e-05, 2.35184701e-04, 1.80079768e-04]

qacc:
[-7.79150580e-01,-8.13984320e+00, 5.80637786e+01,-1.70581647e+02,
  8.26368430e+00,-1.60380440e+01, 7.63553894e+01,-1.56644291e+02,
 -7.63074149e+00,-1.63348250e+01, 7.18038039e+01,-1.49736379e+02,
 -6.02177747e+00,-6.96286941e-01, 2.75533748e+01,-1.03347592e+02,
  6.68793495e-02, 9.89403944e-01,-1.12392918e+00,-1.67125452e+01,
  1.27896873e+00, 2.39436178e-01]

qfrc_actuator:
[ 0.00118008,-0.00125513, 0.00473617, 0.01651715,-0.00088231,-0.0009272 ,
 -0.00707299, 0.01126037, 0.0022535 , 0.00672916,-0.00376761, 0.01026815,
  0.09953854,-0.00134303, 0.07626585, 0.02154971, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008706081553820078
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18806750e-14,  6.37613499e-14,  1.00000000e+00,  2.03275487e-27,
        1.00000000e+00, -6.37613499e-14, -1.00000000e+00,  0.00000000e+00,
       -3.18806750e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0947033 , -0.09287826,  0.06197884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15563262e-06,-2.91583270e-05,-1.19060924e-04,-3.43969506e-04,
  4.79962094e-05, 1.00855231e-04, 1.68535760e-04,-2.12805953e-04,
 -4.53561956e-05,-3.65585111e-04,-2.99759463e-05,-2.47362699e-04,
 -3.52145388e-03,-1.64804220e-04,-3.98794347e-04,-6.16793097e-04,
  5.08045979e-07,-1.58145070e-07,-1.21643430e+00, 1.03238599e-04,
  1.49404742e-03,-4.01953647e-07]


--- Step 47 ---
qpos:
[ 1.89827496e-03,-1.99606686e-03, 7.41386292e-03, 2.59786075e-02,
 -1.37154691e-03,-1.30176748e-03,-1.08449588e-02, 1.78417412e-02,
  3.60345901e-03, 1.04137952e-02,-5.75346191e-03, 1.61620215e-02,
  2.54877187e-01,-1.17558840e-03, 9.57855396e-02, 4.08227309e-02,
  9.50219126e-02,-7.00001308e-02, 1.21230696e-01, 9.99999949e-01,
 -1.90144749e-05, 2.58732434e-04, 1.84876936e-04]

qacc:
[-8.13672498e+00,-7.84691968e+00, 5.66405758e+01,-1.67481371e+02,
  9.44113451e+00,-1.60510247e+01, 7.28051440e+01,-1.41335372e+02,
 -4.58733157e+00,-1.38583885e+01, 5.79541035e+01,-1.14234499e+02,
 -5.08676263e+00, 5.98000824e+00, 3.26048471e+01,-1.21465711e+02,
 -2.69105248e-01, 9.77323247e-02,-5.96787421e-01,-1.68267677e+00,
 -4.68512747e+00, 1.12211553e-01]

qfrc_actuator:
[ 0.00113305,-0.00122782, 0.00464977, 0.01619097,-0.00082893,-0.00093776,
 -0.00692465, 0.01107664, 0.002227  , 0.00662562,-0.0036897 , 0.01010995,
  0.09935245,-0.00132508, 0.07606809, 0.02091752, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008183876520773522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.79832576e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.79832576e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10193467, -0.07224612,  0.06198011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.72162507e-05,-2.93726703e-05,-1.20563842e-04,-3.39145983e-04,
  5.47798089e-05, 7.32548961e-05, 1.83874712e-04,-1.77881970e-04,
 -2.75127343e-05,-3.29097404e-04,-1.09785767e-05,-1.80298905e-04,
 -2.79755404e-03,-1.01406243e-04,-4.35020101e-04,-7.15008077e-04,
  9.53097641e-07,-7.87069700e-08,-1.21642491e+00, 9.97972092e-05,
  1.49576668e-03,-2.73366531e-07]


--- Step 48 ---
qpos:
[ 1.91997440e-03,-2.01921996e-03, 7.50484390e-03, 2.62952680e-02,
 -1.38807792e-03,-1.31770577e-03,-1.09776791e-02, 1.80590452e-02,
  3.64773121e-03, 1.05419443e-02,-5.82406628e-03, 1.63606191e-02,
  2.56928898e-01,-1.19936418e-03, 9.77316631e-02, 4.13233093e-02,
  9.50221869e-02,-6.99948289e-02, 1.21274292e-01, 9.99999946e-01,
 -6.45799243e-05, 2.61363794e-04, 1.90628827e-04]

qacc:
[  -9.62241508,  -8.70763847,  60.38544785,-175.20898094,   0.7837717 ,
  -17.5028271 ,  82.15595802,-166.92644339,  -5.67411953, -17.36176572,
   72.11678591,-139.10076622,  -3.99617896,   2.9072658 ,  43.78013465,
 -160.80444319,  -0.5929993 ,  -0.83158146,  -0.78573399,  13.8801186 ,
  -10.46076097,   0.48075389]

qfrc_actuator:
[ 0.00107852,-0.00122009, 0.00456193, 0.01585206,-0.00082641,-0.0009377 ,
 -0.00678322, 0.01084433, 0.00219345, 0.00645935,-0.00359697, 0.00991826,
  0.09917795,-0.00132261, 0.07584747, 0.02009043, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007751683799194914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.16117332e-14, -7.16117332e-14,  1.00000000e+00, -5.12824034e-27,
        1.00000000e+00,  7.16117332e-14, -1.00000000e+00,  0.00000000e+00,
       -7.16117332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909192, -0.05182244,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.59472795e-05,-4.91778468e-05,-1.22053436e-04,-3.51820849e-04,
  4.11088329e-06, 7.30835221e-05, 1.74334375e-04,-2.26429135e-04,
 -3.40588775e-05,-3.64517574e-04, 1.60723464e-05,-2.10256587e-04,
 -2.24626575e-03,-9.32030627e-05,-4.83896999e-04,-9.19651251e-04,
  9.59648095e-07,-7.43943303e-08,-1.21642502e+00, 9.61603781e-05,
  1.49695045e-03,-1.65436880e-08]


--- Step 49 ---
qpos:
[ 1.94153967e-03,-2.04218444e-03, 7.59414693e-03, 2.66050634e-02,
 -1.40444985e-03,-1.33327821e-03,-1.11076806e-02, 1.82708167e-02,
  3.69057396e-03, 1.06676405e-02,-5.89297631e-03, 1.65549504e-02,
  2.58971176e-01,-1.22349710e-03, 9.96743006e-02, 4.18086166e-02,
  9.50200896e-02,-6.99928404e-02, 1.21314603e-01, 9.99999948e-01,
 -8.24961496e-05, 2.43207563e-04, 1.97378062e-04]

qacc:
[  -1.23980061,  -9.20174975,  62.15528983,-178.4347258 ,   1.4737324 ,
  -18.50771651,  90.04894687,-190.41910398, -12.44863127, -16.74077364,
   73.0409921 ,-147.83211494,  -3.22014915,   1.06596399,  41.05227395,
 -151.09428777,  -0.59292851,  -0.82833474,  -0.82093257,  13.82249983,
  -10.39646366,   0.50161371]

qfrc_actuator:
[ 0.00107328,-0.00122417, 0.00447384, 0.01550836,-0.00081833,-0.00091361,
 -0.00664702, 0.01056754, 0.00212051, 0.0063812 ,-0.00349649, 0.00970834,
  0.09899468,-0.00132921, 0.07568784, 0.01933266, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007333194684587124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.56984556e-14, -2.27095367e-13,  1.00000000e+00, -1.71907685e-26,
        1.00000000e+00,  2.27095367e-13, -1.00000000e+00,  0.00000000e+00,
       -7.56984556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909827, -0.051813  ,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.91024022e-06,-7.28878281e-05,-1.26970966e-04,-3.57737714e-04,
  8.22571055e-06, 9.29228248e-05, 1.66190587e-04,-2.72187196e-04,
 -7.36649429e-05,-2.91810065e-04, 1.88130699e-05,-2.29631898e-04,
 -1.84522919e-03,-8.49452393e-05,-4.66543556e-04,-8.67622911e-04,
  6.65644083e-07,-3.98536139e-08,-1.21643472e+00, 9.38630697e-05,
  1.49703703e-03, 2.29942345e-07]


--- Step 50 ---
qpos:
[ 1.96287248e-03,-2.06492819e-03, 7.68136221e-03, 2.69086824e-02,
 -1.42059785e-03,-1.34813993e-03,-1.12355520e-02, 1.84789977e-02,
  3.73256099e-03, 1.07912428e-02,-5.96033710e-03, 1.67448601e-02,
  2.61005496e-01,-1.24733329e-03, 1.01613214e-01, 4.22842317e-02,
  9.50156188e-02,-6.99941572e-02, 1.21351533e-01, 9.99999955e-01,
 -7.28408880e-05, 2.04354013e-04, 2.05156699e-04]

qacc:
[  -2.11701139,  -6.59274287,  50.0097584 ,-153.73938633,   2.02000538,
  -12.40923935,  60.76388444,-126.83236289,  -7.42503006, -16.19037824,
   72.40662707,-149.90239924,  -3.01672278,   7.07716201,  23.82376631,
  -91.32420444,  -0.59335283,  -0.8263521 ,  -0.84542301,  13.78357517,
  -10.35142325,   0.51719918]

qfrc_actuator:
[ 0.00106159,-0.00121754, 0.00436852, 0.01520009,-0.00080702,-0.00085764,
 -0.00653269, 0.01039109, 0.00207821, 0.00630326,-0.00340966, 0.00948947,
  0.09880638,-0.00130554, 0.07555427, 0.01887057, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006931494486057677
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00854005e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.00854005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910441, -0.05180396,  0.06198315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19707986e-05,-7.66661919e-05,-1.49880989e-04,-3.23588849e-04,
  1.15729300e-05, 1.32219439e-04, 1.45815733e-04,-1.72166270e-04,
 -4.41218626e-05,-2.51149886e-04, 1.98748986e-05,-2.35745778e-04,
 -1.55201828e-03,-4.18818597e-05,-4.27278080e-04,-5.66938181e-04,
  3.64684422e-07, 2.55541752e-07,-1.21643835e+00, 9.29044492e-05,
  1.49606031e-03, 3.13486364e-07]


--- Step 51 ---
qpos:
[ 1.98355259e-03,-2.08708600e-03, 7.76613122e-03, 2.72062055e-02,
 -1.43682978e-03,-1.36236678e-03,-1.13607669e-02, 1.86834130e-02,
  3.77441181e-03, 1.09117622e-02,-6.02545113e-03, 1.69310826e-02,
  2.63032949e-01,-1.27115143e-03, 1.03548205e-01, 4.27554998e-02,
  9.50087711e-02,-6.99987758e-02, 1.21385019e-01, 9.99999966e-01,
 -3.56593293e-05, 1.44860677e-04, 2.13988314e-04]

qacc:
[  -5.82895054,  -4.93430449,  44.46913681,-146.51250675,  -0.66696864,
  -14.33567555,  68.23573676,-138.12984434,  -1.07362122, -17.94729544,
   73.65155198,-138.79850723,  -2.49054345,   3.67168336,   7.35821693,
  -34.1457956 ,  -0.59421721,  -0.82543001,  -0.86101162,  13.7609233 ,
  -10.32275501,   0.5285495 ]

qfrc_actuator:
[ 0.00102843,-0.0011691 , 0.00425394, 0.01489739,-0.00081167,-0.00081854,
 -0.00639646, 0.0102041 , 0.00207206, 0.00610179,-0.00331379, 0.00930259,
  0.09860994,-0.00129974, 0.07540985, 0.01867517, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006547617857022986
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.47806828e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.47806828e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911031, -0.05179532,  0.06198409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35842671e-05,-4.01988280e-05,-1.61524254e-04,-3.18295886e-04,
 -4.26996441e-06, 1.37359859e-04, 1.76747897e-04,-1.79775988e-04,
 -7.12957020e-06,-3.51902854e-04, 3.72416867e-05,-2.02084682e-04,
 -1.34089933e-03,-4.93576695e-05,-3.87068726e-04,-2.78542457e-04,
  4.64031820e-08, 8.16081606e-07,-1.21643598e+00, 9.32796010e-05,
  1.49402281e-03, 2.35375806e-07]


--- Step 52 ---
qpos:
[ 2.00401791e-03,-2.10871098e-03, 7.84873978e-03, 2.74984467e-02,
 -1.45299091e-03,-1.37624520e-03,-1.14831706e-02, 1.88833293e-02,
  3.81552505e-03, 1.10295800e-02,-6.08923972e-03, 1.71132763e-02,
  2.65054320e-01,-1.29512567e-03, 1.05479346e-01, 4.32234254e-02,
  9.49995416e-02,-7.00066960e-02, 1.21415028e-01, 9.99999972e-01,
  2.90316924e-05, 6.47571764e-05, 2.23889629e-04]

qacc:
[  -1.96862979,  -4.13441873,  38.06658188,-126.42813067,   0.70177085,
  -16.65954747,  79.0654887 ,-161.68838749,  -6.38379337, -15.5608263 ,
   67.33376382,-137.21908807,  -2.12303997,   1.5337465 ,   4.42245512,
  -23.72619804,  -0.59546987,  -0.82539624,  -0.86925738,  13.75244834,
  -10.30804355,   0.53647558]

qfrc_actuator:
[ 0.00101841,-0.00113152, 0.00415276, 0.01463592,-0.00080792,-0.00082527,
 -0.00626624, 0.00997689, 0.00203395, 0.00597006,-0.00324933, 0.00910043,
  0.09840881,-0.0013045 , 0.07523245, 0.01851405, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006182213594524977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97917071e-14, -1.79583414e-13,  1.00000000e+00, -1.61251013e-26,
        1.00000000e+00,  1.79583414e-13, -1.00000000e+00,  0.00000000e+00,
       -8.97917071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911597, -0.05178709,  0.06198497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10478270e-05,-3.28353325e-05,-1.41814316e-04,-2.75780255e-04,
  3.68189257e-06, 1.00410426e-04, 1.75329270e-04,-2.18847813e-04,
 -3.80706991e-05,-3.33374907e-04,-1.16522153e-05,-2.20414107e-04,
 -1.18886247e-03,-5.34262903e-05,-3.70071996e-04,-2.23162445e-04,
 -2.97734128e-07, 1.64336893e-06,-1.21642767e+00, 9.49855326e-05,
  1.49092597e-03,-3.65211997e-09]


--- Step 53 ---
qpos:
[ 2.02420240e-03,-2.13005587e-03, 7.92981245e-03, 2.77852530e-02,
 -1.46863653e-03,-1.38971478e-03,-1.16030414e-02, 1.90793216e-02,
  3.85586850e-03, 1.11450489e-02,-6.15160342e-03, 1.72905307e-02,
  2.67070258e-01,-1.31936479e-03, 1.07407249e-01, 4.36854332e-02,
  9.49905259e-02,-7.00103231e-02, 1.21443103e-01, 9.99999971e-01,
  5.79333518e-05,-1.22224923e-05, 2.33771915e-04]

qacc:
[-2.52527799e+00,-6.52880918e+00, 4.67661112e+01,-1.38588662e+02,
  4.59909157e+00,-1.46244650e+01, 6.94826309e+01,-1.41732613e+02,
 -6.66927356e+00,-1.72470260e+01, 7.78683741e+01,-1.63934035e+02,
 -1.83533941e+00, 1.68650051e-01, 1.31172035e+01,-5.28336276e+01,
  5.34673335e-02, 1.07328096e+00,-4.83634246e-01,-1.78943303e+01,
  1.56592212e+00,-1.07176935e-02]

qfrc_actuator:
[ 0.00100434,-0.00111839, 0.00407805, 0.01436531,-0.00078149,-0.00080622,
 -0.00614083, 0.00978105, 0.00199509, 0.00588102,-0.00316817, 0.00885541,
  0.09822101,-0.00131542, 0.07506735, 0.01821446, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005860989341422984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73564683e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.73564683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470048, -0.09295889,  0.06198576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44531254e-05,-4.72518791e-05,-1.09884406e-04,-2.83081043e-04,
  2.65695238e-05, 1.03536735e-04, 1.61326882e-04,-1.89869989e-04,
 -3.97127646e-05,-2.91128841e-04, 2.23085793e-06,-2.64510129e-04,
 -1.06268810e-03,-5.49327712e-05,-3.44421197e-04,-3.56507203e-04,
 -6.75208312e-07, 2.73660986e-06,-1.21641343e+00, 9.80208806e-05,
  1.48677026e-03,-4.03317977e-07]


--- Step 54 ---
qpos:
[ 2.04405956e-03,-2.15075905e-03, 8.00920776e-03, 2.80658411e-02,
 -1.48384380e-03,-1.40267926e-03,-1.17207253e-02, 1.92707600e-02,
  3.89578401e-03, 1.12579330e-02,-6.21249616e-03, 1.74641769e-02,
  2.69081233e-01,-1.34254239e-03, 1.09331566e-01, 4.41390691e-02,
  9.49817348e-02,-7.00096889e-02, 1.21469003e-01, 9.99999965e-01,
  5.12560447e-05,-8.62051425e-05, 2.43781710e-04]

qacc:
[-2.94505508e+00,-7.26848844e+00, 5.34044999e+01,-1.58824891e+02,
  3.90806711e+00,-1.48263847e+01, 7.30503469e+01,-1.55727136e+02,
 -3.66433372e+00,-1.49524634e+01, 6.36041192e+01,-1.26520492e+02,
 -2.36938015e+00, 1.34976987e+01, 2.00335246e+01,-7.77633556e+01,
  5.61205764e-02, 1.06530792e+00,-5.43547098e-01,-1.77891315e+01,
  1.50267156e+00, 6.38858445e-02]

qfrc_actuator:
[ 0.00098799,-0.00106664, 0.00400172, 0.01405598,-0.00075968,-0.00078964,
 -0.0060369 , 0.009552  , 0.00197385, 0.00574731,-0.00309539, 0.00867597,
  0.09804138,-0.00125886, 0.07485112, 0.01778245, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005594084123530241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470057, -0.09296656,  0.0619864 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68309083e-05,-1.03860491e-05,-1.10780071e-04,-3.21444631e-04,
  2.25991741e-05, 1.01127468e-04, 1.39735718e-04,-2.22868030e-04,
 -2.21275724e-05,-3.11117403e-04, 2.79256046e-06,-1.97492095e-04,
 -9.60884751e-04, 1.64987098e-05,-4.00658311e-04,-4.93544808e-04,
  1.69497187e-07, 2.24005199e-06,-1.21642304e+00, 9.94681921e-05,
  1.48319841e-03,-3.04391810e-07]


--- Step 55 ---
qpos:
[ 2.06356474e-03,-2.17056112e-03, 8.08662241e-03, 2.83401652e-02,
 -1.49832630e-03,-1.41514298e-03,-1.18364976e-02, 1.94576358e-02,
  3.93514098e-03, 1.13682339e-02,-6.27263166e-03, 1.76350516e-02,
  2.71087639e-01,-1.36384728e-03, 1.11252038e-01, 4.45824191e-02,
  9.49731760e-02,-7.00048169e-02, 1.21492543e-01, 9.99999955e-01,
  9.15609973e-06,-1.57293509e-04, 2.54039213e-04]

qacc:
[-3.17568942e+00,-6.17123019e+00, 5.01830552e+01,-1.56099955e+02,
  6.41548831e+00,-1.40851114e+01, 7.04268001e+01,-1.52799782e+02,
 -4.83133252e+00,-1.12293419e+01, 4.68027637e+01,-9.40982105e+01,
 -2.67555389e+00, 2.15595347e+01, 2.54430007e+01,-9.72372190e+01,
  5.81126545e-02, 1.05945750e+00,-5.89960294e-01,-1.77109548e+01,
  1.45146558e+00, 1.25306615e-01]

qfrc_actuator:
[ 0.00097044,-0.00100995, 0.00390742, 0.01374413,-0.00072303,-0.00077481,
 -0.00594654, 0.00932298, 0.00194539, 0.00560573,-0.00306375, 0.00853652,
  0.0978668 ,-0.00116304, 0.074631  , 0.01725804, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005332440496669255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.08201672e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.08201672e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470056, -0.09297405,  0.06198704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80903107e-05, 1.33600964e-05,-1.22548068e-04,-3.23150602e-04,
  3.73379320e-05, 9.21236684e-05, 1.21855281e-04,-2.24331573e-04,
 -2.88563192e-05,-3.27090136e-04,-4.00717254e-05,-1.57027103e-04,
 -8.77960233e-04, 6.08624026e-05,-4.43488586e-04,-6.00293146e-04,
  1.01339087e-06, 1.78653037e-06,-1.21642611e+00, 9.91522552e-05,
  1.47976971e-03,-1.21384073e-07]


--- Step 56 ---
qpos:
[ 2.08270670e-03,-2.19002514e-03, 8.16303035e-03, 2.86086072e-02,
 -1.51260150e-03,-1.42736477e-03,-1.19499817e-02, 1.96416987e-02,
  3.97385710e-03, 1.14759975e-02,-6.33170135e-03, 1.78032339e-02,
  2.73089807e-01,-1.38453135e-03, 1.13169315e-01, 4.50171681e-02,
  9.49674863e-02,-7.00015185e-02, 1.21515283e-01, 9.99999944e-01,
 -1.93351267e-05,-2.04452295e-04, 2.62609237e-04]

qacc:
[  -3.23377357,  -8.85237999,  57.05174494,-157.50693018,   1.88715433,
  -11.86863572,  54.65457678,-107.17135711,  -5.54350682, -11.86707954,
   48.83413691, -95.29350454,  -1.89037385,   8.66929333,  21.29962509,
  -81.36020278,   0.71724037,  -0.39341002,  -0.20018951,   6.80726578,
   11.96305366,  -0.84491861]

qfrc_actuator:
[ 0.00095231,-0.00100405, 0.00385656, 0.01345104,-0.00071343,-0.00076123,
 -0.00582941, 0.00918456, 0.00191291, 0.00549596,-0.00300342, 0.00840391,
  0.09768475,-0.00113365, 0.07451522, 0.01684324, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005095945498738846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195287, -0.0617155 ,  0.06198761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86856321e-05,-2.66642844e-05,-7.56753581e-05,-3.03786034e-04,
  1.06982105e-05, 8.20612128e-05, 1.44493372e-04,-1.34752260e-04,
 -3.30875380e-05,-3.11241446e-04,-1.85261609e-05,-1.51550182e-04,
 -8.22395052e-04,-1.78139227e-06,-3.69101811e-04,-5.01764967e-04,
  1.89127291e-06, 1.36471232e-06,-1.21642277e+00, 9.70826220e-05,
  1.47648843e-03, 1.46541765e-07]


--- Step 57 ---
qpos:
[ 2.10148135e-03,-2.20941920e-03, 8.23862161e-03, 2.88717999e-02,
 -1.52665014e-03,-1.43955681e-03,-1.20613245e-02, 1.98227050e-02,
  4.01154391e-03, 1.15813688e-02,-6.38966363e-03, 1.79681413e-02,
  2.75087963e-01,-1.40503701e-03, 1.15083680e-01, 4.54418376e-02,
  9.49646408e-02,-6.99997930e-02, 1.21536973e-01, 9.99999937e-01,
 -3.43671581e-05,-2.27817274e-04, 2.69567095e-04]

qacc:
[  -3.25882022,  -8.43371523,  52.37273805,-141.97844865,   2.05501447,
  -12.24051235,  56.60188551,-112.94393631,  -8.95008394, -12.98474272,
   55.56787012,-112.29434602,  -1.57315954,   4.10804649,  26.18213455,
  -97.8469919 ,   0.71106558,  -0.3932135 ,  -0.26246425,   6.73255661,
   11.89515125,  -0.80723006]

qfrc_actuator:
[ 0.000934  ,-0.00101068, 0.00381384, 0.0131891 ,-0.00070208,-0.00078384,
 -0.00573286, 0.00902957, 0.00186057, 0.00538852,-0.00294423, 0.00824094,
  0.09750366,-0.00112587, 0.07436624, 0.01633686, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004885662954876996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.27241018e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.27241018e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194899, -0.06171366,  0.06198813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89073444e-05,-5.10480478e-05,-6.93432931e-05,-2.72348367e-04,
  1.16779949e-05, 4.87161681e-05, 1.27696044e-04,-1.49225303e-04,
 -5.30737308e-05,-2.95288357e-04,-1.35321116e-05,-1.80377180e-04,
 -7.82168700e-04,-2.33984061e-05,-3.60548712e-04,-5.79089896e-04,
  9.72033129e-07, 8.05926874e-07,-1.21643233e+00, 9.58594432e-05,
  1.47404199e-03, 1.09612060e-07]


--- Step 58 ---
qpos:
[ 2.11954409e-03,-2.22858139e-03, 8.31283295e-03, 2.91291188e-02,
 -1.54010857e-03,-1.45172229e-03,-1.21705299e-02, 1.99994083e-02,
  4.04797172e-03, 1.16838840e-02,-6.44655195e-03, 1.81298656e-02,
  2.77082282e-01,-1.42527578e-03, 1.16995184e-01, 4.58551065e-02,
  9.49646210e-02,-6.99996402e-02, 1.21557419e-01, 9.99999936e-01,
 -3.60553848e-05,-2.27490626e-04, 2.74972297e-04]

qacc:
[  -6.30857778,  -7.92587851,  53.5187665 ,-153.16209186,   5.24840736,
  -14.80565665,  70.99494394,-148.89193024, -10.95590696, -13.31125572,
   55.46184605,-110.21182204,  -1.56374987,   4.942453  ,  30.25624135,
 -111.98570347,   0.70643925,  -0.39319113,  -0.31081812,   6.67491846,
   11.84404148,  -0.777441  ]

qfrc_actuator:
[ 0.00089797,-0.00100695, 0.00374071, 0.0128943 ,-0.00067204,-0.00079255,
 -0.00563168, 0.00881275, 0.00179695, 0.00521233,-0.00290395, 0.00807916,
  0.09732862,-0.0011131 , 0.07421342, 0.0157627 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004677394440044391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18679645e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.18679645e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194519, -0.06171178,  0.06198863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66388646e-05,-5.16397423e-05,-1.02903103e-04,-3.05403275e-04,
  3.03936520e-05, 3.98645626e-05, 1.22853129e-04,-2.13346489e-04,
 -6.49169006e-05,-3.55246864e-04,-2.95050296e-05,-1.78879433e-04,
 -7.47020305e-04,-1.78933921e-05,-3.69979557e-04,-6.50293684e-04,
  3.55585515e-07, 3.53548401e-07,-1.21643804e+00, 9.52523580e-05,
  1.47280109e-03, 8.20313835e-08]


--- Step 59 ---
qpos:
[ 2.13668844e-03,-2.24769495e-03, 8.38510046e-03, 2.93809522e-02,
 -1.55344750e-03,-1.46348654e-03,-1.22775769e-02, 2.01724312e-02,
  4.08335939e-03, 1.17836031e-02,-6.50279927e-03, 1.82884069e-02,
  2.79072901e-01,-1.44552766e-03, 1.18902859e-01, 4.62609944e-02,
  9.49674137e-02,-7.00010609e-02, 1.21576475e-01, 9.99999940e-01,
 -2.44867402e-05,-2.03545188e-04, 2.78871879e-04]

qacc:
[  -8.13762381,  -5.78785602,  43.91170994,-135.80543565,   1.10842803,
  -13.0792202 ,  62.94268121,-130.38764516,  -9.05111286, -12.02491931,
   50.98325163,-105.07478306,  -1.35739171,   2.02035135,  16.66203733,
  -66.51081969,   0.70311018,  -0.39334759,  -0.34758473,   6.63151126,
   11.80759978,  -0.7538927 ]

qfrc_actuator:
[ 0.0008518 ,-0.00103269, 0.00363247, 0.01261801,-0.00066674,-0.00073967,
 -0.00551082, 0.00863231, 0.00174497, 0.00506733,-0.00287542, 0.00791931,
  0.09715201,-0.00111526, 0.07403177, 0.01540175, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044731255747253174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24099246e-13,  2.48198493e-13,  1.00000000e+00, -3.08012459e-26,
        1.00000000e+00, -2.48198493e-13, -1.00000000e+00,  0.00000000e+00,
        1.24099246e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194148, -0.06170988,  0.06198913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.72773800e-05,-8.97761091e-05,-1.43384300e-04,-2.88699930e-04,
  6.18544660e-06, 9.27482309e-05, 1.37873018e-04,-1.78756383e-04,
 -5.36532069e-05,-3.60738286e-04,-5.55332061e-05,-1.80028036e-04,
 -7.22330145e-04,-3.17278537e-05,-4.11022103e-04,-4.42240935e-04,
  2.73701443e-08,-4.66389930e-09,-1.21643999e+00, 9.52590997e-05,
  1.47275824e-03, 6.30357853e-08]


--- Step 60 ---
qpos:
[ 2.15279992e-03,-2.26699318e-03, 8.45525794e-03, 2.96282347e-02,
 -1.56627396e-03,-1.47488939e-03,-1.23823452e-02, 2.03419383e-02,
  4.11785367e-03, 1.18810534e-02,-6.55857442e-03, 1.84440789e-02,
  2.81059884e-01,-1.46458801e-03, 1.20806497e-01, 4.66587687e-02,
  9.49730099e-02,-7.00040562e-02, 1.21594032e-01, 9.99999948e-01,
  2.75527167e-07,-1.56028328e-04, 2.81303051e-04]

qacc:
[  -9.1444328 ,  -3.70416726,  32.0938735 ,-107.38080279,   4.56439349,
  -13.13579722,  62.36071829,-127.10463305,  -7.77835412, -10.21256898,
   44.20435731, -92.98226722,  -2.03223387,  14.1105235 ,  18.58110629,
  -73.64947913,   0.70086287,  -0.3936767 ,  -0.37483536,   6.59994836,
   11.78388891,  -0.73526   ]

qfrc_actuator:
[ 0.00080004,-0.00105827, 0.00352204, 0.01239031,-0.00064054,-0.00072123,
 -0.00539678, 0.00845705, 0.00170025, 0.00499537,-0.00283619, 0.00777965,
  0.0969799 ,-0.00105519, 0.07381703, 0.01499175, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004274360712772235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29870067e-13, -2.59740134e-13,  1.00000000e+00, -3.37324686e-26,
        1.00000000e+00,  2.59740134e-13, -1.00000000e+00,  0.00000000e+00,
       -1.29870067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819379 , -0.06170799,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31813413e-05,-1.18557266e-04,-1.57831458e-04,-2.42816011e-04,
  2.64083248e-05, 9.24248094e-05, 1.45002397e-04,-1.70119155e-04,
 -4.60787688e-05,-2.96083071e-04,-4.91789844e-05,-1.60989586e-04,
 -6.99965947e-04, 3.06889711e-05,-4.36670157e-04,-4.84250684e-04,
 -2.23290687e-08,-2.78103587e-07,-1.21643823e+00, 9.58778681e-05,
  1.47390804e-03, 5.21139956e-08]


--- Step 61 ---
qpos:
[ 2.16850909e-03,-2.28649927e-03, 8.52405250e-03, 2.98708015e-02,
 -1.57868645e-03,-1.48622855e-03,-1.24847433e-02, 2.05077104e-02,
  4.15189346e-03, 1.19765600e-02,-6.61316379e-03, 1.85971090e-02,
  2.83043280e-01,-1.48171678e-03, 1.22706387e-01, 4.70487795e-02,
  9.49814041e-02,-7.00086282e-02, 1.21610012e-01, 9.99999956e-01,
  3.81879350e-05,-8.49652812e-05, 2.82295305e-04]

qacc:
[  -3.57818794,  -6.17384058,  41.53044744,-120.82275373,   3.70709838,
  -14.23437623,  66.63613522,-135.10674147,  -3.91420356, -11.31677696,
   47.79093656, -93.99686876,  -2.45874903,  21.48833549,  17.95557615,
  -70.82716825,   0.69951821,  -0.39416842,  -0.39432927,   6.57826946,
   11.77124284,  -0.72048815]

qfrc_actuator:
[ 0.00078091,-0.00104803, 0.00346448, 0.0121575 ,-0.00062   ,-0.00074132,
 -0.00528782, 0.00826844, 0.00167791, 0.00495008,-0.00275512, 0.00765305,
  0.0968053 ,-0.00095898, 0.0736465 , 0.01460926, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004082207674510757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71966326e-13, -2.71966326e-13,  1.00000000e+00, -7.39656827e-26,
        1.00000000e+00,  2.71966326e-13, -1.00000000e+00,  0.00000000e+00,
       -2.71966326e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193445, -0.06170614,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07250624e-05,-9.98128842e-05,-1.11046784e-04,-2.48739972e-04,
  2.13270826e-05, 5.55239677e-05, 1.41012663e-04,-1.83057582e-04,
 -2.34688915e-05,-2.31047426e-04, 7.48399689e-06,-1.44547624e-04,
 -6.83572639e-04, 6.89955143e-05,-4.07886290e-04,-4.62138110e-04,
  2.00706092e-07,-4.74203802e-07,-1.21643279e+00, 9.71073253e-05,
  1.47624686e-03, 4.89567388e-08]


--- Step 62 ---
qpos:
[ 2.18420988e-03,-2.30586242e-03, 8.59196241e-03, 3.01085977e-02,
 -1.59075618e-03,-1.49731918e-03,-1.25848075e-02, 2.06702542e-02,
  4.18540547e-03, 1.20706934e-02,-6.66664044e-03, 1.87466613e-02,
  2.85023137e-01,-1.49786432e-03, 1.24602814e-01, 4.74320661e-02,
  9.49900874e-02,-7.00088774e-02, 1.21624423e-01, 9.99999959e-01,
  3.98350452e-05,-1.12585941e-05, 2.83970688e-04]

qacc:
[-1.06801236e-01,-7.16728411e+00, 4.59650547e+01,-1.27217891e+02,
  3.07756063e+00,-1.28439322e+01, 5.98950443e+01,-1.19674350e+02,
 -4.56867971e+00,-1.20783123e+01, 5.51319554e+01,-1.16110829e+02,
 -1.89662786e+00, 1.19368783e+01, 1.52225078e+01,-6.06726570e+01,
  7.22715056e-02, 1.08071623e+00,-3.91934942e-01,-1.81322458e+01,
  1.32695175e+00, 3.43055547e-01]

qfrc_actuator:
[ 0.00078114,-0.00099846, 0.00343875, 0.01192362,-0.00060295,-0.00071338,
 -0.00516515, 0.00810897, 0.00165116, 0.00492138,-0.00268535, 0.00748196,
  0.09661869,-0.00091331, 0.07349729, 0.01428168, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039163025716743016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08718877e-14,  1.41743775e-13,  1.00000000e+00,  1.00456489e-26,
        1.00000000e+00, -1.41743775e-13, -1.00000000e+00,  0.00000000e+00,
       -7.08718877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09469926, -0.0930142 ,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32266816e-07,-4.05355902e-05,-6.97626051e-05,-2.47495242e-04,
  1.76701353e-05, 8.15277176e-05, 1.46135337e-04,-1.55899051e-04,
 -2.72161634e-05,-1.65617168e-04, 1.71757977e-05,-1.83968495e-04,
 -6.81894348e-04, 1.97482600e-05,-3.72342447e-04,-4.02640863e-04,
  6.93939176e-07,-5.99110757e-07,-1.21642368e+00, 9.89465772e-05,
  1.47977251e-03, 5.34159779e-08]


--- Step 63 ---
qpos:
[ 2.19978981e-03,-2.32471707e-03, 8.65914272e-03, 3.03409775e-02,
 -1.60252785e-03,-1.50790563e-03,-1.26827156e-02, 2.08295981e-02,
  4.21834152e-03, 1.21635344e-02,-6.71894081e-03, 1.88926302e-02,
  2.86999513e-01,-1.51398901e-03, 1.26495910e-01, 4.78077509e-02,
  9.49990609e-02,-7.00048224e-02, 1.21637094e-01, 9.99999957e-01,
  5.38503148e-06, 6.50984628e-05, 2.86300756e-04]

qacc:
[-1.09711998e+00,-8.44664143e+00, 5.39568811e+01,-1.46908339e+02,
  2.67489860e+00,-1.19505093e+01, 5.70810001e+01,-1.16273692e+02,
 -4.98988684e+00,-1.23663178e+01, 5.67619229e+01,-1.19734893e+02,
 -1.31249294e+00, 2.36465434e+00, 1.80670252e+01,-7.03520689e+01,
  7.25540367e-02, 1.07601906e+00,-4.35235022e-01,-1.80481811e+01,
  1.33032318e+00, 3.27493543e-01]

qfrc_actuator:
[ 0.00077501,-0.0009433 , 0.00341444, 0.01165553,-0.00058811,-0.00067457,
 -0.00505292, 0.0079502 , 0.00162202, 0.00486733,-0.00262277, 0.00730383,
  0.09643563,-0.00091555, 0.07332903, 0.01390035, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037725037545033313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47146709e-13,  4.41440127e-13,  1.00000000e+00,  6.49564619e-26,
        1.00000000e+00, -4.41440127e-13, -1.00000000e+00,  0.00000000e+00,
       -1.47146709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09469897, -0.09301828,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.20328366e-06, 6.79965822e-06,-5.09611279e-05,-2.77700057e-04,
  1.53793191e-05, 1.09122259e-04, 1.42612639e-04,-1.53366687e-04,
 -2.96916611e-05,-1.54022047e-04, 2.33480327e-05,-1.88639813e-04,
 -6.78860338e-04,-2.98524680e-05,-3.70055088e-04,-4.48888022e-04,
  8.16304323e-07,-3.29394041e-07,-1.21642633e+00, 9.90532161e-05,
  1.48342336e-03,-9.81822772e-08]


--- Step 64 ---
qpos:
[ 2.21586374e-03,-2.34279017e-03, 8.72533646e-03, 3.05686507e-02,
 -1.61402996e-03,-1.51788188e-03,-1.27788234e-02, 2.09858078e-02,
  4.25033264e-03, 1.22548524e-02,-6.76946773e-03, 1.90356532e-02,
  2.88972446e-01,-1.52997892e-03, 1.28385370e-01, 4.81743424e-02,
  9.50068673e-02,-7.00003410e-02, 1.21649874e-01, 9.99999949e-01,
 -3.26400511e-05, 1.31432883e-04, 2.88878669e-04]

qacc:
[ 4.29429464e+00,-5.91521556e+00, 4.24405850e+01,-1.22878180e+02,
  2.41160367e+00,-1.06796884e+01, 5.24767287e+01,-1.10042911e+02,
 -8.19935493e+00,-1.30207415e+01, 5.59708896e+01,-1.08701569e+02,
 -1.37101078e+00, 3.49325354e+00, 2.21232151e+01,-8.52017138e+01,
 -2.91783558e-01, 1.06634387e-01, 2.71522353e-02,-1.78897713e+00,
 -5.01080565e+00, 1.23834287e-01]

qfrc_actuator:
[ 0.00080067,-0.00088522, 0.00337341, 0.01142272,-0.00057467,-0.00064735,
 -0.00496547, 0.00779312, 0.00157396, 0.00479854,-0.0025295 , 0.00715846,
  0.09626016,-0.00091045, 0.07312282, 0.01343707, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003626544383962124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29603496e-13, -6.73882434e-07,  1.00000000e+00, -1.54725763e-19,
        1.00000000e+00,  6.73882434e-07, -1.00000000e+00,  0.00000000e+00,
       -2.29603496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10196704, -0.0722586 ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54497180e-05, 3.87869257e-05,-5.66053377e-05,-2.40309651e-04,
  1.39147052e-05, 1.12306076e-04, 1.23168589e-04,-1.50566226e-04,
 -4.86885280e-05,-1.61165200e-04, 5.70371265e-05,-1.55240927e-04,
 -6.70948265e-04,-2.41752844e-05,-4.12530885e-04,-5.33215114e-04,
  1.06093844e-06,-6.07856452e-08,-1.21642233e+00, 9.73784881e-05,
  1.48723108e-03,-1.60477580e-07]


--- Step 65 ---
qpos:
[ 2.23211942e-03,-2.36031664e-03, 8.79031470e-03, 3.07921410e-02,
 -1.62493656e-03,-1.52726756e-03,-1.28728550e-02, 2.11392459e-02,
  4.28115887e-03, 1.23450569e-02,-6.81891823e-03, 1.91758082e-02,
  2.90941945e-01,-1.54608564e-03, 1.30271446e-01, 4.85311166e-02,
  9.50121314e-02,-6.99993933e-02, 1.21661608e-01, 9.99999941e-01,
 -4.12478095e-05, 1.75691833e-04, 2.92557684e-04]

qacc:
[   1.54709989,  -4.50080266,  34.74484236,-105.58574744,   5.28329177,
  -10.73628081,  51.10045813,-102.8085004 , -10.15438794, -10.36698123,
   46.97301058, -97.55319234,  -1.21765711,   1.02275632,  24.6816377 ,
  -93.61664416,  -0.63556027,  -0.8834468 ,  -0.26118361,  14.70540041,
  -11.04200111,   0.55212365]

qfrc_actuator:
[ 0.00080935,-0.00087911, 0.00330516, 0.01121255,-0.00054441,-0.00060965,
 -0.00485788, 0.00765602, 0.00151514, 0.00475715,-0.00247214, 0.00701579,
  0.09607871,-0.00091883, 0.0729579 , 0.01294691, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003528742605217877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915478, -0.05172676,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.36758867e-06, 5.13573849e-06,-7.66165234e-05,-2.15768304e-04,
  3.06912577e-05, 1.20643791e-04, 1.41641462e-04,-1.31065953e-04,
 -5.99960203e-05,-1.29329433e-04, 2.49564990e-05,-1.51019053e-04,
 -6.70900102e-04,-3.75665136e-05,-3.98452591e-04,-5.69860321e-04,
  8.92037943e-07,-6.12457361e-08,-1.21642528e+00, 9.55041989e-05,
  1.49051662e-03,-3.22797247e-08]


--- Step 66 ---
qpos:
[ 2.24835183e-03,-2.37724966e-03, 8.85397830e-03, 3.10110174e-02,
 -1.63574022e-03,-1.53659999e-03,-1.29642899e-02, 2.12895323e-02,
  4.31104556e-03, 1.24338441e-02,-6.86744625e-03, 1.93132051e-02,
  2.92908010e-01,-1.56212553e-03, 1.32153473e-01, 4.88799394e-02,
  9.50148648e-02,-7.00019597e-02, 1.21672065e-01, 9.99999936e-01,
 -2.06293781e-05, 1.98053557e-04, 2.97367937e-04]

qacc:
[  -0.2588244 ,  -5.04673253,  38.60708555,-116.79298178,   0.98282893,
  -13.67418939,  62.16456219,-120.90086761,  -8.17908368, -10.115848  ,
   45.02346616, -93.22270054,  -1.33357855,   2.84237523,  18.05780175,
  -71.86531192,  -0.63270282,  -0.87852215,  -0.31961272,  14.60979162,
  -10.95291174,   0.56773388]

qfrc_actuator:
[ 0.00080794,-0.00085101, 0.00323895, 0.01098181,-0.00054001,-0.00063688,
 -0.00473921, 0.0074963 , 0.00146821, 0.0046614 ,-0.00243635, 0.00687585,
  0.09589913,-0.00091735, 0.07275395, 0.01255151, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034271291605988963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23951323e-13, -3.23951323e-13,  1.00000000e+00, -1.04944459e-25,
        1.00000000e+00,  3.23951323e-13, -1.00000000e+00,  0.00000000e+00,
       -3.23951323e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915623, -0.05172446,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18193698e-06, 5.22655547e-06,-8.31264386e-05,-2.37982747e-04,
  5.32103724e-06, 6.49832569e-05, 1.57372771e-04,-1.52316201e-04,
 -4.84129487e-05,-1.72311743e-04, 6.17292934e-06,-1.47951919e-04,
 -6.69534853e-04,-2.84970365e-05,-4.36091504e-04,-4.75576679e-04,
  3.76204743e-07,-3.52369524e-07,-1.21643488e+00, 9.50872128e-05,
  1.49267085e-03, 1.36793540e-07]


--- Step 67 ---
qpos:
[ 2.26444004e-03,-2.39341887e-03, 8.91652116e-03, 3.12253778e-02,
 -1.64675158e-03,-1.54603940e-03,-1.30533731e-02, 2.14360808e-02,
  4.34048771e-03, 1.25203438e-02,-6.91445002e-03, 1.94475744e-02,
  2.94870641e-01,-1.57729711e-03, 1.34031028e-01, 4.92236294e-02,
  9.50150762e-02,-7.00080252e-02, 1.21681052e-01, 9.99999934e-01,
  2.90668726e-05, 1.98658476e-04, 3.03334057e-04]

qacc:
[  -1.31833063,  -5.15982843,  38.92692745,-115.8565151 ,  -1.75045834,
  -14.40235315,  66.93825403,-135.32093807,  -3.80885633, -13.51147891,
   56.58561812,-109.75579727,  -1.83838471,  10.73651524,   8.92126402,
  -40.78643561,  -0.63048297,  -0.87476025,  -0.36711904,  14.5355594 ,
  -10.8827373 ,   0.58058882]

qfrc_actuator:
[ 0.00080061,-0.00079223, 0.00319229, 0.01075858,-0.00055086,-0.00066727,
 -0.00463299, 0.00730674, 0.00144642, 0.00449828,-0.00237826, 0.00672083,
  0.09572611,-0.00087458, 0.07254807, 0.01230377, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033213515902602575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34268443e-13, -1.67134221e-13,  1.00000000e+00, -5.58676960e-26,
        1.00000000e+00,  1.67134221e-13, -1.00000000e+00,  0.00000000e+00,
       -3.34268443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915778, -0.05172206,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.39639175e-06, 3.36645324e-05,-6.50975214e-05,-2.31108738e-04,
 -1.06754864e-05, 3.30042213e-05, 1.34602088e-04,-1.84408024e-04,
 -2.29697845e-05,-2.67423957e-04, 1.73896045e-05,-1.65458537e-04,
 -6.61586989e-04, 1.26839126e-05,-4.42460231e-04,-3.26939142e-04,
 -1.65027915e-07,-3.44976040e-07,-1.21643769e+00, 9.60823071e-05,
  1.49369840e-03, 1.28938103e-07]


--- Step 68 ---
qpos:
[ 2.28031456e-03,-2.40906072e-03, 8.97780968e-03, 3.14354226e-02,
 -1.65780769e-03,-1.55503478e-03,-1.31409319e-02, 2.15788568e-02,
  4.37013419e-03, 1.26047969e-02,-6.96096123e-03, 1.95787295e-02,
  2.96829912e-01,-1.59249092e-03, 1.35904825e-01, 4.95631718e-02,
  9.50127723e-02,-7.00175786e-02, 1.21688418e-01, 9.99999930e-01,
  1.07729504e-04, 1.77614742e-04, 3.10476216e-04]

qacc:
[  -1.92895753,  -4.6846128 ,  35.93499309,-109.00957773,  -0.35488898,
  -11.43654434,  57.5618961 ,-125.62374991,   1.83815141, -10.70431888,
   47.80717251,-102.71328168,  -1.2552978 ,   1.92503526,   6.98934925,
  -32.5114194 ,  -0.62882821,  -0.87199686,  -0.40549639,  14.4797895 ,
  -10.82870156,   0.59121088]

qfrc_actuator:
[ 0.00078987,-0.00078646, 0.00312221, 0.01054161,-0.00055284,-0.00062841,
 -0.00455279, 0.00711887, 0.00145734, 0.00438493,-0.00236103, 0.00655814,
  0.09555183,-0.00087887, 0.0723998 , 0.0121095 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003213403631928402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07967979e-13,  2.59123149e-13,  1.00000000e+00, -2.79770027e-26,
        1.00000000e+00, -2.59123149e-13, -1.00000000e+00,  0.00000000e+00,
        1.07967979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1091594 , -0.05171961,  0.06199219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09839883e-05, 5.71395243e-07,-8.01865934e-05,-2.22864595e-04,
 -2.27076519e-06, 7.82763224e-05, 9.80458868e-05,-1.85491147e-04,
  1.04292289e-05,-2.69190510e-04,-4.23206329e-05,-1.77155570e-04,
 -6.55173149e-04,-3.32811084e-05,-3.70218319e-04,-2.65780154e-04,
 -7.38907000e-07,-3.88963507e-08,-1.21643383e+00, 9.84813701e-05,
  1.49360508e-03,-5.36703712e-08]


--- Step 69 ---
qpos:
[ 2.29628073e-03,-2.42401364e-03, 9.03714604e-03, 3.16412497e-02,
 -1.66845676e-03,-1.56361454e-03,-1.32269084e-02, 2.17189581e-02,
  4.39968558e-03, 1.26873956e-02,-7.00677391e-03, 1.97072134e-02,
  2.98785846e-01,-1.60792126e-03, 1.37775633e-01, 4.98940165e-02,
  9.50107209e-02,-7.00226445e-02, 1.21695507e-01, 9.99999926e-01,
  1.48974777e-04, 1.59709591e-04, 3.17773458e-04]

qacc:
[ 7.29575234e-01,-2.32371699e+00, 2.74054810e+01,-9.77809921e+01,
  3.61533981e+00,-9.38408696e+00, 4.55396335e+01,-9.46560671e+01,
 -7.80748518e-01,-9.90309131e+00, 4.30352393e+01,-8.90250377e+01,
 -1.11601261e+00,-1.13910449e-01, 2.18761950e+01,-8.29550773e+01,
  6.31418423e-02, 1.12190479e+00,-6.91442079e-02,-1.87082047e+01,
  1.57510870e+00, 7.40500030e-02]

qfrc_actuator:
[ 0.00079496,-0.0007593 , 0.00302088, 0.01032999,-0.00053183,-0.00060176,
 -0.00447056, 0.00698681, 0.00145191, 0.00431987,-0.00231463, 0.00642774,
  0.09537691,-0.00089311, 0.07223293, 0.01166433, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031627466903956514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.77578204e-14,  1.75515641e-13,  1.00000000e+00,  1.54028701e-26,
        1.00000000e+00, -1.75515641e-13, -1.00000000e+00,  0.00000000e+00,
       -8.77578204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0946992 , -0.09303597,  0.06199231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73131863e-06, 6.90300207e-07,-1.19809766e-04,-2.19272697e-04,
  2.09799898e-05, 8.37591256e-05, 1.04870431e-04,-1.29028136e-04,
 -4.97090582e-06,-2.34634204e-04,-2.12526767e-05,-1.47218372e-04,
 -6.52878118e-04,-4.46277850e-05,-3.52321595e-04,-5.04802467e-04,
 -1.35244071e-06, 5.63943933e-07,-1.21642341e+00, 1.02278257e-04,
  1.49239526e-03,-4.09474976e-07]


--- Step 70 ---
qpos:
[ 2.31183772e-03,-2.43842165e-03, 9.09483954e-03, 3.18422347e-02,
 -1.67842625e-03,-1.57183289e-03,-1.33112464e-02, 2.18570777e-02,
  4.42860223e-03, 1.27679286e-02,-7.05112151e-03, 1.98337909e-02,
  3.00738372e-01,-1.62266450e-03, 1.39643010e-01, 5.02182831e-02,
  9.50089301e-02,-7.00232650e-02, 1.21701982e-01, 9.99999925e-01,
  1.53126081e-04, 1.44845767e-04, 3.25319416e-04]

qacc:
[-3.65968889e+00,-4.65681632e+00, 3.80974442e+01,-1.19681741e+02,
  6.01143566e+00,-8.19098703e+00, 3.82473458e+01,-7.54111815e+01,
 -5.47867552e+00,-1.07406273e+01, 4.24025558e+01,-7.62401021e+01,
 -1.74171398e+00, 8.97377583e+00, 1.48224436e+01,-5.92068176e+01,
  6.51231312e-02, 1.11132642e+00,-1.53752695e-01,-1.85465200e+01,
  1.52657470e+00, 1.21168765e-01]

qfrc_actuator:
[ 0.00077381,-0.00073744, 0.00293753, 0.01008772,-0.00049745,-0.00058259,
 -0.00438778, 0.00688864, 0.00141913, 0.00423116,-0.00223337, 0.00633522,
  0.0951964 ,-0.00085983, 0.07207095, 0.01134111, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003111030611160359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78433317e-13,  7.13733269e-13,  1.00000000e+00,  1.27353795e-25,
        1.00000000e+00, -7.13733269e-13, -1.00000000e+00,  0.00000000e+00,
       -1.78433317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09469952, -0.09303756,  0.06199244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10476762e-05,-1.25563612e-05,-1.06552510e-04,-2.51217996e-04,
  3.50038356e-05, 8.31576907e-05, 1.09328318e-04,-9.35633355e-05,
 -3.27505491e-05,-2.33272275e-04, 2.43867242e-05,-1.06542908e-04,
 -6.57319252e-04, 2.26419891e-06,-3.68060733e-04,-3.94381762e-04,
 -7.07351920e-07, 4.21812889e-07,-1.21643496e+00, 1.04325319e-04,
  1.49167642e-03,-4.63600079e-07]


--- Step 71 ---
qpos:
[ 2.32667482e-03,-2.45282203e-03, 9.15152055e-03, 3.20391124e-02,
 -1.68859598e-03,-1.57960123e-03,-1.33941903e-02, 2.19922587e-02,
  4.45656072e-03, 1.28469457e-02,-7.09523070e-03, 1.99586265e-02,
  3.02687581e-01,-1.63789099e-03, 1.41506844e-01, 5.05397332e-02,
  9.50074058e-02,-7.00194741e-02, 1.21707560e-01, 9.99999928e-01,
  1.20443986e-04, 1.32945543e-04, 3.33188520e-04]

qacc:
[-6.36038132e+00,-5.61022867e+00, 3.73740760e+01,-1.06864326e+02,
 -1.72396987e+00,-9.34502039e+00, 4.65986353e+01,-1.00025846e+02,
 -8.35791256e+00,-6.24071424e+00, 2.67277451e+01,-5.61730016e+01,
 -9.47033257e-01,-2.54533689e+00, 3.28070599e+00,-1.90794053e+01,
  6.66531550e-02, 1.10285014e+00,-2.23880327e-01,-1.84162401e+01,
  1.48781595e+00, 1.58678064e-01]

qfrc_actuator:
[ 0.0007374 ,-0.00075439, 0.00288318, 0.00988262,-0.00050875,-0.00056802,
 -0.00432312, 0.00674018, 0.00137053, 0.00416471,-0.00222102, 0.00624797,
  0.09502331,-0.00088764, 0.07193334, 0.01121671, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030483033337998233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09469973, -0.09303945,  0.06199259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70567500e-05,-5.74053954e-05,-7.97328674e-05,-2.14761347e-04,
 -1.02744237e-05, 8.06405969e-05, 9.28486893e-05,-1.43042294e-04,
 -4.93809508e-05,-1.99025369e-04,-3.71902132e-05,-9.88318458e-05,
 -6.51100355e-04,-5.81171175e-05,-3.37323417e-04,-1.91147468e-04,
 -3.73099260e-08, 2.90665513e-07,-1.21643941e+00, 1.04540487e-04,
  1.49110937e-03,-4.29936628e-07]


--- Step 72 ---
qpos:
[ 2.34130398e-03,-2.46733541e-03, 9.20741904e-03, 3.22323343e-02,
 -1.69916676e-03,-1.58686458e-03,-1.34757375e-02, 2.21245996e-02,
  4.48406838e-03, 1.29246188e-02,-7.13893503e-03, 2.00807137e-02,
  3.04633544e-01,-1.65432870e-03, 1.43367629e-01, 5.08551691e-02,
  9.50061529e-02,-7.00112985e-02, 1.21712012e-01, 9.99999933e-01,
  5.11345847e-05, 1.23947004e-04, 3.41440076e-04]

qacc:
[-1.85200551e+00,-5.49115129e+00, 3.47973735e+01,-9.67366681e+01,
 -3.48791599e+00,-9.07350011e+00, 4.53260589e+01,-9.70998390e+01,
 -3.91362173e+00,-8.56018814e+00, 3.95627896e+01,-8.68066909e+01,
 -4.40550548e-01,-9.60798112e+00, 1.36631555e+01,-5.43709682e+01,
  6.78366954e-02, 1.09616777e+00,-2.81805137e-01,-1.83131937e+01,
  1.45696741e+00, 1.88616068e-01]

qfrc_actuator:
[ 0.0007278 ,-0.00075881, 0.00284625, 0.00970103,-0.00052909,-0.00053868,
 -0.00425197, 0.00659879, 0.00134851, 0.0041119 ,-0.00219611, 0.00611122,
  0.09485479,-0.0009512 , 0.0717679 , 0.01090866, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029774923332244463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86435917e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.86435917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09469986, -0.09304154,  0.06199276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07126678e-05,-6.28294218e-05,-6.69811069e-05,-1.91527391e-04,
 -2.06064806e-05, 8.84270850e-05, 9.50479062e-05,-1.37602445e-04,
 -2.32613694e-05,-1.78581172e-04,-2.48558861e-05,-1.48832261e-04,
 -6.44469844e-04,-9.56919184e-05,-3.29033505e-04,-3.59659699e-04,
  6.82155045e-07, 1.65012191e-07,-1.21643692e+00, 1.02937251e-04,
  1.49069654e-03,-3.08167905e-07]


--- Step 73 ---
qpos:
[ 2.35535781e-03,-2.48147670e-03, 9.26194152e-03, 3.24218441e-02,
 -1.70955406e-03,-1.59403015e-03,-1.35556586e-02, 2.22549415e-02,
  4.51110258e-03, 1.30005630e-02,-7.18157055e-03, 2.01995179e-02,
  3.06576188e-01,-1.67100700e-03, 1.45224821e-01, 5.11638968e-02,
  9.50051751e-02,-6.99987589e-02, 1.21715145e-01, 9.99999930e-01,
 -5.46434019e-05, 1.17801067e-04, 3.50121468e-04]

qacc:
[-5.10744160e+00,-3.30010641e+00, 2.81638005e+01,-9.04958351e+01,
  1.65938335e+00,-8.53148663e+00, 3.90433932e+01,-7.63071525e+01,
 -4.08421826e+00,-1.20250197e+01, 5.34354364e+01,-1.10707496e+02,
 -1.11273308e+00,-7.84311361e-02, 1.49693415e+01,-6.00829019e+01,
  6.87551869e-02, 1.09101748e+00,-3.29477262e-01,-1.82338310e+01,
  1.43253789e+00, 2.12585965e-01]

qfrc_actuator:
[ 0.00069856,-0.00072008, 0.00278445, 0.00951698,-0.00051908,-0.00055398,
 -0.00417751, 0.00649823, 0.00132457, 0.00401444,-0.00214617, 0.00594649,
  0.09467848,-0.00096429, 0.07156453, 0.01056575, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000290100187985462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87027483e-13,  1.91351655e-13,  1.00000000e+00,  5.49231841e-26,
        1.00000000e+00, -1.91351655e-13, -1.00000000e+00,  0.00000000e+00,
       -2.87027483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09469992, -0.09304379,  0.06199295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96043500e-05,-1.90570885e-05,-9.05821096e-05,-1.93314975e-04,
  9.46103345e-06, 4.88000793e-05, 1.00424239e-04,-9.62561214e-05,
 -2.44369781e-05,-2.11328113e-04, 4.19825709e-06,-1.76488841e-04,
 -6.49115092e-04,-4.63623807e-05,-3.83276227e-04,-4.03153475e-04,
  1.46911444e-06, 4.35574872e-08,-1.21642763e+00, 9.95262473e-05,
  1.49043944e-03,-9.80992218e-08]


--- Step 74 ---
qpos:
[ 2.36826093e-03,-2.49505705e-03, 9.31459781e-03, 3.26076727e-02,
 -1.71939566e-03,-1.60124249e-03,-1.36342269e-02, 2.23831003e-02,
  4.53764378e-03, 1.30748431e-02,-7.22303191e-03, 2.03154012e-02,
  3.08515504e-01,-1.68732870e-03, 1.47078404e-01, 5.14683703e-02,
  9.50016022e-02,-6.99898890e-02, 1.21718542e-01, 9.99999923e-01,
 -1.30070845e-04, 8.86040204e-05, 3.59649247e-04]

qacc:
[-1.01815814e+01,-1.60658083e+00, 2.23749715e+01,-8.35475036e+01,
  4.83324287e+00,-8.34421542e+00, 3.88655627e+01,-7.87627140e+01,
 -4.25264587e+00,-1.14883888e+01, 5.01191409e+01,-1.01345226e+02,
 -1.51950755e+00, 5.71215773e+00, 7.53308085e+00,-3.40864141e+01,
 -6.48748210e-01,-9.17430832e-01, 6.58717964e-02, 1.51711853e+01,
 -1.15308896e+01, 4.24352461e-01]

qfrc_actuator:
[ 0.00064023,-0.00069141, 0.00269089, 0.00933297,-0.00049127,-0.00057811,
 -0.00411959, 0.00638696, 0.00129968, 0.00394438,-0.00208204, 0.00580209,
  0.09450826,-0.00094757, 0.07141312, 0.01036482, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002880224861077363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92732005e-13,  1.92732005e-13,  1.00000000e+00,  3.71456257e-26,
        1.00000000e+00, -1.92732005e-13, -1.00000000e+00,  0.00000000e+00,
       -1.92732005e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1091627 , -0.05171154,  0.061993  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.92104421e-05,-9.58318167e-06,-1.16257639e-04,-1.92235627e-04,
  2.80928149e-05, 2.06911516e-05, 7.77687696e-05,-1.07677700e-04,
 -2.54394437e-05,-1.97373502e-04, 1.42600310e-05,-1.57073351e-04,
 -6.44306724e-04,-1.57774265e-05,-3.58573424e-04,-2.70003922e-04,
  2.33703774e-06,-7.12222463e-08,-1.21641162e+00, 9.43156483e-05,
  1.49033903e-03, 2.00383415e-07]


--- Step 75 ---
qpos:
[ 2.38036374e-03,-2.50844583e-03, 9.36607231e-03, 3.27901854e-02,
 -1.72882739e-03,-1.60848863e-03,-1.37117412e-02, 2.25089463e-02,
  4.56368450e-03, 1.31472072e-02,-7.26279872e-03, 2.04296773e-02,
  3.10451519e-01,-1.70294364e-03, 1.48928567e-01, 5.17663956e-02,
  9.49954471e-02,-6.99846473e-02, 1.21721792e-01, 9.99999915e-01,
 -1.75477467e-04, 3.66681624e-05, 3.70083562e-04]

qacc:
[-7.07445893e+00,-3.26153289e+00, 2.60143070e+01,-8.16740372e+01,
  3.63104404e+00,-7.75623077e+00, 3.73452515e+01,-7.90217951e+01,
 -4.29641560e+00,-1.05699691e+01, 4.08132591e+01,-6.99425708e+01,
 -1.75556040e+00, 9.11385132e+00, 1.44445444e+01,-5.78576835e+01,
 -6.45557407e-01,-9.07057808e-01,-3.69454705e-02, 1.50062804e+01,
 -1.13748626e+01, 4.53118760e-01]

qfrc_actuator:
[ 0.00060077,-0.00068686, 0.00263256, 0.00916819,-0.00047098,-0.00058967,
 -0.00407197, 0.00627024, 0.00127442, 0.00385587,-0.00199218, 0.00572411,
  0.09434181,-0.00091347, 0.07122911, 0.01003625, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002865626221330436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87427717e-13, -1.93713858e-13,  1.00000000e+00, -7.50501179e-26,
        1.00000000e+00,  1.93713858e-13, -1.00000000e+00,  0.00000000e+00,
       -3.87427717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1091625 , -0.05171108,  0.06199304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11884081e-05,-3.36649553e-05,-8.21633642e-05,-1.73451558e-04,
  2.11015636e-05, 1.23641912e-05, 5.84607224e-05,-1.15331597e-04,
 -2.58316140e-05,-2.05049873e-04, 4.47991991e-05,-8.93267601e-05,
 -6.35457709e-04, 2.32826363e-06,-3.65681846e-04,-3.87192941e-04,
  1.97316253e-06, 3.14094264e-07,-1.21642344e+00, 9.04706814e-05,
  1.48879174e-03, 5.35137180e-07]


--- Step 76 ---
qpos:
[ 2.39224319e-03,-2.52200591e-03, 9.41710728e-03, 3.29699790e-02,
 -1.73828737e-03,-1.61572374e-03,-1.37878333e-02, 2.26323811e-02,
  4.58853448e-03, 1.32174331e-02,-7.30130846e-03, 2.05425275e-02,
  3.12384236e-01,-1.71798332e-03, 1.50775236e-01, 5.20561847e-02,
  9.49867201e-02,-6.99829999e-02, 1.21724550e-01, 9.99999908e-01,
 -1.91133573e-04,-3.77565943e-05, 3.81466822e-04]

qacc:
[ -1.97513708, -4.59711207, 27.54497788,-73.78105065, -0.20504577,
  -8.92102008, 42.01324551,-86.02943805,-10.34805052, -9.25599493,
  34.95812322,-60.11228367, -1.67352665,  7.86674364, 19.7388069 ,
 -76.54254833, -0.64298005, -0.89855292, -0.12283529, 14.87107792,
 -11.25003671,  0.47304503]

qfrc_actuator:
[ 0.00059048,-0.00069665, 0.00261318, 0.00903382,-0.00047303,-0.00057594,
 -0.00399528, 0.00615126, 0.00121364, 0.00372172,-0.00194112, 0.00565033,
  0.09416711,-0.00088719, 0.07103631, 0.00961726, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002835018551695101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.91610497e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.91610497e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916266, -0.05171028,  0.06199311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15069146e-05,-5.35912369e-05,-4.33127474e-05,-1.42529458e-04,
 -1.44240446e-06, 2.86795850e-05, 8.31711674e-05,-1.18766012e-04,
 -6.13723334e-05,-2.45732177e-04, 1.05171750e-05,-8.30784054e-05,
 -6.36349861e-04,-4.89572663e-06,-3.91098559e-04,-4.85140307e-04,
  1.63893702e-06, 9.88695963e-07,-1.21642796e+00, 8.80810091e-05,
  1.48608718e-03, 6.83995884e-07]


--- Step 77 ---
qpos:
[ 2.40390567e-03,-2.53561240e-03, 9.46749494e-03, 3.31467513e-02,
 -1.74735343e-03,-1.62280144e-03,-1.38622346e-02, 2.27537346e-02,
  4.61246655e-03, 1.32858325e-02,-7.33922895e-03, 2.06532710e-02,
  3.14313654e-01,-1.73254539e-03, 1.52618949e-01, 5.23388435e-02,
  9.49754292e-02,-6.99849190e-02, 1.21726530e-01, 9.99999898e-01,
 -1.77258186e-04,-1.34472962e-04, 3.93827305e-04]

qacc:
[ -1.92766683, -4.47336658, 28.61731146,-79.83786318,  3.50769972,
  -8.80631863, 40.47922731,-79.30849808, -7.98594165, -8.38393286,
  35.3132556 ,-71.40487956, -1.61304833,  6.92774995, 17.18820758,
 -66.46696454, -0.64098109, -0.89164916, -0.19441177, 14.76151181,
 -11.15153066,  0.48592454]

qfrc_actuator:
[ 0.00057969,-0.00069699, 0.00258141, 0.00888291,-0.00045271,-0.00054706,
 -0.00390193, 0.00604969, 0.00116795, 0.00363217,-0.00191359, 0.00554402,
  0.09399288,-0.00086575, 0.07092357, 0.00927264, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002792009051872796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.97643061e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.97643061e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916308, -0.05170922,  0.06199321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11733000e-05,-4.59148672e-05,-5.39621891e-05,-1.57966600e-04,
  2.02941000e-05, 5.78872150e-05, 1.06113891e-04,-9.98575163e-05,
 -4.73213492e-05,-2.30638536e-04,-2.54040219e-05,-1.18404683e-04,
 -6.36906989e-04,-1.03799293e-05,-3.32871882e-04,-4.19314458e-04,
  1.31494659e-06, 1.95498096e-06,-1.21642543e+00, 8.71321106e-05,
  1.48223477e-03, 6.50911483e-07]


--- Step 78 ---
qpos:
[ 2.41534700e-03,-2.54890506e-03, 9.51672412e-03, 3.33196285e-02,
 -1.75576063e-03,-1.62953349e-03,-1.39352915e-02, 2.28729238e-02,
  4.63601293e-03, 1.33528986e-02,-7.37700744e-03, 2.07611494e-02,
  3.16239765e-01,-1.74600919e-03, 1.54459835e-01, 5.26127880e-02,
  9.49671076e-02,-6.99884616e-02, 1.21729465e-01, 9.99999886e-01,
 -1.49091218e-04,-2.05915393e-04, 4.04467868e-04]

qacc:
[ -1.98727531, -4.3689581 , 32.62459896,-98.41810997,  5.81945255,
  -7.76455628, 37.46810896,-77.30920563, -3.35031435, -8.0521226 ,
  38.26181625,-87.10755647, -2.05914015, 12.90678617, 22.17064387,
 -83.60992222,  0.74233404, -0.40585305,  0.23874885,  7.1506507 ,
  12.63430536, -0.85868113]

qfrc_actuator:
[ 0.00056868,-0.00067398, 0.00252483, 0.00868796,-0.00041937,-0.00052699,
 -0.00383492, 0.00594146, 0.00114927, 0.00358768,-0.00190001, 0.0054017 ,
  0.09382439,-0.00081184, 0.07077374, 0.00883281, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002781164638726574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190979, -0.06169784,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13772844e-05,-2.11058529e-05,-7.90168484e-05,-2.02335488e-04,
  3.39348010e-05, 7.09407667e-05, 8.92615598e-05,-1.04111632e-04,
 -1.99105684e-05,-1.86005295e-04,-4.18652912e-05,-1.55697802e-04,
 -6.31716101e-04, 2.14999220e-05,-3.38650363e-04,-5.04011172e-04,
  9.86381712e-07, 3.21148197e-06,-1.21641602e+00, 8.76125797e-05,
  1.47724241e-03, 4.38873016e-07]


--- Step 79 ---
qpos:
[ 2.42691131e-03,-2.56169919e-03, 9.56480044e-03, 3.34880999e-02,
 -1.76439290e-03,-1.63561412e-03,-1.40070920e-02, 2.29895077e-02,
  4.65950058e-03, 1.34187612e-02,-7.41471845e-03, 2.08657742e-02,
  3.18162605e-01,-1.75868133e-03, 1.56296854e-01, 5.28827054e-02,
  9.49617276e-02,-6.99936276e-02, 1.21732969e-01, 9.99999877e-01,
 -1.06843620e-04,-2.52365617e-04, 4.13456843e-04]

qacc:
[   1.03305378,  -5.19871277,  38.08172556,-112.84520589,  -1.94913665,
   -8.00702764,  40.80746796, -88.39385843,  -0.49319859,  -8.47827816,
   41.66145736, -97.20025993,  -1.83447672,   9.88273468,   6.47001456,
  -30.90715779,   0.7354166 ,  -0.40585553,   0.14223788,   7.0451983 ,
   12.49337785,  -0.82538088]

qfrc_actuator:
[ 0.00057538,-0.00063729, 0.00247188, 0.00846867,-0.0004319 ,-0.00047697,
 -0.0037663 , 0.0058124 , 0.00114662, 0.00353496,-0.00189459, 0.00523937,
  0.09365413,-0.00077477, 0.07059642, 0.0086421 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002765850926237656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190956, -0.06169814,  0.06199328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.34181354e-06,-6.22587712e-07,-7.48576729e-05,-2.27332263e-04,
 -1.15437821e-05, 1.04523057e-04, 9.13334155e-05,-1.25055181e-04,
 -3.07542769e-06,-1.74214625e-04,-4.41031532e-05,-1.75081437e-04,
 -6.28086978e-04, 5.49953145e-06,-3.78437580e-04,-2.60414901e-04,
  9.55982614e-09, 2.20948946e-06,-1.21642522e+00, 8.92500195e-05,
  1.47363409e-03, 2.84314375e-07]


--- Step 80 ---
qpos:
[ 2.43846527e-03,-2.57405464e-03, 9.61125489e-03, 3.36530088e-02,
 -1.77345279e-03,-1.64130591e-03,-1.40771357e-02, 2.31036346e-02,
  4.68277786e-03, 1.34830336e-02,-7.45198382e-03, 2.09676573e-02,
  3.20082245e-01,-1.77179914e-03, 1.58129672e-01, 5.31509062e-02,
  9.49592666e-02,-7.00004169e-02, 1.21736720e-01, 9.99999873e-01,
 -5.06828947e-05,-2.74053571e-04, 4.20846444e-04]

qacc:
[-1.51622971e-01,-2.22621622e+00, 2.38136239e+01,-8.31926143e+01,
 -3.70714921e+00,-9.44371618e+00, 4.48070925e+01,-9.04423087e+01,
 -1.80162330e+00,-8.98973973e+00, 4.05866315e+01,-8.75901925e+01,
 -9.29482428e-01,-1.99029240e+00,-1.01685490e+00,-5.45598371e+00,
  7.29737228e-01,-4.05846017e-01, 6.17223388e-02, 6.96148079e+00,
  1.23783430e+01,-8.00120777e-01]

qfrc_actuator:
[ 0.00057471,-0.0006282 , 0.00238607, 0.00829011,-0.00045359,-0.00046266,
 -0.00367941, 0.00568988, 0.00113568, 0.0034422 ,-0.00187629, 0.00510208,
  0.09348293,-0.00080119, 0.0704028 , 0.00856414, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027359430682138974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.02895857e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.02895857e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190905, -0.06169818,  0.06199335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.26363074e-07,-1.69796242e-05,-1.03827950e-04,-1.86064040e-04,
 -2.19767746e-05, 8.70612460e-05, 1.16057226e-04,-1.17391684e-04,
 -1.08957823e-05,-2.08898895e-04,-2.97188438e-05,-1.49987108e-04,
 -6.27042331e-04,-5.86449932e-05,-3.82643506e-04,-1.38439369e-04,
 -6.40008915e-07, 1.32902187e-06,-1.21643014e+00, 9.15291475e-05,
  1.47129056e-03, 1.41953750e-07]


--- Step 81 ---
qpos:
[ 2.44992095e-03,-2.58647541e-03, 9.65645252e-03, 3.38152164e-02,
 -1.78235717e-03,-1.64686545e-03,-1.41451382e-02, 2.32150714e-02,
  4.70574651e-03, 1.35458161e-02,-7.48828893e-03, 2.10673927e-02,
  3.21998630e-01,-1.78507722e-03, 1.59959401e-01, 5.34116621e-02,
  9.49597062e-02,-7.00088298e-02, 1.21740450e-01, 9.99999872e-01,
  1.92596937e-05,-2.71164785e-04, 4.26676079e-04]

qacc:
[-9.03552107e-01,-2.13727772e+00, 1.88985433e+01,-6.35918222e+01,
  1.42557333e+00,-1.10669062e+01, 5.10691518e+01,-1.00983286e+02,
 -2.64645044e+00,-9.07029837e+00, 3.85605799e+01,-7.61802248e+01,
 -1.16478575e+00, 8.69583403e-01, 1.79322208e+01,-6.93734449e+01,
  7.25141354e-01,-4.05885260e-01,-5.24954378e-03, 6.89588828e+00,
  1.22855088e+01,-7.81248939e-01]

qfrc_actuator:
[ 0.00056968,-0.00065358, 0.00231697, 0.00815465,-0.00044497,-0.00046978,
 -0.00358256, 0.00555445, 0.00111992, 0.0033973 ,-0.00181517, 0.00499834,
  0.09330596,-0.00081153, 0.07023152, 0.00818033, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002694753798626326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.05997117e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.05997117e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190834, -0.06169803,  0.06199345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07145860e-06,-6.47924782e-05,-9.26085780e-05,-1.43847971e-04,
  8.02629328e-06, 6.12671780e-05, 1.25701495e-04,-1.30058824e-04,
 -1.59439783e-05,-1.76338528e-04, 8.60149189e-06,-1.16915432e-04,
 -6.35194031e-04,-4.47975009e-05,-3.47862717e-04,-4.37850759e-04,
 -9.79551051e-07, 5.55533820e-07,-1.21643095e+00, 9.44457028e-05,
  1.47019838e-03, 1.04764293e-08]


--- Step 82 ---
qpos:
[ 2.46122673e-03,-2.59919402e-03, 9.70109913e-03, 3.39748559e-02,
 -1.79108919e-03,-1.65221166e-03,-1.42116769e-02, 2.33237011e-02,
  4.72869587e-03, 1.36074491e-02,-7.52321349e-03, 2.11650285e-02,
  3.23911641e-01,-1.79728851e-03, 1.61786069e-01, 5.36660427e-02,
  9.49630318e-02,-7.00188668e-02, 1.21743937e-01, 9.99999872e-01,
  1.02883220e-04,-2.43846557e-04, 4.30974997e-04]

qacc:
[-1.33066707e+00,-4.14246882e+00, 2.50404444e+01,-6.83849617e+01,
  1.55371359e+00,-9.58715292e+00, 4.64422048e+01,-9.75184027e+01,
 -1.07084131e-01,-9.70150566e+00, 4.12522071e+01,-7.89536205e+01,
 -2.10255074e+00, 1.25947561e+01, 1.47576934e+01,-5.81685503e+01,
  7.21493970e-01,-4.06014058e-01,-6.07750074e-02, 6.84547225e+00,
  1.22117861e+01,-7.67449307e-01]

qfrc_actuator:
[ 0.00056215,-0.0006638 , 0.00229369, 0.00802786,-0.00043633,-0.00047191,
 -0.00351623, 0.00541247, 0.00111922, 0.00338164,-0.00172905, 0.0048975 ,
  0.09312563,-0.00075907, 0.07009501, 0.00786796, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000264503063062152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09869597e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.09869597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190747, -0.06169773,  0.06199357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.73221682e-06,-7.22229529e-05,-5.38017297e-05,-1.36002997e-04,
  8.89165141e-06, 5.32746628e-05, 9.05858973e-05,-1.37616085e-04,
 -1.03248889e-06,-1.19504608e-04, 4.62048198e-05,-1.10656653e-04,
 -6.43941874e-04, 1.75761541e-05,-3.33885066e-04,-3.79422138e-04,
 -1.02069920e-06,-1.22115274e-07,-1.21642773e+00, 9.79960711e-05,
  1.47034698e-03,-1.11060538e-07]


--- Step 83 ---
qpos:
[ 2.47235330e-03,-2.61183269e-03, 9.74467905e-03, 3.41317119e-02,
 -1.79964950e-03,-1.65756447e-03,-1.42767734e-02, 2.34298130e-02,
  4.75111720e-03, 1.36675258e-02,-7.55609354e-03, 2.12606956e-02,
  3.25821274e-01,-1.80838627e-03, 1.63609458e-01, 5.39179462e-02,
  9.49666218e-02,-7.00244008e-02, 1.21747380e-01, 9.99999871e-01,
  1.48784424e-04,-2.13644425e-04, 4.35789242e-04]

qacc:
[-1.61102820e+00,-2.64492008e+00, 2.13361824e+01,-6.78653990e+01,
  1.55122854e+00,-9.22263161e+00, 4.34994763e+01,-8.93739408e+01,
 -4.53061164e+00,-1.18165725e+01, 4.74755482e+01,-8.36883144e+01,
 -2.14474125e+00, 1.29848802e+01, 2.65837876e+00,-1.62968623e+01,
  6.61272469e-02, 1.12572906e+00,-1.10748914e-02,-1.88604743e+01,
  1.45010690e+00, 2.62115248e-01]

qfrc_actuator:
[ 0.00055319,-0.00064691, 0.00224445, 0.00788948,-0.00042775,-0.00048894,
 -0.00345069, 0.00528552, 0.00109188, 0.00329502,-0.00162872, 0.00479919,
  0.09294875,-0.00070559, 0.06996881, 0.00776013, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002607841776850889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19293630e-13,  4.25724841e-13,  1.00000000e+00,  1.35931230e-25,
        1.00000000e+00, -4.25724841e-13, -1.00000000e+00,  0.00000000e+00,
       -3.19293630e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470433, -0.09305341,  0.06199366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.22821484e-06,-4.08969447e-05,-7.62391675e-05,-1.46418867e-04,
  8.84809251e-06, 2.63197005e-05, 8.35383267e-05,-1.24295936e-04,
 -2.72313800e-05,-1.50610092e-04, 7.69912992e-05,-1.04250918e-04,
 -6.43690499e-04, 1.95870235e-05,-3.11168627e-04,-1.69943666e-04,
 -7.70572954e-07,-7.12678875e-07,-1.21642058e+00, 1.02177270e-04,
  1.47172814e-03,-2.23307704e-07]


--- Step 84 ---
qpos:
[ 2.48294039e-03,-2.62440140e-03, 9.78702372e-03, 3.42856935e-02,
 -1.80804036e-03,-1.66305273e-03,-1.43402289e-02, 2.35339244e-02,
  4.77304001e-03, 1.37262363e-02,-7.58779440e-03, 2.13548161e-02,
  3.27727581e-01,-1.81905727e-03, 1.65429824e-01, 5.41675369e-02,
  9.49704806e-02,-7.00254723e-02, 1.21750432e-01, 9.99999874e-01,
  1.57313106e-04,-1.80609326e-04, 4.41147170e-04]

qacc:
[-4.78123758e+00,-2.36799231e+00, 2.07238190e+01,-6.85601814e+01,
  1.54029733e+00,-8.88306127e+00, 3.98562070e+01,-7.69958058e+01,
 -4.30217318e+00,-8.27819376e+00, 3.34410140e+01,-6.11051579e+01,
 -1.62853383e+00, 6.46537028e+00, 2.53322003e+00,-1.53262860e+01,
  6.71662320e-02, 1.11564497e+00,-9.76126789e-02,-1.86855838e+01,
  1.42466731e+00, 2.75621536e-01]

qfrc_actuator:
[ 0.00052573,-0.00064953, 0.00218035, 0.00774537,-0.00041929,-0.000497  ,
 -0.00336844, 0.00518617, 0.00106682, 0.00321996,-0.00157436, 0.00472088,
  0.09277405,-0.00068749, 0.06983295, 0.00764942, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002594458688428003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06980218e-13,  4.27920872e-13,  1.00000000e+00,  4.57790682e-26,
        1.00000000e+00, -4.27920872e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06980218e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0947045 , -0.09305384,  0.06199369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77711757e-05,-4.79444165e-05,-8.77201710e-05,-1.51765056e-04,
  8.72860119e-06, 1.93037658e-05, 9.42629845e-05,-9.78336163e-05,
 -2.57105888e-05,-1.49795247e-04, 2.86229346e-05,-8.44019681e-05,
 -6.41035800e-04,-1.60988155e-05,-2.87249821e-04,-1.58280864e-04,
 -4.02161432e-07,-5.97798522e-07,-1.21643244e+00, 1.04456754e-04,
  1.47330232e-03,-3.97577334e-07]


--- Step 85 ---
qpos:
[ 2.49346028e-03,-2.63705467e-03, 9.82834758e-03, 3.44360563e-02,
 -1.81626448e-03,-1.66867438e-03,-1.44018878e-02, 2.36360221e-02,
  4.79449520e-03, 1.37839295e-02,-7.61981223e-03, 2.14473203e-02,
  3.29630597e-01,-1.82972795e-03, 1.67246886e-01, 5.44136099e-02,
  9.49746114e-02,-7.00221138e-02, 1.21752805e-01, 9.99999881e-01,
  1.28752900e-04,-1.44780375e-04, 4.47068726e-04]

qacc:
[-6.23105754e-01,-4.71371324e+00, 3.19176762e+01,-9.28476205e+01,
  1.52118352e+00,-9.34251934e+00, 4.15552669e+01,-7.91776343e+01,
 -4.08443913e+00,-3.77876487e+00, 1.83616353e+01,-4.50978281e+01,
 -1.30522877e+00, 2.45112660e+00, 5.75184242e+00,-2.72061255e+01,
  6.80397439e-02, 1.10746966e+00,-1.69863965e-01,-1.85437747e+01,
  1.40515166e+00, 2.84942778e-01]

qfrc_actuator:
[ 0.00052309,-0.00066386, 0.0021257 , 0.00756354,-0.00041095,-0.00049957,
 -0.00327694, 0.00508611, 0.00104332, 0.00315225,-0.00160078, 0.00463717,
  0.09260079,-0.00069037, 0.06964878, 0.0074668 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002567691981724268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08095425e-13,  6.48572550e-13,  1.00000000e+00,  7.01077255e-26,
        1.00000000e+00, -6.48572550e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08095425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470461, -0.09305465,  0.06199376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47023666e-06,-6.61944124e-05,-8.13132575e-05,-1.90290021e-04,
  8.58963282e-06, 2.42233096e-05, 1.04288157e-04,-9.79502829e-05,
 -2.41165400e-05,-1.51079979e-04,-5.72583405e-05,-9.10452404e-05,
 -6.39433927e-04,-3.84022031e-05,-3.24515532e-04,-2.26764752e-04,
  5.65305554e-08,-4.89259766e-07,-1.21643708e+00, 1.04893226e-04,
  1.47503585e-03,-4.81181285e-07]


--- Step 86 ---
qpos:
[ 2.50421074e-03,-2.64970953e-03, 9.86891912e-03, 3.45826872e-02,
 -1.82432492e-03,-1.67420015e-03,-1.44617110e-02, 2.37354012e-02,
  4.81550521e-03, 1.38404400e-02,-7.65240253e-03, 2.15377914e-02,
  3.31530342e-01,-1.84064952e-03, 1.69061078e-01, 5.46512522e-02,
  9.49790175e-02,-7.00143517e-02, 1.21754258e-01, 9.99999889e-01,
  6.33303167e-05,-1.06186951e-04, 4.53567228e-04]

qacc:
[ 1.99955609e+00,-5.59293603e+00, 3.56797889e+01,-9.90474982e+01,
  1.49121600e+00,-1.05988540e+01, 4.94506438e+01,-9.95017978e+01,
 -3.89340366e+00,-4.14183755e+00, 2.10974274e+01,-5.45146592e+01,
 -1.11827457e+00, 1.61981594e-01, 2.12333584e+01,-8.04525187e+01,
  6.87917580e-02, 1.10093823e+00,-2.30061206e-01,-1.84305266e+01,
  1.39051316e+00, 2.90963430e-01]

qfrc_actuator:
[ 0.00053509,-0.0006496 , 0.00209475, 0.00737871,-0.00040276,-0.00048102,
 -0.0031807 , 0.00495094, 0.00102091, 0.00307141,-0.00163914, 0.00453316,
  0.0924285 ,-0.00070558, 0.06947305, 0.00703012, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002530564656749862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09681353e-13,  4.38725413e-13,  1.00000000e+00,  4.81199970e-26,
        1.00000000e+00, -4.38725413e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09681353e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470467, -0.09305575,  0.06199385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18590758e-05,-4.80966758e-05,-6.19103301e-05,-1.94582793e-04,
  8.44298677e-06, 5.01351675e-05, 1.11258727e-04,-1.32507647e-04,
 -2.29715004e-05,-1.82917960e-04,-8.02535820e-05,-1.14495770e-04,
 -6.38515937e-04,-5.17016345e-05,-3.39311396e-04,-4.89069240e-04,
  6.13512447e-07,-3.88374059e-07,-1.21643469e+00, 1.03500645e-04,
  1.47692849e-03,-4.74374983e-07]


--- Step 87 ---
qpos:
[ 2.51467571e-03,-2.66219212e-03, 9.90895378e-03, 3.47259161e-02,
 -1.83222465e-03,-1.67937814e-03,-1.45200207e-02, 2.38327203e-02,
  4.83608645e-03, 1.38956254e-02,-7.68497580e-03, 2.16269755e-02,
  3.33426807e-01,-1.85162372e-03, 1.70872016e-01, 5.48811378e-02,
  9.49837014e-02,-7.00022062e-02, 1.21754590e-01, 9.99999891e-01,
 -3.87776344e-05,-6.48503890e-05, 4.60650760e-04]

qacc:
[-2.52976782e+00,-5.27719490e+00, 3.35111606e+01,-9.16617842e+01,
  1.45111328e+00,-8.01086072e+00, 3.79250568e+01,-7.62488653e+01,
 -3.72820628e+00,-4.44175471e+00, 1.87425359e+01,-4.00822292e+01,
 -1.27261242e+00, 2.03487855e+00, 1.86293011e+01,-7.21628510e+01,
  6.94559532e-02, 1.09582378e+00,-2.80110464e-01,-1.83420288e+01,
  1.37990696e+00, 2.94377103e-01]

qfrc_actuator:
[ 0.0005201 ,-0.00061822, 0.00207815, 0.0072114 ,-0.00039472,-0.00044999,
 -0.00310013, 0.00484947, 0.00099934, 0.00301877,-0.00163102, 0.00447129,
  0.09225691,-0.00071019, 0.06930777, 0.0066426 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024855811741555933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.46665366e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.46665366e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470468, -0.09305707,  0.06199396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46891334e-05,-1.70204693e-05,-4.15566918e-05,-1.75692370e-04,
  8.29896860e-06, 7.70532098e-05, 1.00590098e-04,-9.81267936e-05,
 -2.21280734e-05,-1.78228999e-04,-4.39735981e-05,-7.49633548e-05,
 -6.37972049e-04,-4.18315853e-05,-3.65491848e-04,-4.56568854e-04,
  1.27425953e-06,-2.93169452e-07,-1.21642542e+00, 1.00290140e-04,
  1.47897979e-03,-3.77431738e-07]


--- Step 88 ---
qpos:
[ 2.52487912e-03,-2.67438688e-03, 9.94839045e-03, 3.48660060e-02,
 -1.83996645e-03,-1.68420114e-03,-1.45774862e-02, 2.39288007e-02,
  4.85625210e-03, 1.39492966e-02,-7.71689896e-03, 2.17146989e-02,
  3.35319951e-01,-1.86183673e-03, 1.72679072e-01, 5.51033067e-02,
  9.49913865e-02,-6.99917167e-02, 1.21755547e-01, 9.99999883e-01,
 -1.26902136e-04, 1.25902395e-06, 4.66069475e-04]

qacc:
[ -2.32332905, -4.41144551, 29.53425912,-83.1155723 ,  1.40600699,
  -4.44117882, 21.74289195,-44.78882009, -3.5898294 , -6.81942078,
  27.59146371,-52.81315941, -1.91005917,  9.66228267, 17.59157753,
 -69.8537386 ,  0.75032351, -0.41400024,  0.15620575,  6.99737566,
  12.3832353 , -0.83237945]

qfrc_actuator:
[ 0.00050709,-0.00059451, 0.0020525 , 0.00705576,-0.00038684,-0.00044726,
 -0.00306488, 0.0047864 , 0.00097841, 0.00294815,-0.00159538, 0.00439927,
  0.09208586,-0.00067303, 0.06909566, 0.00625179, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024592339682349973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.25725376e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.25725376e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190302, -0.06169705,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34533010e-05,-2.28940208e-06,-4.10162360e-05,-1.61605663e-04,
  8.15072969e-06, 6.30470299e-05, 6.06907428e-05,-5.82713432e-05,
 -2.14534616e-05,-1.84341773e-04,-9.62580942e-06,-8.28858816e-05,
 -6.36503624e-04,-1.02428287e-07,-4.19288110e-04,-4.61087194e-04,
  2.04247370e-06,-1.98572266e-07,-1.21640936e+00, 9.52703925e-05,
  1.48118920e-03,-1.90626044e-07]


--- Step 89 ---
qpos:
[ 2.53484662e-03,-2.68636210e-03, 9.98746521e-03, 3.50038158e-02,
 -1.84720836e-03,-1.68872338e-03,-1.46348678e-02, 2.40234368e-02,
  4.87601326e-03, 1.40012540e-02,-7.74804104e-03, 2.18005429e-02,
  3.37209831e-01,-1.87148998e-03, 1.74481999e-01, 5.53180341e-02,
  9.49964363e-02,-6.99849199e-02, 1.21757056e-01, 9.99999870e-01,
 -1.84445411e-04, 4.42212457e-05, 4.72417751e-04]

qacc:
[ -2.08883123, -3.39284849, 22.14726173,-61.19621026,  4.38448924,
  -2.81727837, 16.70622954,-42.04272342, -3.48522196, -8.31122958,
  34.29446151,-66.82158202, -1.73968997,  7.73806739, 16.39203216,
 -66.19423872, -0.65884824, -0.92314432,  0.13807822, 15.28521632,
 -11.58077973,  0.46333265]

qfrc_actuator:
[ 0.00049536,-0.00057558, 0.00203944, 0.00694373,-0.00036135,-0.00046166,
 -0.00307451, 0.00471087, 0.00095804, 0.00284971,-0.00156161, 0.00430409,
  0.09192059,-0.0006471 , 0.06888757, 0.0058798 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002469585937976554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49558368e-13,  2.24779184e-13,  1.00000000e+00,  1.01051363e-25,
        1.00000000e+00, -2.24779184e-13, -1.00000000e+00,  0.00000000e+00,
       -4.49558368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916508, -0.05170065,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21341516e-05, 1.88794760e-06,-2.48114993e-05,-1.17066849e-04,
  2.57411836e-05, 3.15331958e-05, 9.37138065e-06,-7.19380164e-05,
 -2.08896145e-05,-2.08772358e-04,-8.79660251e-06,-1.05264731e-04,
 -6.27402681e-04,-1.03200169e-05,-4.37790292e-04,-4.48791687e-04,
  1.81166007e-06,-8.92273121e-08,-1.21640939e+00, 9.09463435e-05,
  1.48430310e-03,-6.48696075e-09]


--- Step 90 ---
qpos:
[ 2.54494019e-03,-2.69792040e-03, 1.00259645e-02, 3.51398826e-02,
 -1.85374309e-03,-1.69356700e-03,-1.46913762e-02, 2.41164564e-02,
  4.89537933e-03, 1.40515651e-02,-7.77801564e-03, 2.18848834e-02,
  3.39096525e-01,-1.88106620e-03, 1.76281048e-01, 5.55294235e-02,
  9.49988713e-02,-6.99817733e-02, 1.21758681e-01, 9.99999860e-01,
 -2.11758567e-04, 6.43614261e-05, 4.79750349e-04]

qacc:
[ 1.08107565e+00,-1.43368805e+00, 1.32624680e+01,-4.28056235e+01,
  6.23935512e+00,-6.20248420e+00, 2.83044414e+01,-5.74173218e+01,
 -3.39164500e+00,-8.52826893e+00, 3.36106749e+01,-6.02998740e+01,
 -1.33937405e+00, 3.16268789e+00, 4.36338230e+00,-2.35740669e+01,
 -6.53693483e-01,-9.12579063e-01, 2.89248037e-02, 1.51096459e+01,
 -1.14182507e+01, 4.90723270e-01]

qfrc_actuator:
[ 0.00050223,-0.00054181, 0.0020162 , 0.00685826,-0.00032571,-0.00050418,
 -0.00303963, 0.00462857, 0.00093816, 0.00278864,-0.00149386, 0.00423153,
  0.09175889,-0.00064577, 0.06875129, 0.00573496, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002487813583520321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23132278e-13, -2.23132278e-13,  1.00000000e+00, -4.97880135e-26,
        1.00000000e+00,  2.23132278e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23132278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916448, -0.05170096,  0.06199395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50153939e-06, 2.43196080e-05,-3.05959084e-05,-8.88936739e-05,
  3.63884692e-05,-2.53952047e-05, 4.05711838e-05,-8.21045867e-05,
 -2.03996941e-05,-1.85792974e-04, 1.94870793e-05,-8.40980210e-05,
 -6.17655046e-04,-3.50559032e-05,-3.72141230e-04,-2.23113339e-04,
  1.18214250e-06,-3.40276409e-07,-1.21642697e+00, 8.80741908e-05,
  1.48637467e-03, 3.93683548e-07]


--- Step 91 ---
qpos:
[ 2.55538183e-03,-2.70899761e-03, 1.00638838e-02, 3.52735054e-02,
 -1.86014459e-03,-1.69879129e-03,-1.47464459e-02, 2.42080783e-02,
  4.91470363e-03, 1.41008021e-02,-7.80664211e-03, 2.19676056e-02,
  3.40980013e-01,-1.89050259e-03, 1.78076597e-01, 5.57399386e-02,
  9.49987088e-02,-6.99822423e-02, 1.21760056e-01, 9.99999857e-01,
 -2.09129898e-04, 6.19443692e-05, 4.88109241e-04]

qacc:
[ 3.02963962e+00,-2.78506487e+00, 2.11557122e+01,-6.28644785e+01,
  1.22029529e+00,-7.40088919e+00, 3.15576211e+01,-5.77648452e+01,
 -3.05753472e-01,-8.51961382e+00, 3.51512655e+01,-6.45268067e+01,
 -1.39769659e+00, 3.74718827e+00,-2.51962332e+00, 1.32454248e+00,
 -6.49389786e-01,-9.03901039e-01,-6.25951907e-02, 1.49654665e+01,
 -1.12859082e+01, 5.11721066e-01]

qfrc_actuator:
[ 0.00051999,-0.00051717, 0.0019872 , 0.00673585,-0.00031989,-0.00050981,
 -0.00296112, 0.0045607 , 0.00093647, 0.00278613,-0.00140642, 0.00415515,
  0.09158879,-0.00064119, 0.06862095, 0.00570752, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024873038455804075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.23178006e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.23178006e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916425, -0.05170086,  0.06199396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79302472e-05, 2.77420798e-05,-3.14515582e-05,-1.24527380e-04,
  6.85130194e-06,-1.43225346e-05, 7.59332821e-05,-6.92236535e-05,
 -2.18714957e-06,-1.07598087e-04, 4.81522928e-05,-8.55264719e-05,
 -6.20012864e-04,-3.23698899e-05,-3.13229930e-04,-8.52286764e-05,
  5.68638984e-07,-2.94756077e-07,-1.21643707e+00, 8.66670742e-05,
  1.48728024e-03, 6.05109968e-07]


--- Step 92 ---
qpos:
[ 2.56595480e-03,-2.71983786e-03, 1.01015778e-02, 3.54042759e-02,
 -1.86677129e-03,-1.70421328e-03,-1.48002045e-02, 2.42981570e-02,
  4.93351515e-03, 1.41491041e-02,-7.83406196e-03, 2.20487548e-02,
  3.42860235e-01,-1.89975020e-03, 1.79868202e-01, 5.59472922e-02,
  9.49959628e-02,-6.99862987e-02, 1.21760873e-01, 9.99999860e-01,
 -1.76793622e-04, 3.71838206e-05, 4.97526234e-04]

qacc:
[  1.14085083, -4.93718152, 30.08962788,-79.25687348, -1.93308652,
  -7.09547474, 31.44416377,-60.11013726, -4.4313938 , -7.83886352,
  32.81353357,-61.29646661, -1.46725305,  4.28205796,  3.73328278,
 -21.50818249, -0.64585681, -0.89684462, -0.13920075, 14.84831685,
 -11.17910537,  0.5276325 ]

qfrc_actuator:
[ 0.00052626,-0.000516  , 0.00197273, 0.00659267,-0.00033166,-0.00051086,
 -0.00289284, 0.00448417, 0.00091   , 0.00274781,-0.00134331, 0.00407721,
  0.09140845,-0.00063475, 0.06838775, 0.00553636, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024719077433536796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49136109e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49136109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916431, -0.05170043,  0.06199399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76781145e-06, 4.48549982e-06,-1.75438099e-05,-1.45868360e-04,
 -1.15888249e-05, 4.28432439e-06, 7.27737243e-05,-7.59353983e-05,
 -2.64251380e-05,-9.37738622e-05, 4.34489650e-05,-8.27778294e-05,
 -6.31669125e-04,-3.09515653e-05,-3.76093837e-04,-2.14255590e-04,
 -4.38948954e-08, 5.10614569e-08,-1.21643997e+00, 8.67092252e-05,
  1.48703050e-03, 6.32169788e-07]


--- Step 93 ---
qpos:
[ 2.57652027e-03,-2.73030049e-03, 1.01387720e-02, 3.55323069e-02,
 -1.87314265e-03,-1.70984988e-03,-1.48526733e-02, 2.43862744e-02,
  4.95152128e-03, 1.41963139e-02,-7.86067566e-03, 2.21283822e-02,
  3.44737194e-01,-1.90880347e-03, 1.81656625e-01, 5.61491991e-02,
  9.49906447e-02,-6.99939199e-02, 1.21760878e-01, 9.99999864e-01,
 -1.14937221e-04,-9.74985792e-06, 5.08025005e-04]

qacc:
[ -0.08983093, -3.74832641, 25.64846968,-72.53130001,  2.28431034,
  -7.92728914, 36.12922294,-71.97064093, -6.99979245, -6.81627282,
  28.65805372,-55.50541501, -1.47855023,  4.3782588 , 11.76088469,
 -47.96232232, -0.64301857, -0.89118268, -0.20321079, 14.75452422,
 -11.09400259,  0.53947733]

qfrc_actuator:
[ 0.00052571,-0.00049335, 0.00194911, 0.00645616,-0.00031819,-0.00052696,
 -0.00283116, 0.00438539, 0.00086915, 0.00267056,-0.00131295, 0.00399893,
  0.09123806,-0.0006273 , 0.06823681, 0.00526386, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002444835192121214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54109556e-13, -4.54109556e-13,  1.00000000e+00, -2.06215489e-25,
        1.00000000e+00,  4.54109556e-13, -1.00000000e+00,  0.00000000e+00,
       -4.54109556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916461, -0.05169975,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74094583e-07, 1.49130090e-05,-3.05219500e-05,-1.40115359e-04,
  1.31428080e-05,-1.30414523e-06, 6.93949030e-05,-9.76218613e-05,
 -4.14969085e-05,-1.25823478e-04, 1.30688066e-05,-8.26299732e-05,
 -6.30369717e-04,-3.09751786e-05,-3.34562399e-04,-3.30283546e-04,
 -6.67547045e-07, 6.97563582e-07,-1.21643588e+00, 8.81880204e-05,
  1.48563434e-03, 4.78230789e-07]


--- Step 94 ---
qpos:
[ 2.58665160e-03,-2.74031344e-03, 1.01750819e-02, 3.56577163e-02,
 -1.87895836e-03,-1.71548468e-03,-1.49040646e-02, 2.44725078e-02,
  4.96924530e-03, 1.42423827e-02,-7.88665055e-03, 2.22064664e-02,
  3.46610897e-01,-1.91765223e-03, 1.83442780e-01, 5.63457003e-02,
  9.49827635e-02,-7.00050879e-02, 1.21759857e-01, 9.99999862e-01,
 -2.37076496e-05,-7.87233313e-05, 5.19622693e-04]

qacc:
[ -3.85045353, -2.3282707 , 20.23937409,-64.53641211,  4.90967067,
  -6.89357185, 32.52237333,-66.8334907 , -2.42831845, -6.46657527,
  27.39359605,-54.29569249, -1.49096049,  4.4896265 , 12.98570434,
 -50.28720315, -0.64080435, -0.88672104, -0.25660446, 14.68098991,
 -11.02742034,  0.54805046]

qfrc_actuator:
[ 0.00050341,-0.0004758 , 0.0019026 , 0.00632469,-0.00028996,-0.00051649,
 -0.00277394, 0.00429205, 0.00085567, 0.00260598,-0.00128457, 0.00392102,
  0.09106843,-0.00061933, 0.06816191, 0.00500512, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024087529196108182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.45683969e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.45683969e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916508, -0.05169887,  0.06199415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23297826e-05, 1.32044490e-05,-5.26406940e-05,-1.34964938e-04,
  2.86058226e-05, 2.05252089e-05, 6.26063150e-05,-9.29586970e-05,
 -1.45667680e-05,-1.37316738e-04, 7.37202983e-07,-8.46728925e-05,
 -6.28610640e-04,-3.07461445e-05,-2.55166945e-04,-3.18314657e-04,
 -1.31257103e-06, 1.64231035e-06,-1.21642494e+00, 9.10934785e-05,
  1.48309899e-03, 1.45834506e-07]


--- Step 95 ---
qpos:
[ 2.59574685e-03,-2.75043168e-03, 1.02107909e-02, 3.57806200e-02,
 -1.88439045e-03,-1.72104532e-03,-1.49544044e-02, 2.45569425e-02,
  4.98701684e-03, 1.42877939e-02,-7.91229568e-03, 2.22829640e-02,
  3.48481350e-01,-1.92662916e-03, 1.85226003e-01, 5.65376263e-02,
  9.49778281e-02,-7.00178784e-02, 1.21759600e-01, 9.99999849e-01,
  8.17750210e-05,-1.22447176e-04, 5.29520160e-04]

qacc:
[ -9.11923652, -3.60531632, 23.25720335,-65.61348878,  3.39759695,
  -6.54752843, 31.07322846,-63.92944464,  0.43614852, -5.05851511,
  23.4722463 ,-50.97234534, -1.22618918,  1.43996863,  9.49366062,
 -39.50100992,  0.73646261, -0.40561471,  0.19113514,  7.13304176,
  12.62112929, -0.85036922]

qfrc_actuator:
[ 0.00045073,-0.0005148 , 0.00186071, 0.00619721,-0.00027103,-0.00050795,
 -0.0027197 , 0.00420269, 0.00085842, 0.00260275,-0.00125754, 0.00384397,
  0.09089405,-0.00062888, 0.06800487, 0.00477451, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024076927824277783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30557452e-13, -2.30557452e-13,  1.00000000e+00, -5.31567385e-26,
        1.00000000e+00,  2.30557452e-13, -1.00000000e+00,  0.00000000e+00,
       -2.30557452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190186, -0.06169914,  0.06199415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33313291e-05,-4.86472797e-05,-5.09191046e-05,-1.31696978e-04,
  1.97545950e-05, 2.95891562e-05, 6.34528471e-05,-8.81947100e-05,
  2.41967215e-06,-8.49857707e-05,-4.56222950e-06,-8.47735451e-05,
 -6.31889595e-04,-4.85383549e-05,-3.03646648e-04,-2.80262109e-04,
 -1.98821759e-06, 2.88036153e-06,-1.21640726e+00, 9.54178563e-05,
  1.47943022e-03,-3.63158149e-07]


--- Step 96 ---
qpos:
[ 2.60413937e-03,-2.76065456e-03, 1.02454904e-02, 3.59007169e-02,
 -1.88955332e-03,-1.72639914e-03,-1.50034632e-02, 2.46392690e-02,
  5.00434070e-03, 1.43326672e-02,-7.93782034e-03, 2.23582825e-02,
  3.50348559e-01,-1.93594602e-03, 1.87006046e-01, 5.67269307e-02,
  9.49731187e-02,-7.00260575e-02, 1.21760076e-01, 9.99999830e-01,
  1.48873208e-04,-1.62915746e-04, 5.39501844e-04]

qacc:
[-6.20420329e+00,-3.08803246e+00, 2.26741129e+01,-6.95741215e+01,
  2.39838203e+00,-7.64761121e+00, 3.65596879e+01,-7.52373333e+01,
 -3.90200524e+00,-3.46786065e+00, 1.63257575e+01,-3.65462709e+01,
 -1.05302640e+00,-5.02893936e-01, 3.22476395e+00,-1.81033595e+01,
  5.65251462e-02, 1.15284947e+00, 1.83264474e-01,-1.91913717e+01,
  1.63780281e+00, 4.43263520e-02]

qfrc_actuator:
[ 0.00041611,-0.00053408, 0.00180389, 0.00605532,-0.00025773,-0.00048289,
 -0.0026499 , 0.00409862, 0.00083518, 0.00258304,-0.00124901, 0.00378585,
  0.09072226,-0.0006487 , 0.06786258, 0.00465088, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024407759976513566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13716194e-13,  4.54864775e-13,  1.00000000e+00,  5.17254908e-26,
        1.00000000e+00, -4.54864775e-13, -1.00000000e+00,  0.00000000e+00,
       -1.13716194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470886, -0.09305968,  0.06199407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61792296e-05,-6.30225723e-05,-7.82712503e-05,-1.48635777e-04,
  1.38755760e-05, 5.15396317e-05, 8.11457796e-05,-1.02383645e-04,
 -2.30663789e-05,-7.32677794e-05,-1.29072601e-05,-6.37866224e-05,
 -6.32804698e-04,-5.99466977e-05,-3.04275551e-04,-1.76773342e-04,
 -2.37418366e-06, 1.66863751e-06,-1.21640736e+00, 1.00832530e-04,
  1.47727987e-03,-5.91863645e-07]


--- Step 97 ---
qpos:
[ 2.61274043e-03,-2.77070402e-03, 1.02785461e-02, 3.60178358e-02,
 -1.89486157e-03,-1.73138114e-03,-1.50510788e-02, 2.47193278e-02,
  5.02125444e-03, 1.43764716e-02,-7.96336588e-03, 2.24320476e-02,
  3.52212467e-01,-1.94469587e-03, 1.88783047e-01, 5.69109517e-02,
  9.49686460e-02,-7.00296837e-02, 1.21760820e-01, 9.99999813e-01,
  1.78038744e-04,-2.00266646e-04, 5.49701199e-04]

qacc:
[ 1.77526635e+00,-1.31497975e+00, 1.75814164e+01,-6.66057960e+01,
 -1.23836292e+00,-8.20386937e+00, 3.95455757e+01,-8.13782982e+01,
 -3.56892644e+00,-4.54591809e+00, 2.07293900e+01,-4.68068874e+01,
 -1.81494929e+00, 7.83986687e+00, 1.14773791e+01,-4.66574930e+01,
  5.91492090e-02, 1.13820917e+00, 6.69102170e-02,-1.89654637e+01,
  1.56908347e+00, 1.11693531e-01]

qfrc_actuator:
[ 0.00042791,-0.00052375, 0.00172102, 0.00590607,-0.0002656 ,-0.00044809,
 -0.00257141, 0.00398677, 0.00081457, 0.00248257,-0.00126927, 0.0037038 ,
  0.09055214,-0.00062115, 0.06769199, 0.00437829, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024672507974725366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.24991927e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.24991927e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470949, -0.09305911,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07268966e-05,-4.77879257e-05,-1.11230478e-04,-1.57868860e-04,
 -7.45393896e-06, 7.65889331e-05, 9.60419660e-05,-1.08897161e-04,
 -2.11573908e-05,-1.48282321e-04,-3.95587684e-05,-8.70825446e-05,
 -6.32424978e-04,-1.33869290e-05,-3.20843559e-04,-3.19936724e-04,
 -1.45374842e-06, 1.37596464e-06,-1.21642466e+00, 1.04160852e-04,
  1.47551930e-03,-6.58054925e-07]


--- Step 98 ---
qpos:
[ 2.62141509e-03,-2.78063835e-03, 1.03108505e-02, 3.61318483e-02,
 -1.90091263e-03,-1.73595226e-03,-1.50974065e-02, 2.47977724e-02,
  5.03779221e-03, 1.44190062e-02,-7.98883775e-03, 2.25039271e-02,
  3.54073132e-01,-1.95301308e-03, 1.90556794e-01, 5.70886221e-02,
  9.49644178e-02,-7.00288052e-02, 1.21761441e-01, 9.99999801e-01,
  1.69643459e-04,-2.34611037e-04, 5.60225102e-04]

qacc:
[ 6.19034276e-01,-4.15043929e+00, 2.81247090e+01,-8.07599503e+01,
 -6.48684142e+00,-6.36385405e+00, 3.03178841e+01,-6.06405804e+01,
 -3.26397746e+00,-5.76052848e+00, 2.60778028e+01,-5.79111338e+01,
 -1.68959331e+00, 6.58841231e+00, 1.43855238e+01,-5.72943192e+01,
  6.11240722e-02, 1.12619358e+00,-3.07081482e-02,-1.87795486e+01,
  1.51360743e+00, 1.65765920e-01]

qfrc_actuator:
[ 0.00043142,-0.00049588, 0.00169457, 0.00575371,-0.00030361,-0.00042544,
 -0.00250613, 0.00390674, 0.00079569, 0.00240541,-0.00127119, 0.00360824,
  0.09038848,-0.00060146, 0.06751518, 0.00405553, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024734949259752614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12211977e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12211977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09470996, -0.09305908,  0.06199399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78681111e-06,-2.89018238e-05,-5.60245738e-05,-1.61644015e-04,
 -3.82005665e-05, 8.12098533e-05, 8.95947265e-05,-7.56001948e-05,
 -1.94075742e-05,-1.73387880e-04,-4.07958573e-05,-1.05174647e-04,
 -6.22944463e-04,-2.00584806e-05,-3.50575926e-04,-3.80197810e-04,
 -5.35251933e-07, 1.11156985e-06,-1.21643440e+00, 1.05613355e-04,
  1.47390841e-03,-6.36434779e-07]


--- Step 99 ---
qpos:
[ 2.62937404e-03,-2.79043279e-03, 1.03429824e-02, 3.62444780e-02,
 -1.90737221e-03,-1.74009495e-03,-1.51434366e-02, 2.48754039e-02,
  5.05328731e-03, 1.44606409e-02,-8.01459925e-03, 2.25737306e-02,
  3.55930563e-01,-1.96064624e-03, 1.92326450e-01, 5.72630774e-02,
  9.49604399e-02,-7.00234610e-02, 1.21761612e-01, 9.99999794e-01,
  1.23990181e-04,-2.66038763e-04, 5.71159535e-04]

qacc:
[ -6.29493562, -2.16991977, 13.8608109 ,-37.63795495, -3.58387181,
  -1.93124744, 11.15388851,-26.03229589, -9.1100376 , -4.6364849 ,
  23.60213147,-58.44047555, -1.89092659,  8.80350742,  3.68651857,
 -21.63819918,  0.0625984 ,  1.11642204, -0.11248008,-18.62812782,
   1.46880357,  0.2093866 ]

qfrc_actuator:
[ 0.00039451,-0.0004575 , 0.00170174, 0.00568956,-0.00032356,-0.00042802,
 -0.00250247, 0.00386382, 0.00074246, 0.00237837,-0.00127995, 0.00350554,
  0.09022347,-0.00056883, 0.06731879, 0.00390114, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024635943220201184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12662931e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12662931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0947103 , -0.09305948,  0.06199401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68292723e-05, 3.41990913e-06,-1.18252407e-05,-7.07760240e-05,
 -2.10035558e-05, 5.86204988e-05, 2.92828457e-05,-3.78701609e-05,
 -5.37113541e-05,-1.38292656e-04,-5.35824469e-05,-1.13789508e-04,
 -6.17740506e-04,-7.06210950e-06,-3.89345399e-04,-2.18737975e-04,
  4.18431596e-07, 8.63700812e-07,-1.21643685e+00, 1.05209665e-04,
  1.47245138e-03,-5.26369091e-07]


--- Step 100 ---
qpos:
[ 2.63717310e-03,-2.79984356e-03, 1.03745409e-02, 3.63557969e-02,
 -1.91367574e-03,-1.74417793e-03,-1.51889056e-02, 2.49522912e-02,
  5.06802618e-03, 1.45013091e-02,-8.04005667e-03, 2.26417229e-02,
  3.57784789e-01,-1.96778619e-03, 1.94092280e-01, 5.74358734e-02,
  9.49567169e-02,-7.00136825e-02, 1.21761059e-01, 9.99999786e-01,
  4.13220252e-05,-2.94622447e-04, 5.82574055e-04]

qacc:
[ -1.42973592, -0.5884396 ,  8.37016963,-30.42513719,  1.38565315,
  -3.02254605, 14.02963535,-27.84457014, -6.58571674, -5.84360413,
  26.65162902,-57.79703475, -1.72644641,  7.04051571, -0.62596753,
  -5.98907969,  0.06368799,  1.10857138, -0.18086719,-18.50655944,
   1.43262161,  0.2447911 ]

qfrc_actuator:
[ 0.00038736,-0.00043064, 0.00167553, 0.00562461,-0.00031494,-0.00044592,
 -0.00248204, 0.00382526, 0.00070495, 0.00234603,-0.00125697, 0.00341724,
  0.09005777,-0.00054661, 0.06715877, 0.00382941, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002440958763801765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13707679e-13,  4.54830717e-13,  1.00000000e+00,  5.17177453e-26,
        1.00000000e+00, -4.54830717e-13, -1.00000000e+00,  0.00000000e+00,
       -1.13707679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471055, -0.09306023,  0.06199407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21631653e-06, 2.29879156e-05,-2.99220244e-05,-6.68991003e-05,
  8.03816316e-06, 1.98155252e-05, 3.52534281e-05,-3.58357435e-05,
 -3.89653628e-05,-1.26949562e-04,-1.64520783e-05,-9.84804726e-05,
 -6.13735652e-04,-1.70476194e-05,-3.50029260e-04,-1.31404273e-04,
  1.43471969e-06, 6.26008165e-07,-1.21643220e+00, 1.02965674e-04,
  1.47115096e-03,-3.27434857e-07]


--- Step 101 ---
qpos:
[ 2.64482485e-03,-2.80852129e-03, 1.04048686e-02, 3.64647750e-02,
 -1.91982713e-03,-1.74843128e-03,-1.52330760e-02, 2.50277502e-02,
  5.08323704e-03, 1.45414376e-02,-8.06505546e-03, 2.27087479e-02,
  3.59635910e-01,-1.97525264e-03, 1.95855434e-01, 5.76006790e-02,
  9.49560358e-02,-7.00055646e-02, 1.21761596e-01, 9.99999780e-01,
 -2.70902313e-05,-2.98285784e-04, 5.92146051e-04]

qacc:
[ -1.34657468, -0.41100115, 12.7523134 ,-51.8313356 ,  1.37810081,
  -6.79402872, 29.92527443,-56.58970977,  4.14871612, -3.99513873,
  17.28066825,-34.34513991, -1.0272937 , -0.29366169, 20.18125703,
 -76.35781496,  0.76049613, -0.41515133,  0.27237953,  7.13493583,
  12.45598007, -0.92387746]

qfrc_actuator:
[ 0.00038005,-0.00039324, 0.00161203, 0.00550639,-0.00030734,-0.00045506,
 -0.00241642, 0.00375406, 0.00073027, 0.0023642 ,-0.00121543, 0.00337365,
  0.0898971 ,-0.00056622, 0.06700472, 0.00341646, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024414146792632596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.2737289e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.2737289e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190115, -0.06170194,  0.06199407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.55904205e-06, 4.09071453e-05,-6.52738296e-05,-1.19872493e-04,
  7.83311507e-06, 8.19677590e-06, 7.32201895e-05,-6.98891308e-05,
  2.42739780e-05,-6.17361765e-05, 9.56773912e-06,-5.16921009e-05,
 -6.06227140e-04,-5.93099701e-05,-3.17927220e-04,-4.63094810e-04,
  2.53403885e-06, 3.96792601e-07,-1.21642061e+00, 9.88940888e-05,
  1.47000891e-03,-3.93539315e-08]


--- Step 102 ---
qpos:
[ 2.65198418e-03,-2.81671624e-03, 1.04339626e-02, 3.65718610e-02,
 -1.92583964e-03,-1.75275795e-03,-1.52761022e-02, 2.51014203e-02,
  5.09897981e-03, 1.45812307e-02,-8.09033966e-03, 2.27747495e-02,
  3.61483884e-01,-1.98284331e-03, 1.97614988e-01, 5.77609461e-02,
  9.49583571e-02,-6.99990985e-02, 1.21762832e-01, 9.99999778e-01,
 -8.14554744e-05,-2.77211848e-04, 5.99982313e-04]

qacc:
[ -4.37310005,  0.1968165 ,  8.22306089,-39.36340653,  1.25493621,
  -6.97633365, 32.28459357,-65.01539599,  4.64546971, -1.76175201,
   9.94340853,-26.9348038 , -1.20643529,  1.51350204,  8.39328508,
 -37.08721141,  0.75061657, -0.41295465,  0.1747756 ,  7.03057037,
  12.36449937, -0.86962793]

qfrc_actuator:
[ 0.00035493,-0.00038552, 0.00154478, 0.00541102,-0.00030042,-0.00045874,
 -0.00236016, 0.00366426, 0.00075684, 0.00234162,-0.00123404, 0.00332127,
  0.08972889,-0.0005748 , 0.06683298, 0.00319632, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024484154842252526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53445517e-13, -4.53445517e-13,  1.00000000e+00, -2.05612837e-25,
        1.00000000e+00,  4.53445517e-13, -1.00000000e+00,  0.00000000e+00,
       -4.53445517e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190088, -0.06170232,  0.06199405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53308096e-05, 1.16669981e-05,-7.14911128e-05,-9.84987620e-05,
  7.15351606e-06, 1.35373417e-05, 6.49514093e-05,-8.83349918e-05,
  2.73612786e-05,-5.85957168e-05,-3.22853405e-05,-5.58823731e-05,
 -6.10960889e-04,-4.95384177e-05,-3.61200941e-04,-2.85429031e-04,
  1.66215643e-06, 5.34934979e-09,-1.21642809e+00, 9.56750853e-05,
  1.46964947e-03, 2.90715948e-08]


--- Step 103 ---
qpos:
[ 2.65913179e-03,-2.82521505e-03, 1.04629250e-02, 3.66766451e-02,
 -1.93137767e-03,-1.75671790e-03,-1.53185772e-02, 2.51734243e-02,
  5.11423161e-03, 1.46203775e-02,-8.11553312e-03, 2.28392755e-02,
  3.63328669e-01,-1.98974966e-03, 1.99370517e-01, 5.79228962e-02,
  9.49636493e-02,-6.99942765e-02, 1.21764441e-01, 9.99999782e-01,
 -1.21944568e-04,-2.31550063e-04, 6.06170314e-04]

qacc:
[ -0.1032243 , -4.77730824, 26.1634428 ,-65.56126142,  4.17405102,
  -4.4915827 , 23.74089995,-53.71490378, -4.2783042 , -4.13771391,
  19.75928452,-44.98501827, -1.89240724,  8.69049354,-11.00461055,
  29.91787021,  0.74268921, -0.41102193,  0.09309019,  6.94522109,
  12.28982686, -0.82505371]

qfrc_actuator:
[ 0.00035505,-0.00043115, 0.00152904, 0.00529435,-0.00027619,-0.00042367,
 -0.00232764, 0.00358199, 0.00073066, 0.0022946 ,-0.00123493, 0.0032463 ,
  0.08956694,-0.00054134, 0.06668809, 0.00330465, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024395956579495448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27542425e-13, -2.27542425e-13,  1.00000000e+00, -5.17755552e-26,
        1.00000000e+00,  2.27542425e-13, -1.00000000e+00,  0.00000000e+00,
       -2.27542425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819004 , -0.06170247,  0.06199407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17984030e-07,-5.84140212e-05,-2.60352082e-05,-1.20848866e-04,
  2.44404086e-05, 5.27711058e-05, 4.06571543e-05,-8.12248230e-05,
 -2.52993520e-05,-9.00805443e-05,-1.91975344e-05,-7.98610301e-05,
 -6.07546931e-04,-7.82681074e-06,-3.31366351e-04, 4.80996204e-05,
  1.13468599e-06,-2.70513409e-07,-1.21643138e+00, 9.30972831e-05,
  1.47054940e-03, 1.09217801e-07]


--- Step 104 ---
qpos:
[ 2.66622450e-03,-2.83395528e-03, 1.04917671e-02, 3.67792016e-02,
 -1.93658232e-03,-1.76017206e-03,-1.53604518e-02, 2.52442042e-02,
  5.12905345e-03, 1.46590290e-02,-8.14067666e-03, 2.29030718e-02,
  3.65170328e-01,-1.99583038e-03, 2.01122353e-01, 5.80871560e-02,
  9.49718870e-02,-6.99910920e-02, 1.21766149e-01, 9.99999789e-01,
 -1.48696493e-04,-1.61419761e-04, 6.10782270e-04]

qacc:
[-4.83079259e-01,-4.57265438e+00, 2.52413524e+01,-6.34193203e+01,
  2.93520239e+00,-3.53294890e+00, 1.87263700e+01,-4.12326831e+01,
 -3.74836990e+00,-2.28942483e+00, 1.03071359e+01,-2.26664737e+01,
 -1.99100337e+00, 9.88595026e+00,-1.24078906e+01, 3.55426328e+01,
  7.36408683e-01,-4.09357099e-01, 2.48785379e-02, 6.87581652e+00,
  1.22301887e+01,-7.88122281e-01]

qfrc_actuator:
[ 0.00035227,-0.0004372 , 0.00152584, 0.00518381,-0.00025972,-0.00038351,
 -0.00229146, 0.00352257, 0.00070915, 0.00228663,-0.00122543, 0.0032119 ,
  0.08941418,-0.00050115, 0.06652753, 0.00342812, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024182920438546585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189976, -0.06170244,  0.06199412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83705347e-06,-4.95560603e-05,-2.31331753e-05,-1.16572124e-04,
  1.71854278e-05, 7.50754970e-05, 4.96556577e-05,-5.73843647e-05,
 -2.21531328e-05,-6.69646547e-05,-1.45319221e-05,-4.06501797e-05,
 -5.92914447e-04, 1.72193046e-07,-2.96128561e-04, 8.56879718e-05,
  9.30836350e-07,-4.46461156e-07,-1.21643059e+00, 9.11568180e-05,
  1.47269719e-03, 2.00047073e-07]


--- Step 105 ---
qpos:
[ 2.67322797e-03,-2.84243362e-03, 1.05198288e-02, 3.68799558e-02,
 -1.94189370e-03,-1.76332210e-03,-1.54015168e-02, 2.53140764e-02,
  5.14350440e-03, 1.46968434e-02,-8.16541733e-03, 2.29663204e-02,
  3.67008933e-01,-2.00202023e-03, 2.02871242e-01, 5.82515498e-02,
  9.49830509e-02,-6.99895392e-02, 1.21767729e-01, 9.99999796e-01,
 -1.61823380e-04,-6.69133253e-05, 6.13878358e-04]

qacc:
[-8.13868323e-01,-1.18462033e+00, 1.23335032e+01,-4.24683318e+01,
 -9.17023645e-01,-3.72546004e+00, 1.77029634e+01,-3.49329836e+01,
 -3.21481022e+00,-3.35367490e+00, 1.26755180e+01,-2.21932109e+01,
 -1.18378901e+00, 1.56790428e+00,-4.74957371e+00, 1.03106397e+01,
  7.31521531e-01,-4.07955938e-01,-3.19446359e-02, 6.81983996e+00,
  1.21840160e+01,-7.57220665e-01]

qfrc_actuator:
[ 0.00034779,-0.00040168, 0.0014947 , 0.00509556,-0.00026571,-0.00037609,
 -0.00225337, 0.0034771 , 0.00069057, 0.00223118,-0.00120971, 0.00318394,
  0.08925107,-0.00051061, 0.06638963, 0.00343512, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023872835671882864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32528519e-13, -2.32528519e-13,  1.00000000e+00, -5.40695121e-26,
        1.00000000e+00,  2.32528519e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32528519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189901, -0.06170226,  0.0619942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58745733e-06,-2.24009282e-06,-4.87266518e-05,-9.37222776e-05,
 -5.47323049e-06, 5.76652617e-05, 5.81057921e-05,-4.17120598e-05,
 -1.91241146e-05,-9.88536768e-05,-1.58944272e-06,-3.23005297e-05,
 -5.91841631e-04,-4.85322330e-05,-2.54787771e-04,-2.45651561e-05,
  1.03598454e-06,-5.34849736e-07,-1.21642580e+00, 8.98503215e-05,
  1.47608378e-03, 3.00796955e-07]


--- Step 106 ---
qpos:
[ 2.68012336e-03,-2.85121320e-03, 1.05475188e-02, 3.69789070e-02,
 -1.94723529e-03,-1.76628872e-03,-1.54419642e-02, 2.53821974e-02,
  5.15762232e-03, 1.47336589e-02,-8.18909145e-03, 2.30280225e-02,
  3.68844431e-01,-2.00821581e-03, 2.04617595e-01, 5.84133996e-02,
  9.49971260e-02,-6.99896137e-02, 1.21768993e-01, 9.99999796e-01,
 -1.61414636e-04, 5.19010377e-05, 6.15509278e-04]

qacc:
[ -0.95680196, -3.07290519, 17.98950274,-48.37607787, -0.24988894,
  -5.08558423, 25.88127827,-57.31358723, -2.86105599, -7.48000769,
  31.29385139,-59.03963107, -1.30187138,  2.5850427 ,  3.94523887,
 -19.22870062,  0.72781718, -0.40680894, -0.07915878,  6.77522521,
  12.14992504, -0.731068  ]

qfrc_actuator:
[ 0.00034236,-0.00044815, 0.00146526, 0.00500338,-0.00026711,-0.00038832,
 -0.00223232, 0.00338691, 0.00067386, 0.00218328,-0.00115511, 0.00310668,
  0.08908185,-0.00051374, 0.06625473, 0.00330247, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002348876425601193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.36330658e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.36330658e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189815, -0.06170197,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.57888148e-06,-6.20684083e-05,-3.96063967e-05,-9.60491501e-05,
 -1.54144273e-06, 3.06766134e-05, 3.90323608e-05,-8.65806392e-05,
 -1.71782501e-05,-1.06070137e-04, 3.25825131e-05,-8.23436526e-05,
 -6.00275472e-04,-4.41407481e-05,-2.47817792e-04,-1.65687869e-04,
  1.44047912e-06,-5.45769622e-07,-1.21641709e+00, 8.91749421e-05,
  1.48070216e-03, 4.10928693e-07]


--- Step 107 ---
qpos:
[ 2.68655497e-03,-2.86062808e-03, 1.05748555e-02, 3.70756759e-02,
 -1.95289705e-03,-1.76934824e-03,-1.54811509e-02, 2.54486980e-02,
  5.17143225e-03, 1.47694299e-02,-8.21185355e-03, 2.30879868e-02,
  3.70676776e-01,-2.01400569e-03, 2.06361217e-01, 5.85671963e-02,
  9.50085793e-02,-6.99933255e-02, 1.21770300e-01, 9.99999789e-01,
 -1.30773724e-04, 1.48017267e-04, 6.18252105e-04]

qacc:
[-4.07461571e+00,-4.34147017e+00, 2.34829289e+01,-6.02283307e+01,
 -2.76950254e+00,-6.97276404e+00, 3.15368142e+01,-6.15389521e+01,
 -2.64620716e+00,-7.50245157e+00, 3.20943650e+01,-6.28716620e+01,
 -1.68665390e+00, 6.34222476e+00, 2.02968827e+01,-7.68540771e+01,
 -6.55446230e-01,-9.09319477e-01, 1.10159369e-02, 1.51090657e+01,
 -1.13584583e+01, 5.54908449e-01]

qfrc_actuator:
[ 0.00031866,-0.00050784, 0.00143675, 0.00489183,-0.00028355,-0.00039457,
 -0.00216838, 0.00330659, 0.00065839, 0.00212266,-0.00111353, 0.00301882,
  0.08891441,-0.00049539, 0.06605781, 0.00287562, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023621907397769482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34998598e-13, -2.34998598e-13,  1.00000000e+00, -5.52243411e-26,
        1.00000000e+00,  2.34998598e-13, -1.00000000e+00,  0.00000000e+00,
       -2.34998598e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916099, -0.05169604,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38997715e-05,-1.06947537e-04,-4.99873336e-05,-1.17718435e-04,
 -1.64720731e-05, 1.56789344e-05, 7.24458712e-05,-7.93887697e-05,
 -1.58921350e-05,-1.17885691e-04, 2.05635594e-05,-9.30440587e-05,
 -6.04450149e-04,-2.34322020e-05,-3.23522969e-04,-4.67123527e-04,
  2.13874333e-06,-4.87826188e-07,-1.21640448e+00, 8.91283448e-05,
  1.48654702e-03, 5.30086720e-07]


--- Step 108 ---
qpos:
[ 2.69230691e-03,-2.87032631e-03, 1.06015036e-02, 3.71703282e-02,
 -1.95871196e-03,-1.77239242e-03,-1.55190442e-02, 2.55143914e-02,
  5.18460623e-03, 1.48045107e-02,-8.23462843e-03, 2.31464473e-02,
  3.72505943e-01,-2.01913913e-03, 2.08101480e-01, 5.87143575e-02,
  9.50174325e-02,-7.00006455e-02, 1.21771304e-01, 9.99999779e-01,
 -7.01724411e-05, 2.21691164e-04, 6.22149934e-04]

qacc:
[ -5.98717856, -2.79974123, 18.38970276,-53.72614274, -1.30411501,
  -5.25118224, 22.16619725,-38.21816489, -5.54688629, -3.96176468,
  19.17011528,-44.68762092, -1.91299662,  8.53970733, 15.09310741,
 -59.9820725 , -0.65002881, -0.90205348, -0.07606242, 14.97315976,
 -11.23050046,  0.57825106]

qfrc_actuator:
[ 0.00028439,-0.00050401, 0.00140891, 0.0047875 ,-0.00029096,-0.0003793 ,
 -0.00209735, 0.00326828, 0.00062602, 0.00209036,-0.00111552, 0.00294316,
  0.08874815,-0.00046455, 0.06588768, 0.00254508, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023651850347690406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34701093e-13, -2.34701093e-13,  1.00000000e+00, -5.50846030e-26,
        1.00000000e+00,  2.34701093e-13, -1.00000000e+00,  0.00000000e+00,
       -2.34701093e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916081, -0.05169608,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49978318e-05,-7.15603853e-05,-6.05845944e-05,-1.13190244e-04,
 -7.87114166e-06, 3.60241805e-05, 8.07980852e-05,-3.67309172e-05,
 -3.27649372e-05,-9.90861654e-05,-2.73048043e-05,-8.19695205e-05,
 -6.05222839e-04,-1.08379663e-05,-3.62747177e-04,-3.96811382e-04,
  1.22307624e-06,-1.11471153e-06,-1.21641441e+00, 9.07022338e-05,
  1.49124930e-03, 6.28289220e-07]


--- Step 109 ---
qpos:
[ 2.69760239e-03,-2.87969391e-03, 1.06272787e-02, 3.72629214e-02,
 -1.96422566e-03,-1.77537871e-03,-1.55560461e-02, 2.55791354e-02,
  5.19729174e-03, 1.48387080e-02,-8.25720391e-03, 2.32035536e-02,
  3.74331926e-01,-2.02347323e-03, 2.09837972e-01, 5.88580105e-02,
  9.50237038e-02,-7.00115504e-02, 1.21771711e-01, 9.99999766e-01,
  2.01712075e-05, 2.73132460e-04, 6.27240741e-04]

qacc:
[ -4.04308164, -1.35785445, 14.17765718,-48.67152526,  2.66976812,
  -4.37185472, 19.69976883,-37.58829421, -4.24789733, -4.50520514,
  20.10205578,-43.22630491, -2.03900492,  9.7436496 ,  5.04500808,
 -25.69705506, -0.64548394, -0.89623162, -0.14899122, 14.86413102,
 -11.12559174,  0.59900726]

qfrc_actuator:
[ 0.00026193,-0.0004444 , 0.00138197, 0.00468831,-0.00027523,-0.00038667,
 -0.0020581 , 0.0032195 , 0.00060171, 0.00203961,-0.0011076 , 0.00287528,
  0.08858272,-0.00042664, 0.06572314, 0.00238063, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023538340720158368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.35832899e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.35832899e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916089, -0.0516958 ,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34841138e-05, 2.02699758e-06,-5.35196420e-05,-1.06803799e-04,
  1.55124522e-05, 2.82882524e-05, 5.57060135e-05,-4.52100558e-05,
 -2.51805370e-05,-1.16417149e-04,-1.90066835e-05,-7.48176332e-05,
 -6.04114493e-04,-3.70895638e-06,-3.65024167e-04,-2.31286547e-04,
  2.81115905e-07,-1.43404963e-06,-1.21641714e+00, 9.37243511e-05,
  1.49479459e-03, 5.42306788e-07]


--- Step 110 ---
qpos:
[ 2.70293154e-03,-2.88831181e-03, 1.06522267e-02, 3.73538868e-02,
 -1.96916293e-03,-1.77853454e-03,-1.55923807e-02, 2.56421451e-02,
  5.20993353e-03, 1.48722387e-02,-8.27935630e-03, 2.32593552e-02,
  3.76154805e-01,-2.02795725e-03, 2.11570738e-01, 5.89988334e-02,
  9.50274082e-02,-7.00260220e-02, 1.21771279e-01, 9.99999744e-01,
  1.40085609e-04, 3.02511576e-04, 6.33558426e-04]

qacc:
[ 2.55827188e-01,-5.11684241e-02, 8.48682298e+00,-3.58789166e+01,
  5.08113917e+00,-5.66642006e+00, 2.71864253e+01,-5.81274954e+01,
 -3.58205523e-01,-4.74917336e+00, 2.11650549e+01,-4.39330246e+01,
 -1.18783589e+00, 1.36375514e+00, 3.04968584e+00,-1.86556947e+01,
 -6.41711489e-01,-8.91659389e-01,-2.09976241e-01, 1.47782863e+01,
 -1.10403479e+01, 6.17702402e-01]

qfrc_actuator:
[ 0.00026437,-0.00036958, 0.00135602, 0.00461074,-0.00024602,-0.00042544,
 -0.00203803, 0.0031294 , 0.00060009, 0.00203152,-0.00107619, 0.00281253,
  0.08841789,-0.00043814, 0.06555145, 0.00224435, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023311932292033322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76246675e-13, -4.76246675e-13,  1.00000000e+00, -2.26810896e-25,
        1.00000000e+00,  4.76246675e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76246675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916117, -0.05169526,  0.06199433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75932860e-06, 6.01287462e-05,-3.62254322e-05,-8.16502295e-05,
  2.96643327e-05,-1.29808424e-05, 3.15274273e-05,-8.78971903e-05,
 -2.27664596e-06,-8.13977776e-05, 2.18827451e-06,-7.00088599e-05,
 -6.02075304e-04,-5.31395758e-05,-3.53883000e-04,-1.93964359e-04,
 -6.96886066e-07,-1.44667548e-06,-1.21641288e+00, 9.81826568e-05,
  1.49719158e-03, 2.75391249e-07]


--- Step 111 ---
qpos:
[ 2.70824799e-03,-2.89638489e-03, 1.06769695e-02, 3.74431920e-02,
 -1.97336653e-03,-1.78195363e-03,-1.56281205e-02, 2.57036019e-02,
  5.22245889e-03, 1.49056542e-02,-8.30127534e-03, 2.33142536e-02,
  3.77974611e-01,-2.03351250e-03, 2.13300631e-01, 5.91393327e-02,
  9.50313821e-02,-7.00358816e-02, 1.21771642e-01, 9.99999714e-01,
  2.21542018e-04, 3.35087720e-04, 6.40066804e-04]

qacc:
[ -0.12824622, -2.1274199 , 15.63530435,-44.43668112,  6.46038485,
  -5.21667642, 24.63197549,-52.2415792 , -1.0086174 , -2.66196536,
  13.08716708,-29.01025503, -0.37251991, -6.69518867, -3.27265809,
   5.26502843,  0.06735448,  1.15298389,  0.19906995,-19.22800692,
   1.61071097,  0.08930765]

qfrc_actuator:
[ 0.00026368,-0.00033944, 0.00134871, 0.0045288 ,-0.00020911,-0.00044734,
 -0.00201186, 0.00305118, 0.00059409, 0.00206691,-0.00104873, 0.00277109,
  0.08824822,-0.00049642, 0.06547147, 0.00224998, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023483049256209365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.5458226e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.5458226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471226, -0.09306353,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30731544e-07, 5.25811221e-05,-2.56886742e-06,-8.24547167e-05,
  3.77523971e-05,-2.60021772e-05, 2.46532973e-05,-7.94537748e-05,
 -5.99626333e-06,-1.37174147e-05, 8.24484587e-06,-4.63613405e-05,
 -6.08714115e-04,-1.01844801e-04,-2.53324169e-04,-4.86498604e-05,
 -1.72051686e-06,-1.15535376e-06,-1.21640177e+00, 1.04067546e-04,
  1.49844711e-03,-1.70000427e-07]


--- Step 112 ---
qpos:
[ 2.71385948e-03,-2.90392119e-03, 1.07014838e-02, 3.75301273e-02,
 -1.97709505e-03,-1.78532777e-03,-1.56634335e-02, 2.57639590e-02,
  5.23481698e-03, 1.49387883e-02,-8.32293352e-03, 2.33678986e-02,
  3.79791260e-01,-2.03865876e-03, 2.15028249e-01, 5.92747658e-02,
  9.50356330e-02,-7.00411877e-02, 1.21772332e-01, 9.99999687e-01,
  2.65007353e-04, 3.70772893e-04, 6.46830778e-04]

qacc:
[  2.57321832, -3.5409616 , 23.64492621,-64.67335343,  4.18079884,
  -3.40322903, 16.85017573,-36.58065048, -1.44939691, -3.67901335,
  17.87536864,-39.78482566, -1.71450259,  6.35382077, 11.95245233,
 -46.66984087,  0.06926223,  1.13837717,  0.08137059,-18.99457943,
   1.56670014,  0.12108771]

qfrc_actuator:
[ 0.0002789 ,-0.00031846, 0.00133456, 0.0044094 ,-0.00018572,-0.00042345,
 -0.00198222, 0.00299834, 0.00058555, 0.00203934,-0.00104138, 0.00270705,
  0.08809172,-0.00047526, 0.06533474, 0.00198432, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023820784518779892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33036621e-13,  2.33036621e-13,  1.00000000e+00,  5.43060665e-26,
        1.00000000e+00, -2.33036621e-13, -1.00000000e+00,  0.00000000e+00,
       -2.33036621e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471269, -0.09306272,  0.06199421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52060119e-05, 4.61114109e-05,-6.86349840e-06,-1.19078296e-04,
  2.44556835e-05, 1.14575848e-05, 2.48788687e-05,-5.46917354e-05,
 -8.62088233e-06,-3.65618672e-05, 3.68263270e-06,-6.53838188e-05,
 -6.03488003e-04,-2.49992069e-05,-2.52240003e-04,-2.99970330e-04,
 -1.13125160e-06,-1.01116348e-06,-1.21642072e+00, 1.08101142e-04,
  1.50019551e-03,-4.39311046e-07]


--- Step 113 ---
qpos:
[ 2.71995455e-03,-2.91116302e-03, 1.07257573e-02, 3.76149831e-02,
 -1.98120396e-03,-1.78847484e-03,-1.56984769e-02, 2.58225085e-02,
  5.24697858e-03, 1.49714781e-02,-8.34428344e-03, 2.34207195e-02,
  3.81604762e-01,-2.04346570e-03, 2.16752837e-01, 5.94063613e-02,
  9.50401671e-02,-7.00419884e-02, 1.21772951e-01, 9.99999666e-01,
  2.70866519e-04, 4.09498211e-04, 6.53898783e-04]

qacc:
[ 4.23290474e+00,-3.23124497e+00, 2.08445097e+01,-5.66414672e+01,
 -3.33443667e+00,-4.16561316e+00, 2.29339210e+01,-5.48318896e+01,
 -1.69991069e+00,-3.14212900e+00, 1.38368943e+01,-2.82720417e+01,
 -1.64921761e+00, 5.71281439e+00, 7.12637967e+00,-3.14065346e+01,
  7.08122668e-02, 1.12635302e+00,-1.74343401e-02,-1.88021528e+01,
  1.53227382e+00, 1.44639169e-01]

qfrc_actuator:
[ 0.00030336,-0.00032093, 0.0013164 , 0.00430441,-0.00020599,-0.00040779,
 -0.00196832, 0.00290766, 0.00057558, 0.00200971,-0.00102847, 0.00266568,
  0.08792726,-0.00046075, 0.06517465, 0.00179154, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023950166386002558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30374971e-13,  4.63555454e-13,  1.00000000e+00,  6.04360290e-26,
        1.00000000e+00, -4.63555454e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30374971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471301, -0.09306248,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48985954e-05, 1.65766772e-05,-1.40018998e-05,-1.05805359e-04,
 -1.95647503e-05, 2.52701788e-05, 1.77582343e-05,-9.04500756e-05,
 -1.01305820e-05,-5.31429936e-05, 3.31386332e-06,-4.42278391e-05,
 -6.02388968e-04,-2.88625595e-05,-3.04512203e-04,-2.41287667e-04,
 -5.19101260e-07,-8.65992190e-07,-1.21643209e+00, 1.10260845e-04,
  1.50209916e-03,-6.18320579e-07]


--- Step 114 ---
qpos:
[ 2.72595038e-03,-2.91821677e-03, 1.07496742e-02, 3.76982834e-02,
 -1.98586854e-03,-1.79149054e-03,-1.57327639e-02, 2.58788023e-02,
  5.25892842e-03, 1.50031429e-02,-8.36507987e-03, 2.34733798e-02,
  3.83415097e-01,-2.04833989e-03, 2.18474741e-01, 5.95351468e-02,
  9.50449896e-02,-7.00383229e-02, 1.21773170e-01, 9.99999651e-01,
  2.39433813e-04, 4.51210378e-04, 6.61306252e-04]

qacc:
[-8.86892071e-01,-1.95830045e+00, 1.39089275e+01,-4.03961841e+01,
 -4.85587562e+00,-6.57007437e+00, 3.32202738e+01,-7.35820932e+01,
 -1.81546637e+00,-3.22890103e+00, 1.02313215e+01,-1.31475847e+01,
 -1.30274376e+00, 2.21510158e+00, 4.52794887e+00,-2.15869713e+01,
  7.20919415e-02, 1.11654130e+00,-1.00258732e-01,-1.86450237e+01,
  1.50566127e+00, 1.61690135e-01]

qfrc_actuator:
[ 0.00029756,-0.00031969, 0.00129593, 0.00422647,-0.00023403,-0.00039728,
 -0.00192837, 0.0027954 , 0.00056486, 0.00192587,-0.00101236, 0.00265573,
  0.08775282,-0.00046808, 0.06506993, 0.00166104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023912610275454715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45088592e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.45088592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471323, -0.09306269,  0.06199419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10216156e-06, 2.86143668e-06,-2.28195495e-05,-8.00005800e-05,
 -2.85864361e-05, 2.48277765e-05, 4.45444991e-05,-1.12360854e-04,
 -1.09416246e-05,-1.15788553e-04, 3.76729603e-06,-1.31165506e-05,
 -6.11861222e-04,-5.10755389e-05,-2.63661318e-04,-1.81761635e-04,
  1.36266550e-07,-7.24972824e-07,-1.21643614e+00, 1.10565668e-04,
  1.50415943e-03,-7.07139360e-07]


--- Step 115 ---
qpos:
[ 2.73113994e-03,-2.92483004e-03, 1.07724794e-02, 3.77803625e-02,
 -1.99048825e-03,-1.79438903e-03,-1.57657844e-02, 2.59336230e-02,
  5.27031377e-03, 1.50335356e-02,-8.38503034e-03, 2.35248300e-02,
  3.85222217e-01,-2.05220019e-03, 2.20193769e-01, 5.96620068e-02,
  9.50501048e-02,-7.00302230e-02, 1.21772710e-01, 9.99999639e-01,
  1.70962530e-04, 4.95868848e-04, 6.69078342e-04]

qacc:
[ -7.12371172,  1.18777456,  1.78648161,-21.48946433,  0.43056059,
  -6.41476525, 29.31703413,-56.92103215, -4.88411064, -6.52773395,
  25.96108952,-47.3380253 , -2.28413956, 11.56011362,  1.59481675,
 -11.68503621,  0.07316883,  1.10862706, -0.16958344,-18.51839017,
   1.48544059,  0.17360033]

qfrc_actuator:
[ 0.00025623,-0.00029848, 0.0012388 , 0.00416507,-0.0002309 ,-0.00037209,
 -0.00185563, 0.00272464, 0.00053601, 0.00184576,-0.00097696, 0.00259328,
  0.08759381,-0.00041723, 0.0649346 , 0.00156842, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023742709068681755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65317090e-13,  2.33802937e-13,  1.00000000e+00,  8.54122087e-26,
        1.00000000e+00, -2.33802937e-13, -1.00000000e+00,  0.00000000e+00,
       -3.65317090e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471338, -0.09306326,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14844070e-05, 1.44326250e-05,-6.25121291e-05,-6.38451554e-05,
  2.32442566e-06, 4.38357960e-05, 7.97761049e-05,-7.03862000e-05,
 -2.91054267e-05,-1.45629804e-04, 1.12622254e-05,-6.76705594e-05,
 -6.04811526e-04, 5.24254555e-06,-2.70756078e-04,-1.35754275e-04,
  8.49171623e-07,-5.89401859e-07,-1.21643310e+00, 1.09031095e-04,
  1.50637692e-03,-7.05965133e-07]


--- Step 116 ---
qpos:
[ 2.73613856e-03,-2.93131008e-03, 1.07948359e-02, 3.78603658e-02,
 -1.99434492e-03,-1.79715451e-03,-1.57979615e-02, 2.59875402e-02,
  5.28126617e-03, 1.50630615e-02,-8.40398976e-03, 2.35750665e-02,
  3.87026244e-01,-2.05573325e-03, 2.21909047e-01, 5.97885484e-02,
  9.50525884e-02,-7.00224965e-02, 1.21773343e-01, 9.99999631e-01,
  1.05261860e-04, 5.17993894e-04, 6.77395811e-04]

qacc:
[ -1.69432145, -2.84435899, 19.16083623,-54.46642472,  6.71922505,
  -4.052112  , 18.49643029,-35.55511561, -3.73724136, -6.40716599,
  26.32024539,-48.28647565, -1.62036031,  5.50575647, -4.56011967,
   7.94585796, -0.65790275, -0.0933818 ,  0.27324921,  1.37763186,
 -11.26758922,  0.27530085]

qfrc_actuator:
[ 0.00024759,-0.00030113, 0.00121381, 0.00406063,-0.0001917 ,-0.00037364,
 -0.0018173 , 0.00267889, 0.00051449, 0.00183956,-0.00091274, 0.00253596,
  0.08743884,-0.00040354, 0.06473842, 0.00155203, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002359014305979984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35315026e-13,  2.35315026e-13,  1.00000000e+00, -5.53731614e-26,
        1.00000000e+00, -2.35315026e-13, -1.00000000e+00,  0.00000000e+00,
        2.35315026e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889635, -0.0684159 ,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82424104e-06,-1.04671246e-05,-3.22872664e-05,-1.07448171e-04,
  3.92838604e-05, 3.67965055e-05, 5.50816132e-05,-4.25231531e-05,
 -2.23158221e-05,-8.91683160e-05, 3.29585588e-05,-6.46236505e-05,
 -5.91529125e-04,-2.96816975e-05,-3.29228947e-04,-5.77556679e-05,
  1.62960255e-06,-4.57106738e-07,-1.21642310e+00, 1.05669571e-04,
  1.50875168e-03,-6.15045380e-07]


--- Step 117 ---
qpos:
[ 2.74168415e-03,-2.93785307e-03, 1.08168190e-02, 3.79381657e-02,
 -1.99770197e-03,-1.79942538e-03,-1.58298395e-02, 2.60404800e-02,
  5.29222160e-03, 1.50920320e-02,-8.42247425e-03, 2.36245624e-02,
  3.88827182e-01,-2.05935842e-03, 2.23620305e-01, 5.99126667e-02,
  9.50524585e-02,-7.00167686e-02, 1.21774623e-01, 9.99999629e-01,
  5.59396267e-05, 5.17471899e-04, 6.86567030e-04]

qacc:
[ 4.79125603e+00,-3.58934359e+00, 2.19569110e+01,-5.94213289e+01,
  4.38433763e+00,-2.20120388e+00, 1.29098422e+01,-3.06518065e+01,
  5.03022952e-02,-3.58638353e+00, 1.48490701e+01,-2.80168224e+01,
 -1.25253782e+00, 1.94774328e+00, 1.38910489e+00,-1.34703510e+01,
 -6.53375014e-01,-4.99633126e-01, 1.61523603e-01, 8.18132358e+00,
 -1.13290197e+01, 4.32307067e-01]

qfrc_actuator:
[ 0.00027603,-0.00031796, 0.00119015, 0.00394946,-0.0001671 ,-0.00033803,
 -0.00179968, 0.00263041, 0.00051521, 0.00182455,-0.00088497, 0.00249996,
  0.08727043,-0.00041186, 0.06451123, 0.00142075, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023570671215083998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.7085909e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.7085909e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902416, -0.06025967,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81438200e-05,-3.41801477e-05,-3.38893563e-05,-1.15045313e-04,
  2.57380521e-05, 6.61049436e-05, 3.08162786e-05,-4.58635468e-05,
  1.34791470e-07,-6.17686588e-05, 1.09487410e-05,-4.00773579e-05,
 -5.97729779e-04,-5.22654682e-05,-3.75004234e-04,-1.75004338e-04,
  1.45186378e-06,-2.85544228e-07,-1.21642782e+00, 1.02347819e-04,
  1.50986157e-03,-3.15200905e-07]


--- Step 118 ---
qpos:
[ 2.74683722e-03,-2.94450674e-03, 1.08383476e-02, 3.80143812e-02,
 -2.00142735e-03,-1.80150198e-03,-1.58608870e-02, 2.60927730e-02,
  5.30275712e-03, 1.51204113e-02,-8.44076204e-03, 2.36736082e-02,
  3.90624946e-01,-2.06265097e-03, 2.25327595e-01, 6.00361704e-02,
  9.50497682e-02,-7.00146653e-02, 1.21775632e-01, 9.99999634e-01,
  3.66146750e-05, 4.94413521e-04, 6.96802205e-04]

qacc:
[ -3.46018525, -2.13391681, 14.09272265,-40.71277394, -3.20960265,
  -3.38753092, 15.19339518,-27.868507  , -3.65220411, -2.25068912,
   8.80411314,-16.48692816, -1.66955022,  5.63018429, -3.98584283,
   5.47169554, -0.64009004, -0.90614704, -0.06754786, 14.99062336,
 -11.27845767,  0.54036685]

qfrc_actuator:
[ 0.00025505,-0.0003254 , 0.00116738, 0.00387071,-0.00018679,-0.00033381,
 -0.00175879, 0.00259849, 0.00049351, 0.00178653,-0.00087896, 0.00247675,
  0.08709939,-0.00039759, 0.06434016, 0.00140031, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023581815147798169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915811, -0.05169514,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02095630e-05,-3.86868836e-05,-3.83434805e-05,-8.38361447e-05,
 -1.89413135e-05, 4.59330121e-05, 5.70376043e-05,-2.89581860e-05,
 -2.16390225e-05,-7.29201517e-05,-7.00233761e-06,-2.63850233e-05,
 -6.06659576e-04,-3.12872737e-05,-3.51244667e-04,-7.61864579e-05,
  1.15430402e-06,-1.64276185e-08,-1.21643381e+00, 9.98162004e-05,
  1.50978959e-03,-6.99043391e-08]


--- Step 119 ---
qpos:
[ 2.75135357e-03,-2.95121774e-03, 1.08599733e-02, 3.80886648e-02,
 -2.00501415e-03,-1.80411189e-03,-1.58905529e-02, 2.61443316e-02,
  5.31295179e-03, 1.51486093e-02,-8.45850641e-03, 2.37226050e-02,
  3.92419593e-01,-2.06571218e-03, 2.27031330e-01, 6.01593606e-02,
  9.50445264e-02,-7.00161587e-02, 1.21776075e-01, 9.99999647e-01,
  4.70533964e-05, 4.49043328e-04, 7.08146362e-04]

qacc:
[ -5.58836757, -4.31838276, 23.45673106,-57.01923503,  1.26814785,
  -6.07734333, 23.74430958,-38.26541891, -2.95726747, -1.85375664,
   6.47887686, -8.07345281, -1.55909978,  4.72360351, -4.2869528 ,
   7.407799  , -0.63788495, -0.8991831 , -0.14156184, 14.87378335,
 -11.16625443,  0.56225458]

qfrc_actuator:
[ 0.00022287,-0.00030939, 0.00118089, 0.00377617,-0.00017915,-0.00040158,
 -0.00170458, 0.00255881, 0.00047652, 0.00182374,-0.00083264, 0.00247899,
  0.08694288,-0.00038791, 0.06418692, 0.00139227, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023486575004903754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72705375e-13,  2.36352688e-13,  1.00000000e+00,  1.11725186e-25,
        1.00000000e+00, -2.36352688e-13, -1.00000000e+00,  0.00000000e+00,
       -4.72705375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915796, -0.05169484,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27708515e-05,-1.73351206e-05,-2.45700958e-06,-9.93573257e-05,
  7.12002594e-06,-3.12219427e-05, 6.99931692e-05,-3.63458396e-05,
 -1.75478640e-05,-7.04704660e-06, 2.92585227e-05,-1.77581195e-06,
 -5.97037226e-04,-3.61389156e-05,-3.12305042e-04,-5.54105812e-05,
  5.99840277e-07, 5.21364391e-07,-1.21643770e+00, 9.87368382e-05,
  1.50850415e-03, 1.64061925e-08]


--- Step 120 ---
qpos:
[ 2.75579360e-03,-2.95778136e-03, 1.08812012e-02, 3.81615861e-02,
 -2.00813660e-03,-1.80726829e-03,-1.59192365e-02, 2.61953886e-02,
  5.32286439e-03, 1.51774216e-02,-8.47593160e-03, 2.37708102e-02,
  3.94211127e-01,-2.06825168e-03, 2.28732064e-01, 6.02764888e-02,
  9.50367400e-02,-7.00212263e-02, 1.21775703e-01, 9.99999664e-01,
  8.70678975e-05, 3.81539136e-04, 7.20631973e-04]

qacc:
[ -0.68606936, -1.49873867, 11.37600936,-34.42179516,  4.11430413,
  -4.50628413, 17.12457164,-26.95931892, -2.46492856, -1.70501794,
  10.60773325,-25.27855742, -1.8403438 ,  7.2886676 , 13.88635606,
 -54.99109123, -0.63613758, -0.89355815, -0.20347265, 14.77979125,
 -11.07744162,  0.57788661]

qfrc_actuator:
[ 0.0002199 ,-0.00029706, 0.00116253, 0.00370864,-0.00015546,-0.00044087,
 -0.00166102, 0.00253257, 0.00046246, 0.0019059 ,-0.00079808, 0.002443  ,
  0.08678453,-0.00036327, 0.06400187, 0.00107207, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023275438459036124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915805, -0.05169429,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92476417e-06,-2.33162044e-06,-2.60224139e-05,-7.04845569e-05,
  2.38817128e-05,-4.35239599e-05, 4.47409437e-05,-2.59064206e-05,
 -1.44895723e-05, 8.32933228e-05, 3.64254360e-05,-3.54356759e-05,
 -5.92026986e-04,-2.09472789e-05,-3.25867992e-04,-3.61866637e-04,
  3.22170873e-08, 1.36439103e-06,-1.21643457e+00, 9.90949779e-05,
  1.50607202e-03,-7.85825354e-08]


--- Step 121 ---
qpos:
[ 2.76050781e-03,-2.96413426e-03, 1.09016911e-02, 3.82338329e-02,
 -2.01129601e-03,-1.81049167e-03,-1.59476316e-02, 2.62460648e-02,
  5.33253314e-03, 1.52064140e-02,-8.49261762e-03, 2.38175419e-02,
  3.95999552e-01,-2.07042387e-03, 2.30429872e-01, 6.03877713e-02,
  9.50263446e-02,-7.00282520e-02, 1.21775209e-01, 9.99999678e-01,
  1.43150088e-04, 2.92036660e-04, 7.34077934e-04]

qacc:
[ 2.38037217e+00, 9.46832889e-01,-1.33728498e-01,-1.05041920e+01,
 -3.14364591e-01,-1.67691724e+00, 7.45944029e+00,-1.44603508e+01,
 -2.11072462e+00,-4.85768408e+00, 2.38948066e+01,-5.07209073e+01,
 -1.70413996e+00, 5.97797809e+00, 1.33445065e+01,-5.29357920e+01,
 -6.52275107e-01,-4.89499719e-01,-3.08967612e-02, 8.02573251e+00,
 -1.10048854e+01, 4.84198875e-01]

qfrc_actuator:
[ 0.00023414,-0.00028713, 0.00112551, 0.00367528,-0.00015803,-0.00042735,
 -0.00164175, 0.00251446, 0.00045022, 0.00189005,-0.00077057, 0.0023671 ,
  0.08661986,-0.00034778, 0.06386706, 0.00078347, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022987497085029586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.16187694e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.16187694e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902469, -0.06025866,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41139220e-05, 4.63449403e-08,-4.34838357e-05,-3.59289814e-05,
 -1.90309557e-06,-2.34299161e-06, 1.51521130e-05,-1.89781256e-05,
 -1.25372840e-05, 3.58095859e-05, 4.77499754e-05,-7.18916156e-05,
 -5.93696554e-04,-2.94501641e-05,-3.16904745e-04,-3.49293514e-04,
 -5.62350272e-07, 2.51221503e-06,-1.21642459e+00, 1.00880405e-04,
  1.50250016e-03,-3.52266438e-07]


--- Step 122 ---
qpos:
[ 2.76501077e-03,-2.97045804e-03, 1.09222016e-02, 3.83050843e-02,
 -2.01446163e-03,-1.81360836e-03,-1.59753957e-02, 2.62960820e-02,
  5.34198234e-03, 1.52347520e-02,-8.50839071e-03, 2.38627494e-02,
  3.97784930e-01,-2.07302667e-03, 2.32125095e-01, 6.04912763e-02,
  9.50161684e-02,-7.00307095e-02, 1.21774927e-01, 9.99999687e-01,
  1.61458559e-04, 2.05950783e-04, 7.47326252e-04]

qacc:
[-1.85535772e+00,-2.06668022e+00, 1.16302116e+01,-2.89145714e+01,
 -3.68524366e-02,-2.97734089e+00, 1.36042588e+01,-2.60981403e+01,
 -1.87894307e+00,-6.55070924e+00, 2.85437159e+01,-5.59069577e+01,
 -9.57596820e-01,-7.62941685e-01, 1.96601993e+01,-7.43487044e+01,
  5.48347154e-02, 1.14202477e+00, 5.31473152e-02,-1.88855701e+01,
  1.72215000e+00,-1.04580150e-01]

qfrc_actuator:
[ 0.00022288,-0.00027875, 0.00113105, 0.00362677,-0.00015828,-0.00040016,
 -0.00160125, 0.00248355, 0.00043916, 0.00179782,-0.00074783, 0.002286  ,
  0.08645685,-0.00037334, 0.06373587, 0.00039178, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002310502298199929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.60383657e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.60383657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471701, -0.09306651,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08700810e-05,-2.30110004e-06,-1.38112581e-06,-5.09066033e-05,
 -3.09492095e-07, 2.85360431e-05, 4.14824863e-05,-3.08978730e-05,
 -1.13232681e-05,-6.63528123e-05, 3.32924091e-05,-7.94436125e-05,
 -5.93832009e-04,-7.12778970e-05,-3.08230109e-04,-4.50636603e-04,
 -6.97326912e-07, 3.75232873e-06,-1.21641206e+00, 1.03436650e-04,
  1.49791777e-03,-6.80765208e-07]


--- Step 123 ---
qpos:
[ 2.76934380e-03,-2.97702449e-03, 1.09430864e-02, 3.83745157e-02,
 -2.01760544e-03,-1.81698868e-03,-1.60022914e-02, 2.63453696e-02,
  5.35157216e-03, 1.52622905e-02,-8.52390349e-03, 2.39070421e-02,
  3.99567207e-01,-2.07552351e-03, 2.33816787e-01, 6.05915964e-02,
  9.50062245e-02,-7.00286491e-02, 1.21774483e-01, 9.99999693e-01,
  1.42323560e-04, 1.23116813e-04, 7.60560618e-04]

qacc:
[-1.47731385e+00,-5.11537197e+00, 2.54565211e+01,-5.73735508e+01,
  2.22753226e-01,-4.27543168e+00, 1.78195219e+01,-3.16393193e+01,
  1.24942120e+00,-3.67036156e+00, 1.54117777e+01,-3.10678142e+01,
 -1.46235393e+00, 3.72491672e+00, 4.41441759e+00,-2.29959518e+01,
  5.80595898e-02, 1.12948458e+00,-4.03825319e-02,-1.87205131e+01,
  1.63994316e+00,-1.10931063e-02]

qfrc_actuator:
[ 0.00021445,-0.00030672, 0.00114391, 0.00353426,-0.00015716,-0.00043592,
 -0.00156622, 0.00244539, 0.00044663, 0.00173154,-0.00074618, 0.00223792,
  0.08629493,-0.00036963, 0.06358028, 0.0002443 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023223433741792476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19515382e-13,  4.78061529e-13,  1.00000000e+00,  5.71357064e-26,
        1.00000000e+00, -4.78061529e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19515382e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471776, -0.09306645,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.75355398e-06,-3.19090719e-05, 1.01243351e-05,-9.38430927e-05,
  1.11794605e-06,-1.22303957e-05, 4.52118821e-05,-3.61431951e-05,
  7.20475139e-06,-1.00828193e-04,-1.09395982e-05,-5.14413123e-05,
 -5.95972509e-04,-4.39048308e-05,-3.40915718e-04,-2.11189906e-04,
  5.27009405e-07, 3.10047824e-06,-1.21642056e+00, 1.04376521e-04,
  1.49399208e-03,-5.21824826e-07]


--- Step 124 ---
qpos:
[ 2.77354156e-03,-2.98344326e-03, 1.09633275e-02, 3.84416248e-02,
 -2.02105636e-03,-1.82054652e-03,-1.60287963e-02, 2.63934930e-02,
  5.36152342e-03, 1.52888830e-02,-8.53890688e-03, 2.39504138e-02,
  4.01346382e-01,-2.07757652e-03, 2.35504179e-01, 6.06969600e-02,
  9.49965224e-02,-7.00221114e-02, 1.21773565e-01, 9.99999696e-01,
  8.60140016e-05, 4.34004812e-05, 7.73930624e-04]

qacc:
[-1.21196722e+00,-2.78888291e+00, 2.00286484e+01,-5.92951052e+01,
 -2.68003432e+00,-3.71592087e+00, 1.78345011e+01,-3.84864571e+01,
  3.18824735e+00,-4.57630058e+00, 1.83810353e+01,-3.44273127e+01,
 -1.75264057e+00, 6.40728096e+00,-2.15500433e+01, 6.62362414e+01,
  6.04260508e-02, 1.11932287e+00,-1.18796054e-01,-1.85860959e+01,
  1.57296533e+00, 6.53110754e-02]

qfrc_actuator:
[ 0.00020776,-0.00030298, 0.00110755, 0.00341656,-0.000173  ,-0.00045587,
 -0.00155272, 0.00238547, 0.00046494, 0.00168124,-0.00072139, 0.00219191,
  0.08613911,-0.00034871, 0.06343155, 0.00052591, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023184607061685347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39431063e-13,  4.78862127e-13,  1.00000000e+00,  1.14654468e-25,
        1.00000000e+00, -4.78862127e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39431063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471832, -0.09306679,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96058601e-06,-1.62069204e-05,-4.52853221e-05,-1.20725332e-04,
 -1.58106152e-05,-1.86659762e-05, 1.55377011e-05,-5.96300432e-05,
  1.85665388e-05,-1.12032819e-04, 6.08140170e-07,-5.18391152e-05,
 -5.89283118e-04,-2.61647085e-05,-3.19574812e-04, 2.27709636e-04,
  1.72016049e-06, 2.51085627e-06,-1.21642179e+00, 1.03457539e-04,
  1.49021429e-03,-2.76909856e-07]


--- Step 125 ---
qpos:
[ 2.77762595e-03,-2.98932145e-03, 1.09821822e-02, 3.85071443e-02,
 -2.02467050e-03,-1.82397948e-03,-1.60550690e-02, 2.64404953e-02,
  5.37161810e-03, 1.53150943e-02,-8.55426205e-03, 2.39921905e-02,
  4.03122578e-01,-2.08001190e-03, 2.37188667e-01, 6.08030603e-02,
  9.49870687e-02,-7.00111290e-02, 1.21771908e-01, 9.99999689e-01,
 -7.25469655e-06,-3.33080873e-05, 7.87559033e-04]

qacc:
[ -1.04937613,  1.31674998,  3.05221952,-28.74177962, -1.42770302,
  -2.78705504, 14.91653431,-34.78859705,  1.24704387, -2.8070109 ,
  16.00800743,-42.76681753, -0.95582267, -0.50514916, -6.50702139,
  16.54591354,  0.06212575,  1.11118265, -0.18444981,-18.47840586,
   1.51819444,  0.12827349]

qfrc_actuator:
[ 0.00020215,-0.00026275, 0.00104251, 0.00333825,-0.00018094,-0.0004308 ,
 -0.00153425, 0.00233096, 0.00047173, 0.00167649,-0.00073632, 0.002112  ,
  0.08598706,-0.00037111, 0.06329777, 0.00056094, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002302112765077552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41131330e-13,  2.41131330e-13,  1.00000000e+00,  5.81443182e-26,
        1.00000000e+00, -2.41131330e-13, -1.00000000e+00,  0.00000000e+00,
       -2.41131330e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09471874, -0.09306744,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.82216066e-06, 1.64718818e-05,-7.84542950e-05,-8.31067998e-05,
 -8.39325010e-06, 1.56108697e-05, 1.47084918e-05,-5.59680325e-05,
  7.36224761e-06,-7.03377316e-05,-4.00174431e-05,-8.58204094e-05,
 -5.78920055e-04,-6.86215232e-05,-2.44877860e-04, 8.58768356e-06,
  2.92747589e-06, 1.96849098e-06,-1.21641593e+00, 1.00695655e-04,
  1.48658996e-03, 5.49857268e-08]


--- Step 126 ---
qpos:
[ 2.78230081e-03,-2.99462936e-03, 1.09999727e-02, 3.85715304e-02,
 -2.02869693e-03,-1.82723184e-03,-1.60804300e-02, 2.64864224e-02,
  5.38171698e-03, 1.53414377e-02,-8.57027352e-03, 2.40326367e-02,
  4.04895846e-01,-2.08366653e-03, 2.38870493e-01, 6.09087326e-02,
  9.49793186e-02,-6.99986827e-02, 1.21771415e-01, 9.99999668e-01,
 -1.12185055e-04,-9.58466910e-05, 8.01218639e-04]

qacc:
[ 5.14093608e+00, 1.38360140e+00, 9.25054143e-01,-1.92349501e+01,
 -3.59258579e+00,-4.51271141e+00, 2.09895099e+01,-4.11996494e+01,
  1.31583217e-02,-7.30282363e-01, 8.47521326e+00,-3.05515163e+01,
 -1.62886837e-01,-7.47238995e+00,-2.64993244e+00, 3.52748740e+00,
  4.25900912e-01, 3.65957925e-01, 2.90954516e-01,-5.82524797e+00,
  7.08957195e+00, 1.58499073e-02]

qfrc_actuator:
[ 0.00023272,-0.00021883, 0.00099678, 0.00328376,-0.00020191,-0.00039671,
 -0.0014773 , 0.00228013, 0.00047168, 0.00171665,-0.00075668, 0.0020483 ,
  0.08582673,-0.00043661, 0.06316767, 0.00053907, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002274235146920528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44087122e-13, -4.20094685e-07,  1.00000000e+00, -1.02539703e-19,
        1.00000000e+00,  4.20094685e-07, -1.00000000e+00, -1.20370622e-35,
       -2.44087122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08819222, -0.07710918,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04056582e-05, 3.31945754e-05,-5.51700406e-05,-5.82925663e-05,
 -2.12038658e-05, 4.37857259e-05, 6.02991288e-05,-5.07811716e-05,
  2.17201914e-07,-1.19510056e-05,-4.29976734e-05,-6.98845979e-05,
 -5.82788865e-04,-1.12830539e-04,-2.36306088e-04,-5.20927945e-05,
  4.18296891e-06, 1.46518758e-06,-1.21640313e+00, 9.61035326e-05,
  1.48312294e-03, 4.74613834e-07]


--- Step 127 ---
qpos:
[ 2.78696064e-03,-2.99963601e-03, 1.10170841e-02, 3.86354570e-02,
 -2.03294347e-03,-1.83040251e-03,-1.61045673e-02, 2.65310269e-02,
  5.39139378e-03, 1.53672066e-02,-8.58513080e-03, 2.40726572e-02,
  4.06666055e-01,-2.08767430e-03, 2.40549053e-01, 6.10137653e-02,
  9.49746264e-02,-6.99878887e-02, 1.21772117e-01, 9.99999640e-01,
 -2.02833104e-04,-1.33340393e-04, 8.13057454e-04]

qacc:
[ -0.15874104,  1.3502372 , -2.29703095, -4.79041642, -1.89494298,
  -6.02731993, 27.23979456,-52.15236099, -3.64050377, -4.85450685,
  18.01656815,-26.81834828, -1.02497881, -0.13276014, -2.88531691,
   3.09774719,  0.76447996, -0.41306277,  0.29861556,  7.15109792,
  12.51682677, -0.90967181]

qfrc_actuator:
[ 0.00023108,-0.00020845, 0.00096286, 0.0032615 ,-0.00021264,-0.00039281,
 -0.00141577, 0.00221415, 0.00044986, 0.00169462,-0.00069109, 0.0020302 ,
  0.08566152,-0.00045596, 0.0629866 , 0.0005017 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023113405721575386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.80337272e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.80337272e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189411, -0.0617097 ,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.65381124e-07, 1.48848682e-05,-3.61680169e-05,-2.40585617e-05,
 -1.13144059e-05, 3.89644405e-05, 7.64719928e-05,-6.30406063e-05,
 -2.17428449e-05,-4.14138098e-05, 5.52094616e-05,-2.15660778e-05,
 -5.93903298e-04,-6.90169062e-05,-2.90888489e-04,-7.00725068e-05,
  4.28260059e-06, 1.05939081e-06,-1.21640225e+00, 9.10307292e-05,
  1.48013254e-03, 7.24666816e-07]


--- Step 128 ---
qpos:
[ 2.79156487e-03,-3.00464946e-03, 1.10340623e-02, 3.86986176e-02,
 -2.03728562e-03,-1.83353753e-03,-1.61280022e-02, 2.65748807e-02,
  5.40073535e-03, 1.53922143e-02,-8.59837482e-03, 2.41117931e-02,
  4.08433204e-01,-2.09150891e-03, 2.42224260e-01, 6.11172215e-02,
  9.49729507e-02,-6.99787384e-02, 1.21773612e-01, 9.99999611e-01,
 -2.79423935e-04,-1.45989492e-04, 8.23188683e-04]

qacc:
[ -0.49277918, -1.21442037,  7.55015189,-20.58767443, -0.81791423,
  -3.45827   , 15.57288167,-29.71923776, -2.864551  , -7.33082749,
  28.42337748,-45.76255854, -1.52204594,  4.25529812, -0.17740076,
  -6.54055768,  0.75411531, -0.41090938,  0.19843152,  7.03859271,
  12.41675576, -0.85220997]

qfrc_actuator:
[ 0.00022825,-0.00021815, 0.00095383, 0.00322284,-0.00021724,-0.00040701,
 -0.00138769, 0.00217527, 0.00043315, 0.00165368,-0.00061097, 0.00198584,
  0.08550948,-0.000448  , 0.06281239, 0.00041989, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002329238170476755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189403, -0.06171023,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86320191e-06,-1.00575088e-05,-1.15360422e-05,-3.99055022e-05,
 -4.91369346e-06, 2.09813360e-05, 4.35900394e-05,-3.58312807e-05,
 -1.72761184e-05,-5.44373536e-05, 7.74047155e-05,-4.47573060e-05,
 -5.85590773e-04,-4.12273018e-05,-3.08468871e-04,-1.21902412e-04,
  2.96099947e-06, 5.33664549e-07,-1.21641563e+00, 8.67817901e-05,
  1.47805880e-03, 7.81587484e-07]


--- Step 129 ---
qpos:
[ 2.79644370e-03,-3.00929586e-03, 1.10507308e-02, 3.87594029e-02,
 -2.04130445e-03,-1.83651779e-03,-1.61509293e-02, 2.66179249e-02,
  5.40946017e-03, 1.54169656e-02,-8.61153929e-03, 2.41504778e-02,
  4.10197321e-01,-2.09517872e-03, 2.43895831e-01, 6.12215363e-02,
  9.49742580e-02,-6.99712239e-02, 1.21775566e-01, 9.99999587e-01,
 -3.42142563e-04,-1.33959364e-04, 8.31704867e-04]

qacc:
[  2.39383273, -3.5487262 , 23.36959307,-64.23505835,  2.84957038,
  -2.88432416, 13.98980119,-28.91312361, -5.37914024, -1.4796765 ,
   6.70738237,-14.47451409, -1.49766146,  4.11658831, -7.94208451,
  20.02803627,  0.74573521, -0.4089672 ,  0.11451413,  6.94613899,
  12.33412512, -0.80508865]

qfrc_actuator:
[ 0.00024249,-0.00018646, 0.00094169, 0.00310384,-0.00020046,-0.00039654,
 -0.00136189, 0.00213485, 0.00040183, 0.00163733,-0.00061184, 0.00196185,
  0.08535481,-0.0004418 , 0.06265305, 0.00047239, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000233032606317074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76423897e-13, -7.14635846e-13,  1.00000000e+00, -3.40469595e-25,
        1.00000000e+00,  7.14635846e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76423897e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189372, -0.06171051,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41466131e-05, 2.18026804e-05,-1.72966922e-05,-1.20782074e-04,
  1.66512422e-05, 2.99574639e-05, 3.44789239e-05,-3.87485974e-05,
 -3.17569209e-05,-3.35386384e-05,-4.33548802e-06,-2.46249722e-05,
 -5.80001503e-04,-4.15226269e-05,-3.06841614e-04, 7.39541536e-06,
  1.99823884e-06, 1.28005565e-07,-1.21642472e+00, 8.31728983e-05,
  1.47725134e-03, 8.51391422e-07]


--- Step 130 ---
qpos:
[ 2.80110996e-03,-3.01336848e-03, 1.10666923e-02, 3.88186319e-02,
 -2.04474575e-03,-1.83965317e-03,-1.61732158e-02, 2.66601801e-02,
  5.41739853e-03, 1.54411860e-02,-8.62509199e-03, 2.41896767e-02,
  4.11958393e-01,-2.09836068e-03, 2.45564703e-01, 6.13199465e-02,
  9.49760498e-02,-6.99667856e-02, 1.21778000e-01, 9.99999569e-01,
 -3.79049269e-04,-1.18357092e-04, 8.39407500e-04]

qacc:
[ -1.89961894, -0.46845983,  9.34250525,-35.56780435,  5.08942619,
  -3.6274747 , 15.95223929,-30.50072368, -6.87034649,  1.45553625,
  -8.35541442, 18.24061129, -1.83431849,  6.92868258, 13.85825466,
 -54.2380949 ,  0.1211448 , -0.76904676,  0.12009934, 12.90738848,
   1.77547621, -0.40789606]

qfrc_actuator:
[ 0.00023117,-0.00014806, 0.00091018, 0.0030273 ,-0.00017122,-0.00042467,
 -0.00133754, 0.00209387, 0.00036217, 0.00158227,-0.00064264, 0.00198552,
  0.08519866,-0.00041895, 0.06248682, 0.00015985, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023149510070325874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.29189413e-07,  2.39794065e-13,  1.00000000e+00,  1.98834700e-19,
        1.00000000e+00, -2.39794065e-13, -1.00000000e+00,  0.00000000e+00,
       -8.29189413e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0939852 , -0.05453364,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09210132e-05, 4.16789370e-05,-3.36014906e-05,-7.87199773e-05,
  2.97218345e-05,-5.62528628e-06, 3.36484566e-05,-3.93005253e-05,
 -4.05089121e-05,-7.65819490e-05,-3.93296058e-05, 2.14860536e-05,
 -5.77283886e-04,-2.47496528e-05,-2.98071574e-04,-3.50100677e-04,
  1.36857897e-06,-1.74856428e-07,-1.21642966e+00, 8.02002247e-05,
  1.47769728e-03, 9.32805978e-07]


--- Step 131 ---
qpos:
[ 2.80525960e-03,-3.01760376e-03, 1.10829564e-02, 3.88771948e-02,
 -2.04815464e-03,-1.84289893e-03,-1.61952935e-02, 2.67016394e-02,
  5.42514626e-03, 1.54642136e-02,-8.63827722e-03, 2.42281953e-02,
  4.13716503e-01,-2.10187920e-03, 2.47230677e-01, 6.14141032e-02,
  9.49755677e-02,-6.99670132e-02, 1.21779321e-01, 9.99999562e-01,
 -3.77361219e-04,-1.22939699e-04, 8.47813644e-04]

qacc:
[ -4.52414242, -2.42524131, 11.160729  ,-23.06800686,  0.29228868,
  -2.36714482, 11.58847457,-25.61340916, -1.63325402, -4.00113946,
  14.85666101,-26.34628088, -1.01793707,  0.05808465,  8.56339568,
 -36.17912045, -0.56847164, -1.16648726, -0.27819024, 19.28894115,
 -10.10876562,  0.34564163]

qfrc_actuator:
[ 2.04884500e-04,-1.76984172e-04, 9.20818335e-04, 2.99411931e-03,
 -1.70400352e-04,-4.40193707e-04,-1.33215727e-03, 2.05284779e-03,
  3.53421120e-04, 1.48660095e-03,-6.37715454e-04, 1.94821974e-03,
  8.50417391e-02,-4.39770019e-04, 6.23591062e-02,-4.57409184e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023088837602910992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98281061e-07, -4.98281302e-07,  1.00000000e+00,  2.48284136e-13,
        1.00000000e+00,  4.98281302e-07, -1.00000000e+00, -5.04870979e-29,
        4.98281061e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10791176, -0.0458081 ,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65921069e-05,-1.61250207e-05, 1.21078065e-05,-3.42455484e-05,
  1.66461138e-06,-1.31164396e-05, 7.21154907e-06,-4.08996558e-05,
 -9.86313311e-06,-1.46489482e-04,-1.51981907e-05,-4.16288905e-05,
 -5.74887366e-04,-6.78165864e-05,-2.97671962e-04,-2.62497141e-04,
  7.55530876e-07,-2.25747166e-07,-1.21643592e+00, 7.83889929e-05,
  1.47832177e-03, 1.06315793e-06]


--- Step 132 ---
qpos:
[ 2.80871689e-03,-3.02227805e-03, 1.10994570e-02, 3.89342513e-02,
 -2.05187213e-03,-1.84589372e-03,-1.62175809e-02, 2.67422665e-02,
  5.43307464e-03, 1.54862200e-02,-8.65129761e-03, 2.42652673e-02,
  4.15471594e-01,-2.10555883e-03, 2.48893471e-01, 6.15089428e-02,
  9.49728176e-02,-6.99718728e-02, 1.21779269e-01, 9.99999565e-01,
 -3.37328385e-04,-1.47513527e-04, 8.57007566e-04]

qacc:
[ -6.0651358 , -4.33468022, 20.98906572,-47.13265004, -2.71886969,
  -0.78888855,  6.81767444,-21.08025444,  1.59914685, -4.79153923,
  21.22850559,-45.76997985, -1.19639482,  1.46744857, -6.74651248,
  16.80467571, -0.56699969, -1.1579925 , -0.34337163, 19.16395976,
 -10.01200861,  0.3877553 ]

qfrc_actuator:
[ 1.70010770e-04,-2.28055222e-04, 9.20513210e-04, 2.91568245e-03,
 -1.86317241e-04,-4.12640783e-04,-1.33797261e-03, 2.01213011e-03,
  3.62940305e-04, 1.43845868e-03,-6.29707298e-04, 1.87533747e-03,
  8.48791274e-02,-4.50651867e-04, 6.22492862e-02, 8.82570226e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022936652472999573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53898208e-07, -2.53898692e-07,  1.00000000e+00,  6.44644228e-14,
        1.00000000e+00,  2.53898692e-07, -1.00000000e+00,  1.26217745e-29,
        2.53898208e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10791167, -0.04580746,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56502341e-05,-5.92442086e-05,-3.60405303e-06,-7.95324614e-05,
 -1.58726217e-05, 2.02398625e-05,-8.84722009e-06,-4.18624442e-05,
  9.25505354e-06,-1.35728031e-04,-2.57565232e-05,-8.06020081e-05,
 -5.82163209e-04,-5.96898843e-05,-2.69434614e-04, 2.69293767e-06,
 -2.20183273e-08, 9.74363553e-08,-1.21643994e+00, 7.83888654e-05,
  1.47791992e-03, 1.09604349e-06]


--- Step 133 ---
qpos:
[ 2.81207368e-03,-3.02714769e-03, 1.11154995e-02, 3.89899386e-02,
 -2.05609658e-03,-1.84835579e-03,-1.62405121e-02, 2.67820823e-02,
  5.44174623e-03, 1.55074753e-02,-8.66425295e-03, 2.43008022e-02,
  4.17223584e-01,-2.10860665e-03, 2.50553909e-01, 6.16002667e-02,
  9.49730030e-02,-6.99783569e-02, 1.21779606e-01, 9.99999575e-01,
 -2.83426253e-04,-1.47196489e-04, 8.64682221e-04]

qacc:
[ -0.89426829, -1.79709725, 11.8119544 ,-34.62805   , -4.47783963,
   0.84193918,  1.46078957,-14.88282251,  6.5032147 , -4.35222681,
  20.54635533,-46.67953561, -2.00664787,  8.11154656,  7.15985649,
 -30.04667858,  0.73386091, -0.40612032,  0.09743632,  6.94520106,
  12.43974064, -0.75646131]

qfrc_actuator:
[ 0.00016587,-0.00023881, 0.00089584, 0.0028467 ,-0.00021195,-0.00037731,
 -0.00136793, 0.00197195, 0.00040088, 0.00141914,-0.00061979, 0.00179989,
  0.08471854,-0.00042011, 0.06212371,-0.00017431, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022837724299845652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818924 , -0.06171098,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18460977e-06,-4.82123438e-05,-4.03788850e-05,-7.33444843e-05,
 -2.60737466e-05, 4.33022758e-05,-2.81048816e-05,-4.04693171e-05,
  3.82227175e-05,-1.04696123e-04,-2.42639371e-05,-8.38209127e-05,
 -5.84559792e-04,-1.88950062e-05,-2.42884232e-04,-2.16636717e-04,
 -8.32254625e-07, 7.02952257e-07,-1.21643451e+00, 8.02608867e-05,
  1.47648821e-03, 9.05717706e-07]


--- Step 134 ---
qpos:
[ 2.81604422e-03,-3.03242357e-03, 1.11314607e-02, 3.90447095e-02,
 -2.05990551e-03,-1.85056636e-03,-1.62635628e-02, 2.68207605e-02,
  5.45080651e-03, 1.55278240e-02,-8.67673246e-03, 2.43358360e-02,
  4.18972535e-01,-2.11122849e-03, 2.52211296e-01, 6.16864663e-02,
  9.49761064e-02,-6.99864645e-02, 1.21780066e-01, 9.99999590e-01,
 -2.15780172e-04,-1.22169888e-04, 8.70873481e-04]

qacc:
[ 5.39276109e+00,-2.20912111e+00, 1.09459556e+01,-2.63560334e+01,
  3.63683136e+00,-1.68089046e+00, 1.12675964e+01,-3.09377119e+01,
  3.42383103e+00,-3.56637291e+00, 1.30814511e+01,-2.18337581e+01,
 -1.78938132e+00, 6.38979273e+00, 1.09804912e+01,-4.49270001e+01,
  7.29506085e-01,-4.05885536e-01, 3.06311369e-02, 6.88254586e+00,
  1.23490454e+01,-7.39208552e-01]

qfrc_actuator:
[ 0.00019761,-0.00026095, 0.00089264, 0.00280161,-0.00018983,-0.0003732 ,
 -0.00137634, 0.00191465, 0.00041972, 0.00138174,-0.00059095, 0.00177684,
  0.08456461,-0.00040094, 0.06193545,-0.00044287, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022713686395781085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.88790329e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.88790329e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818922 , -0.0617111 ,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15677526e-05,-6.07326855e-05,-2.09242628e-05,-5.01292270e-05,
  2.13958114e-05, 2.10470033e-05,-4.12143547e-06,-5.72370229e-05,
  1.99710436e-05,-1.05205145e-04, 1.15974360e-06,-3.01073214e-05,
 -5.76387955e-04,-2.91553891e-05,-3.20364896e-04,-3.11486588e-04,
 -1.03271087e-06,-3.43610609e-08,-1.21643275e+00, 8.30472403e-05,
  1.47647579e-03, 8.04732554e-07]


--- Step 135 ---
qpos:
[ 2.82001901e-03,-3.03798804e-03, 1.11472386e-02, 3.90981572e-02,
 -2.06341997e-03,-1.85258746e-03,-1.62862922e-02, 2.68587729e-02,
  5.45933395e-03, 1.55474058e-02,-8.68882895e-03, 2.43703067e-02,
  4.20718509e-01,-2.11389690e-03, 2.53864624e-01, 6.17701795e-02,
  9.49821140e-02,-6.99961953e-02, 1.21780425e-01, 9.99999605e-01,
 -1.34486917e-04,-7.25772898e-05, 8.75608448e-04]

qacc:
[ 3.58143906e-02,-2.59623253e+00, 1.42852714e+01,-3.66738332e+01,
  2.58994811e+00,-2.02190064e+00, 1.03755028e+01,-2.25413571e+01,
 -4.62768733e+00,-3.23413620e+00, 1.24537488e+01,-2.22626155e+01,
 -1.30137884e+00, 2.43338552e+00, 1.52488624e+00,-1.40207063e+01,
  7.26048604e-01,-4.05771386e-01,-2.51556792e-02, 6.83419197e+00,
  1.22772078e+01,-7.26329400e-01]

qfrc_actuator:
[ 0.00019695,-0.00027188, 0.00088439, 0.00273545,-0.00017528,-0.00035224,
 -0.00135434, 0.00188323, 0.00039167, 0.0013517 ,-0.00056894, 0.0017493 ,
  0.08440945,-0.0004064 , 0.06173104,-0.00056441, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022489677633186211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.46829466e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.46829466e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189182, -0.06171106,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04793060e-07,-5.14817032e-05,-2.53624564e-05,-7.06143193e-05,
  1.51663517e-05, 2.96899305e-05, 2.40648470e-05,-3.18024389e-05,
 -2.74591014e-05,-9.05495295e-05,-7.79465112e-07,-3.26932327e-05,
 -5.72648721e-04,-5.37564087e-05,-3.79163049e-04,-1.78875981e-04,
 -9.38689053e-07,-6.85940814e-07,-1.21642697e+00, 8.64685761e-05,
  1.47770904e-03, 7.13775431e-07]


--- Step 136 ---
qpos:
[ 2.82326484e-03,-3.04336063e-03, 1.11622902e-02, 3.91503688e-02,
 -2.06742247e-03,-1.85440851e-03,-1.63086074e-02, 2.68961040e-02,
  5.46746004e-03, 1.55664258e-02,-8.70091720e-03, 2.44038315e-02,
  4.22461439e-01,-2.11621072e-03, 2.55514193e-01, 6.18542804e-02,
  9.49910151e-02,-7.00075492e-02, 1.21780498e-01, 9.99999613e-01,
 -3.96191688e-05, 1.47037814e-06, 8.78907280e-04]

qacc:
[ -6.42739507, -0.25048521,  6.49772744,-26.88846721, -4.27255014,
  -2.28597221, 11.42645913,-24.04360734, -3.4948298 , -2.70641898,
  12.57874467,-28.56449392, -1.71242793,  5.69685022, -6.69714033,
  15.4202019 ,  0.72338177, -0.40579713, -0.0716402 ,  6.79789834,
  12.22168354, -0.71691282]

qfrc_actuator:
[ 0.00015945,-0.00024054, 0.00085548, 0.00267516,-0.00020083,-0.00033898,
 -0.00133225, 0.00184957, 0.00037175, 0.00132631,-0.00056887, 0.00170157,
  0.08424834,-0.00039083, 0.0615917 ,-0.0005273 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022188438371112396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00361047e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.00361047e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189128, -0.06171089,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75141442e-05,-5.82167233e-06,-4.53498799e-05,-6.48843705e-05,
 -2.51052073e-05, 3.37373373e-05, 3.02981671e-05,-3.21998953e-05,
 -2.06836865e-05,-7.82181052e-05,-2.00223404e-05,-5.23640979e-05,
 -5.77895921e-04,-3.36791175e-05,-3.22636159e-04,-1.95313689e-05,
 -5.55937008e-07,-1.25981027e-06,-1.21641724e+00, 9.05218702e-05,
  1.48017997e-03, 6.32257506e-07]


--- Step 137 ---
qpos:
[ 2.82638080e-03,-3.04862127e-03, 1.11770709e-02, 3.92024628e-02,
 -2.07169965e-03,-1.85648987e-03,-1.63296964e-02, 2.69323981e-02,
  5.47562958e-03, 1.55852914e-02,-8.71340420e-03, 2.44364972e-02,
  4.24201274e-01,-2.11791970e-03, 2.57160924e-01, 6.19343856e-02,
  9.50001448e-02,-7.00214962e-02, 1.21780626e-01, 9.99999605e-01,
  7.70446667e-05, 7.74193656e-05, 8.81796948e-04]

qacc:
[-1.15075108e+00, 6.65192320e-01,-1.65685417e+00,-3.15535203e-02,
 -2.36751706e+00,-5.89734164e+00, 2.49156107e+01,-4.46371853e+01,
  3.69031883e-01,-8.58757004e-01, 6.39169481e+00,-2.05066302e+01,
 -1.99939663e+00, 7.86260706e+00, 7.89423415e+00,-3.36544656e+01,
  5.71235595e-02,-6.48281821e-01, 1.38878803e-02, 1.08988749e+01,
  9.41089183e-01,-2.04521174e-01]

qfrc_actuator:
[ 0.00015384,-0.0002197 , 0.0008503 , 0.00267211,-0.00021426,-0.00036592,
 -0.00127481, 0.0017971 , 0.00037454, 0.00133931,-0.00058176, 0.00166009,
  0.08408376,-0.00036302, 0.06144359,-0.00073419, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021854111992215716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54007810e-13,  6.46060482e-07,  1.00000000e+00,  1.64104408e-19,
        1.00000000e+00, -6.46060482e-07, -1.00000000e+00,  0.00000000e+00,
       -2.54007810e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09507352, -0.05686433,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68076917e-06, 5.31757056e-06,-1.44405716e-05,-6.27428043e-06,
 -1.41385432e-05,-2.95698630e-06, 6.72282355e-05,-5.06306315e-05,
  2.22670840e-06,-3.77251317e-05,-3.34658222e-05,-4.66317542e-05,
 -5.83271113e-04,-2.14228625e-05,-2.89897002e-04,-2.47890320e-04,
  1.13291980e-07,-1.76275936e-06,-1.21640361e+00, 9.52047260e-05,
  1.48388250e-03, 5.59808218e-07]


--- Step 138 ---
qpos:
[ 2.82974998e-03,-3.05409772e-03, 1.11920797e-02, 3.92544642e-02,
 -2.07610512e-03,-1.85830079e-03,-1.63506452e-02, 2.69674424e-02,
  5.48376989e-03, 1.56039344e-02,-8.72569759e-03, 2.44680316e-02,
  4.25938066e-01,-2.11990165e-03, 2.58804268e-01, 6.20136979e-02,
  9.50095605e-02,-7.00308766e-02, 1.21781280e-01, 9.99999584e-01,
  1.55400782e-04, 1.56300609e-04, 8.85200412e-04]

qacc:
[  2.23409686, -1.11846681,  3.95687174, -5.75658118, -1.12659238,
  -2.60320141, 15.08272744,-37.14187161, -0.24610352, -3.16428571,
  15.6334727 ,-35.36194375, -1.11984736,  0.69162285, -2.59851391,
   1.8413944 ,  0.07152586,  1.14165648,  0.1314084 ,-19.15257943,
   1.48303755,  0.2553082 ]

qfrc_actuator:
[ 0.00016706,-0.00024066, 0.0008592 , 0.00266726,-0.00022045,-0.00034558,
 -0.00126815, 0.00173397, 0.00037292, 0.00133966,-0.0005665 , 0.0016049 ,
  0.08391723,-0.00038152, 0.0612956 ,-0.0007637 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002227147099268939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24623899e-13,  4.98495598e-13,  1.00000000e+00,  6.21244653e-26,
        1.00000000e+00, -4.98495598e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24623899e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472313, -0.09307006,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30240903e-05,-2.13521525e-05, 7.76963686e-06,-5.37949825e-06,
 -6.58987539e-06, 3.06318348e-05, 1.27688897e-05,-6.19446131e-05,
 -1.51332206e-06,-3.02452081e-05, 1.58886630e-06,-5.89593736e-05,
 -5.88159865e-04,-6.80019051e-05,-3.03100192e-04,-7.97144303e-05,
  1.20649876e-07,-2.03346506e-06,-1.21639130e+00, 1.00954129e-04,
  1.48761349e-03, 3.34622647e-07]


--- Step 139 ---
qpos:
[ 2.83325099e-03,-3.05951621e-03, 1.12070736e-02, 3.93049459e-02,
 -2.07986086e-03,-1.85972199e-03,-1.63714368e-02, 2.70014403e-02,
  5.49113895e-03, 1.56221134e-02,-8.73737458e-03, 2.44990040e-02,
  4.27671750e-01,-2.12169362e-03, 2.60444645e-01, 6.20971525e-02,
  9.50192660e-02,-7.00357394e-02, 1.21782039e-01, 9.99999557e-01,
  1.95886182e-04, 2.38079623e-04, 8.89114113e-04]

qacc:
[ 1.15523656e+00,-3.01590867e+00, 1.72716268e+01,-4.35818178e+01,
  5.69786455e+00,-2.08759892e+00, 1.25906146e+01,-3.12177927e+01,
 -6.70642103e+00,-3.47975216e+00, 1.39124024e+01,-2.43049974e+01,
 -1.58551485e+00, 4.38259487e+00,-1.68606574e+01, 5.26841621e+01,
  7.24464031e-02, 1.12941702e+00, 2.62933545e-02,-1.89341060e+01,
  1.46568618e+00, 2.51936315e-01]

qfrc_actuator:
[ 0.00017349,-0.00023317, 0.0008584 , 0.00259035,-0.00018682,-0.00031507,
 -0.00125586, 0.00168283, 0.0003332 , 0.00131479,-0.00053479, 0.0015776 ,
  0.08375494,-0.00037391, 0.06122238,-0.00052861, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022563347521212251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23011781e-13, -4.92047124e-13,  1.00000000e+00, -6.05275930e-26,
        1.00000000e+00,  4.92047124e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23011781e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472332, -0.09306926,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78769160e-06,-3.17043278e-06,-4.67306152e-06,-7.78005709e-05,
  3.34581908e-05, 4.78568896e-05, 1.82364593e-05,-5.06239699e-05,
 -3.97150404e-05,-4.45571174e-05, 2.34794053e-05,-2.97686907e-05,
 -5.91246988e-04,-4.45423307e-05,-2.14143811e-04, 1.92915657e-04,
  3.43676528e-07,-1.67982858e-06,-1.21640894e+00, 1.04846678e-04,
  1.49154407e-03,-3.38803780e-08]


--- Step 140 ---
qpos:
[ 2.83645664e-03,-3.06451595e-03, 1.12217793e-02, 3.93540828e-02,
 -2.08283937e-03,-1.86096103e-03,-1.63913253e-02, 2.70348797e-02,
  5.49763059e-03, 1.56400910e-02,-8.74841935e-03, 2.45297165e-02,
  4.29402346e-01,-2.12333535e-03, 2.62082830e-01, 6.21800686e-02,
  9.50292647e-02,-7.00361248e-02, 1.21782551e-01, 9.99999529e-01,
  1.98859682e-04, 3.22732034e-04, 8.93529733e-04]

qacc:
[ -2.61037854, -1.40701934, 11.50145209,-34.62529392,  6.84362714,
  -3.44392234, 14.96433699,-26.18087463, -7.63692375, -2.55343816,
   9.84187678,-15.23170593, -1.56159851,  4.16028123, -1.59370987,
   0.91507864,  0.07331252,  1.11933682, -0.06193898,-18.75472444,
   1.45342316,  0.24621272]

qfrc_actuator:
[ 0.00015812,-0.00019103, 0.00085193, 0.00252492,-0.00014777,-0.00029643,
 -0.00120475, 0.00165692, 0.00028913, 0.00132838,-0.00049371, 0.00156692,
  0.08359533,-0.00036874, 0.06109826,-0.00056545, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022669309386499914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22436794e-13,  4.89747176e-13,  1.00000000e+00,  5.99630740e-26,
        1.00000000e+00, -4.89747176e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22436794e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472344, -0.093069  ,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51850546e-05, 3.59631635e-05,-1.06207984e-05,-6.73746309e-05,
  4.00165339e-05, 4.72330657e-05, 6.16651657e-05,-2.42372304e-05,
 -4.51680521e-05,-8.33294815e-06, 3.36001595e-05,-1.24344721e-05,
 -5.88445009e-04,-4.66599173e-05,-1.97148093e-04,-5.31522951e-05,
  6.59557633e-07,-1.32850967e-06,-1.21641907e+00, 1.06871021e-04,
  1.49563805e-03,-3.09593425e-07]


--- Step 141 ---
qpos:
[ 2.83945311e-03,-3.06922742e-03, 1.12363197e-02, 3.94020584e-02,
 -2.08567118e-03,-1.86221994e-03,-1.64106194e-02, 2.70681405e-02,
  5.50423391e-03, 1.56580512e-02,-8.75923680e-03, 2.45600642e-02,
  4.31129939e-01,-2.12520962e-03, 2.63718055e-01, 6.22587748e-02,
  9.50395601e-02,-7.00320657e-02, 1.21782519e-01, 9.99999499e-01,
  1.64612925e-04, 4.10241925e-04, 8.98435150e-04]

qacc:
[ -1.84739593, -1.54675078, 10.97303644,-31.02117289,  1.30604576,
  -2.05682199,  8.04585681,-12.06786891,  0.98205527, -1.41146207,
   6.53590307,-13.19630516, -1.16213137,  1.09592043,  8.34341324,
 -35.53351435,  0.07414599,  1.11112009, -0.13590288,-18.60892223,
   1.44541731,  0.23860943]

qfrc_actuator:
[ 0.00014779,-0.00018175, 0.00084234, 0.00246682,-0.00014137,-0.00032036,
 -0.00118443, 0.00164609, 0.00029613, 0.00132946,-0.00048278, 0.00154839,
  0.08344275,-0.00038282, 0.06089036,-0.00079792, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002262640260979748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45337945e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.45337945e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472351, -0.09306916,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07540112e-05, 2.41914775e-05,-6.02807779e-06,-5.83742264e-05,
  7.55479239e-06, 1.43956900e-05, 3.70071976e-05,-7.17482694e-06,
  5.74917691e-06, 2.24650071e-06, 1.27786987e-05,-1.80528659e-05,
 -5.79604575e-04,-6.60486647e-05,-3.02695038e-04,-2.60831403e-04,
  1.06912254e-06,-9.81571162e-07,-1.21642195e+00, 1.07044626e-04,
  1.49989373e-03,-4.93244484e-07]


--- Step 142 ---
qpos:
[ 2.84230231e-03,-3.07375707e-03, 1.12504481e-02, 3.94483023e-02,
 -2.08840342e-03,-1.86411776e-03,-1.64289156e-02, 2.71014103e-02,
  5.51121595e-03, 1.56752423e-02,-8.77029283e-03, 2.45897371e-02,
  4.32854473e-01,-2.12684668e-03, 2.65349873e-01, 6.23363806e-02,
  9.50486666e-02,-7.00259489e-02, 1.21783304e-01, 9.99999467e-01,
  1.13027874e-04, 4.87709465e-04, 9.03500291e-04]

qacc:
[ -1.31011117, -2.17389335, 15.40945582,-44.85155082,  0.91572457,
  -3.61474443, 11.6227772 ,-12.5874554 ,  3.31144799, -1.7450174 ,
   7.5851223 ,-18.30332628, -1.63638601,  4.81248628, -1.68866542,
  -1.35511368, -0.29720349,  0.51443152,  0.20446273, -8.6736861 ,
  -5.0133703 ,  0.07713255]

qfrc_actuator:
[ 0.00014052,-0.00019223, 0.00081311, 0.00237796,-0.00013649,-0.00038746,
 -0.00114712, 0.00164415, 0.00031537, 0.00121642,-0.00052529, 0.00150759,
  0.08328385,-0.00037263, 0.0607442 ,-0.00084209, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002241825261719112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47615870e-13, -1.11784946e-06,  1.00000000e+00, -2.76797267e-19,
        1.00000000e+00,  1.11784946e-06, -1.00000000e+00, -4.81482486e-35,
       -2.47615870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10199542, -0.08041883,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.57466609e-06,-8.12484939e-07,-2.72144537e-05,-8.92991002e-05,
  5.10348068e-06,-5.15153269e-05, 4.47571166e-05,-2.14542700e-07,
  1.94585676e-05,-1.10485182e-04,-4.12389732e-05,-4.06896528e-05,
 -5.81461772e-04,-4.20274040e-05,-3.08172524e-04,-9.66422445e-05,
  1.57192369e-06,-6.37878573e-07,-1.21641776e+00, 1.05381668e-04,
  1.50430944e-03,-5.85520935e-07]


--- Step 143 ---
qpos:
[ 2.84435193e-03,-3.07791608e-03, 1.12640189e-02, 3.94931052e-02,
 -2.09105593e-03,-1.86644612e-03,-1.64465976e-02, 2.71340526e-02,
  5.51837577e-03, 1.56912276e-02,-8.78152273e-03, 2.46187433e-02,
  4.34576023e-01,-2.12865096e-03, 2.66978816e-01, 6.24166283e-02,
  9.50551441e-02,-7.00201979e-02, 1.21784996e-01, 9.99999437e-01,
  6.42202450e-05, 5.42801516e-04, 9.09124305e-04]

qacc:
[ -7.04497002, -0.90754412, 10.0494399 ,-34.3888826 ,  0.72579621,
  -3.57659867, 14.57462967,-26.09571115,  1.56660687, -2.48377527,
   9.35382218,-19.7237416 , -1.19899833,  1.48416447,-12.20484284,
  36.56686695, -0.65725577, -0.09146597,  0.2264775 ,  1.37846572,
 -11.18896322,  0.28137732]

qfrc_actuator:
[ 9.96046526e-05,-1.61306814e-04, 7.90175553e-04, 2.30717975e-03,
 -1.32522864e-04,-4.08828225e-04,-1.11801987e-03, 1.61191514e-03,
  3.23892548e-04, 1.12443136e-03,-5.46227908e-04, 1.47165189e-03,
  8.31319123e-02,-3.83759376e-04, 6.06671769e-02,-6.85943230e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002252658845694061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46425025e-13, -2.46425025e-13,  1.00000000e+00,  6.07252929e-26,
        1.00000000e+00,  2.46425025e-13, -1.00000000e+00,  0.00000000e+00,
        2.46425025e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889678, -0.06841183,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11390197e-05, 2.09059356e-05,-2.97665265e-05,-7.36150135e-05,
  4.08944135e-06,-4.07270011e-05, 2.41311606e-05,-3.29247717e-05,
  9.09566024e-06,-1.64567805e-04,-5.03802935e-05,-4.29737637e-05,
 -5.73662976e-04,-6.28166502e-05,-2.22217806e-04, 1.12371805e-04,
  1.54736094e-06,-4.05718072e-07,-1.21641817e+00, 1.02823963e-04,
  1.50818577e-03,-4.90175838e-07]


--- Step 144 ---
qpos:
[ 2.84623965e-03,-3.08142678e-03, 1.12770259e-02, 3.95366728e-02,
 -2.09364061e-03,-1.86870255e-03,-1.64642767e-02, 2.71660318e-02,
  5.52558252e-03, 1.57067719e-02,-8.79274141e-03, 2.46473252e-02,
  4.36294596e-01,-2.13053153e-03, 2.68605493e-01, 6.24970516e-02,
  9.50590457e-02,-7.00180835e-02, 1.21786543e-01, 9.99999414e-01,
  4.55233765e-05, 5.75354870e-04, 9.15888658e-04]

qacc:
[ -1.45103453, -0.10959612,  6.85032731,-27.80484184,  0.59351205,
  -1.27836116,  7.49437669,-19.02624991,  0.41724486, -1.48851627,
   6.25156583,-13.28610979, -1.2992864 ,  2.26810708, -3.86228896,
   8.6833847 , -0.64398446, -0.9091466 , -0.03612928, 15.04481677,
 -11.28299401,  0.57906172]

qfrc_actuator:
[ 9.24659503e-05,-1.05806476e-04, 7.71318468e-04, 2.24765792e-03,
 -1.29131430e-04,-3.84953059e-04,-1.11160587e-03, 1.57989547e-03,
  3.26036730e-04, 1.17008195e-03,-5.18689765e-04, 1.45663766e-03,
  8.29789370e-02,-3.89612690e-04, 6.05571500e-02,-6.79197104e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022585315065580536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45784268e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45784268e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915118, -0.05168906,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.30802657e-06, 5.77600623e-05,-2.09628844e-05,-6.12088681e-05,
  3.49415535e-06, 4.89455966e-06,-3.59823155e-09,-3.35992990e-05,
  2.39592368e-06,-5.91115489e-05,-1.42614439e-05,-2.47205431e-05,
 -5.70414684e-04,-5.80729642e-05,-1.95895075e-04,-1.51323934e-05,
  1.13979264e-06,-3.92782916e-07,-1.21642633e+00, 1.00385983e-04,
  1.51092060e-03,-2.57653280e-07]


--- Step 145 ---
qpos:
[ 2.84837162e-03,-3.08444398e-03, 1.12893998e-02, 3.95799006e-02,
 -2.09581951e-03,-1.87107461e-03,-1.64814385e-02, 2.71977111e-02,
  5.53241463e-03, 1.57222376e-02,-8.80354495e-03, 2.46757712e-02,
  4.38010206e-01,-2.13275457e-03, 2.70229386e-01, 6.25731104e-02,
  9.50603851e-02,-7.00195771e-02, 1.21787634e-01, 9.99999400e-01,
  5.66888808e-05, 5.85604574e-04, 9.23836867e-04]

qacc:
[  2.11595349,  1.71798116, -3.75229991, -1.47064934,  3.57795224,
  -2.22131334,  8.9528492 ,-14.87018649, -3.25602531, -1.53743109,
   5.91577404, -8.88464477, -1.04825053,  0.25748212,  9.06848906,
 -37.69678157, -0.64053161, -0.90197312, -0.11389094, 14.92062302,
 -11.16546951,  0.60102227]

qfrc_actuator:
[ 1.05277414e-04,-8.92436085e-05, 7.37387119e-04, 2.23076425e-03,
 -1.08350763e-04,-3.87521183e-04,-1.08293501e-03, 1.56604247e-03,
  3.06659754e-04, 1.20927185e-03,-4.79933507e-04, 1.45420355e-03,
  8.28201181e-02,-4.10079306e-04, 6.03581348e-02,-9.20455701e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002259138655642673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45718213e-13, -4.91436425e-13,  1.00000000e+00, -1.20754880e-25,
        1.00000000e+00,  4.91436425e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45718213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915093, -0.051689  ,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25877517e-05, 4.17792742e-05,-2.69104568e-05,-1.64545863e-05,
  2.08833486e-05,-1.05263190e-06, 2.86810426e-05,-1.43243897e-05,
 -1.92840061e-05, 1.65728615e-06, 2.38268604e-05,-6.01398323e-06,
 -5.73453681e-04,-7.24897534e-05,-2.89060666e-04,-2.67345897e-04,
  4.83474310e-07,-4.64623237e-07,-1.21643643e+00, 9.94271967e-05,
  1.51244997e-03,-6.21074399e-08]


--- Step 146 ---
qpos:
[ 2.85064050e-03,-3.08728054e-03, 1.13013808e-02, 3.96229563e-02,
 -2.09773255e-03,-1.87334442e-03,-1.64982091e-02, 2.72289576e-02,
  5.53861771e-03, 1.57372495e-02,-8.81390764e-03, 2.47036656e-02,
  4.39722890e-01,-2.13550436e-03, 2.71850182e-01, 6.26440331e-02,
  9.50591738e-02,-7.00246553e-02, 1.21788009e-01, 9.99999395e-01,
  9.75163038e-05, 5.73740029e-04, 9.33002878e-04]

qacc:
[  1.1864327 ,  0.98049132, -2.42776869, -0.04844255,  2.34263204,
  -1.85261719,  8.62214915,-16.80615071, -5.46974251, -2.95680849,
  12.01972597,-21.95641462, -0.85312194, -1.19529408, 10.9278661 ,
 -44.89081532, -0.63768725, -0.89617453, -0.17899532, 14.82037872,
 -11.07078746,  0.61820789]

qfrc_actuator:
[ 1.11964946e-04,-9.61477428e-05, 7.12458632e-04, 2.22129349e-03,
 -9.52542729e-05,-3.70291223e-04,-1.05917811e-03, 1.54523883e-03,
  2.74772869e-04, 1.15563610e-03,-4.70360052e-04, 1.42369357e-03,
  8.26685507e-02,-4.39017212e-04, 6.01910674e-02,-1.18177881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022470202914574855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.94086782e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.94086782e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915094, -0.05168867,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05077873e-06, 1.00612826e-05,-2.03911455e-05,-9.05074446e-06,
  1.36906830e-05, 2.21756681e-05, 2.67342042e-05,-2.01632019e-05,
 -3.23957886e-05,-4.85271591e-05, 1.25322408e-05,-2.98033149e-05,
 -5.70028416e-04,-8.20794536e-05,-3.24479823e-04,-3.12620529e-04,
 -1.95887278e-07,-2.24497962e-07,-1.21643943e+00, 9.99095596e-05,
  1.51282930e-03,-4.93040859e-08]


--- Step 147 ---
qpos:
[ 2.85366163e-03,-3.08993406e-03, 1.13132785e-02, 3.96651942e-02,
 -2.09947375e-03,-1.87522954e-03,-1.65149738e-02, 2.72597011e-02,
  5.54473623e-03, 1.57515130e-02,-8.82412328e-03, 2.47303452e-02,
  4.41432590e-01,-2.13786583e-03, 2.73467391e-01, 6.27112511e-02,
  9.50553562e-02,-7.00316969e-02, 1.21788350e-01, 9.99999398e-01,
  1.54460514e-04, 5.39873255e-04, 9.43158788e-04]

qacc:
[ 6.59819579e+00,-1.22377795e+00, 8.14201015e+00,-2.22696479e+01,
  1.50080968e+00,-5.45764042e-01, 4.80278697e+00,-1.37953670e+01,
 -7.21528729e-01,-3.89985439e+00, 1.76020078e+01,-3.83152765e+01,
 -1.77973248e+00, 5.97708199e+00, 5.90878759e+00,-2.83197200e+01,
 -6.51576258e-01,-4.90829284e-01,-8.69388394e-03, 8.04784033e+00,
 -1.10085802e+01, 5.00642817e-01]

qfrc_actuator:
[ 1.50493033e-04,-8.15113549e-05, 7.10697511e-04, 2.18073930e-03,
 -8.67906800e-05,-3.41354036e-04,-1.05620307e-03, 1.52051781e-03,
  2.71289560e-04, 1.08221691e-03,-4.78488047e-04, 1.35905548e-03,
  8.25214374e-02,-4.19458720e-04, 6.00166682e-02,-1.36386016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022275067294267407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49207558e-13, -6.21398796e-07,  1.00000000e+00, -1.54857277e-19,
        1.00000000e+00,  6.21398796e-07, -1.00000000e+00,  0.00000000e+00,
       -2.49207558e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090211 , -0.06025413,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87218894e-05, 1.55248732e-05,-2.71321649e-06,-4.11221458e-05,
  8.86124385e-06, 4.62099452e-05, 1.03039226e-05,-2.32659628e-05,
 -4.38490098e-06,-9.97206705e-05,-1.77485737e-05,-6.69341383e-05,
 -5.64002626e-04,-3.39531811e-05,-3.51546953e-04,-2.40081454e-04,
 -9.09672458e-07, 3.28772529e-07,-1.21643551e+00, 1.01822031e-04,
  1.51206622e-03,-2.16319538e-07]


--- Step 148 ---
qpos:
[ 2.85677579e-03,-3.09223652e-03, 1.13249861e-02, 3.97066007e-02,
 -2.10109971e-03,-1.87692960e-03,-1.65315070e-02, 2.72899185e-02,
  5.55076567e-03, 1.57653979e-02,-8.83452766e-03, 2.47563631e-02,
  4.43139347e-01,-2.13993568e-03, 2.75080485e-01, 6.27774062e-02,
  9.50489089e-02,-7.00390972e-02, 1.21788962e-01, 9.99999405e-01,
  2.14164931e-04, 4.84262475e-04, 9.53907345e-04]

qacc:
[  0.80434757, -0.71940583,  6.74283862,-21.07939916,  1.01468306,
  -1.48602953,  7.87145194,-17.47749489, -0.7773878 , -1.33363248,
   6.82568905,-17.70050297, -1.65625951,  5.11436261, -2.84557243,
   1.17616628, -0.65741684, -0.08969054,  0.0678907 ,  1.369688  ,
 -10.87325331,  0.29874486]

qfrc_actuator:
[ 1.54197460e-04,-5.40253044e-05, 7.04931671e-04, 2.14000231e-03,
 -8.11191498e-05,-3.41221130e-04,-1.04771569e-03, 1.49368961e-03,
  2.66802903e-04, 1.08616693e-03,-4.79366810e-04, 1.32808236e-03,
  8.23717813e-02,-4.07012035e-04, 5.98273739e-02,-1.40901018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002215345020259718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50575647e-13,  2.50575647e-13,  1.00000000e+00,  6.27881550e-26,
        1.00000000e+00, -2.50575647e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50575647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889767, -0.06841145,  0.06199462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80227402e-06, 3.37122380e-05,-4.52319645e-06,-4.10833433e-05,
  5.94073541e-06, 2.73042675e-05, 1.86461660e-05,-2.49715965e-05,
 -4.60356245e-06,-5.87877546e-05,-2.60800625e-05,-3.72305344e-05,
 -5.57892285e-04,-3.87232869e-05,-3.69094645e-04,-1.02182505e-04,
 -1.27875313e-06, 1.12281548e-06,-1.21642905e+00, 1.04499858e-04,
  1.51026228e-03,-4.86980876e-07]


--- Step 149 ---
qpos:
[ 2.85922061e-03,-3.09445309e-03, 1.13363504e-02, 3.97475848e-02,
 -2.10298957e-03,-1.87893467e-03,-1.65473371e-02, 2.73203002e-02,
  5.55635012e-03, 1.57791097e-02,-8.84505641e-03, 2.47824647e-02,
  4.44843181e-01,-2.14179417e-03, 2.76690598e-01, 6.28392987e-02,
  9.50427071e-02,-7.00419722e-02, 1.21789492e-01, 9.99999414e-01,
  2.36358489e-04, 4.31945262e-04, 9.64591089e-04]

qacc:
[-5.88896710e+00, 2.14457675e-01, 1.20205678e+00,-8.04629191e+00,
 -2.28760217e+00,-2.02486782e+00, 5.94925395e+00,-4.01350746e+00,
 -3.88505405e+00, 2.98842019e-01,-1.73813105e+00, 3.49999384e+00,
 -1.58928651e+00, 4.56826463e+00, 8.48235915e+00,-3.60351760e+01,
  6.13735443e-02, 1.13131179e+00,-2.06750908e-02,-1.87538315e+01,
  1.66466600e+00,-4.18428938e-02]

qfrc_actuator:
[ 1.19613366e-04,-7.23285863e-05, 6.79150588e-04, 2.11724900e-03,
 -9.48876169e-05,-3.76077651e-04,-1.01839623e-03, 1.50132658e-03,
  2.43999946e-04, 1.10096276e-03,-4.75619084e-04, 1.33499362e-03,
  8.22207033e-02,-3.98891055e-04, 5.96932287e-02,-1.62169812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002204508204699529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25903707e-13,  2.51807415e-13,  1.00000000e+00,  3.17034871e-26,
        1.00000000e+00, -2.51807415e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25903707e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472651, -0.09307198,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44464615e-05,-2.29964285e-06,-2.10020690e-05,-2.23795407e-05,
 -1.35893524e-05,-1.66164461e-05, 3.65381694e-05, 8.93919841e-06,
 -2.29142725e-05,-2.54830277e-05,-1.29886764e-05, 2.70052348e-06,
 -5.55185821e-04,-4.29750901e-05,-3.05070152e-04,-2.63916508e-04,
 -1.15314581e-06, 1.96752903e-06,-1.21642336e+00, 1.07299091e-04,
  1.50747155e-03,-7.60106223e-07]


--- Step 150 ---
qpos:
[ 2.86157689e-03,-3.09689277e-03, 1.13477971e-02, 3.97872954e-02,
 -2.10502970e-03,-1.88120792e-03,-1.65626241e-02, 2.73501978e-02,
  5.56196313e-03, 1.57930062e-02,-8.85568759e-03, 2.48087412e-02,
  4.46544094e-01,-2.14316229e-03, 2.78297962e-01, 6.28983347e-02,
  9.50367607e-02,-7.00403644e-02, 1.21789619e-01, 9.99999427e-01,
  2.21328202e-04, 3.82797660e-04, 9.75343940e-04]

qacc:
[-7.71754722e-01,-3.14872108e+00, 1.61737243e+01,-3.81793504e+01,
 -1.29696094e+00,-2.86442072e+00, 1.17478906e+01,-2.08004305e+01,
  2.42970174e-01, 8.89922697e-01,-3.55792822e+00, 6.61288167e+00,
 -1.86557311e+00, 6.69875164e+00, 4.58861318e+00,-2.18928213e+01,
  6.38379402e-02, 1.12073079e+00,-1.00545024e-01,-1.86103988e+01,
  1.60276449e+00, 2.61383779e-02]

qfrc_actuator:
[ 0.00011604,-0.00010023, 0.00067709, 0.00205195,-0.00010223,-0.00039601,
 -0.00099489, 0.0014759 , 0.0002461 , 0.00113996,-0.00046908, 0.0013464 ,
  0.0820742 ,-0.00037565, 0.05958689,-0.00175376, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022098268319237224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76802045e-13,  7.53604089e-13,  1.00000000e+00,  2.83959562e-25,
        1.00000000e+00, -7.53604089e-13, -1.00000000e+00,  0.00000000e+00,
       -3.76802045e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472707, -0.09307206,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56668351e-06,-3.46461188e-05,-6.09142559e-06,-6.66692104e-05,
 -7.74172164e-06,-2.11046572e-05, 2.50214502e-05,-2.47230752e-05,
  1.47706927e-06, 2.17624726e-05,-3.24341356e-07, 9.85623476e-06,
 -5.48912677e-04,-2.80896557e-05,-2.70045674e-04,-1.85048960e-04,
 -1.72093596e-07, 1.57469870e-06,-1.21643192e+00, 1.08416532e-04,
  1.50514394e-03,-6.87956578e-07]


--- Step 151 ---
qpos:
[ 2.86421655e-03,-3.09976171e-03, 1.13595696e-02, 3.98252319e-02,
 -2.10714248e-03,-1.88320352e-03,-1.65782470e-02, 2.73788580e-02,
  5.56755821e-03, 1.58069403e-02,-8.86524240e-03, 2.48338485e-02,
  4.48242084e-01,-2.14385662e-03, 2.79902689e-01, 6.29558721e-02,
  9.50310770e-02,-7.00343077e-02, 1.21789077e-01, 9.99999443e-01,
  1.69306446e-04, 3.36719212e-04, 9.86274264e-04]

qacc:
[  2.5045502 , -5.13978232, 24.97793804,-55.87018836, -0.65348214,
  -1.23886784, 10.17774066,-31.26479542, -0.12413938, -5.36549232,
  24.13990124,-46.12364775, -2.0491287 ,  8.08157667,  0.66148138,
  -7.89531901,  0.06567483,  1.11219072, -0.16745384,-18.49426135,
   1.5526351 ,  0.08131484]

qfrc_actuator:
[ 0.00013076,-0.00013361, 0.00068899, 0.00196215,-0.00010574,-0.00037139,
 -0.00101051, 0.00141348, 0.0002451 , 0.0011577 ,-0.00040759, 0.00128937,
  0.08192523,-0.0003437 , 0.05948135,-0.00181939, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002201946926141951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52100314e-13,  2.52100314e-13,  1.00000000e+00,  6.35545685e-26,
        1.00000000e+00, -2.52100314e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52100314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472748, -0.09307247,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45679076e-05,-5.70141514e-05, 1.48131064e-06,-9.29055084e-05,
 -3.72983740e-06, 1.71176202e-05,-1.76084116e-05,-6.29740094e-05,
 -9.12097296e-07, 2.98376201e-05, 6.61979725e-05,-5.59800169e-05,
 -5.45290246e-04,-1.84467365e-05,-2.45847903e-04,-1.10060985e-04,
  8.00910760e-07, 1.21281561e-06,-1.21643334e+00, 1.07691758e-04,
  1.50296624e-03,-5.28987744e-07]


--- Step 152 ---
qpos:
[ 2.86701198e-03,-3.10316645e-03, 1.13714536e-02, 3.98621692e-02,
 -2.10928062e-03,-1.88536238e-03,-1.65935184e-02, 2.74065558e-02,
  5.57275406e-03, 1.58205415e-02,-8.87374069e-03, 2.48574342e-02,
  4.49937198e-01,-2.14477231e-03, 2.81504555e-01, 6.30105279e-02,
  9.50256613e-02,-7.00238295e-02, 1.21787641e-01, 9.99999456e-01,
  8.04778631e-05, 2.93628375e-04, 9.97470288e-04]

qacc:
[  1.37968838, -3.08177801, 14.17046915,-31.23624782, -0.20919278,
  -3.17638443, 15.07767396,-32.17564813, -3.44685773, -6.5186903 ,
  29.04091129,-56.83263518, -1.13987029,  1.17695829,  4.48199134,
 -21.80445478,  0.06702608,  1.10538993, -0.22343734,-18.40197451,
   1.51197791,  0.12640141]

qfrc_actuator:
[ 0.00013836,-0.00016999, 0.00069122, 0.00191191,-0.00010695,-0.00039149,
 -0.00099568, 0.0013653 , 0.00022452, 0.00110948,-0.00036752, 0.00121031,
  0.08176422,-0.00036016, 0.05932312,-0.00196965, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021836500042521356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27106338e-13,  2.54212677e-13,  1.00000000e+00, -3.23120425e-26,
        1.00000000e+00, -2.54212677e-13, -1.00000000e+00,  0.00000000e+00,
        1.27106338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472778, -0.09307314,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99374202e-06,-7.20551079e-05,-1.27708967e-05,-5.45449936e-05,
 -1.30939847e-06,-1.66760423e-05, 1.41646872e-05,-4.93035742e-05,
 -2.05566180e-05,-2.06858967e-05, 5.23503221e-05,-7.66486050e-05,
 -5.53644433e-04,-6.63877123e-05,-2.80001943e-04,-1.87611232e-04,
  1.79928167e-06, 8.73347288e-07,-1.21642777e+00, 1.05137699e-04,
  1.50094233e-03,-2.82563036e-07]


--- Step 153 ---
qpos:
[ 2.86987651e-03,-3.10664473e-03, 1.13827858e-02, 3.98985468e-02,
 -2.11107158e-03,-1.88802379e-03,-1.66077956e-02, 2.74338045e-02,
  5.57800864e-03, 1.58338433e-02,-8.88223975e-03, 2.48809941e-02,
  4.51629392e-01,-2.14614412e-03, 2.83102827e-01, 6.30656411e-02,
  9.50190648e-02,-7.00129232e-02, 1.21787246e-01, 9.99999462e-01,
 -1.20134534e-05, 2.40286228e-04, 1.00892119e-03]

qacc:
[  0.5901938 ,  0.29045453,  1.1831263 , -9.93038717,  3.08524615,
  -4.37094692, 16.50746333,-25.48571656,  0.51770952, -0.44774829,
   1.12914491, -1.3514928 , -0.90885293, -0.65909305, -6.68130185,
  15.67480755, -0.29521619,  0.10702932,  0.2602987 , -1.83651559,
  -5.12381384,  0.12731812]

qfrc_actuator:
[ 1.41714909e-04,-1.54625353e-04, 6.69981058e-04, 1.88534117e-03,
 -8.90530468e-05,-4.20343894e-04,-9.45371969e-04, 1.34364464e-03,
  2.28090203e-04, 1.07531155e-03,-3.76216757e-04, 1.20760850e-03,
  8.16014208e-02,-3.87290234e-04, 5.91600161e-02,-1.93791311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021563776255855192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57427783e-13, -2.05810939e-07,  1.00000000e+00, -5.29814537e-20,
        1.00000000e+00,  2.05810939e-07, -1.00000000e+00,  0.00000000e+00,
       -2.57427783e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10197982, -0.07226262,  0.06199476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54826440e-06,-3.00096293e-05,-3.97635832e-05,-3.12592949e-05,
  1.78540002e-05,-3.71699007e-05, 4.70404231e-05,-2.28626849e-05,
  3.00999900e-06,-3.86449927e-05,-9.28006588e-06,-3.33052823e-06,
 -5.65958428e-04,-8.02142719e-05,-3.07840213e-04,-1.40129890e-05,
  2.84803408e-06, 5.52957694e-07,-1.21641533e+00, 1.00764571e-04,
  1.49907483e-03, 5.17777191e-08]


--- Step 154 ---
qpos:
[ 2.87275864e-03,-3.10989772e-03, 1.13932958e-02, 3.99346460e-02,
 -2.11228954e-03,-1.89067393e-03,-1.66218372e-02, 2.74609126e-02,
  5.58361080e-03, 1.58465188e-02,-8.89034764e-03, 2.49046978e-02,
  4.53318574e-01,-2.14710303e-03, 2.84698276e-01, 6.31215184e-02,
  9.50099125e-02,-7.00056634e-02, 1.21786742e-01, 9.99999462e-01,
 -7.44316139e-05, 1.64113592e-04, 1.02118806e-03]

qacc:
[  0.12466926,  2.02293933, -5.60614196,  1.93825747,  5.03379595,
  -0.94241679,  3.95878296, -6.758816  ,  3.056597  , -1.63075223,
   3.99575256, -1.6585618 , -1.83273265,  6.09651166, -6.44423228,
  16.56072705, -0.63895398, -0.91161059, -0.02706504, 15.02495482,
 -11.430413  ,  0.41145918]

qfrc_actuator:
[ 1.42538591e-04,-1.26219842e-04, 6.35285534e-04, 1.87293859e-03,
 -6.00549484e-05,-4.00784198e-04,-9.27828194e-04, 1.33777379e-03,
  2.45845315e-04, 1.03191603e-03,-3.60282134e-04, 1.21433169e-03,
  8.14483060e-02,-3.67240786e-04, 5.90580681e-02,-1.88793510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021783134920505542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54835456e-13, -5.09670912e-13,  1.00000000e+00, -1.29882219e-25,
        1.00000000e+00,  5.09670912e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54835456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914888, -0.05168624,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09473171e-07, 1.97600417e-06,-4.70495545e-05,-1.57719365e-05,
  2.94929947e-05, 7.72049673e-06, 1.50065220e-05,-6.30489105e-06,
  1.78664189e-05,-6.74828400e-05, 6.59018097e-06, 4.61877547e-06,
 -5.66425508e-04,-3.51057925e-05,-2.37870099e-04, 1.08635754e-05,
  3.17064182e-06, 7.06499269e-07,-1.21641117e+00, 9.61253727e-05,
  1.49648915e-03, 3.88669395e-07]


--- Step 155 ---
qpos:
[ 2.87528338e-03,-3.11322377e-03, 1.14034074e-02, 3.99699770e-02,
 -2.11349537e-03,-1.89306813e-03,-1.66362356e-02, 2.74877484e-02,
  5.58903796e-03, 1.58587818e-02,-8.89824166e-03, 2.49279360e-02,
  4.55004779e-01,-2.14777165e-03, 2.86291216e-01, 6.31765056e-02,
  9.49982075e-02,-7.00020172e-02, 1.21785816e-01, 9.99999457e-01,
 -1.07025267e-04, 6.53638213e-05, 1.03433608e-03]

qacc:
[ -3.14943071, -0.56004025,  5.10785832,-17.71921443,  0.09058631,
   0.77477481, -1.12184674, -3.21026336, -1.51394805, -2.09842104,
   8.66189803,-16.76331812, -1.70478286,  5.16925752, -0.99392153,
  -1.84811299, -0.63818102, -0.90341328, -0.10563314, 14.90064566,
 -11.30382216,  0.44219144]

qfrc_actuator:
[ 1.24116752e-04,-1.43515781e-04, 6.10757649e-04, 1.83347180e-03,
 -6.02653402e-05,-3.87995085e-04,-9.47331972e-04, 1.32349240e-03,
  2.36296343e-04, 1.01893688e-03,-3.47712913e-04, 1.19104515e-03,
  8.12957893e-02,-3.55075298e-04, 5.89342897e-02,-1.93401545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021846491880508911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.54096408e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.54096408e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914829, -0.05168623,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84001977e-05,-2.66794176e-05,-3.06288845e-05,-4.14145345e-05,
  6.32473714e-07, 2.01465972e-05,-1.61447306e-05,-1.35785441e-05,
 -9.02470245e-06,-4.95498248e-05,-5.00094071e-07,-2.59232938e-05,
 -5.61791664e-04,-4.13513239e-05,-2.28385720e-04,-7.56547683e-05,
  2.87704483e-06, 1.59558169e-06,-1.21641549e+00, 9.28565032e-05,
  1.49256211e-03, 5.67846879e-07]


--- Step 156 ---
qpos:
[ 2.87791268e-03,-3.11683337e-03, 1.14132375e-02, 4.00045778e-02,
 -2.11503907e-03,-1.89516242e-03,-1.66508532e-02, 2.75148791e-02,
  5.59396429e-03, 1.58709166e-02,-8.90635498e-03, 2.49510518e-02,
  4.56688105e-01,-2.14892239e-03, 2.87881284e-01, 6.32292408e-02,
  9.49839519e-02,-7.00019578e-02, 1.21784204e-01, 9.99999443e-01,
 -1.09997271e-04,-5.57641520e-05, 1.04840983e-03]

qacc:
[  0.91367015, -1.09451687,  6.43637991,-18.40960564, -2.975784  ,
   1.62080742, -6.4399252 , 11.66405691, -4.3758019 ,  0.19990256,
  -0.42725748, -1.26205985, -0.88525625, -0.76626433,  2.55941107,
 -15.11536391, -0.63763648, -0.89669471, -0.17153855, 14.79921219,
 -11.20446386,  0.46263199]

qfrc_actuator:
[ 1.30020824e-04,-1.70271719e-04, 5.92235211e-04, 1.79612019e-03,
 -7.76691487e-05,-3.61764870e-04,-9.53060677e-04, 1.33985797e-03,
  2.10748465e-04, 1.02424430e-03,-3.54894724e-04, 1.18580992e-03,
  8.11437366e-02,-3.83187993e-04, 5.87708575e-02,-2.05413507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002177830727325969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914803, -0.05168595,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36703346e-06,-4.98668638e-05,-2.93988268e-05,-4.04541987e-05,
 -1.73775355e-05, 3.37756085e-05,-3.88889895e-06, 1.63835333e-05,
 -2.57872445e-05,-2.40049270e-05,-1.84726499e-05,-7.94063606e-06,
 -5.58508554e-04,-8.17416127e-05,-2.74286738e-04,-1.53523622e-04,
  2.61050956e-06, 2.77284797e-06,-1.21641274e+00, 9.10318097e-05,
  1.48748575e-03, 5.64333186e-07]


--- Step 157 ---
qpos:
[ 2.88059181e-03,-3.12037009e-03, 1.14222878e-02, 4.00391393e-02,
 -2.11677925e-03,-1.89720009e-03,-1.66650494e-02, 2.75416355e-02,
  5.59854681e-03, 1.58827699e-02,-8.91445398e-03, 2.49739271e-02,
  4.58368524e-01,-2.15035200e-03, 2.89468123e-01, 6.32807887e-02,
  9.49727007e-02,-7.00035254e-02, 1.21783827e-01, 9.99999421e-01,
 -9.85369012e-05,-1.51453274e-04, 1.06069003e-03]

qacc:
[  0.4115612 ,  2.19511694, -7.52224318,  8.03798161, -1.7115265 ,
  -1.86910812,  8.36024709,-15.56175704, -2.99556534, -0.90124377,
   3.69937425, -7.68852216, -1.09936713,  0.78148175, -1.17332177,
  -2.80326871,  0.7510946 , -0.40676551,  0.30858673,  7.22946756,
  12.71195137, -0.89576869]

qfrc_actuator:
[ 1.32448799e-04,-1.49206046e-04, 5.59605999e-04, 1.79581234e-03,
 -8.72912299e-05,-3.63121604e-04,-9.32766796e-04, 1.32089536e-03,
  1.93749700e-04, 1.00489922e-03,-3.55826901e-04, 1.17349589e-03,
  8.09920608e-02,-3.99306040e-04, 5.86157109e-02,-2.11044450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002172560949898067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.55510214e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.55510214e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188744, -0.06171778,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56089541e-06,-1.46933511e-05,-4.81031987e-05,-4.34060152e-06,
 -1.01060631e-05, 1.76102542e-05, 2.74943481e-05,-1.73534831e-05,
 -1.77100641e-05,-3.73143518e-05,-8.53332784e-06,-1.41949792e-05,
 -5.59614909e-04,-7.14950462e-05,-2.93776372e-04,-9.94886304e-05,
  2.34962490e-06, 4.23886690e-06,-1.21640308e+00, 9.06404082e-05,
  1.48126668e-03, 3.81016370e-07]


--- Step 158 ---
qpos:
[ 2.88224412e-03,-3.12355386e-03, 1.14304343e-02, 4.00730530e-02,
 -2.11862128e-03,-1.89931442e-03,-1.66787715e-02, 2.75672790e-02,
  5.60323540e-03, 1.58941164e-02,-8.92208339e-03, 2.49957826e-02,
  4.60045822e-01,-2.15021377e-03, 2.91051455e-01, 6.33322478e-02,
  9.49644228e-02,-7.00067206e-02, 1.21784284e-01, 9.99999399e-01,
 -7.28735541e-05,-2.21993151e-04, 1.07125811e-03]

qacc:
[ -9.04953574,  1.6758465 , -2.53427719, -7.52314194, -0.87795867,
  -3.71256568, 17.79307934,-37.75635264,  0.94838507, -4.08363869,
  17.89140181,-35.91591303, -3.07396102, 14.90185517, -4.85109482,
   9.59423887,  0.74331669, -0.40688397,  0.20863007,  7.11469282,
  12.56716735, -0.85589569]

qfrc_actuator:
[ 7.95461452e-05,-1.17443055e-04, 5.19123655e-04, 1.76407392e-03,
 -9.22505213e-05,-3.80907175e-04,-9.15164847e-04, 1.26353467e-03,
  1.99676353e-04, 9.70967074e-04,-3.35402567e-04, 1.12159639e-03,
  8.08353913e-02,-3.19474542e-04, 5.84496937e-02,-2.11087900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021995387299827973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52376330e-13,  5.04752660e-13,  1.00000000e+00, -1.27387624e-25,
        1.00000000e+00, -5.04752660e-13, -1.00000000e+00,  0.00000000e+00,
        2.52376330e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188789, -0.06171856,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.28375424e-05, 1.33620311e-05,-4.97367548e-05,-3.42068841e-05,
 -5.24154765e-06,-2.82528118e-06, 2.41567449e-05,-5.60155404e-05,
  5.44100698e-06,-5.75467670e-05, 1.10847446e-05,-5.41278942e-05,
 -5.64440188e-04, 2.45355348e-05,-3.06352104e-04,-4.28163618e-05,
  1.03316651e-06, 3.12246874e-06,-1.21641667e+00, 9.15043036e-05,
  1.47642588e-03, 2.18205305e-07]


--- Step 159 ---
qpos:
[ 2.88393960e-03,-3.12675146e-03, 1.14381302e-02, 4.01063364e-02,
 -2.12050888e-03,-1.90097588e-03,-1.66926597e-02, 2.75916662e-02,
  5.60795881e-03, 1.59054294e-02,-8.93018430e-03, 2.50171948e-02,
  4.61720092e-01,-2.14874945e-03, 2.92631196e-01, 6.33823111e-02,
  9.49590923e-02,-7.00115434e-02, 1.21785240e-01, 9.99999380e-01,
 -3.31908703e-05,-2.67622612e-04, 1.08017673e-03]

qacc:
[  0.3646803 , -0.05818111,  2.83863207,-13.01163027, -0.41353432,
  -1.52066857, 11.59707412,-33.40842313,  0.28943213,  0.36045941,
   0.52092182, -7.41260134, -2.79432999, 12.98669544, -1.03553708,
  -3.95238083,  0.73686266, -0.40690957,  0.1247782 ,  7.02282396,
  12.44775206, -0.82538155]

qfrc_actuator:
[ 8.32649844e-05,-1.32828781e-04, 4.92117932e-04, 1.73185415e-03,
 -9.44281737e-05,-3.37428898e-04,-9.17151900e-04, 1.20177590e-03,
  2.01293269e-04, 9.81878494e-04,-3.55883223e-04, 1.10007904e-03,
  8.06865013e-02,-2.54819016e-04, 5.82613181e-02,-2.18492795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022091937900728387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51273345e-13, -2.51273345e-13,  1.00000000e+00, -6.31382937e-26,
        1.00000000e+00,  2.51273345e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51273345e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188804, -0.06171905,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21740333e-06,-1.97317276e-05,-3.16886291e-05,-3.41191361e-05,
 -2.32666123e-06, 4.46661770e-05,-1.40457974e-06,-6.21558933e-05,
  1.78692982e-06,-2.16526480e-05,-3.29629994e-05,-2.47097290e-05,
 -5.51113602e-04, 1.29835380e-05,-3.27369521e-04,-1.14697613e-04,
  6.17883249e-08, 2.14205850e-06,-1.21642587e+00, 9.30126522e-05,
  1.47285962e-03, 6.87795214e-08]


--- Step 160 ---
qpos:
[ 2.88635599e-03,-3.13034401e-03, 1.14461617e-02, 4.01389676e-02,
 -2.12309784e-03,-1.90221655e-03,-1.67065161e-02, 2.76151131e-02,
  5.61232067e-03, 1.59166771e-02,-8.93851298e-03, 2.50381684e-02,
  4.63391633e-01,-2.14818123e-03, 2.94207568e-01, 6.34313328e-02,
  9.49566880e-02,-7.00179939e-02, 1.21786414e-01, 9.99999367e-01,
  2.03655595e-05,-2.88536881e-04, 1.08749366e-03]

qacc:
[  6.34593519, -2.81693689, 12.01564748,-23.5218927 , -6.15926376,
  -1.45537983,  9.98852891,-26.64773947, -3.16153445, -0.34676196,
   2.97431558,-10.16696811, -0.39020517, -3.99463933, -1.83797987,
  -0.8234251 ,  0.7315625 , -0.40692131,  0.05456495,  6.9500028 ,
  12.35012243, -0.80229515]

qfrc_actuator:
[ 0.0001203 ,-0.00015853, 0.00050861, 0.00169959,-0.00013046,-0.00031095,
 -0.00091269, 0.00115572, 0.0001826 , 0.00098392,-0.00036465, 0.00107887,
  0.08054238,-0.00030617, 0.05811292,-0.00223079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022049834125852097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.51753147e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.51753147e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188794, -0.06171932,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70871884e-05,-4.47908650e-05, 7.20577644e-06,-3.49577067e-05,
 -3.60775469e-05, 4.86712579e-05, 1.14930705e-05,-4.54202094e-05,
 -1.86149966e-05,-1.82815068e-05,-1.82334529e-05,-2.38128574e-05,
 -5.37761131e-04,-1.02491432e-04,-3.04335149e-04,-9.30525104e-05,
 -5.86121114e-07, 1.28023848e-06,-1.21643086e+00, 9.51613203e-05,
  1.47055345e-03,-6.87946484e-08]


--- Step 161 ---
qpos:
[ 2.88919721e-03,-3.13406452e-03, 1.14542599e-02, 4.01705953e-02,
 -2.12644316e-03,-1.90348630e-03,-1.67197399e-02, 2.76374959e-02,
  5.61711510e-03, 1.59276168e-02,-8.94649261e-03, 2.50580238e-02,
  4.65060430e-01,-2.14884551e-03, 2.95780766e-01, 6.34826022e-02,
  9.49571929e-02,-7.00260723e-02, 1.21787572e-01, 9.99999358e-01,
  8.76819247e-05,-2.84893569e-04, 1.09324485e-03]

qacc:
[ 3.73333262e+00,-2.43141986e+00, 1.26444095e+01,-3.00067639e+01,
 -6.61526083e+00,-3.98083873e+00, 1.86543138e+01,-3.80825183e+01,
  3.79049146e+00,-3.69187334e+00, 1.72812113e+01,-3.69502945e+01,
 -4.03340570e-02,-6.54037794e+00,-1.14814730e+01, 3.33254249e+01,
  7.27269364e-01,-4.06974631e-01,-4.11076045e-03, 6.89309056e+00,
  1.22712854e+01,-7.85100881e-01]

qfrc_actuator:
[ 0.00014112,-0.00015452, 0.00051509, 0.00164981,-0.00016837,-0.00033032,
 -0.00088674, 0.00110152, 0.00020536, 0.00096293,-0.00034869, 0.00102251,
  0.08039056,-0.00037218, 0.05800459,-0.00209977, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021897956189625978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53499234e-13,  2.53499234e-13,  1.00000000e+00,  6.42618617e-26,
        1.00000000e+00, -2.53499234e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53499234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188764, -0.0617194 ,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18588469e-05,-2.10790004e-05,-3.22029224e-06,-5.22086720e-05,
 -3.89237028e-05, 8.41344165e-06, 3.59772483e-05,-5.26186396e-05,
  2.22551163e-05,-3.63468111e-05, 9.03985908e-06,-5.82865572e-05,
 -5.46559010e-04,-1.21421999e-04,-2.52280293e-04, 8.77692615e-05,
 -9.25858467e-07, 5.23881849e-07,-1.21643174e+00, 9.79466976e-05,
  1.46949589e-03,-1.95647158e-07]


--- Step 162 ---
qpos:
[ 2.89226599e-03,-3.13761765e-03, 1.14619174e-02, 4.02020665e-02,
 -2.12952728e-03,-1.90489236e-03,-1.67321702e-02, 2.76587122e-02,
  5.62180032e-03, 1.59386224e-02,-8.95413444e-03, 2.50773459e-02,
  4.66726326e-01,-2.14989037e-03, 2.97351085e-01, 6.35359764e-02,
  9.49605931e-02,-7.00357791e-02, 1.21788517e-01, 9.99999351e-01,
  1.68671084e-04,-2.56817688e-04, 1.09745694e-03]

qacc:
[ 1.98097016e+00, 1.12718298e+00,-3.04387104e+00, 9.23433789e-01,
  2.31778988e+00,-4.80032310e+00, 2.17731552e+01,-4.31199929e+01,
 -9.43915680e-01,-1.95320991e+00, 9.34581373e+00,-1.91686594e+01,
 -9.90539467e-01, 6.99042414e-03,-1.05930223e+01, 3.09073332e+01,
  7.23856564e-01,-4.07107362e-01,-5.30402825e-02, 6.84952863e+00,
  1.22087355e+01,-7.72576581e-01]

qfrc_actuator:
[ 0.00015222,-0.00013279, 0.00049795, 0.0016434 ,-0.00015382,-0.00034142,
 -0.0008485 , 0.00104293, 0.00019909, 0.00099941,-0.00031837, 0.00099918,
  0.08023421,-0.00039302, 0.05787781,-0.00198975, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021660359978548094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56279911e-13,  2.56279911e-13,  1.00000000e+00,  6.56793927e-26,
        1.00000000e+00, -2.56279911e-13, -1.00000000e+00,  0.00000000e+00,
       -2.56279911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188719, -0.06171933,  0.06199474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17155966e-05, 7.00176902e-06,-2.38253532e-05,-8.52063020e-06,
  1.34432152e-05,-1.08004646e-06, 4.27052367e-05,-5.80225994e-05,
 -5.61555562e-06, 1.51942787e-05, 2.18258655e-05,-2.57629924e-05,
 -5.58996067e-04,-7.83347896e-05,-2.28526704e-04, 8.31033266e-05,
 -9.67669201e-07,-1.37102167e-07,-1.21642862e+00, 1.01365717e-04,
  1.46967786e-03,-3.12590337e-07]


--- Step 163 ---
qpos:
[ 2.89475418e-03,-3.14097986e-03, 1.14692703e-02, 4.02332013e-02,
 -2.13137863e-03,-1.90633166e-03,-1.67443577e-02, 2.76794315e-02,
  5.62603006e-03, 1.59494663e-02,-8.96129331e-03, 2.50966006e-02,
  4.68389301e-01,-2.15145473e-03, 2.98918371e-01, 6.35880179e-02,
  9.49642549e-02,-7.00409777e-02, 1.21789478e-01, 9.99999345e-01,
  2.11883441e-04,-2.25899537e-04, 1.10221228e-03]

qacc:
[-5.11003647e+00, 4.20706052e-01, 3.02081970e-01,-5.79263329e+00,
  1.08219898e+01,-1.76554732e+00, 8.29405729e+00,-1.72203025e+01,
 -3.95719648e+00,-1.69438709e+00, 6.02865336e+00,-7.86029598e+00,
 -8.76654011e-01,-9.07989610e-01,-4.50349442e-01,-4.92609847e+00,
  6.53651878e-02, 1.12706073e+00, 3.82374326e-03,-1.88867596e+01,
  1.44190929e+00, 2.76239141e-01]

qfrc_actuator:
[ 1.22009881e-04,-1.18439684e-04, 4.84867436e-04, 1.62706547e-03,
 -9.07585664e-05,-3.47436509e-04,-8.38816311e-04, 1.01774383e-03,
  1.75764558e-04, 9.81344668e-04,-2.97333302e-04, 9.95523724e-04,
  8.00752575e-02,-4.22635049e-04, 5.76921024e-02,-2.07062438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002192432574958103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26597169e-13, -7.59583011e-13,  1.00000000e+00, -9.61610585e-26,
        1.00000000e+00,  7.59583011e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26597169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473342, -0.09307443,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98741461e-05, 1.29468990e-05,-1.49889609e-05,-1.71101844e-05,
  6.34475869e-05,-1.30426952e-07, 1.28282949e-05,-2.49016983e-05,
 -2.34494604e-05,-6.50070840e-06, 2.58993349e-05,-2.80044492e-06,
 -5.66429909e-04,-8.66331782e-05,-2.78422227e-04,-1.05311648e-04,
 -7.17686833e-07,-7.10695049e-07,-1.21642157e+00, 1.05415850e-04,
  1.47109237e-03,-4.20184746e-07]


--- Step 164 ---
qpos:
[ 2.89686093e-03,-3.14407981e-03, 1.14766382e-02, 4.02638647e-02,
 -2.13211482e-03,-1.90758026e-03,-1.67567094e-02, 2.76996869e-02,
  5.63098268e-03, 1.59600584e-02,-8.96831844e-03, 2.51153518e-02,
  4.70049338e-01,-2.15299373e-03, 3.00482328e-01, 6.36393609e-02,
  9.49681818e-02,-7.00417064e-02, 1.21790120e-01, 9.99999345e-01,
  2.17660021e-04,-1.92185138e-04, 1.10753393e-03]

qacc:
[ -3.35310597, -0.66033996,  4.85723533,-13.24299933,  9.7735657 ,
  -0.26274631,  3.22853967,-11.09977582,  6.31661958, -1.75575784,
   7.88244197,-16.60410446, -1.44091069,  3.1333167 , -2.78831685,
   2.655829  ,  0.06629273,  1.11744699, -0.07978243,-18.71627171,
   1.41881523,  0.28708429]

qfrc_actuator:
[ 1.03237670e-04,-9.08440358e-05, 4.92011199e-04, 1.60500968e-03,
 -3.51665778e-05,-3.32697254e-04,-8.46029034e-04, 9.94642293e-04,
  2.13608903e-04, 9.48514053e-04,-2.99887387e-04, 9.67916010e-04,
  7.99308293e-02,-4.21713163e-04, 5.75297465e-02,-2.10365892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002202624411504206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26011387e-13,  5.04045546e-13,  1.00000000e+00,  6.35154782e-26,
        1.00000000e+00, -5.04045546e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26011387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473361, -0.09307418,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96200756e-05, 3.09545661e-05, 7.26232425e-06,-2.24305080e-05,
  5.74007185e-05, 1.64200048e-05,-6.41014176e-06,-2.31664076e-05,
  3.72001796e-05,-3.15826706e-05,-8.84541180e-07,-2.70940417e-05,
 -5.58337482e-04,-5.74574214e-05,-2.97388847e-04,-7.40199265e-05,
 -3.56728790e-07,-5.92530693e-07,-1.21643293e+00, 1.07564087e-04,
  1.47269837e-03,-5.89273099e-07]


--- Step 165 ---
qpos:
[ 2.89872566e-03,-3.14655030e-03, 1.14838774e-02, 4.02936401e-02,
 -2.13252347e-03,-1.90856431e-03,-1.67688047e-02, 2.77187777e-02,
  5.63600629e-03, 1.59698442e-02,-8.97450381e-03, 2.51339938e-02,
  4.71706395e-01,-2.15379806e-03, 3.02043701e-01, 6.36893975e-02,
  9.49723770e-02,-7.00379968e-02, 1.21790163e-01, 9.99999351e-01,
  1.86277753e-04,-1.55709705e-04, 1.11343762e-03]

qacc:
[ -2.13994373, -0.63409022,  7.2205945 ,-22.8481964 ,  2.87592604,
  -2.76744664, 15.28307432,-36.03099858,  0.65942181, -3.63838639,
  11.88489741,-14.51830907, -2.20228139,  8.45000442,  0.16630262,
  -6.03264156,  0.06707837,  1.10961945, -0.14985928,-18.5778275 ,
   1.40115701,  0.29428211]

qfrc_actuator:
[ 9.13605197e-05,-3.76987483e-05, 4.93341306e-04, 1.56204108e-03,
 -1.99386348e-05,-3.05716044e-04,-8.27564864e-04, 9.37452299e-04,
  2.16148099e-04, 8.89224681e-04,-2.63184771e-04, 9.61905730e-04,
  7.97845696e-02,-3.85054385e-04, 5.74294683e-02,-2.16135048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021986970880792656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26236469e-13,  2.52472937e-13,  1.00000000e+00,  3.18712921e-26,
        1.00000000e+00, -2.52472937e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26236469e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473375, -0.09307434,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24281487e-05, 7.09385215e-05, 7.72259713e-06,-4.19054378e-05,
  1.68708240e-05, 3.40114316e-05, 2.03765581e-05,-5.71762680e-05,
  3.62509341e-06,-7.86089561e-05, 2.90523391e-05,-7.97201780e-06,
 -5.51465025e-04,-1.98061988e-05,-2.39450374e-04,-9.91139877e-05,
  1.00310002e-07,-4.81906011e-07,-1.21643706e+00, 1.07866283e-04,
  1.47446456e-03,-6.67455868e-07]


--- Step 166 ---
qpos:
[ 2.90043359e-03,-3.14877251e-03, 1.14909876e-02, 4.03220260e-02,
 -2.13309074e-03,-1.90948083e-03,-1.67802063e-02, 2.77363384e-02,
  5.64033243e-03, 1.59789705e-02,-8.98049028e-03, 2.51527892e-02,
  4.73360580e-01,-2.15445752e-03, 3.03602912e-01, 6.37336386e-02,
  9.49768432e-02,-7.00298737e-02, 1.21789371e-01, 9.99999359e-01,
  1.17958231e-04,-1.16499539e-04, 1.11993327e-03]

qacc:
[ -1.38570381, -2.17232353, 14.08808496,-38.11299878, -1.37167197,
  -4.99302272, 24.39977542,-52.04627813, -6.06896707, -1.10015254,
   2.03104665,  0.76775064, -1.57232422,  4.11659286, 14.31629332,
 -54.68967161,  0.06776065,  1.10333514, -0.20852268,-18.46704705,
   1.3879844 ,  0.29860272]

qfrc_actuator:
[ 8.36335417e-05,-5.84589654e-05, 4.73568216e-04, 1.48937723e-03,
 -2.85875566e-05,-3.07045064e-04,-7.94049465e-04, 8.60695398e-04,
  1.80114314e-04, 8.50220455e-04,-2.56945538e-04, 9.68660803e-04,
  7.96373205e-02,-3.80930824e-04, 5.72972541e-02,-2.46373301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002183582716243082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81330765e-13,  5.08441021e-13,  1.00000000e+00,  1.93884204e-25,
        1.00000000e+00, -5.08441021e-13, -1.00000000e+00,  0.00000000e+00,
       -3.81330765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473383, -0.09307481,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.06010962e-06, 1.86369076e-05,-5.74281025e-06,-7.02504528e-05,
 -8.15467077e-06, 1.95895935e-05, 4.11823163e-05,-7.57211971e-05,
 -3.59298671e-05,-7.76097449e-05,-6.77471334e-06, 4.18763480e-06,
 -5.43611387e-04,-5.01761334e-05,-2.50771026e-04,-3.38503783e-04,
  6.59960320e-07,-3.79773879e-07,-1.21643415e+00, 1.06336059e-04,
  1.47639053e-03,-6.55012625e-07]


--- Step 167 ---
qpos:
[ 2.90238078e-03,-3.15126699e-03, 1.14980470e-02, 4.03497270e-02,
 -2.13341210e-03,-1.91042952e-03,-1.67907977e-02, 2.77531923e-02,
  5.64453776e-03, 1.59884027e-02,-8.98701856e-03, 2.51707544e-02,
  4.75012039e-01,-2.15571404e-03, 3.05159739e-01, 6.37705499e-02,
  9.49815830e-02,-7.00173572e-02, 1.21787549e-01, 9.99999362e-01,
  1.28750709e-05,-7.45735543e-05, 1.12702625e-03]

qacc:
[ 2.10322715e+00,-1.63330711e+00, 8.18290557e+00,-1.97416807e+01,
  2.18268024e+00,-3.76332114e+00, 1.63340839e+01,-2.98273015e+01,
 -1.07690347e+00, 2.11598698e-01, 3.34115670e+00,-1.70727591e+01,
 -7.43211714e-01,-1.44122803e+00, 1.85942525e+01,-7.01962930e+01,
  6.83690790e-02, 1.09838581e+00,-2.57575034e-01,-1.83802513e+01,
  1.37853031e+00, 3.00649858e-01]

qfrc_actuator:
[ 9.61608986e-05,-1.05680436e-04, 4.58937747e-04, 1.45301102e-03,
 -1.57022031e-05,-3.07516387e-04,-7.52043142e-04, 8.26287790e-04,
  1.74934700e-04, 9.12326289e-04,-2.68679378e-04, 9.29598454e-04,
  7.95002272e-02,-4.13785094e-04, 5.71619107e-02,-2.83690801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021597213022515882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57029234e-13,  1.02811694e-12,  1.00000000e+00,  2.64256109e-25,
        1.00000000e+00, -1.02811694e-12, -1.00000000e+00,  0.00000000e+00,
       -2.57029234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473387, -0.09307553,  0.06199475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23017043e-05,-4.10694550e-05,-1.40410359e-05,-3.72082931e-05,
  1.26612709e-05, 1.58695038e-05, 4.86110101e-05,-3.36281971e-05,
 -6.20946172e-06, 1.71847844e-05,-2.85275796e-05,-4.25877820e-05,
 -5.30859590e-04,-8.80269254e-05,-2.86384422e-04,-4.24237893e-04,
  1.32661199e-06,-2.83834711e-07,-1.21642432e+00, 1.02984297e-04,
  1.47847570e-03,-5.52233510e-07]


--- Step 168 ---
qpos:
[ 2.90480775e-03,-3.15397623e-03, 1.15048646e-02, 4.03771271e-02,
 -2.13357688e-03,-1.91090945e-03,-1.68015749e-02, 2.77698521e-02,
  5.64864841e-03, 1.59981345e-02,-8.99344421e-03, 2.51877203e-02,
  4.76660692e-01,-2.15728999e-03, 3.06713358e-01, 6.38033370e-02,
  9.49880130e-02,-7.00034170e-02, 1.21786409e-01, 9.99999351e-01,
 -1.03858333e-04,-1.87173004e-05, 1.13423312e-03]

qacc:
[  4.20773124, -0.2364542 ,  1.68668397, -6.33393135,  1.35952899,
   0.7362546 , -0.91116718, -2.49186063, -0.82876074, -1.94652075,
  11.73713429,-29.42014122, -1.05084488,  0.58716376,  7.71881255,
 -33.87795381,  0.42257242,  0.35589719,  0.17051031, -5.81726401,
   6.97169533,  0.05729779]

qfrc_actuator:
[ 1.20507502e-04,-1.15099533e-04, 4.47366207e-04, 1.43827437e-03,
 -7.98999197e-06,-2.71895134e-04,-7.58594151e-04, 8.17078316e-04,
  1.70217286e-04, 9.45633373e-04,-2.55030655e-04, 8.81720433e-04,
  7.93480143e-02,-4.32636802e-04, 5.70141361e-02,-3.03567436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021263136926218533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.6709913e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.6709913e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08819491, -0.07711856,  0.06199483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46799813e-05,-3.69352689e-05,-2.31892676e-05,-1.77789801e-05,
  8.07803991e-06, 5.32206520e-05, 1.64842203e-06,-7.51427476e-06,
 -4.85966840e-06, 3.49049597e-05, 1.21416242e-05,-4.90029861e-05,
 -5.40557190e-04,-7.47559087e-05,-3.23286746e-04,-2.58842787e-04,
  2.10316741e-06,-1.88701233e-07,-1.21640768e+00, 9.78195067e-05,
  1.48071942e-03,-3.59404885e-07]


--- Step 169 ---
qpos:
[ 2.90750752e-03,-3.15675284e-03, 1.15117111e-02, 4.04037525e-02,
 -2.13433756e-03,-1.91113365e-03,-1.68122812e-02, 2.77862812e-02,
  5.65267136e-03, 1.60077191e-02,-8.99925044e-03, 2.52046913e-02,
  4.78306422e-01,-2.15834804e-03, 3.08262984e-01, 6.38380904e-02,
  9.49947223e-02,-6.99921545e-02, 1.21786651e-01, 9.99999329e-01,
 -1.98073761e-04, 3.88507090e-05, 1.14081131e-03]

qacc:
[  2.39652369, -1.77127725,  9.44614618,-22.83838824, -5.22947562,
  -0.32418999,  2.63815387, -6.95091282, -0.74341529, -1.91381725,
   6.52244267, -7.31840156, -1.94072445,  6.64126053,-11.79305635,
  32.78152126,  0.06983425, -0.66941048,  0.3456043 , 11.25994515,
   0.84313935, -0.31445443]

qfrc_actuator:
[ 1.33856817e-04,-1.01785804e-04, 4.55593925e-04, 1.40090027e-03,
 -3.88959645e-05,-2.68364304e-04,-7.58102437e-04, 8.05005177e-04,
  1.65799388e-04, 9.26039891e-04,-2.26580105e-04, 8.82312112e-04,
  7.91974866e-02,-4.07620534e-04, 5.68590626e-02,-2.91703762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021431922262450025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.7507773e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.7507773e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506628, -0.05686711,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40371917e-05,-1.29338396e-05,-2.98550704e-06,-4.01765911e-05,
 -3.06569237e-05, 3.34196735e-05, 1.15222469e-05,-9.89400662e-06,
 -4.51581632e-06, 2.98646705e-08, 3.53884775e-05, 1.50970689e-06,
 -5.44555738e-04,-3.15034714e-05,-3.26430410e-04, 6.36730243e-05,
  2.53388011e-06,-1.48742253e-07,-1.21639774e+00, 9.21097914e-05,
  1.48352985e-03,-1.41688226e-07]


--- Step 170 ---
qpos:
[ 2.91000142e-03,-3.15947937e-03, 1.15185540e-02, 4.04293626e-02,
 -2.13511753e-03,-1.91135524e-03,-1.68227789e-02, 2.78024610e-02,
  5.65695580e-03, 1.60167358e-02,-9.00416289e-03, 2.52219171e-02,
  4.79949258e-01,-2.15904959e-03, 3.09809021e-01, 6.38765244e-02,
  9.49988091e-02,-6.99845829e-02, 1.21787311e-01, 9.99999304e-01,
 -2.61862100e-04, 7.33911919e-05, 1.14828355e-03]

qacc:
[ -1.80884471, -2.01279217, 11.56105523,-29.16375346, -0.16290435,
  -1.09184726,  4.95172013, -9.60287854,  2.31958751, -2.72842265,
   7.55523989, -4.14594015, -1.75619524,  5.39851708,-16.37181335,
  49.6637169 , -0.65565691, -0.9227275 ,  0.10435891, 15.20038138,
 -11.53119981,  0.44533345]

qfrc_actuator:
[ 1.22870184e-04,-9.26465010e-05, 4.57774621e-04, 1.35053788e-03,
 -3.90251081e-05,-2.84062191e-04,-7.53567359e-04, 7.91328044e-04,
  1.79344722e-04, 8.75033023e-04,-1.89806304e-04, 8.93628306e-04,
  7.90480815e-02,-3.92498289e-04, 5.67210992e-02,-2.71891574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021953574738797776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05714007e-13, -2.52857003e-13,  1.00000000e+00, -1.27873328e-25,
        1.00000000e+00,  2.52857003e-13, -1.00000000e+00,  0.00000000e+00,
       -5.05714007e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914355, -0.05168435,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05930125e-05,-4.73619610e-07,-2.35913354e-06,-5.18714147e-05,
 -9.91275139e-07, 5.03264575e-06, 1.26077770e-05,-1.20498404e-05,
  1.34422244e-05,-4.39213307e-05, 4.11132838e-05, 1.25260058e-05,
 -5.41784159e-04,-4.00251563e-05,-2.73139989e-04, 1.61134996e-04,
  2.01884972e-06,-2.05499584e-07,-1.21640923e+00, 8.74506935e-05,
  1.48625244e-03, 2.32344756e-07]


--- Step 171 ---
qpos:
[ 2.91234443e-03,-3.16222268e-03, 1.15250954e-02, 4.04545433e-02,
 -2.13623838e-03,-1.91134244e-03,-1.68332491e-02, 2.78186789e-02,
  5.66068015e-03, 1.60251651e-02,-9.00874757e-03, 2.52388410e-02,
  4.81589195e-01,-2.15950554e-03, 3.11351988e-01, 6.39150108e-02,
  9.50002913e-02,-6.99806613e-02, 1.21787988e-01, 9.99999284e-01,
 -2.95538486e-04, 8.52043491e-05, 1.15670881e-03]

qacc:
[-1.33410414e+00,-6.14059863e-02, 2.00296718e+00,-8.94355574e+00,
 -2.99324319e+00, 3.16954818e-01,-8.31758089e-01, 1.26480037e+00,
 -4.86734098e+00,-2.30440701e+00, 8.38145796e+00,-1.37162911e+01,
 -1.66914127e+00, 4.70532676e+00,-4.66352263e+00, 9.79397173e+00,
 -6.51130108e-01,-9.12509704e-01, 4.27128816e-03, 1.50428829e+01,
 -1.13810685e+01, 4.74636325e-01]

qfrc_actuator:
[ 1.15404165e-04,-1.03854991e-04, 4.38595332e-04, 1.32843813e-03,
 -5.65316600e-05,-2.57888597e-04,-7.46772412e-04, 7.94552091e-04,
  1.50095986e-04, 8.23410321e-04,-1.84065943e-04, 8.75622149e-04,
  7.88941268e-02,-3.83358222e-04, 5.65562287e-02,-2.72414032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002221963582174774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49829258e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.49829258e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914282, -0.05168479,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.76896871e-06,-1.42326777e-05,-2.14699952e-05,-2.32777581e-05,
 -1.75330546e-05, 3.11703267e-05, 9.06015877e-06, 3.62926406e-06,
 -2.88542039e-05,-6.74436813e-05, 2.08257189e-06,-1.82693532e-05,
 -5.44891266e-04,-4.64405272e-05,-2.67021547e-04,-3.04700360e-05,
  1.36970117e-06,-3.47889149e-07,-1.21642669e+00, 8.42508197e-05,
  1.48789201e-03, 6.42832136e-07]


--- Step 172 ---
qpos:
[ 2.91457978e-03,-3.16515692e-03, 1.15310995e-02, 4.04803372e-02,
 -2.13756028e-03,-1.91120995e-03,-1.68434834e-02, 2.78341184e-02,
  5.66402564e-03, 1.60330559e-02,-9.01351816e-03, 2.52561377e-02,
  4.83226272e-01,-2.15980754e-03, 3.12892054e-01, 6.39507957e-02,
  9.49991841e-02,-6.99803562e-02, 1.21788346e-01, 9.99999272e-01,
 -2.99362044e-04, 7.45341011e-05, 1.16613187e-03]

qacc:
[ -0.9583957 ,  2.51541249,-11.91768548, 23.52270538, -1.75875688,
  -2.09809276, 11.00409521,-24.94834383, -3.30229704,  0.58158773,
  -4.66963297, 11.80365334, -1.57453358,  4.08116784,  3.8939541 ,
 -19.79554863, -0.64735743, -0.90412086, -0.07973726, 14.91335898,
 -11.25910789,  0.49684562]

qfrc_actuator:
[ 1.10077885e-04,-1.27225324e-04, 4.06899549e-04, 1.35862156e-03,
 -6.63827282e-05,-2.60082820e-04,-7.38523948e-04, 7.54471169e-04,
  1.31393062e-04, 7.89417339e-04,-1.96737148e-04, 8.93735322e-04,
  7.87481986e-02,-3.77839158e-04, 5.63965996e-02,-2.86696950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022308955599917302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48829000e-13, -4.97658001e-13,  1.00000000e+00, -1.23831743e-25,
        1.00000000e+00,  4.97658001e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48829000e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914245, -0.05168486,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55358240e-06,-3.68046355e-05,-3.81882000e-05, 2.83129109e-05,
 -1.03404129e-05, 1.73431249e-05, 1.60155793e-05,-3.83731658e-05,
 -1.95271293e-05,-7.23483000e-05,-2.70560409e-05, 1.48950143e-05,
 -5.39823888e-04,-5.09381922e-05,-2.81638932e-04,-1.78281620e-04,
  7.42636275e-07,-1.99116485e-07,-1.21643675e+00, 8.25103061e-05,
  1.48837120e-03, 8.66035596e-07]


--- Step 173 ---
qpos:
[ 2.91638891e-03,-3.16840233e-03, 1.15369943e-02, 4.05066221e-02,
 -2.13864528e-03,-1.91078909e-03,-1.68538918e-02, 2.78489643e-02,
  5.66781073e-03, 1.60406656e-02,-9.01879931e-03, 2.52735055e-02,
  4.84860505e-01,-2.15999569e-03, 3.14429138e-01, 6.39851805e-02,
  9.49954997e-02,-6.99836403e-02, 1.21788104e-01, 9.99999270e-01,
 -2.73543469e-04, 4.15767287e-05, 1.17658621e-03]

qacc:
[ -3.73952   ,  0.91363568, -5.91234885, 14.79638439,  2.06723791,
  -0.35795128,  4.32916492,-14.52983625,  3.82480474,  1.19449036,
  -5.11067647,  7.37720038, -1.51962699,  3.73878855, -0.15636179,
  -5.80219888, -0.64427213, -0.89729867, -0.15015868, 14.80802377,
 -11.16099207,  0.51340426]

qfrc_actuator:
[ 8.82999404e-05,-1.39959273e-04, 4.03555413e-04, 1.38379877e-03,
 -5.38913446e-05,-2.43771538e-04,-7.47375207e-04, 7.24713917e-04,
  1.54565690e-04, 7.83941096e-04,-2.20072728e-04, 8.97460849e-04,
  7.86018614e-02,-3.74499295e-04, 5.62668395e-02,-2.92985480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022256872580361797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49411282e-13, -2.49411282e-13,  1.00000000e+00, -6.22059876e-26,
        1.00000000e+00,  2.49411282e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49411282e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914235, -0.05168463,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19504739e-05,-4.00208276e-05,-1.47656986e-05, 2.27657288e-05,
  1.22036770e-05, 2.77502683e-05,-4.53951158e-06,-2.92181832e-05,
  2.26118977e-05,-5.11491101e-05,-4.11681651e-05,-6.52892413e-08,
 -5.37109243e-04,-5.30400742e-05,-2.74960839e-04,-1.08457689e-04,
  1.21440487e-07, 2.46083909e-07,-1.21643967e+00, 8.22146686e-05,
  1.48769933e-03, 9.05914333e-07]


--- Step 174 ---
qpos:
[ 2.91757757e-03,-3.17148929e-03, 1.15426763e-02, 4.05315677e-02,
 -2.13957203e-03,-1.91036252e-03,-1.68642861e-02, 2.78643972e-02,
  5.67184383e-03, 1.60487415e-02,-9.02495350e-03, 2.52900196e-02,
  4.86491937e-01,-2.16010744e-03, 3.15963408e-01, 6.40155041e-02,
  9.49892482e-02,-6.99904917e-02, 1.21787025e-01, 9.99999270e-01,
 -2.18251424e-04,-1.35119974e-05, 1.18809627e-03]

qacc:
[ -5.45713418, -1.94531132, 12.90740299,-35.87450901,  1.38895723,
   1.17285831, -6.65507475, 16.79435176,  2.12826596,  1.29430643,
  -0.12332953,-13.59311698, -1.47865763,  3.50443176,  8.12030859,
 -34.40848545, -0.64181023, -0.8918203 , -0.20911504, 14.72368289,
 -11.08315232,  0.52544119]

qfrc_actuator:
[ 5.70126222e-05,-1.10609510e-04, 3.99256669e-04, 1.31708607e-03,
 -4.61046499e-05,-2.52078756e-04,-7.48418199e-04, 7.54535297e-04,
  1.66691466e-04, 8.48790540e-04,-2.49407901e-04, 8.57201150e-04,
  7.84607060e-02,-3.72488421e-04, 5.61125064e-02,-3.14027352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022092876457320554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51262670e-13,  2.51262670e-13,  1.00000000e+00,  6.31329293e-26,
        1.00000000e+00, -2.51262670e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51262670e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914248, -0.05168416,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19276403e-05, 4.87188651e-06,-1.36867454e-05,-6.85588364e-05,
  8.14559577e-06, 5.09876761e-06, 3.20228294e-06, 3.02735215e-05,
  1.27795554e-05, 2.75072146e-05,-4.50367627e-05,-4.39215489e-05,
 -5.30052689e-04,-5.44581998e-05,-2.88717362e-04,-2.51243289e-04,
 -5.06726018e-07, 9.89213863e-07,-1.21643563e+00, 8.33523552e-05,
  1.48588418e-03, 7.65514075e-07]


--- Step 175 ---
qpos:
[ 2.91872678e-03,-3.17450320e-03, 1.15482764e-02, 4.05551750e-02,
 -2.14005307e-03,-1.91004220e-03,-1.68748063e-02, 2.78797463e-02,
  5.67564628e-03, 1.60576692e-02,-9.03142646e-03, 2.53054867e-02,
  4.88120558e-01,-2.16046378e-03, 3.17494452e-01, 6.40466327e-02,
  9.49804370e-02,-7.00008931e-02, 1.21784912e-01, 9.99999266e-01,
 -1.33617948e-04,-9.06109212e-05, 1.20067920e-03]

qacc:
[-3.50953697e-01,-2.43236844e+00, 1.44593359e+01,-3.75396751e+01,
  3.90739819e+00, 3.14870942e-02, 2.51551317e-02,-1.18373397e+00,
 -2.03769648e+00,-1.34578746e-01, 6.54069876e+00,-2.47853860e+01,
 -1.11993504e+00, 1.07661675e+00,-7.17661777e+00, 1.82206170e+01,
 -6.39911613e-01,-8.87496424e-01,-2.58414811e-01, 1.46576364e+01,
 -1.10226382e+01, 5.33838769e-01]

qfrc_actuator:
[ 5.58896811e-05,-1.09612571e-04, 3.94532254e-04, 1.25013109e-03,
 -2.34042602e-05,-2.74989777e-04,-7.62647422e-04, 7.48150046e-04,
  1.54452260e-04, 9.37448081e-04,-2.46270884e-04, 8.09199321e-04,
  7.83067809e-02,-3.89035670e-04, 5.59967795e-02,-3.08093849e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021841503183801791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54154445e-13, -5.08308890e-13,  1.00000000e+00, -1.29188964e-25,
        1.00000000e+00,  5.08308890e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54154445e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914278, -0.0516835 ,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02799342e-06,-2.06784722e-06,-7.86215068e-06,-6.86147943e-05,
  2.29329367e-05,-1.80262092e-05,-1.16519981e-05,-5.47935086e-06,
 -1.18372905e-05, 9.26144809e-05, 1.69634343e-06,-4.92770222e-05,
 -5.37950833e-04,-7.25708459e-05,-2.72362749e-04, 8.77923131e-06,
 -1.15255382e-06, 2.02861432e-06,-1.21642478e+00, 8.59142749e-05,
  1.48293214e-03, 4.47130111e-07]


--- Step 176 ---
qpos:
[ 2.92019843e-03,-3.17774772e-03, 1.15541201e-02, 4.05788475e-02,
 -2.14060297e-03,-1.91007781e-03,-1.68853155e-02, 2.78952680e-02,
  5.67858378e-03, 1.60668510e-02,-9.03791419e-03, 2.53203124e-02,
  4.89746235e-01,-2.16059790e-03, 3.19022049e-01, 6.40805302e-02,
  9.49745756e-02,-7.00129073e-02, 1.21783615e-01, 9.99999255e-01,
 -3.47344126e-05,-1.42407262e-04, 1.21156561e-03]

qacc:
[  2.84234033, -0.85677226,  2.32766335, -1.40829984, -0.5974045 ,
  -0.14511374, -0.89229846,  4.12279493, -7.55233035, -0.92846044,
   6.53179425,-17.82425449, -1.66495856,  4.49422702,-13.41426618,
  39.61129895,  0.7374404 , -0.40321565,  0.20383452,  7.14013761,
  12.64284059, -0.8472132 ]

qfrc_actuator:
[ 7.25325381e-05,-1.25605304e-04, 4.07259283e-04, 1.25457612e-03,
 -2.76116590e-05,-3.06553402e-04,-7.66901206e-04, 7.55982266e-04,
  1.10220882e-04, 9.15549939e-04,-2.59360855e-04, 7.74839528e-04,
  7.81452957e-02,-3.80922098e-04, 5.58457710e-02,-2.93400354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021785583912145579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54806809e-13, -2.54806809e-13,  1.00000000e+00, -6.49265100e-26,
        1.00000000e+00,  2.54806809e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54806809e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188567, -0.06172359,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65867636e-05,-2.17256649e-05, 8.87324638e-06, 2.69016107e-06,
 -3.55937798e-06,-4.42000100e-05,-9.51766744e-06, 6.53740433e-06,
 -4.45115514e-05, 2.78569746e-05, 4.48590457e-06,-3.13299448e-05,
 -5.52791367e-04,-4.99416516e-05,-2.70746617e-04, 1.13079769e-04,
 -1.82549414e-06, 3.35986316e-06,-1.21640720e+00, 8.98934203e-05,
  1.47884833e-03,-4.75631289e-08]


--- Step 177 ---
qpos:
[ 2.92185784e-03,-3.18093062e-03, 1.15602281e-02, 4.06026934e-02,
 -2.14188864e-03,-1.91056099e-03,-1.68954833e-02, 2.79110969e-02,
  5.68096940e-03, 1.60754689e-02,-9.04440743e-03, 2.53350619e-02,
  4.91368986e-01,-2.16026324e-03, 3.20546799e-01, 6.41135418e-02,
  9.49716440e-02,-7.00265396e-02, 1.21782800e-01, 9.99999237e-01,
  7.82218418e-05,-1.69162915e-04, 1.22080518e-03]

qacc:
[ 1.65555916,-0.30348062, 0.46289258, 2.07579841,-6.43548113,-0.90011834,
  1.07555869, 4.00269942,-4.80619636,-0.87742465, 2.38464104,-3.29597295,
 -1.94354119, 6.34650055,-1.49452246,-0.79503903, 0.73247172,-0.40450244,
  0.1207805 , 7.05140602,12.51183717,-0.82397734]

qfrc_actuator:
[ 8.17361209e-05,-9.82595066e-05, 4.30164560e-04, 1.26548763e-03,
 -6.53800913e-05,-3.25263778e-04,-7.47503890e-04, 7.72121946e-04,
  8.30260161e-05, 8.27575245e-04,-2.82363513e-04, 7.66430855e-04,
  7.80006908e-02,-3.58381007e-04, 5.56950328e-02,-2.98533126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021886668821033406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53629968e-13, -2.53629968e-13,  1.00000000e+00, -6.43281609e-26,
        1.00000000e+00,  2.53629968e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53629968e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188598, -0.06172416,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66757587e-06, 1.71422963e-05, 1.95183404e-05, 1.02806694e-05,
 -3.78851923e-05,-4.50241156e-05, 9.41052889e-06, 1.40323875e-05,
 -2.84340071e-05,-7.31088009e-05,-1.78397180e-05,-7.70606760e-06,
 -5.44211579e-04,-3.62370100e-05,-2.57769156e-04,-7.90794787e-05,
 -2.34167213e-06, 2.09463661e-06,-1.21640882e+00, 9.50024881e-05,
  1.47627988e-03,-2.77018804e-07]


--- Step 178 ---
qpos:
[ 2.92361453e-03,-3.18373282e-03, 1.15664496e-02, 4.06261065e-02,
 -2.14361713e-03,-1.91141491e-03,-1.69050398e-02, 2.79262761e-02,
  5.68370029e-03, 1.60834205e-02,-9.05019100e-03, 2.53495599e-02,
  4.92988891e-01,-2.15963327e-03, 3.22068641e-01, 6.41495711e-02,
  9.49689362e-02,-7.00355727e-02, 1.21782659e-01, 9.99999213e-01,
  1.52808562e-04,-1.92742813e-04, 1.23019787e-03]

qacc:
[  0.85087427, -0.70756721,  5.07553777,-13.02215165, -3.85909866,
  -3.52625285, 14.61919671,-26.58103662,  3.04613895, -3.38805327,
  11.85459688,-16.84209121, -1.70023053,  4.91438993,-13.36700058,
  40.60925684,  0.0559246 ,  1.14977044,  0.16819093,-19.18280105,
   1.61130335,  0.07968133]

qfrc_actuator:
[ 8.64818589e-05,-6.28632063e-05, 4.41305896e-04, 1.24463947e-03,
 -8.70854168e-05,-3.36028189e-04,-7.14250502e-04, 7.39784575e-04,
  1.01591254e-04, 8.07186954e-04,-2.40306615e-04, 7.55531511e-04,
  7.78609926e-02,-3.45271488e-04, 5.55977846e-02,-2.81576951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002207338740359832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25742257e-13,  1.00593806e-12,  1.00000000e+00,  1.26488922e-25,
        1.00000000e+00, -1.00593806e-12, -1.00000000e+00,  0.00000000e+00,
       -1.25742257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473971, -0.09307566,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.02500109e-06, 4.94430692e-05, 1.73524700e-05,-1.92987573e-05,
 -2.28017761e-05,-3.33084795e-05, 2.56892328e-05,-3.36781969e-05,
  1.77496225e-05,-6.55578719e-05, 2.44370878e-05,-1.48356206e-05,
 -5.31732788e-04,-4.43117665e-05,-2.21403195e-04, 1.32371692e-04,
 -2.54157752e-06, 9.44905144e-07,-1.21640626e+00, 1.00755521e-04,
  1.47497580e-03,-4.95788660e-07]


--- Step 179 ---
qpos:
[ 2.92506938e-03,-3.18587530e-03, 1.15723707e-02, 4.06487335e-02,
 -2.14559278e-03,-1.91243101e-03,-1.69144780e-02, 2.79409568e-02,
  5.68663229e-03, 1.60912124e-02,-9.05563405e-03, 2.53637731e-02,
  4.94606063e-01,-2.15916033e-03, 3.23587907e-01, 6.41876316e-02,
  9.49664622e-02,-7.00400616e-02, 1.21782747e-01, 9.99999191e-01,
  1.89467315e-04,-2.13270820e-04, 1.23986032e-03]

qacc:
[ -2.67102097,  0.09688124,  4.24442607,-17.85901008, -2.16191269,
  -1.56562385,  7.38402054,-16.08910982,  1.76781745, -1.75225762,
   7.13784779,-12.48569126, -1.17917338,  1.6341986 , -9.91312102,
  29.20099617,  0.05845909,  1.13608036,  0.05730265,-18.96206549,
   1.54929403,  0.13830211]

qfrc_actuator:
[ 7.08156172e-05,-2.29803360e-05, 4.27681445e-04, 1.20527240e-03,
 -9.91515302e-05,-3.41922816e-04,-7.08595348e-04, 7.14700281e-04,
  1.11430867e-04, 8.27678411e-04,-2.13184843e-04, 7.43343725e-04,
  7.77243365e-02,-3.55587582e-04, 5.54794808e-02,-2.71250214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022433449189748766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23724067e-13,  2.47448133e-13,  1.00000000e+00,  3.06152893e-26,
        1.00000000e+00, -2.47448133e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23724067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474031, -0.09307477,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55078386e-05, 7.02617463e-05,-2.03645573e-06,-3.70847134e-05,
 -1.27272516e-05,-2.05564938e-05, 8.63312201e-07,-2.62880207e-05,
  1.03470543e-05,-1.19946557e-05, 1.60208511e-05,-1.44777913e-05,
 -5.20171093e-04,-6.71131085e-05,-2.03038177e-04, 8.23441698e-05,
 -1.68697404e-06, 7.60978862e-07,-1.21642471e+00, 1.04450563e-04,
  1.47402537e-03,-6.19709486e-07]


--- Step 180 ---
qpos:
[ 2.92632544e-03,-3.18775695e-03, 1.15782612e-02, 4.06703992e-02,
 -2.14769791e-03,-1.91366107e-03,-1.69235010e-02, 2.79555538e-02,
  5.68931538e-03, 1.60986080e-02,-9.06086642e-03, 2.53774228e-02,
  4.96220475e-01,-2.15843799e-03, 3.25104738e-01, 6.42200856e-02,
  9.49642297e-02,-7.00400512e-02, 1.21782691e-01, 9.99999174e-01,
  1.88561535e-04,-2.30846460e-04, 1.24988514e-03]

qacc:
[-1.75112960e+00,-1.54765146e+00, 1.00794084e+01,-2.68621100e+01,
 -1.11908092e+00,-1.61264411e+00, 5.69755036e+00,-7.65761036e+00,
 -2.15874993e+00,-2.26836396e+00, 9.71402271e+00,-1.95180088e+01,
 -1.67092383e+00, 4.75315451e+00, 1.33461155e+01,-5.18692773e+01,
  6.03977607e-02, 1.12481918e+00,-3.58231656e-02,-1.87803830e+01,
  1.49950476e+00, 1.84905560e-01]

qfrc_actuator:
[ 6.10150408e-05,-3.40947156e-05, 4.17318517e-04, 1.15532034e-03,
 -1.05452636e-04,-3.44955849e-04,-6.83745283e-04, 7.11829160e-04,
  9.82885473e-05, 7.83694361e-04,-2.12691513e-04, 7.12763973e-04,
  7.75842723e-02,-3.44119562e-04, 5.52900344e-02,-3.02203722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022595094232694124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68516838e-13,  7.37033676e-13,  1.00000000e+00,  2.71609320e-25,
        1.00000000e+00, -7.37033676e-13, -1.00000000e+00,  0.00000000e+00,
       -3.68516838e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474076, -0.09307442,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02197661e-05, 2.61147186e-05, 2.52040807e-06,-4.77931732e-05,
 -6.66996382e-06,-1.53660781e-05, 1.98910913e-05,-4.24274653e-06,
 -1.28281771e-05,-4.82399427e-05,-5.68582996e-07,-3.08580143e-05,
 -5.17510801e-04,-4.54927220e-05,-2.72523705e-04,-3.31171340e-04,
 -8.22868170e-07, 5.95970845e-07,-1.21643561e+00, 1.06271913e-04,
  1.47322594e-03,-6.55118591e-07]


--- Step 181 ---
qpos:
[ 2.92779946e-03,-3.18990697e-03, 1.15839895e-02, 4.06910298e-02,
 -2.14986239e-03,-1.91506566e-03,-1.69318647e-02, 2.79696345e-02,
  5.69182065e-03, 1.61055107e-02,-9.06566211e-03, 2.53899061e-02,
  4.97832107e-01,-2.15720108e-03, 3.26618329e-01, 6.42482841e-02,
  9.49622448e-02,-7.00355782e-02, 1.21782180e-01, 9.99999164e-01,
  1.50387357e-04,-2.45549609e-04, 1.26034601e-03]

qacc:
[  1.91239637, -2.03838677, 11.11306864,-28.55851196, -0.49722348,
  -3.13257121, 13.01627131,-22.87494534, -1.53017898, -4.2704485 ,
  19.21201037,-39.74243682, -1.95037888,  6.57374224,  8.09162449,
 -35.18662101,  0.06187714,  1.11564072, -0.11393413,-18.63233878,
   1.45957677,  0.22205544]

qfrc_actuator:
[ 7.25041818e-05,-9.34250780e-05, 3.91010296e-04, 1.09950704e-03,
 -1.08313561e-04,-3.46155273e-04,-6.47722553e-04, 6.86565372e-04,
  8.94792603e-05, 7.54583539e-04,-1.92676331e-04, 6.53789000e-04,
  7.74422640e-02,-3.19924692e-04, 5.51218922e-02,-3.23512864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000225973616315836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22826621e-13, -2.45653241e-13,  1.00000000e+00,  3.01727574e-26,
        1.00000000e+00,  2.45653241e-13, -1.00000000e+00,  0.00000000e+00,
        1.22826621e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474109, -0.09307452,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12047972e-05,-4.63102977e-05,-2.23535312e-05,-5.55948570e-05,
 -3.05701718e-06,-5.74974932e-06, 3.52400786e-05,-2.53260714e-05,
 -9.17162548e-06,-5.77597848e-05, 8.86028720e-06,-6.16967107e-05,
 -5.15751242e-04,-3.15183592e-05,-3.27725434e-04,-2.66365816e-04,
  8.39749736e-08, 4.39794039e-07,-1.21643922e+00, 1.06238393e-04,
  1.47258109e-03,-6.01544690e-07]


--- Step 182 ---
qpos:
[ 2.92905470e-03,-3.19241207e-03, 1.15896869e-02, 4.07111784e-02,
 -2.15204464e-03,-1.91627723e-03,-1.69401151e-02, 2.79826025e-02,
  5.69420047e-03, 1.61127759e-02,-9.07055113e-03, 2.54011654e-02,
  4.99441095e-01,-2.15664011e-03, 3.28128833e-01, 6.42797616e-02,
  9.49605119e-02,-7.00266722e-02, 1.21780951e-01, 9.99999156e-01,
  7.51827314e-05,-2.57444245e-04, 1.27130176e-03]

qacc:
[ -1.9158568 , -1.37246663,  6.25193884,-14.2864243 , -0.15624135,
  -2.35012958, 13.45009721,-33.03420062, -1.10444167, -1.77737584,
  12.2036975 ,-33.5069327 , -0.58005817, -2.12830928,-14.44868019,
  43.93457315,  0.06300363,  1.10825041, -0.17936804,-18.51337757,
   1.42762826,  0.25176791]

qfrc_actuator:
[ 6.09246400e-05,-1.10249630e-04, 3.90784002e-04, 1.07614053e-03,
 -1.09128714e-04,-3.28455731e-04,-6.40911611e-04, 6.30579196e-04,
  8.32982692e-05, 8.23414841e-04,-1.79010960e-04, 5.96358027e-04,
  7.72991904e-02,-3.59469177e-04, 5.50625568e-02,-3.03440954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000224728695533416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.94028153e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.94028153e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474133, -0.09307496,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12764644e-05,-4.97560125e-05,-1.45587619e-05,-2.72607758e-05,
 -9.04656346e-07, 2.07945655e-05, 9.17109258e-06,-5.55156542e-05,
 -6.44232084e-06, 3.55009363e-05, 6.41261019e-07,-6.08320559e-05,
 -5.14148011e-04,-9.45604650e-05,-2.33906076e-04, 1.44705996e-04,
  1.05795640e-06, 2.87283610e-07,-1.21643573e+00, 1.04365266e-04,
  1.47209311e-03,-4.58698736e-07]


--- Step 183 ---
qpos:
[ 2.92981636e-03,-3.19512423e-03, 1.15955245e-02, 4.07312031e-02,
 -2.15421959e-03,-1.91746170e-03,-1.69481665e-02, 2.79948139e-02,
  5.69648820e-03, 1.61200807e-02,-9.07493781e-03, 2.54123379e-02,
  5.01047381e-01,-2.15650008e-03, 3.29637193e-01, 6.43106060e-02,
  9.49618099e-02,-7.00194193e-02, 1.21780615e-01, 9.99999150e-01,
  1.41392155e-05,-2.44515791e-04, 1.28043735e-03]

qacc:
[ -4.3248961 , -0.91312214,  3.39637187, -5.63014235,  0.06923911,
  -2.0758347 , 10.64783502,-24.07666159, -0.78856285, -1.52899949,
   5.89716022, -8.23589168, -0.91266329, -0.12625045, -1.24773701,
  -0.22096798,  0.75771847, -0.41327984,  0.2232269 ,  7.09609304,
  12.40246503, -0.91283049]

qfrc_actuator:
[ 3.58534658e-05,-1.01376651e-04, 4.06140446e-04, 1.07210293e-03,
 -1.08734251e-04,-3.35219826e-04,-6.33592896e-04, 5.92468050e-04,
  7.87130174e-05, 8.26084771e-04,-1.51047504e-04, 5.93635257e-04,
  7.71555654e-02,-3.83014687e-04, 5.49567667e-02,-3.07055763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022271500513901255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98494937e-13, -4.98494937e-13,  1.00000000e+00, -2.48497202e-25,
        1.00000000e+00,  4.98494937e-13, -1.00000000e+00,  0.00000000e+00,
       -4.98494937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188534, -0.06172672,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54097901e-05,-2.31543925e-05, 2.25948533e-06,-7.25526323e-06,
  3.77877011e-07, 4.49091894e-06, 1.09047665e-05,-3.79909042e-05,
 -4.73473497e-06, 1.98221017e-05, 3.32205829e-05,-2.39280288e-06,
 -5.19521472e-04,-8.19882155e-05,-1.94253349e-04,-5.78319710e-05,
  2.11710847e-06, 1.37566630e-07,-1.21642529e+00, 1.00664751e-04,
  1.47176344e-03,-2.26414796e-07]


--- Step 184 ---
qpos:
[ 2.93027135e-03,-3.19780141e-03, 1.16011314e-02, 4.07506710e-02,
 -2.15671800e-03,-1.91846684e-03,-1.69559201e-02, 2.80074828e-02,
  5.69835893e-03, 1.61271110e-02,-9.07878134e-03, 2.54234277e-02,
  5.02650889e-01,-2.15625571e-03, 3.31142791e-01, 6.43415106e-02,
  9.49661031e-02,-7.00138121e-02, 1.21780825e-01, 9.99999149e-01,
 -3.29311527e-05,-2.06916887e-04, 1.28785454e-03]

qacc:
[ -2.70041704, -0.45044895,  4.03042032,-13.32794956, -2.83065891,
   0.35113556, -2.82978276, 10.12646772, -3.61669546, -2.04393025,
   7.1226444 , -9.23266587, -1.50048901,  3.58284346, -4.23235935,
   8.94356298,  0.74881549, -0.41143108,  0.13642506,  7.00215232,
  12.32625722, -0.86109129]

qfrc_actuator:
[ 2.08022332e-05,-9.48437570e-05, 3.95182447e-04, 1.04399231e-03,
 -1.25384597e-04,-3.03315494e-04,-6.08347849e-04, 6.18428518e-04,
  5.73494009e-05, 7.89235792e-04,-1.32816160e-04, 5.87584749e-04,
  7.70117100e-02,-3.79192810e-04, 5.48124786e-02,-3.06869906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002237297746286171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48116959e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.48116959e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188512, -0.06172711,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57840453e-05,-6.28516939e-06,-1.57943888e-05,-2.92162588e-05,
 -1.66368660e-05, 3.51503091e-05, 2.62824187e-05, 2.57841981e-05,
 -2.14727686e-05,-1.92372336e-05, 2.62783731e-05,-4.12894677e-06,
 -5.22305620e-04,-5.48099169e-05,-2.40245839e-04,-2.67568789e-05,
  1.43092075e-06,-2.13622753e-07,-1.21643012e+00, 9.77845599e-05,
  1.47223983e-03,-1.47194556e-07]


--- Step 185 ---
qpos:
[ 2.93088721e-03,-3.20060169e-03, 1.16066017e-02, 4.07700090e-02,
 -2.15905195e-03,-1.91888923e-03,-1.69635004e-02, 2.80203193e-02,
  5.69961420e-03, 1.61344495e-02,-9.08313939e-03, 2.54343571e-02,
  5.04251627e-01,-2.15591975e-03, 3.32644715e-01, 6.43743070e-02,
  9.49733632e-02,-7.00098442e-02, 1.21781290e-01, 9.99999151e-01,
 -6.61817383e-05,-1.44770891e-04, 1.29363687e-03]

qacc:
[  1.40998965, -0.05165338,  0.49201734, -2.42805821,  1.43817399,
   0.62799124, -1.83475435,  4.03664536, -5.39124847,  1.52544853,
  -4.15242228,  1.95106537, -1.46767489,  3.40574492,-11.10659493,
  31.03874077,  0.74171512, -0.40980058,  0.06372322,  6.92552291,
  12.26466373, -0.81845232]

qfrc_actuator:
[ 2.95261419e-05,-1.07626767e-04, 3.86503391e-04, 1.03742536e-03,
 -1.16428734e-04,-2.48373172e-04,-5.90278086e-04, 6.28662886e-04,
  2.62805062e-05, 8.17736848e-04,-1.56171093e-04, 5.79568140e-04,
  7.68678205e-02,-3.77060044e-04, 5.46239211e-02,-2.97346605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022331844569835335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48573964e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.48573964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188473, -0.06172729,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27299463e-06,-2.08306314e-05,-1.30111514e-05,-8.00083789e-06,
  8.49181404e-06, 8.12254424e-05, 2.95349607e-05, 1.31438767e-05,
 -3.16712645e-05, 2.27587696e-05,-2.42940227e-05,-8.04270131e-06,
 -5.21546267e-04,-5.56094549e-05,-2.99710272e-04, 6.30175465e-05,
  1.08143608e-06,-4.54914319e-07,-1.21643081e+00, 9.55446377e-05,
  1.47397044e-03,-5.69210315e-08]


--- Step 186 ---
qpos:
[ 2.93160270e-03,-3.20353643e-03, 1.16119182e-02, 4.07894648e-02,
 -2.16057080e-03,-1.91859224e-03,-1.69711013e-02, 2.80321377e-02,
  5.70117728e-03, 1.61420987e-02,-9.08807525e-03, 2.54451088e-02,
  5.05849521e-01,-2.15483909e-03, 3.34143120e-01, 6.44079682e-02,
  9.49835679e-02,-7.00075098e-02, 1.21781766e-01, 9.99999152e-01,
 -8.57368648e-05,-5.81747633e-05, 1.29785357e-03]

qacc:
[ 8.72115351e-01, 4.93419815e-01,-2.51715818e+00, 4.90447839e+00,
  7.13605734e+00,-1.09968342e+00, 9.57583195e+00,-2.76662252e+01,
  2.66214110e+00, 1.65476814e+00,-4.56299427e+00, 2.19265615e+00,
 -2.21016715e+00, 8.04045303e+00,-7.75725482e+00, 1.97054714e+01,
  7.36135068e-01,-4.08396809e-01, 2.94611672e-03, 6.86342517e+00,
  1.22162488e+01,-7.82996024e-01]

qfrc_actuator:
[ 3.44176174e-05,-1.14102604e-04, 3.79189788e-04, 1.04358068e-03,
 -7.47150519e-05,-2.15588471e-04,-5.94260723e-04, 5.76310377e-04,
  4.30116015e-05, 8.31717230e-04,-1.85884755e-04, 5.70482703e-04,
  7.67240098e-02,-3.40464452e-04, 5.44515900e-02,-2.93057992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022177742890142071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50301176e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.50301176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188421, -0.0617273 ,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12017226e-06,-2.11593807e-05,-1.35710176e-05, 4.60747298e-06,
  4.19823210e-05, 8.49482930e-05, 1.69526253e-05,-4.76050199e-05,
  1.58537607e-05, 2.10980768e-05,-2.83398098e-05,-9.13672845e-06,
 -5.21069693e-04,-2.13112225e-05,-2.97293328e-04, 8.85209511e-06,
  1.05089267e-06,-6.00850178e-07,-1.21642747e+00, 9.39415022e-05,
  1.47694541e-03, 4.35709289e-08]


--- Step 187 ---
qpos:
[ 2.93202632e-03,-3.20653528e-03, 1.16171165e-02, 4.08081397e-02,
 -2.16192237e-03,-1.91805716e-03,-1.69784868e-02, 2.80432830e-02,
  5.70327449e-03, 1.61489813e-02,-9.09232132e-03, 2.54557187e-02,
  5.07444647e-01,-2.15329205e-03, 3.35639229e-01, 6.44409751e-02,
  9.49966999e-02,-7.00068043e-02, 1.21782051e-01, 9.99999149e-01,
 -9.16963617e-05, 5.27983630e-05, 1.30056257e-03]

qacc:
[-2.56519386e+00,-1.35874926e+00, 8.02418883e+00,-2.13078485e+01,
  1.46955271e+00,-1.67479491e+00, 9.26611810e+00,-2.14305410e+01,
  4.69467248e+00,-3.24214171e+00, 1.06725057e+01,-1.36469355e+01,
 -1.89673721e+00, 6.10830790e+00,-1.37774193e+00,-1.58764194e-02,
  7.31841609e-01,-4.07220082e-01,-4.77598347e-02, 6.81358382e+00,
  1.21797309e+01,-7.53201098e-01]

qfrc_actuator:
[ 1.92538991e-05,-1.16733536e-04, 3.72767276e-04, 1.00391555e-03,
 -6.73209914e-05,-2.31973339e-04,-5.93597526e-04, 5.40782342e-04,
  6.99929711e-05, 7.48096122e-04,-1.65886660e-04, 5.60837339e-04,
  7.65856786e-02,-3.19386176e-04, 5.43743257e-02,-2.95433685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021935368795737709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -5.0613374e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  5.0613374e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188357, -0.06172718,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50248690e-05,-1.70688665e-05,-1.23773686e-05,-4.10004992e-05,
  8.62158256e-06, 3.26462554e-05, 1.87082854e-05,-3.22393191e-05,
  2.74658204e-05,-7.83012217e-05, 2.04946484e-05,-9.93003037e-06,
 -5.11558203e-04,-3.52180562e-05,-2.07621650e-04,-6.06106788e-05,
  1.32715925e-06,-6.63067639e-07,-1.21642016e+00, 9.29721465e-05,
  1.48115703e-03, 1.53680699e-07]


--- Step 188 ---
qpos:
[ 2.93260994e-03,-3.20968380e-03, 1.16224656e-02, 4.08268761e-02,
 -2.16351917e-03,-1.91742665e-03,-1.69860510e-02, 2.80549982e-02,
  5.70533458e-03, 1.61550461e-02,-9.09620143e-03, 2.54665054e-02,
  5.09037127e-01,-2.15213051e-03, 3.37133621e-01, 6.44706584e-02,
  9.50072170e-02,-7.00097506e-02, 1.21782418e-01, 9.99999137e-01,
 -6.73854563e-05, 1.41042762e-04, 1.30434586e-03]

qacc:
[ 1.41187713e+00,-4.95319650e-01, 1.21505996e+00,-2.77874675e-01,
 -2.15790584e+00, 1.80187894e+00,-8.64149375e+00, 1.87128895e+01,
 -2.98404356e-01,-1.73931246e+00, 3.88786155e+00,-8.12529921e-01,
 -9.53538564e-01, 2.13557813e-01, 7.49984692e+00,-2.99149827e+01,
 -6.53713180e-01,-9.12933982e-01, 2.02653911e-02, 1.51203795e+01,
 -1.13840873e+01, 5.36911971e-01]

qfrc_actuator:
[ 2.79139691e-05,-1.17074084e-04, 3.84657974e-04, 1.00862029e-03,
 -8.01969238e-05,-2.42161153e-04,-6.08127387e-04, 5.68669199e-04,
  6.72697984e-05, 6.95630402e-04,-1.52603243e-04, 5.68643853e-04,
  7.64454048e-02,-3.43143131e-04, 5.42902085e-02,-3.12342225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022062860079057056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913781, -0.05168201,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.22895516e-06,-1.41988637e-05, 5.35458175e-06, 2.70111956e-06,
 -1.26182192e-05, 1.05958841e-05,-6.54255754e-06, 2.92958336e-05,
 -1.94434088e-06,-9.26513498e-05,-7.63518330e-07, 4.93656227e-06,
 -5.07837392e-04,-8.00259657e-05,-1.86035978e-04,-1.99457838e-04,
  1.90267247e-06,-6.51245028e-07,-1.21640892e+00, 9.26340570e-05,
  1.48659943e-03, 2.72999290e-07]


--- Step 189 ---
qpos:
[ 2.93363709e-03,-3.21221916e-03, 1.16272585e-02, 4.08461626e-02,
 -2.16525772e-03,-1.91687211e-03,-1.69933652e-02, 2.80669488e-02,
  5.70734589e-03, 1.61612882e-02,-9.10055177e-03, 2.54765400e-02,
  5.10626974e-01,-2.15154768e-03, 3.38625333e-01, 6.44932704e-02,
  9.50151395e-02,-7.00163184e-02, 1.21782519e-01, 9.99999121e-01,
 -1.30713290e-05, 2.06817424e-04, 1.30925441e-03]

qacc:
[ 3.86575662e+00, 3.49179237e+00,-1.36075004e+01, 2.35785608e+01,
 -1.23403053e+00,-3.12325308e-01,-2.16232725e-02, 3.74651141e+00,
 -4.43705265e-01, 1.39527945e-03, 3.51212420e+00,-1.59086240e+01,
 -7.61162069e-01,-1.03068885e+00, 1.73782307e+01,-6.65715672e+01,
 -6.48656603e-01,-9.05399036e-01,-6.63887469e-02, 1.49868643e+01,
 -1.12544640e+01, 5.63988380e-01]

qfrc_actuator:
[ 5.05331958e-05,-4.49186756e-05, 3.71809730e-04, 1.03941698e-03,
 -8.71366273e-05,-2.48583296e-04,-5.95959712e-04, 5.80373251e-04,
  6.48341328e-05, 7.50978953e-04,-1.61053357e-04, 5.33401781e-04,
  7.63040541e-02,-3.75383241e-04, 5.40901686e-02,-3.50104217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022187466412465495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00382966e-13, -5.00382966e-13,  1.00000000e+00, -2.50383112e-25,
        1.00000000e+00,  5.00382966e-13, -1.00000000e+00,  0.00000000e+00,
       -5.00382966e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913744, -0.05168223,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28491433e-05, 6.54477932e-05,-1.50965655e-05, 3.03791637e-05,
 -7.29660691e-06,-5.57643157e-07, 1.46197107e-05, 1.24917183e-05,
 -2.50652440e-06, 3.39872179e-06,-2.75592231e-05,-3.91713839e-05,
 -5.11046014e-04,-9.06909349e-05,-3.09313244e-04,-4.13377797e-04,
  9.76544633e-07,-1.16828279e-06,-1.21641893e+00, 9.38774179e-05,
  1.49089793e-03, 3.84182085e-07]


--- Step 190 ---
qpos:
[ 2.93492711e-03,-3.21373700e-03, 1.16311166e-02, 4.08646043e-02,
 -2.16672098e-03,-1.91660713e-03,-1.70000788e-02, 2.80789496e-02,
  5.70965748e-03, 1.61676555e-02,-9.10448948e-03, 2.54860178e-02,
  5.12214093e-01,-2.15096624e-03, 3.40113240e-01, 6.45128693e-02,
  9.50204845e-02,-7.00264837e-02, 1.21782064e-01, 9.99999101e-01,
  7.10311512e-05, 2.50334378e-04, 1.31533182e-03]

qacc:
[  2.26029301,  2.21302376, -2.38295195,-11.47912861,  2.43851818,
  -1.96135898,  6.2175942 , -6.0839081 ,  2.63013814, -2.13933754,
  10.21009188,-20.58933232, -1.3909356 ,  2.87135248,  3.49585051,
 -20.35214809, -0.64440325, -0.89934192, -0.13906741, 14.87947204,
 -11.14835123,  0.58736771]

qfrc_actuator:
[ 6.34277589e-05, 1.67734451e-05, 3.27012027e-04, 9.96592390e-04,
 -7.27673507e-05,-2.70365449e-04,-5.68130821e-04, 5.82474264e-04,
  8.03501024e-05, 7.81584780e-04,-1.28595887e-04, 5.08693894e-04,
  7.61621514e-02,-3.76860590e-04, 5.39112619e-02,-3.64365295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022164507183117244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50450645e-13, -2.50450645e-13,  1.00000000e+00, -6.27255256e-26,
        1.00000000e+00,  2.50450645e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50450645e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913735, -0.05168212,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35668446e-05, 9.64711591e-05,-3.21587277e-05,-4.00012594e-05,
  1.41600030e-05,-1.85025059e-05, 2.99996529e-05, 2.81475740e-06,
  1.54653620e-05, 2.49429656e-05, 2.83672921e-05,-2.63042740e-05,
 -5.15586248e-04,-6.09569742e-05,-3.63332462e-04,-2.04893379e-04,
  2.98109982e-08,-1.38300895e-06,-1.21642173e+00, 9.65713807e-05,
  1.49403840e-03, 3.10882043e-07]


--- Step 191 ---
qpos:
[ 2.93601735e-03,-3.21497330e-03, 1.16349641e-02, 4.08820741e-02,
 -2.16731099e-03,-1.91636863e-03,-1.70067952e-02, 2.80915809e-02,
  5.71213736e-03, 1.61742212e-02,-9.10805737e-03, 2.54951177e-02,
  5.13798540e-01,-2.15070176e-03, 3.41597657e-01, 6.45372955e-02,
  9.50245954e-02,-7.00362122e-02, 1.21782908e-01, 9.99999075e-01,
  1.51483612e-04, 2.83782867e-04, 1.32163883e-03]

qacc:
[ -1.75946126, -1.59792324, 10.34267806,-27.35448608,  7.66055319,
   1.25449546, -7.21188457, 18.1739123 ,  1.47618817, -1.55230196,
   7.50585489,-14.77811511, -0.97610319,  0.43431001,-19.70201697,
  61.48447976, -0.30848714,  0.10916498,  0.32502778, -1.83165857,
  -5.03181876,  0.11470362]

qfrc_actuator:
[ 5.27381299e-05, 5.27451560e-07, 3.16903664e-04, 9.46275228e-04,
 -2.82203863e-05,-2.65614364e-04,-5.66861030e-04, 6.14409602e-04,
  8.85548870e-05, 7.97326279e-04,-1.07793902e-04, 4.90412146e-04,
  7.60253466e-02,-3.95731366e-04, 5.38410972e-02,-3.36244583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002205686361038964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25836457e-13, -7.75186297e-07,  1.00000000e+00, -9.75466969e-20,
        1.00000000e+00,  7.75186297e-07, -1.00000000e+00,  0.00000000e+00,
       -1.25836457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198089, -0.07226187,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02693589e-05, 2.93141176e-05, 4.40276105e-06,-4.81233121e-05,
  4.49427694e-05, 7.68934125e-07, 1.28899084e-06, 3.22221858e-05,
  8.67460377e-06, 3.42292425e-05, 2.84903576e-05,-1.67699860e-05,
 -5.10504576e-04,-7.75002838e-05,-2.52395935e-04, 2.24497611e-04,
 -9.49101040e-07,-1.29436528e-06,-1.21641752e+00, 1.00703726e-04,
  1.49602927e-03, 5.63250443e-08]


--- Step 192 ---
qpos:
[ 2.93662648e-03,-3.21644985e-03, 1.16394363e-02, 4.08995185e-02,
 -2.16736229e-03,-1.91627630e-03,-1.70133821e-02, 2.81045026e-02,
  5.71469658e-03, 1.61813728e-02,-9.11177528e-03, 2.55035677e-02,
  5.15380249e-01,-2.14995998e-03, 3.43079718e-01, 6.45624237e-02,
  9.50289716e-02,-7.00414137e-02, 1.21783829e-01, 9.99999048e-01,
  1.94156405e-04, 3.20294677e-04, 1.32820130e-03]

qacc:
[ -4.19963969, -2.10815798,  7.17700041, -8.45441309,  4.73200665,
   0.03307315, -1.64057617,  6.58452186,  0.67712855, -0.14549974,
   4.38439349,-15.8219064 , -1.89977922,  6.07567923, -5.556261  ,
  14.48252473,  0.06630963,  1.13175764,  0.01894838,-18.88782803,
   1.55664412,  0.12213934]

qfrc_actuator:
[ 2.82554907e-05,-2.66471834e-05, 3.44811256e-04, 9.45185416e-04,
 -1.78016099e-06,-2.80595858e-04,-5.63410881e-04, 6.28140070e-04,
  9.23848324e-05, 8.39531156e-04,-1.11860085e-04, 4.58277262e-04,
  7.58916937e-02,-3.71464181e-04, 5.37297704e-02,-3.33065689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022374887954386413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48095773e-13,  2.48095773e-13,  1.00000000e+00,  6.15515126e-26,
        1.00000000e+00, -2.48095773e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48095773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474319, -0.09307585,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47664830e-05,-1.19803946e-05, 3.27694255e-05,-6.63106113e-07,
  2.77200660e-05,-1.28468231e-05, 4.92860030e-06, 1.44194609e-05,
  4.10894533e-06, 6.63070695e-05, 5.88010064e-06,-3.00354635e-05,
 -5.04760991e-04,-3.50667629e-05,-1.98382606e-04, 1.24335100e-05,
 -1.06657733e-06,-1.00964338e-06,-1.21642098e+00, 1.04650025e-04,
  1.49767443e-03,-2.38986160e-07]


--- Step 193 ---
qpos:
[ 2.93728220e-03,-3.21802024e-03, 1.16439723e-02, 4.09161428e-02,
 -2.16744082e-03,-1.91631127e-03,-1.70198442e-02, 2.81171408e-02,
  5.71728273e-03, 1.61885977e-02,-9.11560779e-03, 2.55119756e-02,
  5.16959093e-01,-2.14818472e-03, 3.44559507e-01, 6.45890113e-02,
  9.50336201e-02,-7.00421305e-02, 1.21784479e-01, 9.99999024e-01,
  1.99389433e-04, 3.59802804e-04, 1.33507072e-03]

qacc:
[  0.41210673, -1.99368302, 10.38618308,-24.60637353, -0.23297294,
  -1.09917405,  4.87279534, -9.88414377,  0.23017816,  0.33019975,
  -0.8600229 ,  0.2624356 , -2.5585603 ,  9.9500888 , -7.69864198,
  22.2092266 ,  0.06806781,  1.1211912 , -0.06778761,-18.71792416,
   1.52304997,  0.14718696]

qfrc_actuator:
[ 3.13635549e-05,-4.22171931e-05, 3.41639572e-04, 9.02063785e-04,
 -3.97136110e-06,-2.89533985e-04,-5.58783764e-04, 6.13282817e-04,
  9.36115076e-05, 8.08383948e-04,-1.30475245e-04, 4.53758924e-04,
  7.57387309e-02,-3.21981702e-04, 5.36363763e-02,-3.25104545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000224776558738482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46961478e-13,  4.93922957e-13,  1.00000000e+00,  1.21979944e-25,
        1.00000000e+00, -4.93922957e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46961478e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474352, -0.09307567,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39394005e-06,-1.55774935e-05,-1.70664834e-06,-4.25584940e-05,
 -1.40640011e-06,-1.44313990e-05, 3.12573819e-06,-1.49721969e-05,
  1.38907574e-06, 5.63480383e-06,-5.29006385e-06,-2.08407081e-06,
 -5.15225787e-04,-7.16678107e-06,-1.83212872e-04, 5.44493253e-05,
 -4.75665392e-07,-8.60895387e-07,-1.21643211e+00, 1.06771558e-04,
  1.49961191e-03,-4.17586220e-07]


--- Step 194 ---
qpos:
[ 2.93831470e-03,-3.21952140e-03, 1.16478613e-02, 4.09314587e-02,
 -2.16788980e-03,-1.91631862e-03,-1.70262880e-02, 2.81298352e-02,
  5.71951976e-03, 1.61951076e-02,-9.11955757e-03, 2.55210576e-02,
  5.18535296e-01,-2.14743558e-03, 3.46036470e-01, 6.46180779e-02,
  9.50385466e-02,-7.00383969e-02, 1.21784566e-01, 9.99999004e-01,
  1.67459240e-04, 4.02255662e-04, 1.34228490e-03]

qacc:
[  3.28518792, -0.80267362,  8.5027785 ,-30.14430862, -3.24919774,
   0.1071601 , -0.55529713,  1.46569538, -3.0370064 ,  0.77608047,
  -6.97419991, 19.34254921, -0.22682148, -4.26976167,-11.6603993 ,
  34.70859777,  0.06951843,  1.11259646, -0.14048063,-18.57968915,
   1.49720543,  0.16539672]

qfrc_actuator:
[ 5.06907860e-05,-5.08747426e-05, 3.02378570e-04, 8.34527872e-04,
 -2.29909578e-05,-2.77053863e-04,-5.53497531e-04, 6.17235846e-04,
  7.55442534e-05, 7.15751135e-04,-1.57795203e-04, 4.83215235e-04,
  7.55849437e-02,-3.82385567e-04, 5.34952354e-02,-3.12602607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022434345796636113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23719122e-13,  2.47438244e-13,  1.00000000e+00,  3.06128422e-26,
        1.00000000e+00, -2.47438244e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23719122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474375, -0.09307589,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93889027e-05,-1.95785882e-05,-4.42340057e-05,-6.91346332e-05,
 -1.90642214e-05, 4.46241481e-06, 2.22033044e-06, 3.13764079e-06,
 -1.80045668e-05,-9.08907168e-05,-2.69355513e-05, 2.94482977e-05,
 -5.20374391e-04,-1.16984583e-04,-2.19985590e-04, 1.03992257e-04,
  1.58799182e-07,-7.15571228e-07,-1.21643601e+00, 1.07046624e-04,
  1.50170541e-03,-5.06317829e-07]


--- Step 195 ---
qpos:
[ 2.93922598e-03,-3.22119172e-03, 1.16515304e-02, 4.09468828e-02,
 -2.16821837e-03,-1.91631787e-03,-1.70323259e-02, 2.81421077e-02,
  5.72152325e-03, 1.62007857e-02,-9.12311393e-03, 2.55300569e-02,
  5.20108816e-01,-2.14737340e-03, 3.47510333e-01, 6.46478362e-02,
  9.50437561e-02,-7.00302405e-02, 1.21783848e-01, 9.99998984e-01,
  9.85875102e-05, 4.47614243e-04, 1.34987082e-03]

qacc:
[ -1.06798947,  0.61621042, -2.97401923,  5.31784073,  1.06850314,
  -1.99268169,  8.8990596 ,-16.85179916, -2.01099454, -2.36509233,
   7.19364649, -8.64813273, -0.6235085 , -1.87249255, -6.66435214,
  16.6605059 ,  0.07073573,  1.10569498, -0.20132456,-18.46887488,
   1.47768464,  0.17819853]

qfrc_actuator:
[ 4.38954284e-05,-5.55103427e-05, 2.95407173e-04, 8.41922879e-04,
 -1.62482264e-05,-2.69579415e-04,-5.30006636e-04, 5.96743580e-04,
  6.40185728e-05, 6.75749220e-04,-1.37031653e-04, 4.79099187e-04,
  7.54467224e-02,-4.18311872e-04, 5.33202522e-02,-3.09963377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022275322032366818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24602354e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24602354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474391, -0.09307643,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.24754767e-06,-2.77040107e-05,-1.89198888e-05, 3.63940340e-06,
  6.20069464e-06, 1.06037162e-05, 2.48427435e-05,-2.01763323e-05,
 -1.20551136e-05,-9.53394956e-05,-3.57136483e-07,-8.39478266e-06,
 -5.20668940e-04,-9.92626370e-05,-2.62965786e-04, 3.92111096e-06,
  8.51836604e-07,-5.74911085e-07,-1.21643286e+00, 1.05488829e-04,
  1.50395573e-03,-5.05318087e-07]


--- Step 196 ---
qpos:
[ 2.93970390e-03,-3.22299058e-03, 1.16550532e-02, 4.09622637e-02,
 -2.16777379e-03,-1.91647468e-03,-1.70376508e-02, 2.81536932e-02,
  5.72371794e-03, 1.62057230e-02,-9.12613524e-03, 2.55389145e-02,
  5.21679556e-01,-2.14671960e-03, 3.48981617e-01, 6.46769123e-02,
  9.50463366e-02,-7.00241029e-02, 1.21784063e-01, 9.99998966e-01,
  4.62122365e-05, 4.70133856e-04, 1.35828231e-03]

qacc:
[ -3.80659832,  0.1579204 , -0.61445413,  0.18207382,  6.8063043 ,
  -3.62587941, 15.5041831 ,-28.3896348 ,  1.69735148, -2.76914722,
   9.04521909,-11.79943061, -2.06477321,  6.89650884, -1.7036686 ,
   0.53475236, -0.65725122, -0.50471294,  0.23319271,  8.23262012,
 -11.43056688,  0.41759861]

qfrc_actuator:
[ 2.17737953e-05,-5.75220859e-05, 2.89888591e-04, 8.40125325e-04,
  2.33618590e-05,-2.82852540e-04,-4.95987770e-04, 5.62039777e-04,
  7.41945220e-05, 6.49975888e-04,-1.05634393e-04, 4.73079450e-04,
  7.53179393e-02,-3.86222450e-04, 5.32049771e-02,-3.13162202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022335124232285706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.56506782e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.56506782e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901252, -0.0602481 ,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23100957e-05,-2.12778628e-05,-1.35038415e-05,-3.60692049e-06,
  3.97903579e-05,-3.03129477e-06, 3.86142380e-05,-3.37966831e-05,
  9.81370536e-06,-7.97032526e-05, 1.13267286e-05,-1.03050969e-05,
 -5.09667504e-04,-3.05032964e-05,-2.32477083e-04,-6.51732580e-05,
  1.61393408e-06,-4.36715779e-07,-1.21642281e+00, 1.02109048e-04,
  1.50636308e-03,-4.14780379e-07]


--- Step 197 ---
qpos:
[ 2.94025776e-03,-3.22476801e-03, 1.16581676e-02, 4.09768108e-02,
 -2.16685801e-03,-1.91651026e-03,-1.70428909e-02, 2.81647803e-02,
  5.72601741e-03, 1.62105008e-02,-9.12983487e-03, 2.55476398e-02,
  5.23247544e-01,-2.14595629e-03, 3.50450439e-01, 6.47056314e-02,
  9.50463437e-02,-7.00216192e-02, 1.21784263e-01, 9.99998954e-01,
  2.40330329e-05, 4.69972885e-04, 1.36773672e-03]

qacc:
[ 6.52855614e-01,-5.50070818e-01, 5.51756000e+00,-1.93047868e+01,
  4.13336399e+00,-1.10980236e+00, 6.28070936e+00,-1.51171614e+01,
  8.95502616e-01, 1.41051775e+00,-4.77932334e+00, 3.69265419e+00,
 -1.53262377e+00, 3.62151767e+00,-2.52959988e+00, 3.63377033e+00,
 -6.43355623e-01,-9.13449746e-01,-3.85676469e-03, 1.50823708e+01,
 -1.13607644e+01, 5.29077641e-01]

qfrc_actuator:
[ 2.63222932e-05,-5.79324529e-05, 2.67503578e-04, 7.97415064e-04,
  4.64861893e-05,-2.72906529e-04,-4.91626993e-04, 5.36995385e-04,
  7.93074901e-05, 6.50733973e-04,-1.39166435e-04, 4.66009502e-04,
  7.51682955e-02,-3.85337929e-04, 5.30989623e-02,-3.14428341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002253818142752828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913466, -0.05168231,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90546641e-06,-1.52724395e-05,-2.86221758e-05,-4.41965363e-05,
  2.42572408e-05, 1.48346453e-05, 7.35852637e-06,-2.45112723e-05,
  5.38064963e-06,-4.20672320e-05,-4.89976367e-05,-1.03182302e-05,
 -5.14863405e-04,-5.69287035e-05,-2.18934521e-04,-4.62522291e-05,
  1.18916556e-06,-3.23051228e-07,-1.21643175e+00, 9.94510312e-05,
  1.50743931e-03,-1.28588452e-07]


--- Step 198 ---
qpos:
[ 2.94051659e-03,-3.22643699e-03, 1.16608751e-02, 4.09914116e-02,
 -2.16670669e-03,-1.91625491e-03,-1.70486398e-02, 2.81748097e-02,
  5.72801559e-03, 1.62153423e-02,-9.13434901e-03, 2.55561927e-02,
  5.24812775e-01,-2.14513106e-03, 3.51916496e-01, 6.47307207e-02,
  9.50437892e-02,-7.00227575e-02, 1.21784115e-01, 9.99998950e-01,
  3.17891411e-05, 4.47383988e-04, 1.37828649e-03]

qacc:
[ -2.60444868,  1.39703839, -4.99063862,  6.4813506 , -6.72693164,
  -0.35682289,  6.31971658,-24.05201496, -2.65506446,  2.01091425,
  -6.31074454,  4.57159357, -1.50931336,  3.40642712,  6.89366315,
 -30.00156082, -0.64039658, -0.90551444, -0.08697756, 14.95204503,
 -11.23441166,  0.55497884]

qfrc_actuator:
[ 1.10316589e-05,-3.97279311e-05, 2.53071733e-04, 8.01975627e-04,
  6.45386142e-06,-2.66997424e-04,-5.22470584e-04, 4.82327726e-04,
  6.36399867e-05, 6.67126129e-04,-1.75151453e-04, 4.58356843e-04,
  7.50222103e-02,-3.85178241e-04, 5.29240251e-02,-3.34068005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022599246348002644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91265508e-13,  2.45632754e-13,  1.00000000e+00,  1.20670900e-25,
        1.00000000e+00, -2.45632754e-13, -1.00000000e+00,  0.00000000e+00,
       -4.91265508e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913425, -0.05168235,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51821371e-05, 1.85397459e-06,-2.26899402e-05, 2.01988630e-06,
 -3.93350370e-05, 1.47205527e-05,-2.76850123e-05,-5.42683645e-05,
 -1.55125191e-05,-1.78354751e-05,-5.10966554e-05,-1.13732511e-05,
 -5.17878536e-04,-5.99516786e-05,-2.80154888e-04,-2.27336673e-04,
  5.41786436e-07,-1.67036355e-09,-1.21643873e+00, 9.82578882e-05,
  1.50730208e-03, 1.76228937e-08]


--- Step 199 ---
qpos:
[ 2.94059008e-03,-3.22794587e-03, 1.16635452e-02, 4.10069555e-02,
 -2.16772561e-03,-1.91618970e-03,-1.70545603e-02, 2.81844904e-02,
  5.73015543e-03, 1.62202609e-02,-9.13855875e-03, 2.55651971e-02,
  5.26375379e-01,-2.14463200e-03, 3.53379590e-01, 6.47505850e-02,
  9.50386827e-02,-7.00274921e-02, 1.21783340e-01, 9.99998951e-01,
  6.92693262e-05, 4.02569555e-04, 1.38997088e-03]

qacc:
[ -1.6304096 ,  2.26340225,-11.73558063, 27.98874891,-10.26711111,
  -0.46922829,  2.8156749 , -8.4739912 ,  1.24429851,  0.17811446,
  -2.39774831,  9.67290882, -1.03531256,  0.72853959, 11.3992017 ,
 -46.23108473, -0.63797577, -0.89906822, -0.1566603 , 14.84645235,
 -11.13322427,  0.57430535]

qfrc_actuator:
[ 1.93076064e-06,-1.04500684e-05, 2.61326442e-04, 8.52097308e-04,
 -5.26726620e-05,-2.99233927e-04,-5.38371903e-04, 4.63902654e-04,
  7.13736147e-05, 7.10491866e-04,-1.41190198e-04, 4.85952798e-04,
  7.48943372e-02,-4.03202301e-04, 5.27611083e-02,-3.60839689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022521638642461483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46479184e-13, -4.92958369e-13,  1.00000000e+00, -1.21503977e-25,
        1.00000000e+00,  4.92958369e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46479184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913413, -0.05168209,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.53214188e-06, 2.57044990e-05, 5.86850160e-06, 4.94209697e-05,
 -6.02391528e-05,-3.20269413e-05,-1.81051084e-05,-1.98168287e-05,
  7.29778976e-06, 2.22092201e-05, 2.35696826e-05, 2.48235065e-05,
 -5.02469513e-04,-7.88008197e-05,-3.14191917e-04,-3.16095509e-04,
 -1.13051073e-07, 6.24338581e-07,-1.21643858e+00, 9.85107401e-05,
  1.50601201e-03,-1.94543579e-08]


--- Step 200 ---
qpos:
[ 2.94055367e-03,-3.22932548e-03, 1.16669004e-02, 4.10222404e-02,
 -2.16910060e-03,-1.91648255e-03,-1.70602754e-02, 2.81938705e-02,
  5.73237121e-03, 1.62254820e-02,-9.14219791e-03, 2.55747575e-02,
  5.27935211e-01,-2.14361987e-03, 3.54839566e-01, 6.47708924e-02,
  9.50310321e-02,-7.00358023e-02, 1.21781705e-01, 9.99998950e-01,
  1.36305243e-04, 3.35689402e-04, 1.40281862e-03]

qacc:
[ -0.94548928, -2.27721507,  9.46275905,-15.13921945, -3.11084264,
  -1.65853685,  6.50710559,-11.78500431,  0.67551802, -0.05145283,
  -1.58648053, 10.07803369, -1.97501119,  6.27388682, -5.89541   ,
  14.04275102, -0.63605936, -0.89390402, -0.21500307, 14.76228078,
 -11.05334793,  0.58838893]

qfrc_actuator:
[-3.44796400e-06, 7.62414658e-06, 3.00739016e-04, 8.39881639e-04,
 -6.92862248e-05,-3.18487818e-04,-5.27688971e-04, 4.49184555e-04,
  7.50728603e-05, 7.52250255e-04,-1.01559561e-04, 5.16390379e-04,
  7.47508497e-02,-3.78515396e-04, 5.26694305e-02,-3.56080617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022334527607563437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48544103e-13, -4.97088205e-13,  1.00000000e+00, -1.23548342e-25,
        1.00000000e+00,  4.97088205e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48544103e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913424, -0.05168158,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.64451079e-06, 3.57625783e-05, 4.71069586e-05,-9.98635215e-06,
 -1.83401484e-05,-4.17278646e-05, 1.20120472e-06,-1.71088041e-05,
  3.92718322e-06, 5.99707318e-05, 4.79537994e-05, 3.26664199e-05,
 -5.09259471e-04,-3.55291560e-05,-2.67122306e-04,-9.78930414e-06,
 -7.90340750e-07, 1.55622637e-06,-1.21643149e+00, 1.00197870e-04,
  1.50357688e-03,-2.36797762e-07]


--- Step 201 ---
qpos:
[ 2.94045310e-03,-3.23074897e-03, 1.16708869e-02, 4.10362493e-02,
 -2.17031954e-03,-1.91731474e-03,-1.70654714e-02, 2.82033478e-02,
  5.73461462e-03, 1.62308743e-02,-9.14550475e-03, 2.55842955e-02,
  5.29492200e-01,-2.14191003e-03, 3.56296644e-01, 6.47905367e-02,
  9.50235976e-02,-7.00395183e-02, 1.21780533e-01, 9.99998948e-01,
  1.65300972e-04, 2.72233331e-04, 1.41545701e-03]

qacc:
[ -0.54326494, -4.45148696, 21.17080941,-44.22498818,  1.39436685,
  -1.96556534,  5.55894164, -4.30305491,  0.24848474, -0.7490539 ,
   3.0925198 , -4.13555753, -2.22486563,  7.60780873, -2.22811826,
   1.69699948,  0.05405413,  1.14854247,  0.11590895,-19.01763675,
   1.73870656, -0.11128669]

qfrc_actuator:
[-6.59469751e-06,-1.65623082e-05, 3.22633288e-04, 7.73335866e-04,
 -6.07380920e-05,-3.47460822e-04,-5.01363676e-04, 4.54534654e-04,
  7.63605311e-05, 7.39530037e-04,-9.44205017e-05, 5.12742520e-04,
  7.45981015e-02,-3.46663319e-04, 5.25300784e-02,-3.59389844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022421962588291267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23787449e-13,  2.47574899e-13,  1.00000000e+00,  3.06466653e-26,
        1.00000000e+00, -2.47574899e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23787449e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474718, -0.09307717,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29853829e-06, 5.08919778e-06, 3.46808036e-05,-6.36164436e-05,
  8.01149440e-06,-5.27419532e-05, 1.73124244e-05, 3.26365296e-06,
  1.43253094e-06, 3.19617782e-05, 2.65259461e-05, 1.19253997e-06,
 -5.18060279e-04,-2.70626891e-05,-2.60061704e-04,-6.75748773e-05,
 -1.50242536e-06, 2.79185003e-06,-1.21641758e+00, 1.03310116e-04,
  1.50000311e-03,-6.32151083e-07]


--- Step 202 ---
qpos:
[ 2.94135054e-03,-3.23235043e-03, 1.16749310e-02, 4.10497546e-02,
 -2.17177173e-03,-1.91857124e-03,-1.70703456e-02, 2.82131594e-02,
  5.73685610e-03, 1.62368242e-02,-9.14879175e-03, 2.55929969e-02,
  5.31046365e-01,-2.13945110e-03, 3.57750832e-01, 6.48099036e-02,
  9.50163931e-02,-7.00386942e-02, 1.21779414e-01, 9.99998946e-01,
  1.56630554e-04, 2.12038170e-04, 1.42806306e-03]

qacc:
[ 8.76525855e+00,-1.45126816e+00, 6.92749208e+00,-1.55687602e+01,
 -2.02829541e+00,-7.67736023e-01, 5.19036461e-01, 5.05743311e+00,
 -2.62889182e-02,-1.04066442e+00, 8.31239965e+00,-2.32340493e+01,
 -2.27030462e+00, 7.90161906e+00,-3.37710490e+00, 5.74126915e+00,
  5.74822567e-02, 1.13502781e+00, 1.29758681e-02,-1.88307414e+01,
  1.65710835e+00,-2.15696039e-02]

qfrc_actuator:
[ 4.48538746e-05,-4.82310905e-05, 3.16043923e-04, 7.46323032e-04,
 -7.29678951e-05,-3.64188141e-04,-4.83801660e-04, 4.71648079e-04,
  7.62191921e-05, 7.82896196e-04,-8.90137118e-05, 4.71246747e-04,
  7.44558802e-02,-3.10901998e-04, 5.23994945e-02,-3.60346103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002267710375404991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22394711e-13,  4.89578844e-13,  1.00000000e+00,  5.99218612e-26,
        1.00000000e+00, -4.89578844e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22394711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474796, -0.0930767 ,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13553531e-05,-2.44116578e-05,-3.52890299e-06,-2.68699503e-05,
 -1.20206963e-05,-4.24319278e-05, 8.96257919e-06, 1.55076461e-05,
 -7.46873804e-08, 6.65995429e-05, 1.52740014e-05,-3.92106006e-05,
 -5.12858684e-04,-2.39342457e-05,-2.55208344e-04,-4.65262358e-05,
 -3.04188508e-07, 2.28464582e-06,-1.21642782e+00, 1.04771935e-04,
  1.49718110e-03,-5.49284886e-07]


--- Step 203 ---
qpos:
[ 2.94354753e-03,-3.23426918e-03, 1.16792179e-02, 4.10631814e-02,
 -2.17370447e-03,-1.91968949e-03,-1.70754272e-02, 2.82220275e-02,
  5.73907858e-03, 1.62436649e-02,-9.15243308e-03, 2.56007703e-02,
  5.32597770e-01,-2.13653751e-03, 3.59202019e-01, 6.48293045e-02,
  9.50094288e-02,-7.00333740e-02, 1.21778001e-01, 9.99998944e-01,
  1.10600119e-04, 1.54971731e-04, 1.44077959e-03]

qacc:
[ 11.42080013, -1.28269102,  4.25759561, -5.72997615, -4.22456878,
  -1.17031693,  8.43664418,-24.55140435, -0.19251578,  0.25740533,
   4.70975931,-20.86257299, -1.91784725,  5.86932986, -4.49081463,
   9.37425968,  0.06004925,  1.12401449, -0.07344364,-18.67776701,
   1.59104382,  0.05103442]

qfrc_actuator:
[ 1.10270507e-04,-6.64849920e-05, 3.28190751e-04, 7.42767946e-04,
 -9.73375861e-05,-3.37962079e-04,-4.89260427e-04, 4.24533039e-04,
  7.52389607e-05, 8.41706603e-04,-1.02219378e-04, 4.25618041e-04,
  7.43147501e-02,-2.90878234e-04, 5.22582979e-02,-3.59902624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022752721684798916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43975872e-13,  7.31927617e-13,  1.00000000e+00,  1.78572679e-25,
        1.00000000e+00, -7.31927617e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43975872e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474854, -0.0930767 ,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68702866e-05,-3.37892051e-05, 5.67836694e-06,-5.28384917e-06,
 -2.47281277e-05, 5.09072960e-06,-1.25322324e-05,-4.83292917e-05,
 -9.40928970e-07, 9.73386634e-05, 1.02772665e-06,-4.30341580e-05,
 -5.07571716e-04,-3.91180678e-05,-2.61419344e-04,-3.07701696e-05,
  8.53829209e-07, 1.82716323e-06,-1.21643069e+00, 1.04366609e-04,
  1.49450653e-03,-3.80023067e-07]


--- Step 204 ---
qpos:
[ 2.94651174e-03,-3.23625066e-03, 1.16835461e-02, 4.10760961e-02,
 -2.17556959e-03,-1.92051399e-03,-1.70807002e-02, 2.82309310e-02,
  5.74127330e-03, 1.62501952e-02,-9.15544833e-03, 2.56083683e-02,
  5.34146621e-01,-2.13469636e-03, 3.60649937e-01, 6.48502527e-02,
  9.50027122e-02,-7.00235934e-02, 1.21776004e-01, 9.99998938e-01,
  2.74568094e-05, 1.00926684e-04, 1.45372254e-03]

qacc:
[  6.73691958, -1.26706069,  6.53486193,-15.39117448,  0.58209364,
   0.99439233, -3.13377082,  3.83778029, -0.21740192, -2.52043492,
   9.13239732,-12.93904657, -0.14440701, -4.43379997, -9.50724459,
  26.21215346,  0.06194784,  1.11513066, -0.14591298,-18.55425802,
   1.53744302,  0.11016687]

qfrc_actuator:
[ 1.47861959e-04,-5.87268342e-05, 3.33618345e-04, 7.17558667e-04,
 -9.31453412e-05,-3.04109456e-04,-4.90378624e-04, 4.28788129e-04,
  7.37732257e-05, 7.67206317e-04,-9.07210156e-05, 4.13440951e-04,
  7.41743704e-02,-3.51312743e-04, 5.21108477e-02,-3.51538307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022684798021091468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.44706394e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.44706394e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474899, -0.09307707,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94832043e-05,-1.01844832e-05,-1.09776101e-06,-2.66014977e-05,
  3.49172339e-06, 3.21113922e-05,-3.22875238e-06, 3.09410930e-06,
 -1.43752149e-06,-2.19155450e-05, 3.01901363e-05,-8.83168349e-06,
 -5.04701438e-04,-1.20031035e-04,-2.68371475e-04, 4.86126935e-05,
  2.01728302e-06, 1.40592531e-06,-1.21642640e+00, 1.02111474e-04,
  1.49198487e-03,-1.23455935e-07]


--- Step 205 ---
qpos:
[ 2.94886902e-03,-3.23797568e-03, 1.16874928e-02, 4.10882501e-02,
 -2.17771513e-03,-1.92108245e-03,-1.70860277e-02, 2.82408465e-02,
  5.74308914e-03, 1.62561452e-02,-9.15782038e-03, 2.56161411e-02,
  5.35692830e-01,-2.13353671e-03, 3.62095114e-01, 6.48732330e-02,
  9.49962490e-02,-7.00093805e-02, 1.21773180e-01, 9.99998918e-01,
 -9.26036368e-05, 4.98156912e-05, 1.46698666e-03]

qacc:
[ -5.34455609, -0.15162536,  4.25893734,-17.01681339, -2.46506861,
   2.57681018,-12.96250944, 30.36718579, -3.27517006, -2.19855683,
   5.99912136, -3.58682485, -0.61634312, -1.75817631,-10.17563556,
  29.72374998,  0.06332869,  1.108063  , -0.20661405,-18.45643234,
   1.49386439,  0.15869438]

qfrc_actuator:
[ 1.15512918e-04,-3.54890738e-05, 3.17366229e-04, 6.79821900e-04,
 -1.07677149e-04,-2.83644337e-04,-4.88825490e-04, 4.81016445e-04,
  5.42799172e-05, 7.20080217e-04,-6.52389158e-05, 4.20953293e-04,
  7.40345219e-02,-3.87666439e-04, 5.20077095e-02,-3.40349420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022503358846950872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23339701e-13, -2.46679403e-13,  1.00000000e+00, -3.04253639e-26,
        1.00000000e+00,  2.46679403e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23339701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09474931, -0.09307773,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12276280e-05, 1.61730440e-05,-1.94723509e-05,-3.87651161e-05,
 -1.44210769e-05, 3.79605863e-05, 7.94671938e-06, 5.35465205e-05,
 -1.95239085e-05,-5.37353902e-05, 2.43123431e-05, 7.42158833e-06,
 -5.11306454e-04,-1.00437101e-04,-2.17575557e-04, 8.05849409e-05,
  3.22007714e-06, 1.01385608e-06,-1.21641510e+00, 9.80203985e-05,
  1.48961983e-03, 2.21070245e-07]


--- Step 206 ---
qpos:
[ 2.95047572e-03,-3.23956041e-03, 1.16914816e-02, 4.11001872e-02,
 -2.17967350e-03,-1.92104361e-03,-1.70913986e-02, 2.82502279e-02,
  5.74465713e-03, 1.62621489e-02,-9.16033167e-03, 2.56232252e-02,
  5.37236264e-01,-2.13210653e-03, 3.63538055e-01, 6.48969467e-02,
  9.49871930e-02,-6.99988924e-02, 1.21771050e-01, 9.99998887e-01,
 -1.82013387e-04,-2.47386606e-05, 1.48088353e-03]

qacc:
[ -6.5900229 , -0.36625668,  2.51199672, -6.45895765,  1.62961184,
  -0.17854858,  4.05165084,-13.66898486, -2.16777338, -0.95348577,
   6.41832083,-18.16401476, -1.73507479,  4.66705301, -5.47758283,
  14.45580576, -0.64819533, -0.93120565,  0.17317568, 15.30811966,
 -11.74417799,  0.31605854]

qfrc_actuator:
[ 7.77721028e-05,-2.10102778e-05, 3.24017798e-04, 6.70527227e-04,
 -9.76171393e-05,-2.35786242e-04,-4.85729877e-04, 4.54522101e-04,
  4.20849293e-05, 7.43030705e-04,-6.71393879e-05, 3.86741458e-04,
  7.38950919e-02,-3.74028353e-04, 5.19099257e-02,-3.36452491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000229448539601676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25798708e-13, -7.25798708e-13,  1.00000000e+00, -5.26783765e-25,
        1.00000000e+00,  7.25798708e-13, -1.00000000e+00,  0.00000000e+00,
       -7.25798708e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10913023, -0.05168196,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86230993e-05, 1.78109550e-05, 6.19817111e-06,-1.00615253e-05,
  9.65966621e-06, 7.30777321e-05, 1.38157735e-05,-2.35588743e-05,
 -1.27566050e-05,-1.96468648e-06,-9.80544116e-06,-3.55531186e-05,
 -5.13144985e-04,-5.03972896e-05,-1.87883656e-04, 1.53785384e-05,
  4.48762901e-06, 6.49297141e-07,-1.21639693e+00, 9.21043099e-05,
  1.48741390e-03, 6.54029270e-07]


--- Step 207 ---
qpos:
[ 2.95196207e-03,-3.24075718e-03, 1.16951220e-02, 4.11119142e-02,
 -2.18080623e-03,-1.92057339e-03,-1.70966023e-02, 2.82585359e-02,
  5.74606705e-03, 1.62679824e-02,-9.16254475e-03, 2.56305326e-02,
  5.38776997e-01,-2.13050005e-03, 3.64978710e-01, 6.49160280e-02,
  9.49755524e-02,-6.99920813e-02, 1.21769160e-01, 9.99998845e-01,
 -2.41127917e-04,-1.22377487e-04, 1.49550274e-03]

qacc:
[ -1.07414339,  1.05566472, -2.12947018, -1.23997177,  7.23909384,
  -2.11845457, 12.88887965,-32.02199937, -1.36659814, -0.59595252,
   0.85997047,  2.64956919, -1.64083345,  4.1551461 , 10.63051996,
 -42.03638587, -0.64615771, -0.91927042,  0.0601666 , 15.13050868,
 -11.56472205,  0.35870643]

qfrc_actuator:
[ 7.26879211e-05, 5.97933740e-06, 3.08635374e-04, 6.60305702e-04,
 -5.54048234e-05,-2.25203938e-04,-4.81698192e-04, 3.99688211e-04,
  3.42894458e-05, 7.36614635e-04,-4.94389757e-05, 3.99299262e-04,
  7.37613459e-02,-3.66579886e-04, 5.17461724e-02,-3.61735835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023274350927343646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38507838e-13,  2.38507838e-13,  1.00000000e+00,  5.68859888e-26,
        1.00000000e+00, -2.38507838e-13, -1.00000000e+00,  0.00000000e+00,
       -2.38507838e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10912907, -0.05168249,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17919614e-06, 3.77643323e-05,-1.13430546e-05,-9.47064993e-06,
  4.25135698e-05, 5.33353615e-05, 2.00540833e-05,-5.16920604e-05,
 -8.14204306e-06,-1.12671007e-05, 1.48021219e-05, 1.14196439e-05,
 -5.02902330e-04,-5.41851133e-05,-2.49455728e-04,-2.76705772e-04,
  4.05393339e-06, 1.53531933e-06,-1.21640573e+00, 8.74838698e-05,
  1.48354023e-03, 9.64296284e-07]


--- Step 208 ---
qpos:
[ 2.95337554e-03,-3.24154729e-03, 1.16982359e-02, 4.11234366e-02,
 -2.18176892e-03,-1.91983919e-03,-1.71016801e-02, 2.82668376e-02,
  5.74737278e-03, 1.62737442e-02,-9.16485165e-03, 2.56382927e-02,
  5.40315163e-01,-2.12976945e-03, 3.66416427e-01, 6.49289978e-02,
  9.49669621e-02,-6.99869073e-02, 1.21768822e-01, 9.99998803e-01,
 -2.85768619e-04,-1.94533005e-04, 1.50829915e-03]

qacc:
[-6.63413943e-01, 1.58945828e+00,-4.02258379e+00, 1.02611259e+00,
  1.49089151e+00,-1.90002234e-02, 5.96043288e-01,-1.09705049e+00,
 -9.10316046e-01, 1.10132061e+00,-5.97261292e+00, 1.40073099e+01,
 -4.35818751e-01,-2.78193742e+00, 1.40927588e+01,-5.56499558e+01,
  7.62577682e-01,-4.09232297e-01, 3.88153359e-01, 7.25584906e+00,
  1.27310364e+01,-9.09215431e-01]

qfrc_actuator:
[ 6.91150787e-05, 2.24190501e-05, 2.80406159e-04, 6.49608165e-04,
 -4.78723556e-05,-2.19301463e-04,-4.77297995e-04, 3.99613883e-04,
  2.91430323e-05, 7.30533723e-04,-5.58650600e-05, 4.21529606e-04,
  7.36204520e-02,-4.16117079e-04, 5.15695513e-02,-3.93368517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023622704736969702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69981332e-13, -2.34990666e-13,  1.00000000e+00, -1.10441226e-25,
        1.00000000e+00,  2.34990666e-13, -1.00000000e+00,  0.00000000e+00,
       -4.69981332e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188292, -0.06173721,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73702356e-06, 3.47766722e-05,-2.22096371e-05,-9.68836207e-06,
  8.76418294e-06, 3.76947540e-05, 1.61337637e-05, 1.88946792e-06,
 -5.36711278e-06,-9.03460505e-06,-6.59201238e-06, 2.24581423e-05,
 -5.03533736e-04,-1.10275827e-04,-3.21413252e-04,-3.63990629e-04,
  3.69000327e-06, 2.69948155e-06,-1.21640711e+00, 8.43340865e-05,
  1.47850061e-03, 1.08597909e-06]


--- Step 209 ---
qpos:
[ 2.95473531e-03,-3.24222855e-03, 1.17010754e-02, 4.11351072e-02,
 -2.18263337e-03,-1.91893569e-03,-1.71066296e-02, 2.82754309e-02,
  5.74860688e-03, 1.62796082e-02,-9.16778811e-03, 2.56452376e-02,
  5.41850680e-01,-2.12958071e-03, 3.67850488e-01, 6.49432810e-02,
  9.49613823e-02,-6.99833652e-02, 1.21769576e-01, 9.99998767e-01,
 -3.16195044e-04,-2.41498065e-04, 1.51937817e-03]

qacc:
[ -0.48184077,  1.21734763, -4.75430037,  7.67254122,  0.86301017,
   0.4638963 , -2.56430404,  7.28691461, -0.64678024,  0.21743549,
   2.86484768,-16.04566134, -0.77521329, -0.79959253, -9.35367463,
  24.89268267,  0.75263199, -0.40800455,  0.27274275,  7.12596114,
  12.58474003, -0.85647731]

qfrc_actuator:
[ 6.64497136e-05, 1.46022900e-05, 2.62538922e-04, 6.56455934e-04,
 -4.30698217e-05,-2.16212051e-04,-4.72702308e-04, 4.14005104e-04,
  2.55954060e-05, 7.24623405e-04,-9.42469212e-05, 3.78234236e-04,
  7.34806803e-02,-4.45606108e-04, 5.14492600e-02,-3.84096022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023919794562622665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32072023e-13, -2.32072023e-13,  1.00000000e+00, -5.38574240e-26,
        1.00000000e+00,  2.32072023e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32072023e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188327, -0.061738  ,  0.06199419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76129689e-06, 6.58859443e-06,-1.38088962e-05, 7.34934247e-06,
  5.06476368e-06, 2.75991256e-05, 1.44664861e-05, 1.65924213e-05,
 -3.68785321e-06,-1.15584781e-05,-4.03391253e-05,-4.34981088e-05,
 -5.09673511e-04,-9.36829198e-05,-3.04511347e-04, 3.17362073e-05,
  2.26946236e-06, 1.82652813e-06,-1.21642181e+00, 8.24091905e-05,
  1.47475672e-03, 1.03095888e-06]


--- Step 210 ---
qpos:
[ 2.95639747e-03,-3.24294831e-03, 1.17040455e-02, 4.11464140e-02,
 -2.18343320e-03,-1.91819247e-03,-1.71112741e-02, 2.82834697e-02,
  5.74978897e-03, 1.62858248e-02,-9.17158748e-03, 2.56512484e-02,
  5.43383527e-01,-2.12939205e-03, 3.69281752e-01, 6.49570499e-02,
  9.49587803e-02,-6.99814505e-02, 1.21771033e-01, 9.99998741e-01,
 -3.32618292e-04,-2.63514773e-04, 1.52882398e-03]

qacc:
[  2.65907323, -1.17089352,  5.62592097,-12.08905753,  0.57877503,
  -2.20568559,  9.89764914,-19.86366597, -0.48724836,  0.95568099,
   1.21488243,-16.26526317, -1.40119934,  2.82079414, -2.55080006,
   2.98408911,  0.74445832, -0.40683996,  0.17593421,  7.0203373 ,
  12.46378233, -0.81436609]

qfrc_actuator:
[ 8.20914425e-05, 1.01194245e-05, 2.68600103e-04, 6.38054934e-04,
 -3.99014656e-05,-2.50326644e-04,-4.68041980e-04, 3.83522185e-04,
  2.30161696e-05, 7.54175670e-04,-1.33476350e-04, 3.32215547e-04,
  7.33523333e-02,-4.45297273e-04, 5.13309823e-02,-3.86283700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024018024615246603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31122884e-13,  2.31122884e-13,  1.00000000e+00,  5.34177876e-26,
        1.00000000e+00, -2.31122884e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31122884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818833 , -0.06173847,  0.06199416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55626070e-05,-3.37582942e-06, 5.92302742e-06,-1.84845344e-05,
  3.32107354e-06,-1.49742328e-05, 1.27451936e-05,-2.84870808e-05,
 -2.66859062e-06, 1.27011413e-05,-4.81390138e-05,-4.87779764e-05,
 -5.00294602e-04,-6.39732775e-05,-2.49606497e-04,-5.83801818e-05,
  1.20802510e-06, 1.08877497e-06,-1.21643208e+00, 8.11293926e-05,
  1.47229322e-03, 9.90219511e-07]


--- Step 211 ---
qpos:
[ 2.95823423e-03,-3.24385237e-03, 1.17071457e-02, 4.11574308e-02,
 -2.18453375e-03,-1.91759889e-03,-1.71155165e-02, 2.82910730e-02,
  5.75127615e-03, 1.62924120e-02,-9.17649391e-03, 2.56566750e-02,
  5.44913743e-01,-2.12948983e-03, 3.70710805e-01, 6.49702778e-02,
  9.49591296e-02,-6.99811589e-02, 1.21772870e-01, 9.99998729e-01,
 -3.35209135e-04,-2.60781297e-04, 1.53670387e-03]

qacc:
[  1.53967846, -1.20837709,  5.17325135,-10.25878698, -2.62273683,
  -2.21132478,  9.44550693,-17.52278271,  2.62015244,  2.37615602,
  -5.30376779, -3.30093491, -1.07580612,  0.96135718, -1.61662862,
   0.94540252,  0.73780398, -0.40579175,  0.09489061,  6.9349092 ,
  12.36476498, -0.7806715 ]

qfrc_actuator:
[ 9.06301730e-05,-1.00119216e-05, 2.70970402e-04, 6.22709813e-04,
 -5.54719228e-05,-2.53243896e-04,-4.45818398e-04, 3.62349718e-04,
  3.87796305e-05, 7.69208785e-04,-1.90481775e-04, 3.02760520e-04,
  7.32149610e-02,-4.62940017e-04, 5.12512475e-02,-3.88116212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023957218885579945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188307, -0.06173871,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97834556e-06,-2.16212172e-05, 1.70904688e-06,-1.56758121e-05,
 -1.54803507e-05,-9.86841189e-06, 1.97424988e-05,-2.19370049e-05,
  1.57123675e-05, 9.91027916e-06,-6.20392982e-05,-3.15441557e-05,
 -4.98949207e-04,-7.93204954e-05,-1.99236157e-04,-5.35793189e-05,
  4.78704335e-07, 4.66943085e-07,-1.21643808e+00, 8.04900512e-05,
  1.47109404e-03, 9.62048326e-07]


--- Step 212 ---
qpos:
[ 2.95946941e-03,-3.24497631e-03, 1.17096983e-02, 4.11689203e-02,
 -2.18615705e-03,-1.91740208e-03,-1.71193303e-02, 2.82983933e-02,
  5.75294157e-03, 1.62985213e-02,-9.18121543e-03, 2.56620712e-02,
  5.46441280e-01,-2.12973773e-03, 3.72136708e-01, 6.49862465e-02,
  9.49624087e-02,-6.99824870e-02, 1.21774816e-01, 9.99998730e-01,
 -3.24104639e-04,-2.33457625e-04, 1.54307183e-03]

qacc:
[-5.29395749e+00, 2.22536870e+00,-1.03319811e+01, 1.95295182e+01,
 -4.56514204e+00,-2.29431390e+00, 8.63043398e+00,-1.39371835e+01,
  1.56862295e+00,-1.21402381e+00, 3.53530845e+00,-3.99946001e+00,
 -1.21580535e+00, 1.74524794e+00,-1.28972208e+01, 3.84199540e+01,
  7.32454965e-01,-4.04893754e-01, 2.71939801e-02, 6.86635992e+00,
  1.22848147e+01,-7.53638193e-01]

qfrc_actuator:
[ 5.94086891e-05,-3.93711524e-05, 2.35569134e-04, 6.44775337e-04,
 -8.19461806e-05,-2.90647152e-04,-4.31028595e-04, 3.46866159e-04,
  4.74597762e-05, 7.22113523e-04,-1.86552961e-04, 3.01019986e-04,
  7.30722661e-02,-4.73314685e-04, 5.11041479e-02,-3.73735010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023770653226298788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33528085e-13, -7.00584254e-13,  1.00000000e+00, -1.63606099e-25,
        1.00000000e+00,  7.00584254e-13, -1.00000000e+00,  0.00000000e+00,
       -2.33528085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188264, -0.06173874,  0.06199422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09752003e-05,-4.17991021e-05,-4.02516619e-05, 2.08631358e-05,
 -2.69188206e-05,-3.97780845e-05, 1.44506910e-05,-1.56585036e-05,
  9.15464320e-06,-5.59033094e-05,-2.78786781e-06,-4.09258787e-06,
 -5.04884662e-04,-7.30584673e-05,-2.45533214e-04, 1.14692429e-04,
  6.18502087e-08,-5.36211111e-08,-1.21643996e+00, 8.04870563e-05,
  1.47114633e-03, 9.45161866e-07]


--- Step 213 ---
qpos:
[ 2.96032080e-03,-3.24633009e-03, 1.17120471e-02, 4.11812527e-02,
 -2.18774039e-03,-1.91727571e-03,-1.71236004e-02, 2.83054910e-02,
  5.75469888e-03, 1.63036415e-02,-9.18505629e-03, 2.56677673e-02,
  5.47966052e-01,-2.12908334e-03, 3.73558967e-01, 6.50042503e-02,
  9.49686007e-02,-6.99854317e-02, 1.21776645e-01, 9.99998741e-01,
 -2.99413576e-04,-1.81670440e-04, 1.54797130e-03]

qacc:
[-3.37083545e+00, 2.00972369e+00,-1.11497635e+01, 2.62141524e+01,
  3.37266948e-01, 7.22710631e-01,-1.77271430e+00,-1.29977110e+00,
  8.46203889e-01,-3.15272204e+00, 8.07486948e+00,-3.55915729e+00,
 -2.41123882e+00, 8.56753297e+00,-1.14559517e+01, 3.24179854e+01,
  7.28229921e-01,-4.04165635e-01,-2.92182836e-02, 6.81197936e+00,
  1.22214973e+01,-7.31871073e-01]

qfrc_actuator:
[ 4.05426789e-05,-3.86525593e-05, 2.31388576e-04, 6.88640426e-04,
 -7.91151298e-05,-2.95177133e-04,-4.56391588e-04, 3.34817698e-04,
  5.18947603e-05, 6.56194098e-04,-1.46912739e-04, 3.15588063e-04,
  7.29424542e-02,-4.26092365e-04, 5.09061422e-02,-3.64134218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002348605054830616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36357965e-13, -4.72715931e-13,  1.00000000e+00, -1.11730176e-25,
        1.00000000e+00,  4.72715931e-13, -1.00000000e+00,  0.00000000e+00,
       -2.36357965e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188205, -0.06173863,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97633366e-05,-3.01054993e-05,-1.70925114e-05, 4.10601039e-05,
  2.04997167e-06,-2.44482090e-05,-3.23139714e-05,-1.35650624e-05,
  4.69371674e-06,-9.81017297e-05, 2.75806804e-05, 1.19810770e-05,
 -4.95491807e-04,-1.60174984e-05,-2.95767201e-04, 7.10662981e-05,
 -5.63571784e-08,-4.84294608e-07,-1.21643782e+00, 8.11168642e-05,
  1.47243991e-03, 9.38616431e-07]


--- Step 214 ---
qpos:
[ 2.96128397e-03,-3.24770905e-03, 1.17139877e-02, 4.11933109e-02,
 -2.18893315e-03,-1.91681426e-03,-1.71284070e-02, 2.83130326e-02,
  5.75615133e-03, 1.63077515e-02,-9.18887087e-03, 2.56740015e-02,
  5.49488196e-01,-2.12816872e-03, 3.74978811e-01, 6.50220515e-02,
  9.49776926e-02,-6.99899908e-02, 1.21778169e-01, 9.99998757e-01,
 -2.61220858e-04,-1.05517258e-04, 1.55143742e-03]

qacc:
[  0.96854567,  0.54083018, -0.82307908, -3.24625501,  3.40353067,
   2.84782984,-11.39838927, 19.70523789, -2.64096051, -0.29575479,
  -3.1458353 , 13.15077287, -1.6722242 ,  4.44129209, -2.91861314,
   5.11556152,  0.72497517, -0.40361696, -0.07610647,  6.7695489 ,
  12.17274826, -0.71426051]

qfrc_actuator:
[ 4.68654133e-05,-3.75419904e-05, 2.10310389e-04, 6.74015575e-04,
 -5.90545108e-05,-2.44645516e-04,-4.69627580e-04, 3.60388460e-04,
  3.60450529e-05, 5.79682549e-04,-1.57625928e-04, 3.39623106e-04,
  7.28098244e-02,-4.16314728e-04, 5.08162210e-02,-3.64541782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023126429030390083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40033388e-13, -2.40033388e-13,  1.00000000e+00, -5.76160276e-26,
        1.00000000e+00,  2.40033388e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40033388e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188134, -0.06173839,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74780805e-06,-1.75116958e-05,-2.80202852e-05,-1.57356912e-05,
  2.01123866e-05, 2.96346100e-05,-2.27030390e-05, 2.31342297e-05,
 -1.57376135e-05,-1.25306022e-04,-2.71918377e-05, 2.10030409e-05,
 -4.84975527e-04,-4.91005780e-05,-2.13310345e-04,-3.73686586e-05,
  1.14967809e-07,-8.34185046e-07,-1.21643173e+00, 8.23765005e-05,
  1.47496681e-03, 9.41739138e-07]


--- Step 215 ---
qpos:
[ 2.96266023e-03,-3.24915883e-03, 1.17154348e-02, 4.12040757e-02,
 -2.18987624e-03,-1.91614191e-03,-1.71328162e-02, 2.83211168e-02,
  5.75705787e-03, 1.63108474e-02,-9.19246110e-03, 2.56804626e-02,
  5.51007716e-01,-2.12740209e-03, 3.76396822e-01, 6.50404805e-02,
  9.49872021e-02,-6.99970778e-02, 1.21779843e-01, 9.99998771e-01,
 -2.01793451e-04,-2.59676375e-05, 1.55435890e-03]

qacc:
[  3.61117384, -1.38649366, 10.25122277,-31.77400502,  2.19917894,
   0.28021066, -2.89348744, 11.50214991, -4.73764022, -1.49114058,
   2.43021347,  1.8664689 , -1.22538031,  1.83432728, -4.57744866,
  12.13486789,  0.10440502, -0.6319554 ,  0.03746227, 10.61993684,
   1.68181625, -0.27299511]

qfrc_actuator:
[ 6.79593586e-05,-5.40615834e-05, 1.79379483e-04, 6.07324010e-04,
 -4.67753808e-05,-2.14712174e-04,-4.39819330e-04, 3.90200494e-04,
  8.38453225e-06, 5.32737767e-04,-1.44791142e-04, 3.51227583e-04,
  7.26649397e-02,-4.28722768e-04, 5.07645422e-02,-3.60160438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022671427746348403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05578646e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05578646e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09416639, -0.05720266,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12533485e-05,-3.27746386e-05,-3.85784302e-05,-6.87461828e-05,
  1.28626883e-05, 4.28367451e-05, 3.39666193e-05, 3.07387109e-05,
 -2.81447224e-05,-1.21852488e-04,-1.56866945e-05, 5.68883645e-06,
 -4.93366700e-04,-7.22356146e-05,-1.54063043e-04, 1.39517364e-05,
  5.70575521e-07,-1.11088528e-06,-1.21642176e+00, 8.42635448e-05,
  1.47872093e-03, 9.54074591e-07]


--- Step 216 ---
qpos:
[ 2.96462373e-03,-3.25093408e-03, 1.17171097e-02, 4.12142854e-02,
 -2.19135456e-03,-1.91518364e-03,-1.71368558e-02, 2.83294866e-02,
  5.75797053e-03, 1.63130052e-02,-9.19531626e-03, 2.56866212e-02,
  5.52524522e-01,-2.12670483e-03, 3.77812398e-01, 6.50564309e-02,
  9.49941414e-02,-7.00077380e-02, 1.21780724e-01, 9.99998779e-01,
 -1.12819959e-04, 3.14233916e-05, 1.55835391e-03]

qacc:
[  5.16723625, -2.22149793,  9.62052837,-19.33111583, -4.68782827,
  -0.05802032, -0.43498308,  4.55977561,  0.09225498, -3.91713064,
  13.44465108,-19.1637063 , -1.38323764,  2.52327385,  3.90577969,
 -18.84002273, -0.64255358, -0.89329903, -0.19840592, 14.75581585,
 -11.10235318,  0.53415365]

qfrc_actuator:
[ 9.75699906e-05,-6.33509326e-05, 1.96043502e-04, 5.81531794e-04,
 -7.46857371e-05,-1.97147645e-04,-4.20409156e-04, 4.04528465e-04,
  9.50578972e-06, 5.03941013e-04,-1.00283531e-04, 3.37717108e-04,
  7.25127964e-02,-4.36385451e-04, 5.05973728e-02,-3.74283815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022464114423559334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47110348e-13, -7.41331043e-13,  1.00000000e+00, -1.83190572e-25,
        1.00000000e+00,  7.41331043e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47110348e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10912782, -0.05167915,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02099336e-05,-3.85157289e-05, 2.73753791e-06,-2.98944856e-05,
 -2.75314325e-05, 4.98657548e-05, 3.35311440e-05, 1.79269792e-05,
  2.79896378e-07,-1.00025421e-04, 1.75953930e-05,-1.91763993e-05,
 -5.09087396e-04,-7.01825297e-05,-2.39469744e-04,-1.61283877e-04,
  5.66142505e-07,-1.32606899e-06,-1.21641522e+00, 8.71860331e-05,
  1.48262266e-03, 9.05629222e-07]


--- Step 217 ---
qpos:
[ 2.96658210e-03,-3.25294544e-03, 1.17189072e-02, 4.12244465e-02,
 -2.19350063e-03,-1.91394179e-03,-1.71411338e-02, 2.83376604e-02,
  5.75888904e-03, 1.63146893e-02,-9.19778561e-03, 2.56921879e-02,
  5.54038604e-01,-2.12573831e-03, 3.79224598e-01, 6.50693639e-02,
  9.49985229e-02,-7.00219552e-02, 1.21780605e-01, 9.99998776e-01,
  5.56439584e-06, 6.68078408e-05, 1.56346721e-03]

qacc:
[ -0.03722684, -0.75509553,  2.44456463, -3.30799307, -5.86936418,
   0.64855801, -0.92115352, -2.32086756,  0.07064687, -2.92284714,
  12.0116328 ,-22.52173788, -1.75678607,  4.658937  ,  4.15589455,
 -21.70418855, -0.63944408, -0.88926645, -0.24987455, 14.68824906,
 -11.02625574,  0.55837213]

qfrc_actuator:
[ 9.64459949e-05,-6.80191661e-05, 2.05235251e-04, 5.80058292e-04,
 -1.08272108e-04,-2.04916422e-04,-4.42874221e-04, 3.91853331e-04,
  9.80979705e-06, 5.04115311e-04,-7.28779398e-05, 3.09576272e-04,
  7.23777035e-02,-4.23467709e-04, 5.03983099e-02,-3.90348204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022212496055599995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.4990956e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.4990956e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10912813, -0.05167851,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73986748e-07,-2.68951467e-05, 5.14051686e-07,-3.63476562e-06,
 -3.43557984e-05, 2.77945936e-05,-7.39586545e-06,-9.03972760e-06,
  2.82340513e-07,-5.30032538e-05, 8.24299724e-06,-3.22037555e-05,
 -5.03448978e-04,-5.15127742e-05,-3.26629237e-04,-2.00623583e-04,
 -3.42291145e-07,-1.42143071e-06,-1.21641185e+00, 9.15920689e-05,
  1.48533600e-03, 6.55687048e-07]


--- Step 218 ---
qpos:
[ 2.96851177e-03,-3.25471056e-03, 1.17203048e-02, 4.12344840e-02,
 -2.19568738e-03,-1.91304342e-03,-1.71453309e-02, 2.83453333e-02,
  5.76049346e-03, 1.63165492e-02,-9.20079143e-03, 2.56976989e-02,
  5.55550014e-01,-2.12427857e-03, 3.80633602e-01, 6.50827500e-02,
  9.50016669e-02,-7.00357394e-02, 1.21781711e-01, 9.99998758e-01,
  1.20266584e-04, 9.20865428e-05, 1.56880357e-03]

qacc:
[ -0.26877805,  1.18957368, -3.24694859,  1.56679266, -0.34881955,
  -1.70884711,  7.5511219 ,-16.09804654,  5.96343306,  1.60518591,
  -5.17062761,  4.95420017, -1.94628547,  5.88811429, -6.03760823,
  14.38047995, -0.3094004 ,  0.10828509,  0.3060964 , -1.84898885,
  -5.04998787,  0.11144558]

qfrc_actuator:
[ 9.49913349e-05,-3.43686292e-05, 1.92205070e-04, 5.75138907e-04,
 -1.09412230e-04,-2.63502471e-04,-4.54499122e-04, 3.63343701e-04,
  4.51265635e-05, 5.39335755e-04,-9.11835964e-05, 3.08572793e-04,
  7.22529394e-02,-3.98512593e-04, 5.02921247e-02,-3.86120998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002191686334836879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26640273e-13, -6.41156655e-07,  1.00000000e+00, -8.11962539e-20,
        1.00000000e+00,  6.41156655e-07, -1.00000000e+00,  1.20370622e-35,
       -1.26640273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198209, -0.07226172,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46917588e-06, 1.85840634e-05,-1.86701163e-05,-6.14699472e-06,
 -2.10899223e-06,-4.49836292e-05,-7.08889478e-06,-2.77604013e-05,
  3.53112734e-05, 5.86181760e-06,-2.93555149e-05,-3.62691772e-06,
 -4.87134855e-04,-3.77730700e-05,-2.73872857e-04,-1.00942726e-05,
 -1.28430078e-06,-1.22761390e-06,-1.21640168e+00, 9.74190902e-05,
  1.48691327e-03, 2.28522469e-07]


--- Step 219 ---
qpos:
[ 2.97075379e-03,-3.25603158e-03, 1.17214147e-02, 4.12440048e-02,
 -2.19752582e-03,-1.91292730e-03,-1.71493935e-02, 2.83526589e-02,
  5.76250886e-03, 1.63185739e-02,-9.20465036e-03, 2.57038684e-02,
  5.57058941e-01,-2.12380729e-03, 3.82040048e-01, 6.50937475e-02,
  9.50050724e-02,-7.00449710e-02, 1.21783150e-01, 9.99998734e-01,
  1.96903847e-04, 1.20366083e-04, 1.57449197e-03]

qacc:
[  2.72490239,  0.32120572,  1.876983  ,-10.67427612,  3.07262634,
  -2.12958505,  7.54921665,-13.18625637,  3.55595497,  3.95101016,
 -16.56391799, 29.2166098 , -0.25782013, -3.49535505,  3.41699369,
 -17.48568151,  0.06539168,  1.13811053,  0.08335723,-19.03010088,
   1.53029693,  0.17408887]

qfrc_actuator:
[ 1.11116522e-04, 4.13262815e-06, 1.84067875e-04, 5.50493753e-04,
 -9.14445529e-05,-3.34312620e-04,-4.59843626e-04, 3.43469342e-04,
  6.52633057e-05, 5.41865942e-04,-1.36148041e-04, 3.41305077e-04,
  7.21131630e-02,-4.55429886e-04, 5.01672105e-02,-3.98349414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022362210611284739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48236421e-13,  2.48236421e-13,  1.00000000e+00,  6.16213206e-26,
        1.00000000e+00, -2.48236421e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48236421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475458, -0.09307923,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60930352e-05, 4.47923338e-05,-6.83085172e-06,-2.46366764e-05,
  1.78933084e-05,-9.86201753e-05,-1.64482239e-05,-2.25973969e-05,
  2.11560688e-05,-4.38155484e-07,-4.74935302e-05, 3.18862718e-05,
 -4.88407480e-04,-1.17093092e-04,-2.48934840e-04,-1.57662936e-04,
 -1.40524588e-06,-9.16356388e-07,-1.21640539e+00, 1.03058792e-04,
  1.48814437e-03,-1.89578685e-07]


--- Step 220 ---
qpos:
[ 2.97282698e-03,-3.25732893e-03, 1.17228463e-02, 4.12531672e-02,
 -2.19879007e-03,-1.91310232e-03,-1.71536656e-02, 2.83593050e-02,
  5.76440542e-03, 1.63207503e-02,-9.20874587e-03, 2.57096500e-02,
  5.58565289e-01,-2.12396015e-03, 3.83443234e-01, 6.51058532e-02,
  9.50087450e-02,-7.00496973e-02, 1.21784533e-01, 9.99998712e-01,
  2.35872009e-04, 1.51580319e-04, 1.58057664e-03]

qacc:
[-1.47247694e+00,-1.60401174e+00, 7.28059645e+00,-1.40172599e+01,
  5.03428042e+00,-1.20687774e+00, 6.59799643e+00,-1.77925787e+01,
 -1.04690828e+00, 6.50922152e-02, 1.69995696e+00,-8.15056449e+00,
 -6.71324877e-01,-1.24640646e+00,-8.15151284e+00, 2.15314273e+01,
  6.67936474e-02, 1.12633770e+00,-1.38599330e-02,-1.88322404e+01,
  1.49703986e+00, 1.95580708e-01]

qfrc_actuator:
[ 1.01954780e-04,-8.00993438e-06, 1.96666913e-04, 5.32208415e-04,
 -6.23849341e-05,-3.23117916e-04,-4.61506076e-04, 3.11070176e-04,
  5.85399660e-05, 5.60227857e-04,-1.43318635e-04, 3.22576233e-04,
  7.19751098e-02,-4.89175694e-04, 5.00257906e-02,-3.91780945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022570765585226693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22971352e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.22971352e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475489, -0.09307873,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68527888e-06, 1.04512190e-05, 2.01355395e-05,-1.71044401e-05,
  2.95368212e-05,-4.82861491e-05,-2.48117167e-05,-3.76427733e-05,
 -6.11287756e-06, 9.64471991e-06,-1.19987423e-05,-1.97805499e-05,
 -4.97178875e-04,-9.90983191e-05,-2.72380595e-04, 2.48276032e-05,
 -9.45326996e-07,-7.97954973e-07,-1.21642328e+00, 1.06855993e-04,
  1.48964555e-03,-4.37737346e-07]


--- Step 221 ---
qpos:
[ 2.97477437e-03,-3.25855412e-03, 1.17247047e-02, 4.12620253e-02,
 -2.19969641e-03,-1.91313794e-03,-1.71582048e-02, 2.83658037e-02,
  5.76620681e-03, 1.63231392e-02,-9.21269085e-03, 2.57151267e-02,
  5.60068926e-01,-2.12349364e-03, 3.84843229e-01, 6.51231840e-02,
  9.50126895e-02,-7.00499569e-02, 1.21785535e-01, 9.99998695e-01,
  2.37495635e-04, 1.85677778e-04, 1.58709004e-03]

qacc:
[ -1.0923035 , -1.72327337,  7.57007185,-13.57631789,  3.12843833,
   0.62086591, -1.33497846, -0.87939442, -0.82922943, -0.76588751,
   4.42860283,-10.10576304, -2.0676599 ,  6.51551039,-20.41842509,
  64.73514872,  0.06794473,  1.1166819 , -0.09538395,-18.6699983 ,
   1.47117231,  0.21118798]

qfrc_actuator:
[ 9.57297548e-05, 2.96189720e-06, 2.21213266e-04, 5.17787227e-04,
 -4.47879730e-05,-2.80651143e-04,-4.60668961e-04, 3.07132675e-04,
  5.38186473e-05, 5.88036138e-04,-1.28088207e-04, 3.09259001e-04,
  7.18488402e-02,-4.55729654e-04, 4.99225548e-02,-3.63536901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022610581395245133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45509615e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45509615e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475511, -0.09307869,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.46799238e-06, 2.02427685e-05, 2.85695153e-05,-1.36304871e-05,
  1.84245689e-05, 8.77897995e-06,-1.34592933e-05,-7.60407039e-06,
 -4.88800765e-06, 2.98355448e-05, 1.50720811e-05,-1.37120409e-05,
 -4.89378952e-04,-3.21303758e-05,-2.22578794e-04, 2.49228690e-04,
 -4.28631957e-07,-6.80385422e-07,-1.21643376e+00, 1.08795422e-04,
  1.49130403e-03,-5.95590458e-07]


--- Step 222 ---
qpos:
[ 2.97663204e-03,-3.25980469e-03, 1.17269129e-02, 4.12706589e-02,
 -2.20072943e-03,-1.91318382e-03,-1.71624384e-02, 2.83725281e-02,
  5.76828266e-03, 1.63255064e-02,-9.21609468e-03, 2.57210942e-02,
  5.61569982e-01,-2.12293624e-03, 3.86241215e-01, 6.51396635e-02,
  9.50169095e-02,-7.00457811e-02, 1.21785882e-01, 9.99998684e-01,
  2.02037859e-04, 2.22618990e-04, 1.59405530e-03]

qacc:
[ -0.77627903, -1.47255379,  6.15042591,-10.57567403, -1.10118446,
  -0.40058138,  0.4592756 ,  2.9625358 ,  2.41164989, -0.53570285,
  -0.21173886,  7.86451315, -1.48988769,  3.34863449, -0.36818136,
  -2.95256043,  0.06890774,  1.10884705, -0.16365337,-18.53846311,
   1.45135396,  0.22214815]

qfrc_actuator:
[ 9.12912675e-05,-7.76085534e-06, 2.34941618e-04, 5.05773957e-04,
 -5.18346377e-05,-2.72993091e-04,-4.40438194e-04, 3.20011716e-04,
  6.80750307e-05, 5.85885385e-04,-9.97096520e-05, 3.34766180e-04,
  7.17190939e-02,-4.53972888e-04, 4.98103858e-02,-3.68900365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000225158691809349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23271171e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23271171e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475526, -0.09307903,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61597747e-06, 5.90876637e-06, 2.09278966e-05,-1.04441731e-05,
 -6.51758384e-06, 9.50773433e-06, 2.01614721e-05, 1.26364941e-05,
  1.41312669e-05, 1.70106132e-05, 3.59315134e-05, 2.70322165e-05,
 -4.78699369e-04,-5.90541622e-05,-1.85210097e-04,-6.83038207e-05,
  1.58282733e-07,-5.68031343e-07,-1.21643707e+00, 1.08893099e-04,
  1.49312034e-03,-6.63296502e-07]


--- Step 223 ---
qpos:
[ 2.97842219e-03,-3.26126631e-03, 1.17293565e-02, 4.12798040e-02,
 -2.20218380e-03,-1.91308385e-03,-1.71661610e-02, 2.83789739e-02,
  5.77051316e-03, 1.63280756e-02,-9.21915067e-03, 2.57266142e-02,
  5.63068503e-01,-2.12295707e-03, 3.87637241e-01, 6.51533520e-02,
  9.50214086e-02,-7.00371950e-02, 1.21785347e-01, 9.99998675e-01,
  1.29708643e-04, 2.62374350e-04, 1.60148821e-03]

qacc:
[ -0.58132144,  0.11828794, -2.98179492, 11.60700537, -3.68240993,
  -1.8000495 ,  7.88692196,-13.64470831,  1.35612223, -1.62864549,
   8.07891902,-16.5213419 , -0.75238677, -0.77759138,  5.52953976,
 -23.55330678,  0.06973115,  1.1025804 , -0.22074476,-18.43350505,
   1.43650691,  0.2294339 ]

qfrc_actuator:
[ 8.79389431e-05,-3.14316793e-05, 2.42085439e-04, 5.30752414e-04,
 -7.33260561e-05,-2.50621124e-04,-4.09036978e-04, 3.07161324e-04,
  7.56338461e-05, 6.01413749e-04,-8.16456742e-05, 3.11883845e-04,
  7.15766959e-02,-4.88701584e-04, 4.97035169e-02,-3.83378126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002231515229093317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24379952e-13, -2.48759903e-13,  1.00000000e+00, -3.09407447e-26,
        1.00000000e+00,  2.48759903e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24379952e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475536, -0.09307967,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48212792e-06,-1.64985606e-05, 1.05483866e-05, 2.57308612e-05,
 -2.16752118e-05, 3.24286858e-05, 3.63212396e-05,-1.15046064e-05,
  7.97237842e-06, 3.35736910e-05, 2.69391873e-05,-2.03951855e-05,
 -4.87085506e-04,-9.60335890e-05,-2.01621161e-04,-1.73169847e-04,
  8.24811856e-07,-4.61705298e-07,-1.21643336e+00, 1.07161986e-04,
  1.49509456e-03,-6.41066348e-07]


--- Step 224 ---
qpos:
[ 2.98015797e-03,-3.26260375e-03, 1.17317596e-02, 4.12891529e-02,
 -2.20388457e-03,-1.91275027e-03,-1.71694844e-02, 2.83848662e-02,
  5.77247242e-03, 1.63307635e-02,-9.22219041e-03, 2.57318511e-02,
  5.64564298e-01,-2.12265341e-03, 3.89031013e-01, 6.51641786e-02,
  9.50261894e-02,-7.00242182e-02, 1.21783737e-01, 9.99998658e-01,
  2.06717391e-05, 3.04922390e-04, 1.60939872e-03]

qacc:
[ -0.48055674,  0.6982469 , -3.1091611 ,  6.60576633, -2.1530161 ,
  -1.94092282,  9.7135105 ,-20.11096898, -2.36759112, -0.46692038,
   3.09595875, -8.11873966, -1.84590637,  5.0175022 ,  5.34761339,
 -23.45260615,  0.07045227,  1.09766616, -0.26842764,-18.3516454 ,
   1.425763  ,  0.23380951]

qfrc_actuator:
[ 8.52519964e-05,-9.41763376e-06, 2.45253105e-04, 5.41774593e-04,
 -8.53863457e-05,-2.37325448e-04,-3.89013728e-04, 2.79287257e-04,
  6.14315156e-05, 5.91829160e-04,-8.75462269e-05, 2.96214855e-04,
  7.14321215e-02,-4.73678271e-04, 4.95892446e-02,-3.97770649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022032137561300846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51955359e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.51955359e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475541, -0.09308053,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79303710e-06, 1.60661223e-05, 1.91583569e-06, 1.11585454e-05,
 -1.26677713e-05, 3.84571013e-05, 3.08264862e-05,-2.54568968e-05,
 -1.39562612e-05, 1.38209096e-05, 3.64233175e-06,-1.37061438e-05,
 -4.99890277e-04,-4.97866556e-05,-2.27916886e-04,-1.80193481e-04,
  1.57745357e-06,-3.58919291e-07,-1.21642278e+00, 1.03612402e-04,
  1.49722649e-03,-5.29137187e-07]


--- Step 225 ---
qpos:
[ 2.98115794e-03,-3.26358514e-03, 1.17340873e-02, 4.12981873e-02,
 -2.20571647e-03,-1.91266698e-03,-1.71722982e-02, 2.83904337e-02,
  5.77424693e-03, 1.63329670e-02,-9.22502240e-03, 2.57376153e-02,
  5.66057292e-01,-2.12145519e-03, 3.90421809e-01, 6.51764999e-02,
  9.50283536e-02,-7.00149768e-02, 1.21782953e-01, 9.99998636e-01,
 -5.75385707e-05, 3.24171205e-04, 1.61820997e-03]

qacc:
[ -6.46757466,  0.0462537 ,  1.8655526 , -7.46884007, -1.13007022,
  -2.41974723,  9.523523  ,-15.77840627, -1.59660099, -0.13217431,
  -2.67892734, 11.82457756, -2.46641824,  8.41939793, -8.83593672,
  24.69399979, -0.65415015, -0.93383962,  0.20635027, 15.39439016,
 -11.67439227,  0.45531306]

qfrc_actuator:
[ 4.74728754e-05, 2.20038897e-05, 2.46216772e-04, 5.26773497e-04,
 -9.17943722e-05,-2.82879528e-04,-3.75910026e-04, 2.60538014e-04,
  5.22891484e-05, 5.31674161e-04,-8.98804121e-05, 3.20393874e-04,
  7.12916753e-02,-4.29475178e-04, 4.94706271e-02,-3.88914883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000221964889200163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50089784e-13,  2.50089784e-13,  1.00000000e+00,  6.25449001e-26,
        1.00000000e+00, -2.50089784e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50089784e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1091256 , -0.0516776 ,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78536565e-05, 4.12724334e-05, 4.86931175e-06,-1.40528306e-05,
 -6.75586147e-06,-1.87632613e-05, 2.39859746e-05,-1.65359364e-05,
 -9.53068975e-06,-5.23333803e-05, 4.90094420e-07, 2.46206512e-05,
 -4.99274262e-04,-1.95413766e-05,-2.43919656e-04, 4.88059504e-05,
  2.42065242e-06,-2.54061929e-07,-1.21640540e+00, 9.82523775e-05,
  1.49951571e-03,-3.27754589e-07]


--- Step 226 ---
qpos:
[ 2.98169757e-03,-3.26454505e-03, 1.17365267e-02, 4.13073467e-02,
 -2.20761120e-03,-1.91258366e-03,-1.71749847e-02, 2.83957281e-02,
  5.77589786e-03, 1.63348876e-02,-9.22759708e-03, 2.57432499e-02,
  5.67547682e-01,-2.12037118e-03, 3.91809474e-01, 6.51937128e-02,
  9.50279191e-02,-7.00094237e-02, 1.21782526e-01, 9.99998618e-01,
 -1.05299430e-04, 3.20480330e-04, 1.62799344e-03]

qacc:
[-4.03771594e+00,-1.88443964e-02,-4.04896099e-01, 2.35665350e+00,
 -5.47287429e-01,-9.16221930e-01, 4.42232714e+00,-9.35485232e+00,
 -1.06515004e+00,-1.35766611e+00, 4.84876436e+00,-7.29744082e+00,
 -1.21780326e+00, 1.84642464e+00,-1.93536038e+01, 6.10631395e+01,
 -6.49663488e-01,-9.22078451e-01, 8.91637857e-02, 1.52059866e+01,
 -1.14944952e+01, 4.90380358e-01]

qfrc_actuator:
[ 2.48468975e-05, 5.53046990e-06, 2.45909156e-04, 5.32100287e-04,
 -9.48277506e-05,-2.74589857e-04,-3.67228038e-04, 2.47256350e-04,
  4.62047854e-05, 5.30495685e-04,-7.25201480e-05, 3.14526569e-04,
  7.11591370e-02,-4.39474606e-04, 4.93548744e-02,-3.62880807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022616725590743347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90885836e-13, -2.45442918e-13,  1.00000000e+00, -1.20484452e-25,
        1.00000000e+00,  2.45442918e-13, -1.00000000e+00,  0.00000000e+00,
       -4.90885836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1091245, -0.0516784,  0.0619945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36903362e-05, 6.98177410e-06, 8.29547480e-06, 6.96789646e-06,
 -3.23276968e-06, 2.05821380e-06, 7.20863115e-06,-1.35837171e-05,
 -6.37161275e-06,-2.93445270e-05, 7.45902683e-06,-7.62461474e-06,
 -4.86989415e-04,-7.20190208e-05,-2.20986352e-04, 2.31748987e-04,
  1.79326015e-06,-2.52713450e-07,-1.21642357e+00, 9.43135548e-05,
  1.50038717e-03, 1.21572645e-07]


--- Step 227 ---
qpos:
[ 2.98230647e-03,-3.26561634e-03, 1.17393176e-02, 4.13164990e-02,
 -2.20952765e-03,-1.91247447e-03,-1.71775816e-02, 2.84011664e-02,
  5.77746289e-03, 1.63366895e-02,-9.22995864e-03, 2.57477159e-02,
  5.69035492e-01,-2.11969158e-03, 3.93194748e-01, 6.52108751e-02,
  9.50249011e-02,-7.00075200e-02, 1.21782062e-01, 9.99998606e-01,
 -1.22922380e-04, 2.94141890e-04, 1.63880249e-03]

qacc:
[ 6.21068864e-01,-1.14567380e+00, 3.89898880e+00,-4.49973783e+00,
 -1.87983619e-01, 8.05609064e-02,-8.44960178e-01, 3.17380088e+00,
 -7.41302546e-01,-3.15700863e+00, 1.59662289e+01,-3.64498923e+01,
 -9.44043954e-01, 2.62095367e-01,-3.36554659e+00, 6.67000518e+00,
 -6.45888610e-01,-9.12353730e-01,-9.33000968e-03, 1.50503344e+01,
 -1.13483537e+01, 5.16420607e-01]

qfrc_actuator:
[ 2.90843016e-05,-3.98250293e-06, 2.62434362e-04, 5.31557665e-04,
 -9.58521855e-05,-2.69649401e-04,-3.61020639e-04, 2.55086124e-04,
  4.19679418e-05, 5.29190138e-04,-6.12285018e-05, 2.55572147e-04,
  7.10207748e-02,-4.63591976e-04, 4.92196585e-02,-3.64219735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000228243845975723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86419697e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.86419697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10912383, -0.05167875,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56324509e-06,-3.62098650e-06, 1.91928460e-05, 1.56288348e-07,
 -1.11558615e-06, 7.01376462e-06, 7.06930443e-06, 7.89714960e-06,
 -4.42512764e-06,-1.65501692e-05, 5.88206353e-06,-6.01127836e-05,
 -4.90232487e-04,-8.81174746e-05,-2.09734296e-04,-2.88848400e-05,
  1.19559990e-06, 4.42958175e-08,-1.21643416e+00, 9.18493452e-05,
  1.50008714e-03, 3.80068942e-07]


--- Step 228 ---
qpos:
[ 2.98330587e-03,-3.26645789e-03, 1.17421438e-02, 4.13258962e-02,
 -2.21109634e-03,-1.91257705e-03,-1.71802650e-02, 2.84070445e-02,
  5.77896496e-03, 1.63384792e-02,-9.23250578e-03, 2.57514545e-02,
  5.70520638e-01,-2.11892234e-03, 3.94577938e-01, 6.52279770e-02,
  9.50193120e-02,-7.00092338e-02, 1.21781229e-01, 9.99998601e-01,
 -1.10662515e-04, 2.45391253e-04, 1.65067610e-03]

qacc:
[  3.42514832,  0.70310921, -3.11136151,  7.13705247,  3.05138111,
   0.86003425, -5.34009526, 13.25592497, -0.55519201, -0.99355991,
   6.59196905,-18.87589228, -1.53806326,  3.39540184, -2.85975047,
   5.61493713, -0.64277845, -0.90437607, -0.0920099 , 14.92286601,
 -11.23063552,  0.53529304]

qfrc_actuator:
[ 4.90942499e-05, 2.63103113e-05, 2.71022273e-04, 5.45328083e-04,
 -7.79346094e-05,-3.02249588e-04,-3.74063771e-04, 2.75274911e-04,
  3.88513604e-05, 5.27757240e-04,-7.13893943e-05, 2.19114374e-04,
  7.08843356e-02,-4.60338958e-04, 4.91367204e-02,-3.63931284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022860933769015823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42821014e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.42821014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10912351, -0.05167872,  0.06199444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01081393e-05, 3.22240748e-05, 1.01680491e-05, 1.42579663e-05,
  1.78876117e-05,-2.68655284e-05,-1.04332971e-05, 2.08810966e-05,
 -3.24275000e-06,-1.20931010e-05,-1.49366669e-05,-3.81416134e-05,
 -4.92760525e-04,-6.23377150e-05,-1.83231364e-04,-2.61451333e-05,
  6.06470825e-07, 6.42963482e-07,-1.21643745e+00, 9.08424456e-05,
  1.49862656e-03, 4.52522116e-07]


--- Step 229 ---
qpos:
[ 2.98488218e-03,-3.26692301e-03, 1.17447219e-02, 4.13350400e-02,
 -2.21209324e-03,-1.91285005e-03,-1.71827809e-02, 2.84127508e-02,
  5.78041809e-03, 1.63401300e-02,-9.23486898e-03, 2.57550628e-02,
  5.72003234e-01,-2.11812126e-03, 3.95958795e-01, 6.52420397e-02,
  9.50111618e-02,-7.00145392e-02, 1.21779751e-01, 9.99998599e-01,
 -6.87261748e-05, 1.74415781e-04, 1.66364180e-03]

qacc:
[  5.04960694,  0.65904658, -0.57551331, -3.6725614 ,  5.02333358,
  -1.05578876,  4.14624285, -7.24272796, -0.41890843, -0.96507878,
   3.72626481, -6.17458111, -1.44148527,  3.0234375 ,  5.75171848,
 -25.07026776, -0.64028301, -0.89789882, -0.16132618, 14.8197402 ,
 -11.13695593,  0.54845354]

qfrc_actuator:
[ 7.82187865e-05, 4.46847869e-05, 2.57270693e-04, 5.31931813e-04,
 -4.90126057e-05,-3.03888976e-04,-3.63011825e-04, 2.67020466e-04,
  3.64183544e-05, 5.26188931e-04,-5.86030881e-05, 2.13933261e-04,
  7.07651280e-02,-4.58748628e-04, 4.89893431e-02,-3.80416031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022761044365421368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.43886662e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.43886662e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10912347, -0.0516784 ,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97054192e-05, 3.90855445e-05,-5.39580202e-06,-1.14129459e-05,
  2.94220345e-05,-1.78944416e-05, 4.95888675e-06,-9.36806697e-06,
 -2.52417751e-06,-1.30904849e-05, 7.13098381e-06,-6.96470085e-06,
 -4.73969476e-04,-6.29384589e-05,-2.36632585e-04,-1.90653032e-04,
  9.63348796e-09, 1.54500139e-06,-1.21643367e+00, 9.12790232e-05,
  1.49601469e-03, 3.42625065e-07]


--- Step 230 ---
qpos:
[ 2.98679554e-03,-3.26713287e-03, 1.17469390e-02, 4.13429394e-02,
 -2.21308091e-03,-1.91291497e-03,-1.71847866e-02, 2.84185855e-02,
  5.78183066e-03, 1.63417738e-02,-9.23684600e-03, 2.57585491e-02,
  5.73483291e-01,-2.11726702e-03, 3.97336479e-01, 6.52544117e-02,
  9.50004581e-02,-7.00234154e-02, 1.21777396e-01, 9.99998589e-01,
  2.72257048e-06, 8.13620511e-05, 1.67771794e-03]

qacc:
[  2.94225511, -1.22367711, 10.09078861,-31.21742382,  0.09356874,
  -0.88647674,  3.01713766, -1.76177065, -0.34169601, -1.33920142,
   5.27773661, -8.00281159, -1.43888276,  3.05632432,  0.44715978,
  -8.30557767, -0.63835186, -0.89271168, -0.21936686, 14.73771958,
 -11.06370004,  0.55704112]

qfrc_actuator:
[ 9.47168457e-05, 3.79170249e-05, 2.30384790e-04, 4.67130796e-04,
 -4.93563475e-05,-2.51403262e-04,-3.19969441e-04, 2.77640982e-04,
  3.44066656e-05, 5.42423569e-04,-3.23437654e-05, 2.09459440e-04,
  7.06350419e-02,-4.58133964e-04, 4.88247029e-02,-3.88911775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022553627335841764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46129593e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.46129593e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10912364, -0.05167785,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73554852e-05, 1.34571834e-05,-1.99200383e-05,-6.35622858e-05,
  4.88827160e-07, 4.31389159e-05, 3.96516583e-05, 9.83515122e-06,
 -2.08507900e-06, 1.00524275e-05, 2.41945132e-05,-4.92968252e-06,
 -4.71815742e-04,-6.16445100e-05,-2.94777285e-04,-1.26335485e-04,
 -6.07843711e-07, 2.74862908e-06,-1.21642299e+00, 9.31481350e-05,
  1.49225925e-03, 5.31788544e-08]


--- Step 231 ---
qpos:
[ 2.98854717e-03,-3.26724423e-03, 1.17488841e-02, 4.13496700e-02,
 -2.21440997e-03,-1.91229983e-03,-1.71870609e-02, 2.84248392e-02,
  5.78355273e-03, 1.63439053e-02,-9.23897539e-03, 2.57615821e-02,
  5.74960700e-01,-2.11600349e-03, 3.98711040e-01, 6.52672131e-02,
  9.49884757e-02,-7.00318422e-02, 1.21776351e-01, 9.99998566e-01,
  7.05661456e-05,-2.15804479e-05, 1.69200212e-03]

qacc:
[ -1.43068654, -1.51557638, 10.5281386 ,-30.39506978, -3.01424637,
   2.51638005, -9.42738023, 16.59500235,  2.68628196,  0.13212517,
   2.3694036 ,-10.32101469, -1.87134743,  5.25289413, -5.85861473,
  13.90965178, -0.31969921,  0.11237118,  0.32770216, -1.81088622,
  -4.94135248,  0.10389789]

qfrc_actuator:
[ 8.58954665e-05, 3.37871516e-05, 2.13582945e-04, 4.08084297e-04,
 -6.69257001e-05,-2.02258078e-04,-3.29153217e-04, 2.99354944e-04,
  5.04115928e-05, 5.87016376e-04,-3.37816951e-05, 1.87701218e-04,
  7.04931937e-02,-4.40386131e-04, 4.87031225e-02,-3.85526344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022256902227497545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49410950e-13,  1.38937113e-07,  1.00000000e+00,  3.46524373e-20,
        1.00000000e+00, -1.38937113e-07, -1.00000000e+00,  0.00000000e+00,
       -2.49410950e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198256, -0.07226183,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.32207731e-06,-3.47788036e-06,-1.87189299e-05,-6.04198657e-05,
 -1.75423744e-05, 8.18931308e-05, 4.96258477e-06, 2.51176318e-05,
  1.59517720e-05, 5.49602122e-05, 3.44568004e-06,-2.05928909e-05,
 -4.81993015e-04,-4.42937016e-05,-2.67934656e-04,-1.06290795e-05,
 -1.25680655e-06, 4.24909891e-06,-1.21640554e+00, 9.64412658e-05,
  1.48736654e-03,-4.13746911e-07]


--- Step 232 ---
qpos:
[ 2.98983446e-03,-3.26711292e-03, 1.17507883e-02, 4.13556053e-02,
 -2.21559421e-03,-1.91114644e-03,-1.71896430e-02, 2.84309800e-02,
  5.78579821e-03, 1.63464957e-02,-9.24113303e-03, 2.57643254e-02,
  5.76435504e-01,-2.11449236e-03, 4.00082948e-01, 6.52798553e-02,
  9.49766875e-02,-7.00356808e-02, 1.21775688e-01, 9.99998532e-01,
  1.00437069e-04,-1.21174713e-04, 1.70613989e-03]

qacc:
[ -4.08181431, -1.1960928 ,  8.09810814,-21.98503289,  1.25126093,
   1.3358907 , -3.25842119,  1.40329612,  4.55675272,  0.07998819,
   1.80262253, -7.09318613, -1.68319086,  4.26441342, -3.39746596,
   6.28670639,  0.04857335,  1.14704118,  0.09552323,-18.98346748,
   1.70623417, -0.07290736]

qfrc_actuator:
[ 6.22464030e-05, 6.67999437e-05, 2.20639706e-04, 3.70665552e-04,
 -5.89782193e-05,-1.91177696e-04,-3.51345180e-04, 2.91877850e-04,
  7.68926595e-05, 6.12626738e-04,-3.37012759e-05, 1.73705084e-04,
  7.03603669e-02,-4.30488414e-04, 4.85915102e-02,-3.85808173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002267484355936017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.44813822e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.44813822e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476073, -0.09308044,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38869852e-05, 2.45711541e-05, 1.90417775e-06,-3.94107125e-05,
  7.47479837e-06, 5.89605793e-05,-3.78999328e-06,-3.31657269e-06,
  2.69633326e-05, 5.61256880e-05, 1.11394147e-05,-1.19295034e-05,
 -4.77783459e-04,-5.26051083e-05,-2.33639270e-04,-3.76057602e-05,
 -8.81817080e-07, 4.70419253e-06,-1.21640192e+00, 9.96875688e-05,
  1.48230169e-03,-6.49151111e-07]


--- Step 233 ---
qpos:
[ 2.99117321e-03,-3.26689643e-03, 1.17527555e-02, 4.13617485e-02,
 -2.21632885e-03,-1.91000917e-03,-1.71919045e-02, 2.84363212e-02,
  5.78834392e-03, 1.63495047e-02,-9.24303121e-03, 2.57675549e-02,
  5.77907756e-01,-2.11284121e-03, 4.01452613e-01, 6.52915783e-02,
  9.49651071e-02,-7.00349843e-02, 1.21775008e-01, 9.99998492e-01,
  9.26967872e-05,-2.17596043e-04, 1.72032630e-03]

qacc:
[ 4.52425620e-01, 3.64163407e-01,-2.01410438e+00, 5.45140099e+00,
  3.95343437e+00,-2.56853901e+00, 1.24908467e+01,-2.68141944e+01,
  2.62011897e+00, 8.24087912e-01,-4.19761906e+00, 1.19005072e+01,
 -1.54931441e+00, 3.59974287e+00,-5.02563582e-01,-2.97214319e+00,
  5.19338081e-02, 1.13377594e+00,-4.47390131e-03,-1.88028648e+01,
  1.61855228e+00, 2.64468914e-02]

qfrc_actuator:
[ 6.55732829e-05, 6.86568504e-05, 2.24136602e-04, 3.81822613e-04,
 -3.60702923e-05,-2.20819033e-04,-3.45690266e-04, 2.49497799e-04,
  9.15690563e-05, 6.44434147e-04,-1.50203892e-05, 1.99889214e-04,
  7.02330443e-02,-4.25302793e-04, 4.84966006e-02,-3.90023925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022884425858411828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476153, -0.09308011,  0.06199444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65316101e-06, 1.42495702e-05, 7.40558139e-06, 1.14912588e-05,
  2.31418511e-05, 2.38160220e-06, 1.72545984e-05,-4.00598379e-05,
  1.54753764e-05, 6.49248519e-05, 3.12237390e-05, 2.87348495e-05,
 -4.70162254e-04,-5.75357730e-05,-2.06109073e-04,-7.44894759e-05,
  4.25866887e-07, 3.97871970e-06,-1.21641288e+00, 1.01192965e-04,
  1.47773085e-03,-4.87860400e-07]


--- Step 234 ---
qpos:
[ 2.99254142e-03,-3.26699715e-03, 1.17552282e-02, 4.13679985e-02,
 -2.21643783e-03,-1.90925861e-03,-1.71941683e-02, 2.84415295e-02,
  5.79035657e-03, 1.63527599e-02,-9.24459623e-03, 2.57710896e-02,
  5.79377482e-01,-2.11109959e-03, 4.02819740e-01, 6.53013880e-02,
  9.49537442e-02,-7.00297958e-02, 1.21773974e-01, 9.99998446e-01,
  4.76408604e-05,-3.10987739e-04, 1.73472062e-03]

qacc:
[  0.27990908, -1.61344613,  4.69342463, -3.42249663,  5.49412551,
  -0.78853622,  2.61237586, -4.6026975 , -4.64331827,  0.03165799,
  -0.91392435,  5.46604788, -1.49007622,  3.3004108 ,  2.05607978,
 -12.56937989,  0.05437919,  1.12298069, -0.0883811 ,-18.65516565,
   1.54692097,  0.10787686]

qfrc_actuator:
[ 6.70030276e-05, 3.41280362e-05, 2.43162643e-04, 3.85934719e-04,
 -4.54881573e-06,-2.74554343e-04,-3.59337615e-04, 2.40165668e-04,
  6.36712057e-05, 6.44311168e-04,-3.20826398e-06, 2.14016124e-04,
  7.01037875e-02,-4.22935897e-04, 4.83585132e-02,-4.00068199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022921554390861743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21089413e-13,  4.84357651e-13,  1.00000000e+00,  5.86505836e-26,
        1.00000000e+00, -4.84357651e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21089413e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476214, -0.09308022,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50560401e-06,-2.45864040e-05, 2.32384056e-05, 5.18350185e-06,
  3.21828991e-05,-5.05749568e-05,-1.24158106e-05,-9.42308112e-06,
 -2.74258795e-05, 4.37840132e-05, 3.00451606e-05, 1.85389831e-05,
 -4.67163673e-04,-5.99006682e-05,-2.42366008e-04,-1.31669170e-04,
  1.70456517e-06, 3.32697982e-06,-1.21641646e+00, 1.00829416e-04,
  1.47330688e-03,-2.40710232e-07]


--- Step 235 ---
qpos:
[ 2.99357102e-03,-3.26715883e-03, 1.17575784e-02, 4.13742598e-02,
 -2.21616786e-03,-1.90893585e-03,-1.71968416e-02, 2.84473107e-02,
  5.79167523e-03, 1.63556157e-02,-9.24595579e-03, 2.57752045e-02,
  5.80844627e-01,-2.10926735e-03, 4.04184350e-01, 6.53091777e-02,
  9.49454319e-02,-7.00262504e-02, 1.21774209e-01, 9.99998402e-01,
  1.69774170e-05,-3.79285129e-04, 1.74719241e-03]

qacc:
[ -2.9750024 ,  0.29139347, -1.19367438,  1.62036796,  3.31876339,
   1.74997795, -9.49036774, 20.38467805, -6.03991229,  0.10404535,
  -3.56633685, 13.5516486 , -1.52431338,  3.36677045,  2.41104458,
 -13.76254793,  0.76264678, -0.41075348,  0.31717001,  7.21769739,
  12.5346051 , -0.9640951 ]

qfrc_actuator:
[ 4.95432910e-05, 3.13939900e-05, 2.35533234e-04, 3.85838029e-04,
  1.40322772e-05,-3.06863713e-04,-3.84371778e-04, 2.68068008e-04,
  2.86946400e-05, 5.71777075e-04,-1.34475040e-05, 2.38647874e-04,
  6.99628081e-02,-4.22266690e-04, 4.82425587e-02,-4.09922882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023155693152308865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39730035e-13,  4.79460069e-13,  1.00000000e+00, -1.14940979e-25,
        1.00000000e+00, -4.79460069e-13, -1.00000000e+00,  0.00000000e+00,
        2.39730035e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187883, -0.06174616,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74300244e-05,-1.15037740e-05,-9.70937868e-06,-2.64406681e-07,
  1.94816548e-05,-6.35603363e-05,-3.73312927e-05, 2.51123347e-05,
 -3.57399393e-05,-4.11597301e-05, 3.12263287e-06, 2.78983488e-05,
 -4.77188691e-04,-6.14968843e-05,-2.41673107e-04,-1.37248227e-04,
  3.00339510e-06, 2.73084525e-06,-1.21641286e+00, 9.86145743e-05,
  1.46903599e-03, 9.34494287e-08]


--- Step 236 ---
qpos:
[ 2.99438329e-03,-3.26723704e-03, 1.17591785e-02, 4.13808416e-02,
 -2.21602181e-03,-1.90925202e-03,-1.71994072e-02, 2.84530273e-02,
  5.79256452e-03, 1.63579563e-02,-9.24780292e-03, 2.57789569e-02,
  5.82309177e-01,-2.10738220e-03, 4.05545856e-01, 6.53154219e-02,
  9.49401285e-02,-7.00243437e-02, 1.21775300e-01, 9.99998366e-01,
  4.77271961e-07,-4.22713718e-04, 1.75785024e-03]

qacc:
[ -1.93259459,  2.87185484,-11.42415376, 18.09946947, -1.07270543,
  -1.27539216,  3.59853594, -4.42077422, -3.75184561, -0.05731951,
   0.76017553, -5.89109021, -1.4802999 ,  3.11157466,  0.11399141,
  -6.98548759,  0.75222074, -0.40967246,  0.21399662,  7.10301906,
  12.42199361, -0.90988666]

qfrc_actuator:
[ 3.88587666e-05, 2.98548085e-05, 1.94583803e-04, 4.01021298e-04,
  7.09293443e-06,-3.43874397e-04,-3.80324672e-04, 2.64400638e-04,
  7.59763808e-06, 5.09601332e-04,-5.46757701e-05, 2.15927572e-04,
  6.98255426e-02,-4.22652432e-04, 4.80813897e-02,-4.17801347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023362194895941435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37611027e-13, -2.37611027e-13,  1.00000000e+00, -5.64590002e-26,
        1.00000000e+00,  2.37611027e-13, -1.00000000e+00,  0.00000000e+00,
       -2.37611027e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187885, -0.0617468 ,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11876854e-05,-1.00338876e-05,-4.45705329e-05, 1.43310498e-05,
 -6.40577344e-06,-7.91748067e-05,-1.27972890e-05,-7.20272973e-06,
 -2.21285564e-05,-8.34569155e-05,-4.84043427e-05,-2.38439537e-05,
 -4.80763515e-04,-6.41592058e-05,-2.87303589e-04,-1.17729708e-04,
  1.69846160e-06, 1.82026324e-06,-1.21642585e+00, 9.73729723e-05,
  1.46549845e-03, 2.55975105e-08]


--- Step 237 ---
qpos:
[ 2.99540585e-03,-3.26712206e-03, 1.17598702e-02, 4.13882415e-02,
 -2.21596010e-03,-1.90999371e-03,-1.72016788e-02, 2.84579240e-02,
  5.79353839e-03, 1.63600947e-02,-9.24996181e-03, 2.57816653e-02,
  5.83771283e-01,-2.10615450e-03, 4.06903507e-01, 6.53256424e-02,
  9.49377999e-02,-7.00240717e-02, 1.21776900e-01, 9.99998342e-01,
 -2.04517757e-06,-4.41460627e-04, 1.76678025e-03]

qacc:
[  1.81443861,  4.47780926,-19.05134767, 34.52270363, -0.72370542,
  -3.06807357, 13.58832969,-27.93594162,  0.73080428, -1.5463191 ,
   9.53109279,-26.94865183, -0.54798013, -1.54289091,-17.68431816,
  53.6077138 ,  0.74372147, -0.40867453,  0.12753548,  7.01016449,
  12.32853635, -0.86688062]

qfrc_actuator:
[ 5.00061763e-05, 4.66651358e-05, 1.52071539e-04, 4.42811527e-04,
  2.94526655e-06,-3.47818357e-04,-3.59182112e-04, 2.24447031e-04,
  1.25939701e-05, 5.24926657e-04,-6.06286959e-05, 1.65506745e-04,
  6.97012512e-02,-4.59174951e-04, 4.79305158e-02,-3.96056513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023394299357541726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37284949e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.37284949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187862, -0.06174717,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08237917e-05, 2.56996628e-06,-4.96114474e-05, 4.00793423e-05,
 -4.35706895e-06,-5.11438575e-05, 2.98431677e-06,-4.39357171e-05,
  4.34217405e-06,-4.24411307e-05,-2.99915008e-05,-5.61445728e-05,
 -4.70779512e-04,-1.01082530e-04,-2.93351299e-04, 1.74301678e-04,
  7.45563721e-07, 1.05441504e-06,-1.21643455e+00, 9.67727859e-05,
  1.46322584e-03,-2.94479126e-08]


--- Step 238 ---
qpos:
[ 2.99655404e-03,-3.26710836e-03, 1.17604040e-02, 4.13960698e-02,
 -2.21594901e-03,-1.91068409e-03,-1.72039165e-02, 2.84622596e-02,
  5.79490915e-03, 1.63621897e-02,-9.25206904e-03, 2.57840468e-02,
  5.85230919e-01,-2.10564937e-03, 4.08258168e-01, 6.53398761e-02,
  9.49384188e-02,-7.00254308e-02, 1.21778722e-01, 9.99998331e-01,
  9.26081824e-06,-4.35679075e-04, 1.77405084e-03]

qacc:
[  1.09984102,  1.1884117 , -6.2419368 , 13.98440052, -0.4442111 ,
  -1.18028733,  6.67828791,-16.4842672 ,  3.46402898, -0.88160885,
   4.42868075,-10.12462409, -0.50094766, -1.85684201,-16.52050195,
  51.38878965,  0.73685404, -0.40780357,  0.05522602,  6.93551314,
  12.25199953, -0.83274726]

qfrc_actuator:
[ 5.61594281e-05, 3.88367909e-05, 1.44585144e-04, 4.64434827e-04,
  4.82581916e-07,-3.14127478e-04,-3.45764341e-04, 1.99008067e-04,
  3.29041052e-05, 5.51140412e-04,-4.53972101e-05, 1.52549849e-04,
  6.95688468e-02,-4.98937694e-04, 4.78232790e-02,-3.74780693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023287484047893048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76746660e-13, -2.38373330e-13,  1.00000000e+00, -1.13643689e-25,
        1.00000000e+00,  2.38373330e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76746660e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818782 , -0.06174732,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.46023874e-06,-1.49500697e-05,-1.17066684e-05, 2.07779185e-05,
 -2.60301519e-06, 3.86598534e-06, 1.72572789e-06,-2.83865811e-05,
  2.04284284e-05,-6.17441007e-06, 8.22947631e-07,-1.69120704e-05,
 -4.76233194e-04,-1.05673702e-04,-2.18119712e-04, 1.85544772e-04,
  1.20752930e-07, 4.13462958e-07,-1.21643910e+00, 9.68104103e-05,
  1.46220503e-03,-7.30293505e-08]


--- Step 239 ---
qpos:
[ 2.99742226e-03,-3.26737985e-03, 1.17612651e-02, 4.14030499e-02,
 -2.21596777e-03,-1.91115205e-03,-1.72058616e-02, 2.84669059e-02,
  5.79616787e-03, 1.63643392e-02,-9.25408357e-03, 2.57865830e-02,
  5.86687884e-01,-2.10458290e-03, 4.09611199e-01, 6.53520667e-02,
  9.49419632e-02,-7.00284184e-02, 1.21780524e-01, 9.99998334e-01,
  3.42764618e-05,-4.05492255e-04, 1.77971637e-03]

qacc:
[-2.44285571e+00,-3.03557140e+00, 1.38619278e+01,-2.88588306e+01,
 -2.56142673e-01, 1.16167417e-01,-1.29874747e+00, 6.04357711e+00,
 -9.75191876e-01, 1.33365340e-01,-1.02064789e+00, 3.50571367e+00,
 -2.11249306e+00, 6.29075091e+00, 3.81227719e+00,-1.67057490e+01,
  7.31372543e-01,-4.07086786e-01,-5.11392273e-03, 6.87611085e+00,
  1.21904478e+01,-8.05637096e-01]

qfrc_actuator:
[ 4.15640878e-05, 1.64424431e-05, 1.57727164e-04, 4.20762566e-04,
 -9.69087996e-07,-2.75914946e-04,-3.19086339e-04, 2.17852438e-04,
  2.65511185e-05, 5.66056775e-04,-3.54464222e-05, 1.61771888e-04,
  6.94369906e-02,-4.69305965e-04, 4.77369595e-02,-3.85903767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002307135791770193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.81212692e-13, -2.40606346e-13,  1.00000000e+00, -1.15782827e-25,
        1.00000000e+00,  2.40606346e-13, -1.00000000e+00,  0.00000000e+00,
       -4.81212692e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187763, -0.0617473 ,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44190752e-05,-3.23080516e-05, 9.30580707e-06,-4.43324535e-05,
 -1.52340263e-06, 3.95550690e-05, 2.67316687e-05, 1.85142655e-05,
 -5.76399888e-06, 1.08637760e-05, 8.18697392e-06, 8.65090738e-06,
 -4.79811289e-04,-3.75916021e-05,-1.65284577e-04,-1.29061776e-04,
 -1.93177366e-07,-1.17661053e-07,-1.21643961e+00, 9.74826057e-05,
  1.46242558e-03,-1.06147885e-07]


--- Step 240 ---
qpos:
[ 2.99810872e-03,-3.26780317e-03, 1.17625311e-02, 4.14090842e-02,
 -2.21565883e-03,-1.91139415e-03,-1.72077741e-02, 2.84721038e-02,
  5.79734121e-03, 1.63661091e-02,-9.25523139e-03, 2.57895569e-02,
  5.88142223e-01,-2.10281654e-03, 4.10962498e-01, 6.53617886e-02,
  9.49484158e-02,-7.00330321e-02, 1.21782103e-01, 9.99998345e-01,
  7.29085837e-05,-3.50996702e-04, 1.78382011e-03]

qacc:
[ -1.58073788, -3.27899464, 15.3943276 ,-32.29903053,  2.8717161 ,
   1.33627959, -6.67096325, 16.01052056, -0.71093341, -2.02150684,
   4.63375862,  1.83452256, -2.24612222,  7.06477319,  4.95047138,
 -20.89520508,  0.72707173, -0.40653939, -0.05534532,  6.82954229,
  12.14220452, -0.78408084]

qfrc_actuator:
[ 3.26275780e-05, 2.10381759e-05, 1.82824158e-04, 3.74523424e-04,
  1.59379461e-05,-2.70686333e-04,-3.20229658e-04, 2.44866786e-04,
  2.23030610e-05, 5.38608775e-04, 6.77950740e-06, 1.83950467e-04,
  6.93108962e-02,-4.34537685e-04, 4.76525241e-02,-3.98268437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022770555702637807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43784789e-13, -2.43784789e-13,  1.00000000e+00, -5.94310235e-26,
        1.00000000e+00,  2.43784789e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43784789e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187694, -0.06174715,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.35837733e-06,-1.34714243e-05, 1.80129873e-05,-4.81805221e-05,
  1.68755667e-05, 3.36916355e-05, 1.09783641e-05, 2.99898095e-05,
 -4.40491897e-06,-1.93690040e-05, 4.57720049e-05, 2.30903017e-05,
 -4.67850205e-04,-2.86366233e-05,-1.78650624e-04,-1.53271859e-04,
 -2.08052808e-07,-5.50632340e-07,-1.21643615e+00, 9.87865576e-05,
  1.46387928e-03,-1.29531016e-07]


--- Step 241 ---
qpos:
[ 2.99902743e-03,-3.26826041e-03, 1.17640538e-02, 4.14141665e-02,
 -2.21514927e-03,-1.91191848e-03,-1.72094058e-02, 2.84772885e-02,
  5.79879923e-03, 1.63678602e-02,-9.25619073e-03, 2.57920833e-02,
  5.89594016e-01,-2.10061135e-03, 4.12310958e-01, 6.53723580e-02,
  9.49577636e-02,-7.00392704e-02, 1.21783295e-01, 9.99998360e-01,
  1.25085690e-04,-2.72265201e-04, 1.78639655e-03]

qacc:
[  2.04687945, -2.72877138, 13.67296367,-30.52281819,  1.7733309 ,
  -1.188085  ,  3.74492379, -4.20791436,  2.48908334, -1.47767125,
   7.11393991,-15.13776736, -1.86603806,  5.2435634 , -6.69928876,
  17.46612965,  0.72378014, -0.40616804, -0.09705564,  6.793829  ,
  12.10581795, -0.76691041]

qfrc_actuator:
[ 4.48527836e-05, 2.40560464e-05, 1.97133025e-04, 3.27181041e-04,
  2.57619777e-05,-3.20845729e-04,-3.20170201e-04, 2.40912600e-04,
  3.70887522e-05, 5.39412410e-04, 1.43015255e-05, 1.60300136e-04,
  6.91830251e-02,-4.14803194e-04, 4.75160290e-02,-3.93501148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022405500213508456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.47756804e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.47756804e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187616, -0.06174689,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19541091e-05,-2.87693466e-06, 1.20540777e-05,-4.82491221e-05,
  1.03151085e-05,-2.77407371e-05, 9.42157982e-06,-1.55433242e-06,
  1.46548882e-05, 3.61609262e-07, 9.94528633e-06,-2.24548533e-05,
 -4.59977196e-04,-4.16588888e-05,-2.38982415e-04, 1.51155282e-05,
  6.86668250e-08,-8.94766099e-07,-1.21642880e+00, 1.00719902e-04,
  1.46655982e-03,-1.43685450e-07]


--- Step 242 ---
qpos:
[ 3.00043021e-03,-3.26848360e-03, 1.17653327e-02, 4.14186417e-02,
 -2.21452568e-03,-1.91278807e-03,-1.72109141e-02, 2.84820603e-02,
  5.80076769e-03, 1.63701542e-02,-9.25758249e-03, 2.57942773e-02,
  5.91043175e-01,-2.09746196e-03, 4.13657044e-01, 6.53836198e-02,
  9.49673825e-02,-7.00410329e-02, 1.21784219e-01, 9.99998371e-01,
  1.39738407e-04,-1.90852259e-04, 1.78967025e-03]

qacc:
[  4.2369471 , -0.26852416,  3.95272897,-14.22325876,  1.00967259,
  -1.651374  ,  6.96629177,-14.05060078,  4.42935162,  1.23303328,
  -1.96685852, -3.47861361, -2.48296422,  8.33076565, -5.52118488,
  14.40053054,  0.06777652,  1.11897202, -0.06691389,-18.75967338,
   1.37427806,  0.35357092]

qfrc_actuator:
[ 6.94336950e-05, 4.38226376e-05, 1.87202637e-04, 2.97313940e-04,
  3.13321999e-05,-3.50562301e-04,-3.19650424e-04, 2.18721507e-04,
  6.29587796e-05, 5.92463278e-04, 1.33276566e-06, 1.45367904e-04,
  6.90488496e-02,-3.68602612e-04, 4.74230213e-02,-3.89339140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002224509922009732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.74314927e-13,  2.49543284e-13,  1.00000000e+00,  9.34077762e-26,
        1.00000000e+00, -2.49543284e-13, -1.00000000e+00,  0.00000000e+00,
       -3.74314927e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476426, -0.09308254,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49207978e-05, 1.85695123e-05,-1.07347408e-05,-3.05268554e-05,
  5.85424073e-06,-4.33195005e-05,-4.09015758e-06,-2.30913948e-05,
  2.62957935e-05, 5.42970399e-05,-1.24600500e-05,-1.50173572e-05,
 -4.62396791e-04,-1.51560466e-05,-2.00452170e-04, 1.16325753e-05,
  6.33129072e-07,-1.15779345e-06,-1.21641757e+00, 1.03280729e-04,
  1.47046246e-03,-1.48938284e-07]


--- Step 243 ---
qpos:
[ 3.00211680e-03,-3.26859405e-03, 1.17667613e-02, 4.14230571e-02,
 -2.21418514e-03,-1.91377086e-03,-1.72127933e-02, 2.84868791e-02,
  5.80268650e-03, 1.63726791e-02,-9.25882090e-03, 2.57973100e-02,
  5.92489850e-01,-2.09407672e-03, 4.15001007e-01, 6.53929188e-02,
  9.49772746e-02,-7.00383517e-02, 1.21784585e-01, 9.99998379e-01,
  1.17158636e-04,-1.06765298e-04, 1.79361812e-03]

qacc:
[  2.49411145, -0.39753395,  1.8769696 , -3.22339867, -2.49229086,
   0.98753902, -3.92846793,  5.40850354, -0.4316945 ,  1.60397143,
  -8.81617292, 22.91539204, -1.65055782,  4.11858628,  2.82587121,
 -14.35267918,  0.06832222,  1.11092574, -0.13948762,-18.61375651,
   1.37037153,  0.34045727]

qfrc_actuator:
[ 8.33306990e-05, 5.56314518e-05, 1.98631781e-04, 2.95720512e-04,
  1.66038504e-05,-3.50084622e-04,-3.36561758e-04, 2.21498479e-04,
  5.96345150e-05, 6.05297865e-04, 1.21202899e-05, 1.88988299e-04,
  6.89216426e-02,-3.60461167e-04, 4.73082342e-02,-3.99760791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002221643392678746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24932632e-13,  2.49865264e-13,  1.00000000e+00, -3.12163250e-26,
        1.00000000e+00, -2.49865264e-13, -1.00000000e+00,  0.00000000e+00,
        1.24932632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476428, -0.09308265,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46134932e-05, 1.86553535e-05, 1.28614845e-05,-1.77734102e-06,
 -1.45754756e-05,-2.55402883e-05,-2.71450074e-05, 3.23980933e-07,
 -2.54421819e-06, 3.99242034e-05, 1.99345051e-05, 4.52162403e-05,
 -4.53488414e-04,-5.20022510e-05,-2.07018571e-04,-1.29935424e-04,
  8.90655372e-07,-8.53472211e-07,-1.21642279e+00, 1.04040862e-04,
  1.47452284e-03,-3.56578754e-07]


--- Step 244 ---
qpos:
[ 3.00395715e-03,-3.26873070e-03, 1.17683839e-02, 4.14274334e-02,
 -2.21436884e-03,-1.91460131e-03,-1.72152758e-02, 2.84913300e-02,
  5.80420633e-03, 1.63751108e-02,-9.25972818e-03, 2.58005257e-02,
  5.93934208e-01,-2.09156350e-03, 4.16342073e-01, 6.53990040e-02,
  9.49874424e-02,-7.00312527e-02, 1.21784150e-01, 9.99998381e-01,
  5.75807132e-05,-2.00065393e-05, 1.79821652e-03]

qacc:
[  1.35617474, -0.66044416,  2.46510633, -3.42894025, -4.61998173,
   1.13869333, -2.19859207, -3.33518448, -3.46806211, -0.66517417,
   1.43240587,  1.26034637, -0.33998866, -2.52360644,  5.40967581,
 -25.17796316,  0.06890751,  1.10444486, -0.20024202,-18.49661468,
   1.36911437,  0.32708568]

qfrc_actuator:
[ 9.08239683e-05, 4.49406340e-05, 2.04827999e-04, 2.93034114e-04,
 -9.95218185e-06,-3.31584346e-04,-3.63487079e-04, 2.03456284e-04,
  3.91495902e-05, 5.76344881e-04, 1.89961549e-05, 1.95691596e-04,
  6.87933723e-02,-4.10329798e-04, 4.71325102e-02,-4.16919550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022071220853736584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25754601e-13,  2.51509201e-13,  1.00000000e+00,  3.16284391e-26,
        1.00000000e+00, -2.51509201e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25754601e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476428, -0.0930831 ,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.91357129e-06, 2.29894253e-06, 1.15446125e-05,-1.49055776e-06,
 -2.69793149e-05,-1.33296611e-06,-3.55099188e-05,-2.00734452e-05,
 -2.05392776e-05,-6.50182675e-07, 1.91229026e-05, 9.97479798e-06,
 -4.53119857e-04,-1.11427484e-04,-2.87051061e-04,-2.06115337e-04,
  1.27455878e-06,-5.53569303e-07,-1.21642091e+00, 1.02963992e-04,
  1.47874569e-03,-4.72130486e-07]


--- Step 245 ---
qpos:
[ 3.00587315e-03,-3.26892418e-03, 1.17700912e-02, 4.14321003e-02,
 -2.21452470e-03,-1.91524716e-03,-1.72178857e-02, 2.84958376e-02,
  5.80512436e-03, 1.63771605e-02,-9.26061107e-03, 2.58035110e-02,
  5.95376139e-01,-2.08990841e-03, 4.17680083e-01, 6.54048708e-02,
  9.49978883e-02,-7.00197564e-02, 1.21782711e-01, 9.99998371e-01,
 -3.88108484e-05, 6.94262660e-05, 1.80344131e-03]

qacc:
[  0.66780213,  0.28568823, -2.35589024,  7.29343427,  0.23702591,
   0.71580963, -2.43851896,  3.48794638, -5.24203747, -1.03703205,
   3.95519203, -7.71834154, -0.38251963, -2.43996497, -3.85866154,
   6.92017461,  0.06953154,  1.09931954, -0.25103979,-18.40437889,
   1.37013867,  0.31349316]

qfrc_actuator:
[ 9.44915356e-05, 3.85965239e-05, 2.07780301e-04, 3.07447915e-04,
 -7.74514416e-06,-3.02490769e-04,-3.60534640e-04, 2.08824026e-04,
  8.73746183e-06, 5.22551020e-04, 5.53328699e-06, 1.80564941e-04,
  6.86538867e-02,-4.58485691e-04, 4.70162344e-02,-4.16613814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021834769320905334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54232827e-13,  1.01693131e-12,  1.00000000e+00,  2.58537321e-25,
        1.00000000e+00, -1.01693131e-12, -1.00000000e+00,  0.00000000e+00,
       -2.54232827e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476426, -0.0930838 ,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89126953e-06,-2.76465299e-06, 4.76817186e-06, 1.48689771e-05,
  1.43983795e-06, 2.01931295e-05,-2.36156894e-06, 3.68984818e-06,
 -3.09948401e-05,-4.98668532e-05,-1.09192651e-05,-1.43081460e-05,
 -4.72186146e-04,-1.13720669e-04,-2.68993428e-04,-4.50989818e-05,
  1.78024637e-06,-2.55198162e-07,-1.21641209e+00, 1.00061562e-04,
  1.48312895e-03,-4.96276249e-07]


--- Step 246 ---
qpos:
[ 3.00747318e-03,-3.26894736e-03, 1.17714388e-02, 4.14372504e-02,
 -2.21499787e-03,-1.91601464e-03,-1.72203717e-02, 2.85010864e-02,
  5.80567071e-03, 1.63788888e-02,-9.26219344e-03, 2.58063355e-02,
  5.96815474e-01,-2.08813249e-03, 4.19015565e-01, 6.54105602e-02,
  9.50056865e-02,-7.00119983e-02, 1.21782200e-01, 9.99998348e-01,
 -1.04274833e-04, 1.35547468e-04, 1.80963276e-03]

qacc:
[ -2.78747701,  2.2321193 , -9.66019432, 18.45888505, -2.77660552,
   1.02326907, -7.00273565, 19.71283063, -3.25834135,  1.20558802,
  -4.22534682,  2.78623659, -1.56688795,  3.47083684, -3.16102621,
   5.72115033, -0.66194783, -0.93455436,  0.23177525, 15.44270928,
 -11.68368885,  0.48396985]

qfrc_actuator:
[ 7.81276589e-05, 5.26541851e-05, 1.91065266e-04, 3.31807663e-04,
 -2.41279097e-05,-3.20392313e-04,-3.57642794e-04, 2.45712895e-04,
 -9.51594495e-06, 4.89684041e-04,-3.77111862e-05, 1.70433021e-04,
  6.85237427e-02,-4.52021121e-04, 4.69197687e-02,-4.16651934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021849824688527364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54057650e-13,  2.54057650e-13,  1.00000000e+00,  6.45452898e-26,
        1.00000000e+00, -2.54057650e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54057650e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911889, -0.05167394,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62568747e-05, 1.41053955e-05,-1.62145141e-05, 2.46814377e-05,
 -1.63347361e-05,-6.89472467e-06, 6.92766045e-06, 3.77414820e-05,
 -1.91519835e-05,-6.36999841e-05,-5.54032996e-05,-1.29330000e-05,
 -4.76423120e-04,-6.20685946e-05,-2.23153400e-04,-3.72810299e-05,
  2.40344537e-06, 4.74757790e-08,-1.21639642e+00, 9.53425609e-05,
  1.48767080e-03,-4.29634557e-07]


--- Step 247 ---
qpos:
[ 3.00851978e-03,-3.26881779e-03, 1.17720321e-02, 4.14423366e-02,
 -2.21600891e-03,-1.91642141e-03,-1.72235106e-02, 2.85060376e-02,
  5.80599388e-03, 1.63801428e-02,-9.26397063e-03, 2.58090018e-02,
  5.98252273e-01,-2.08627130e-03, 4.20348397e-01, 6.54164911e-02,
  9.50108611e-02,-7.00079316e-02, 1.21782131e-01, 9.99998324e-01,
 -1.39203635e-04, 1.78716605e-04, 1.81684897e-03]

qacc:
[ -4.88432206,  2.18891548, -7.2255146 ,  7.19745078, -4.74469449,
   1.69731714, -4.08753938, -0.30337599, -1.94486276, -0.40455497,
   1.20843819, -3.29651737, -1.49091652,  3.17676366, -4.60385645,
  10.50736061, -0.65586259, -0.92284614,  0.11079335, 15.24672868,
 -11.50369619,  0.51324407]

qfrc_actuator:
[ 5.01062705e-05, 4.32432387e-05, 1.45207761e-04, 3.26320969e-04,
 -5.13305578e-05,-2.95247999e-04,-3.90492838e-04, 2.29796685e-04,
 -2.04635281e-05, 4.69465440e-04,-4.48525974e-05, 1.63320454e-04,
  6.83993061e-02,-4.48925245e-04, 4.67979712e-02,-4.15116476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022329048596367307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48605089e-13,  2.48605089e-13,  1.00000000e+00,  6.18044905e-26,
        1.00000000e+00, -2.48605089e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48605089e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911782, -0.05167493,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84821775e-05,-3.85227286e-06,-4.41149893e-05,-4.97716986e-06,
 -2.76725034e-05, 2.43767662e-05,-3.20878482e-05,-1.52412582e-05,
 -1.15115720e-05,-6.78939084e-05,-2.75777906e-05,-1.20168153e-05,
 -4.66695850e-04,-6.27648612e-05,-2.29023716e-04,-1.57907715e-05,
  1.65163290e-06,-4.08763293e-07,-1.21641815e+00, 9.21044837e-05,
  1.49090269e-03, 5.73623897e-08]


--- Step 248 ---
qpos:
[ 3.00956740e-03,-3.26888235e-03, 1.17721593e-02, 4.14480335e-02,
 -2.21664863e-03,-1.91630239e-03,-1.72268594e-02, 2.85103619e-02,
  5.80583811e-03, 1.63811508e-02,-9.26595447e-03, 2.58115327e-02,
  5.99686563e-01,-2.08435239e-03, 4.21678528e-01, 6.54231777e-02,
  9.50134329e-02,-7.00075176e-02, 1.21782098e-01, 9.99998304e-01,
 -1.43920982e-04, 1.99228486e-04, 1.82513522e-03]

qacc:
[-1.94416994e-03, 2.30540094e+00,-1.11673156e+01, 2.26200255e+01,
  3.24089283e+00,-1.46889487e-02, 3.69691473e+00,-1.45860122e+01,
 -4.17976906e+00,-1.77543072e-02, 1.76653041e-01,-2.02074141e+00,
 -1.43864673e+00, 2.95889121e+00,-6.23328783e+00, 1.60942024e+01,
 -6.50726418e-01,-9.13175204e-01, 9.09737200e-03, 1.50850249e+01,
 -1.13561281e+01, 5.36142112e-01]

qfrc_actuator:
[ 5.09594899e-05, 1.97005664e-05, 1.17908503e-04, 3.56537990e-04,
 -3.14197352e-05,-2.44709875e-04,-3.90802934e-04, 2.00692408e-04,
 -4.47800611e-05, 4.74869851e-04,-4.83096707e-05, 1.58081469e-04,
  6.82730565e-02,-4.47863348e-04, 4.66770537e-02,-4.10896403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022586584673034427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45770452e-13, -4.91540904e-13,  1.00000000e+00, -1.20806230e-25,
        1.00000000e+00,  4.91540904e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45770452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911717, -0.05167542,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06289541e-08,-3.50584474e-05,-3.37204803e-05, 2.84166244e-05,
  1.91324950e-05, 5.69193949e-05, 2.76727953e-07,-2.94684964e-05,
 -2.46658854e-05,-3.88073945e-05,-2.12931232e-05,-9.34085438e-06,
 -4.61650273e-04,-6.37159650e-05,-2.28028497e-04, 1.15970334e-05,
  9.13230060e-07,-5.63944660e-07,-1.21643220e+00, 9.03444626e-05,
  1.49295852e-03, 3.52101242e-07]


--- Step 249 ---
qpos:
[ 3.01096192e-03,-3.26941023e-03, 1.17723706e-02, 4.14536993e-02,
 -2.21669996e-03,-1.91589919e-03,-1.72298381e-02, 2.85139485e-02,
  5.80642662e-03, 1.63820122e-02,-9.26858583e-03, 2.58136534e-02,
  6.01118333e-01,-2.08238080e-03, 4.23006192e-01, 6.54276230e-02,
  9.50134189e-02,-7.00107247e-02, 1.21781761e-01, 9.99998291e-01,
 -1.18691627e-04, 1.97323238e-04, 1.83452670e-03]

qacc:
[  3.05550102, -0.91814789,  2.50632794, -2.82853843,  5.16715822,
  -2.1856676 , 11.43650651,-24.98651939,  6.47383664,  0.75848318,
  -1.27478148, -4.66113059, -1.47981207,  3.08146814,  3.15287805,
 -16.25075605, -0.64644562, -0.90525528, -0.0762824 , 14.95275853,
 -11.23595481,  0.55398212]

qfrc_actuator:
[ 6.88043842e-05,-1.20353774e-05, 1.19510430e-04, 3.54270424e-04,
 -1.68751326e-06,-2.32502710e-04,-3.71770913e-04, 1.64123590e-04,
 -5.76241922e-06, 4.60104242e-04,-8.49716598e-05, 1.36254170e-04,
  6.81404819e-02,-4.48028418e-04, 4.65407871e-02,-4.22879272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002266528337261653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.89834169e-13, -4.89834169e-13,  1.00000000e+00, -2.39937513e-25,
        1.00000000e+00,  4.89834169e-13, -1.00000000e+00,  0.00000000e+00,
       -4.89834169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911687, -0.05167551,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78329518e-05,-5.71036947e-05,-8.82405502e-06,-4.39604020e-06,
  3.02986473e-05, 4.28626634e-05, 2.98308798e-05,-3.46967080e-05,
  3.83000144e-05,-4.12936770e-05,-4.76174989e-05,-2.44113865e-05,
 -4.64440441e-04,-6.45157920e-05,-2.39792422e-04,-1.48759418e-04,
  1.72707521e-07,-4.13270298e-07,-1.21643888e+00, 9.00447977e-05,
  1.49385034e-03, 4.59617608e-07]


--- Step 250 ---
qpos:
[ 3.01221452e-03,-3.27041814e-03, 1.17729003e-02, 4.14592795e-02,
 -2.21673922e-03,-1.91527713e-03,-1.72325458e-02, 2.85174294e-02,
  5.80747833e-03, 1.63821816e-02,-9.27089746e-03, 2.58158447e-02,
  6.02547630e-01,-2.08070639e-03, 4.24331355e-01, 6.54295340e-02,
  9.50108332e-02,-7.00175271e-02, 1.21780832e-01, 9.99998281e-01,
 -6.37294929e-05, 1.73194577e-04, 1.84505055e-03]

qacc:
[ -1.22753609, -1.69849179,  5.50015089, -7.14029466,  0.11054169,
  -0.68528401,  3.30894046, -5.73066557,  4.06204292, -1.67053675,
   4.31713894, -3.08016059, -1.07076236,  1.02855328,  3.97107808,
 -19.22542378, -0.64293289, -0.89884177, -0.14787224, 14.8458681 ,
 -11.13902713,  0.56779176]

qfrc_actuator:
[ 6.09927495e-05,-3.05877926e-05, 1.38089146e-04, 3.50662290e-04,
 -1.93331917e-06,-2.25510191e-04,-3.59382273e-04, 1.58942979e-04,
  1.69661990e-05, 4.15483066e-04,-7.00225268e-05, 1.40308374e-04,
  6.80095295e-02,-4.66700331e-04, 4.64220160e-02,-4.35438111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022600992878646364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45613772e-13,  4.91227545e-13,  1.00000000e+00,  1.20652250e-25,
        1.00000000e+00, -4.91227545e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45613772e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911683, -0.0516753 ,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32276668e-06,-5.24900109e-05, 5.53365249e-06,-6.45807859e-06,
  6.33015403e-07, 3.56588807e-05, 2.37371237e-05,-2.99032714e-06,
  2.38153856e-05,-7.85849639e-05,-2.75386573e-07, 1.59630827e-07,
 -4.65046092e-04,-8.35868144e-05,-2.45784591e-04,-1.65020855e-04,
 -5.82364018e-07, 4.46777246e-08,-1.21643843e+00, 9.11911943e-05,
  1.49358817e-03, 3.83822772e-07]


--- Step 251 ---
qpos:
[ 3.01301880e-03,-3.27162352e-03, 1.17735159e-02, 4.14650975e-02,
 -2.21643557e-03,-1.91489526e-03,-1.72346110e-02, 2.85215454e-02,
  5.80810462e-03, 1.63819103e-02,-9.27256800e-03, 2.58183576e-02,
  6.03974458e-01,-2.07923373e-03, 4.25653622e-01, 6.54312041e-02,
  9.50056870e-02,-7.00279044e-02, 1.21779072e-01, 9.99998268e-01,
  2.07954850e-05, 1.26996669e-04, 1.85672743e-03]

qacc:
[-3.92896369e+00,-3.28391977e-03,-1.35654104e+00, 5.46365459e+00,
  3.03240723e+00,-8.11735176e-01,-2.58026305e-01, 1.04098011e+01,
 -3.68290171e+00,-1.70519797e+00, 3.88978900e+00, 9.60859998e-01,
 -1.14447806e+00, 1.46110602e+00,-3.52546099e+00, 6.17117052e+00,
 -6.40107842e-01,-8.93725672e-01,-2.07823955e-01, 1.47609371e+01,
 -1.10619138e+01, 5.78370970e-01]

qfrc_actuator:
[ 3.81372491e-05,-2.32754299e-05, 1.48833486e-04, 3.64069259e-04,
  1.56802926e-05,-2.57200089e-04,-3.33275997e-04, 1.90010885e-04,
 -5.60050002e-06, 4.24563040e-04,-2.48149734e-05, 1.59574573e-04,
  6.78849627e-02,-4.78394932e-04, 4.62978567e-02,-4.35796750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002242362637060874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47556530e-13, -2.47556530e-13,  1.00000000e+00, -6.12842353e-26,
        1.00000000e+00,  2.47556530e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47556530e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911701, -0.05167483,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30807810e-05,-2.11624169e-05, 3.52556818e-07, 1.12129651e-05,
  1.76432664e-05,-6.97304617e-06, 3.63089123e-05, 3.33560537e-05,
 -2.19128930e-05,-3.48876156e-05, 2.89666198e-05, 1.58911824e-05,
 -4.61614552e-04,-7.81760500e-05,-2.55495524e-04,-4.46349125e-05,
 -1.36247606e-06, 8.08484464e-07,-1.21643103e+00, 9.37722136e-05,
  1.49218028e-03, 1.27710911e-07]


--- Step 252 ---
qpos:
[ 3.01388756e-03,-3.27265252e-03, 1.17738202e-02, 4.14706641e-02,
 -2.21592313e-03,-1.91479435e-03,-1.72359515e-02, 2.85256560e-02,
  5.80880013e-03, 1.63818695e-02,-9.27423555e-03, 2.58206929e-02,
  6.05398793e-01,-2.07755798e-03, 4.26973082e-01, 6.54330646e-02,
  9.49992703e-02,-7.00378358e-02, 1.21778636e-01, 9.99998246e-01,
  1.01706929e-04, 7.08745926e-05, 1.86861589e-03]

qacc:
[ 0.55295985, 0.58402001,-0.68556943,-3.29341455, 1.85878404,-2.41006193,
  8.07077415,-9.10608272, 0.59977977,-0.07032587, 1.44033617,-4.6851108 ,
 -1.60286984, 3.78867502,-4.67768551,10.43981535,-0.31763522, 0.11147368,
  0.33113895,-1.81599016,-4.95871802, 0.10567389]

qfrc_actuator:
[ 4.21238525e-05,-5.34747734e-07, 1.37229748e-04, 3.51890959e-04,
  2.59212503e-05,-2.76222669e-04,-2.99418991e-04, 1.88871624e-04,
 -1.38315549e-06, 4.65889230e-04,-1.51595127e-05, 1.52183648e-04,
  6.77643160e-02,-4.68127074e-04, 4.61759159e-02,-4.34289013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002216124753449167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25243742e-13, -7.59550691e-08,  1.00000000e+00, -9.51289705e-21,
        1.00000000e+00,  7.59550691e-08, -1.00000000e+00,  1.50463277e-36,
       -1.25243742e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1019832 , -0.0722617 ,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32340672e-06, 1.14726414e-05,-1.55494723e-05,-1.28651908e-05,
  1.07385671e-05,-1.39853493e-05, 3.80532089e-05, 4.61213978e-07,
  3.57318159e-06, 2.84993721e-05, 6.58526855e-06,-7.57470349e-06,
 -4.54422859e-04,-5.55709574e-05,-2.43237858e-04,-2.02494354e-05,
 -2.17704115e-06, 1.87425239e-06,-1.21641681e+00, 9.77788306e-05,
  1.48963331e-03,-3.06476953e-07]


--- Step 253 ---
qpos:
[ 3.01479703e-03,-3.27335691e-03, 1.17738561e-02, 4.14763641e-02,
 -2.21529210e-03,-1.91440796e-03,-1.72376116e-02, 2.85293754e-02,
  5.80954010e-03, 1.63826585e-02,-9.27640201e-03, 2.58235687e-02,
  6.06820589e-01,-2.07539136e-03, 4.28290171e-01, 6.54359350e-02,
  9.49930644e-02,-7.00431882e-02, 1.21778566e-01, 9.99998221e-01,
  1.44634660e-04, 1.80262335e-05, 1.88045607e-03]

qacc:
[  0.34340694,  1.45402275, -5.1255996 ,  7.62575653,  1.02505245,
   0.46327663,  0.54430914, -7.01158327,  0.35844669,  3.60321303,
 -13.53981686, 23.08337381, -1.94540617,  5.46154726, -6.49053534,
  17.75711537,  0.05271115,  1.14475758,  0.09152184,-18.98876293,
   1.67234184, -0.02564849]

qfrc_actuator:
[ 4.41296283e-05, 3.11680674e-05, 1.30332465e-04, 3.60260776e-04,
  3.17355851e-05,-2.52002737e-04,-3.14508743e-04, 1.68794358e-04,
  8.27518221e-07, 5.43820850e-04,-2.64536420e-05, 1.82426756e-04,
  6.76354607e-02,-4.45005883e-04, 4.60926830e-02,-4.28144431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022585214398572473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45785363e-13,  2.45785363e-13,  1.00000000e+00,  6.04104447e-26,
        1.00000000e+00, -2.45785363e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45785363e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476859, -0.09308306,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10745863e-06, 3.43751193e-05,-6.89290383e-06, 8.06164817e-06,
  6.11398747e-06, 2.42857783e-05,-1.32702249e-05,-1.93578335e-05,
  2.32170690e-06, 9.49235334e-05,-4.84283085e-06, 3.15434552e-05,
 -4.54392838e-04,-4.03689621e-05,-1.96737063e-04, 2.89258934e-05,
 -1.96882233e-06, 2.29421584e-06,-1.21641576e+00, 1.01694305e-04,
  1.48686961e-03,-5.93519070e-07]


--- Step 254 ---
qpos:
[ 3.01537869e-03,-3.27396124e-03, 1.17741767e-02, 4.14817645e-02,
 -2.21459595e-03,-1.91401393e-03,-1.72396233e-02, 2.85328636e-02,
  5.81064562e-03, 1.63843133e-02,-9.27851362e-03, 2.58270855e-02,
  6.08240005e-01,-2.07389242e-03, 4.29605097e-01, 6.54381336e-02,
  9.49870816e-02,-7.00440131e-02, 1.21778467e-01, 9.99998198e-01,
  1.49947330e-04,-3.16940727e-05, 1.89240246e-03]

qacc:
[-2.87039637e+00,-1.27549807e+00, 6.01303547e+00,-1.17364607e+01,
  5.59865608e-01, 5.15960618e-01,-8.50859333e-01,-2.59149741e+00,
  3.17580893e+00, 2.30408487e+00,-9.27161813e+00, 1.96495196e+01,
 -5.97305772e-01,-1.22605219e+00,-1.16757497e+00,-5.62093779e-01,
  5.57768273e-02, 1.13185577e+00,-7.52738883e-03,-1.88045573e+01,
  1.59939811e+00, 5.25370573e-02]

qfrc_actuator:
[ 2.71922489e-05, 3.25241209e-05, 1.44093446e-04, 3.45169968e-04,
  3.49006153e-05,-2.73301880e-04,-3.40459413e-04, 1.55494993e-04,
  1.95838873e-05, 6.07518982e-04,-1.43115593e-05, 2.16850548e-04,
  6.75017741e-02,-4.85552235e-04, 4.59848044e-02,-4.31734141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022793453537441055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21769944e-13,  4.87079776e-13,  1.00000000e+00,  5.93116771e-26,
        1.00000000e+00, -4.87079776e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21769944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476928, -0.09308269,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68643366e-05, 1.95104535e-05, 2.02853701e-05,-1.37113973e-05,
  3.34911884e-06,-1.12899369e-05,-2.32323906e-05,-1.31002266e-05,
  1.88557615e-05, 1.17124878e-04, 3.22551505e-05, 3.89346930e-05,
 -4.56869128e-04,-1.03226651e-04,-1.96766928e-04,-6.02172193e-05,
 -8.60782400e-07, 1.89446886e-06,-1.21642842e+00, 1.03833745e-04,
  1.48454360e-03,-5.70720893e-07]


--- Step 255 ---
qpos:
[ 3.01575304e-03,-3.27472332e-03, 1.17750578e-02, 4.14873013e-02,
 -2.21421194e-03,-1.91382729e-03,-1.72421180e-02, 2.85362029e-02,
  5.81231258e-03, 1.63865583e-02,-9.28058146e-03, 2.58303326e-02,
  6.09656962e-01,-2.07282945e-03, 4.30917335e-01, 6.54415595e-02,
  9.49813312e-02,-7.00403528e-02, 1.21778004e-01, 9.99998176e-01,
  1.17946674e-04,-7.84041619e-05, 1.90457945e-03]

qacc:
[ -1.79926486, -1.49140697,  4.44553177, -2.87274282, -2.74951886,
   0.77396069, -2.51928678,  0.85600955,  4.88824258,  0.09312267,
   1.92164491, -7.07446837, -0.86956648,  0.07674864, -7.65637834,
  21.05117221,  0.05808146,  1.12133765, -0.0906245 ,-18.65377748,
   1.54042901,  0.11566669]

qfrc_actuator:
[ 1.69938454e-05, 1.57668123e-05, 1.69803694e-04, 3.51887756e-04,
  1.87294673e-05,-3.03996199e-04,-3.72766712e-04, 1.46258769e-04,
  4.79288043e-05, 6.09051197e-04,-2.39671996e-05, 2.00208360e-04,
  6.73705918e-02,-5.10079014e-04, 4.58622052e-02,-4.25059290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022830640052098894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43143211e-13,  4.86286421e-13,  1.00000000e+00,  1.18237242e-25,
        1.00000000e+00, -4.86286421e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43143211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476979, -0.09308277,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06716366e-05,-2.24598650e-06, 3.17556338e-05, 7.97773414e-06,
 -1.60781428e-05,-4.23651611e-05,-3.79433010e-05,-1.07832034e-05,
  2.89270870e-05, 7.53274458e-05, 1.98560807e-05,-9.75649287e-06,
 -4.64597200e-04,-9.20935279e-05,-2.21799799e-04, 3.73677219e-05,
  2.29986473e-07, 1.53204797e-06,-1.21643373e+00, 1.04111087e-04,
  1.48236592e-03,-4.60889826e-07]


--- Step 256 ---
qpos:
[ 3.01634690e-03,-3.27536965e-03, 1.17758924e-02, 4.14928823e-02,
 -2.21402490e-03,-1.91361585e-03,-1.72450911e-02, 2.85390303e-02,
  5.81361716e-03, 1.63892366e-02,-9.28345805e-03, 2.58330907e-02,
  6.11071273e-01,-2.07103186e-03, 4.32226778e-01, 6.54473864e-02,
  9.49758200e-02,-7.00322410e-02, 1.21776901e-01, 9.99998154e-01,
  4.88763555e-05,-1.22199510e-04, 1.91708778e-03]

qacc:
[  1.92343517,  0.37064047, -1.29261563,  2.05428671, -1.74337968,
   0.31928328,  1.07707259, -9.19866302, -3.19380923,  1.83259558,
  -3.62745419, -3.87469893, -2.25955238,  6.85548086,-11.30113856,
  33.71202827,  0.05979582,  1.11285215, -0.160249  ,-18.53200843,
   1.49268824,  0.1669477 ]

qfrc_actuator:
[ 2.86020784e-05, 2.38645367e-05, 1.66788371e-04, 3.53621888e-04,
  9.06045868e-06,-2.86857748e-04,-3.90863453e-04, 1.21718019e-04,
  2.84268416e-05, 5.90965767e-04,-8.22176167e-05, 1.71333335e-04,
  6.72410047e-02,-4.71700798e-04, 4.57415503e-02,-4.12388734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022731439192621994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22102148e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.22102148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477018, -0.09308321,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13023197e-05, 1.37427946e-05, 6.94408059e-07, 2.87982157e-06,
 -1.01400998e-05,-1.48421641e-05,-3.18741753e-05,-2.78806931e-05,
 -1.86413121e-05, 2.76726073e-05,-4.05911536e-05,-2.51582808e-05,
 -4.66940182e-04,-2.96468144e-05,-2.18759722e-04, 9.99526681e-05,
  1.34428304e-06, 1.19509818e-06,-1.21643188e+00, 1.02542932e-04,
  1.48034144e-03,-2.63254955e-07]


--- Step 257 ---
qpos:
[ 3.01707518e-03,-3.27584648e-03, 1.17763657e-02, 4.14988009e-02,
 -2.21361019e-03,-1.91381399e-03,-1.72475495e-02, 2.85411827e-02,
  5.81502347e-03, 1.63919312e-02,-9.28712073e-03, 2.58355352e-02,
  6.12483068e-01,-2.06908372e-03, 4.33533988e-01, 6.54519592e-02,
  9.49705529e-02,-7.00197047e-02, 1.21774924e-01, 9.99998123e-01,
 -5.70705363e-05,-1.63157588e-04, 1.93000953e-03]

qacc:
[  1.16577446,  1.9277716 , -7.97618136, 14.27482379,  2.0195637 ,
  -3.3704373 , 14.07570354,-26.26883462,  0.86233718,  1.57111   ,
  -4.24944458,  0.06895508, -1.59160992,  3.59164168,  0.52594208,
  -6.54079298,  0.06105335,  1.10610291, -0.21851199,-18.43550775,
   1.45399032,  0.20890417]

qfrc_actuator:
[ 3.51977626e-05, 2.89122601e-05, 1.46920666e-04, 3.70156060e-04,
  2.10550476e-05,-3.12179392e-04,-3.64739994e-04, 8.84171984e-05,
  3.41738981e-05, 5.61030531e-04,-1.33284608e-04, 1.53198491e-04,
  6.71124802e-02,-4.67586301e-04, 4.56221683e-02,-4.19365650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002252475640550644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23222534e-13,  4.92890136e-13,  1.00000000e+00,  6.07351715e-26,
        1.00000000e+00, -4.92890136e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23222534e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477046, -0.09308393,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92234526e-06, 1.30027613e-05,-1.68596045e-05, 1.71894876e-05,
  1.17028265e-05,-4.13826134e-05, 1.81932630e-05,-3.55820929e-05,
  5.23116766e-06,-2.39952153e-05,-5.12227426e-05,-1.88477547e-05,
 -4.58970940e-04,-6.00419903e-05,-2.09104732e-04,-9.26383840e-05,
  2.51240869e-06, 8.77519602e-07,-1.21642305e+00, 9.91425877e-05,
  1.47847340e-03, 2.27293614e-08]


--- Step 258 ---
qpos:
[ 3.01753206e-03,-3.27629152e-03, 1.17769257e-02, 4.15048580e-02,
 -2.21270989e-03,-1.91473116e-03,-1.72492319e-02, 2.85429410e-02,
  5.81648811e-03, 1.63939442e-02,-9.29054694e-03, 2.58381084e-02,
  6.13892299e-01,-2.06641066e-03, 4.34838598e-01, 6.54586036e-02,
  9.49683656e-02,-7.00088222e-02, 1.21774303e-01, 9.99998089e-01,
 -1.48690118e-04,-1.79021168e-04, 1.94105848e-03]

qacc:
[ -2.38001802,  0.08956393, -0.83452246,  3.0598016 ,  4.29568762,
  -3.93632645, 14.30648303,-21.82091973,  0.52788446, -1.29774075,
   2.77499567, -0.42173431, -2.21137543,  6.70907526,-10.02152353,
  29.64860794,  0.76993041, -0.41341529,  0.33919581,  7.18770506,
  12.53345253, -0.93685025]

qfrc_actuator:
[ 2.10305814e-05, 3.20299219e-05, 1.52780115e-04, 3.77506531e-04,
  4.57019561e-05,-3.62552643e-04,-3.30638694e-04, 6.79806756e-05,
  3.69985673e-05, 5.06476592e-04,-1.26482809e-04, 1.59280577e-04,
  6.69900025e-02,-4.30481928e-04, 4.55249032e-02,-4.07682090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002284744782297815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42964342e-13,  2.42964342e-13,  1.00000000e+00,  5.90316714e-26,
        1.00000000e+00, -2.42964342e-13, -1.00000000e+00,  0.00000000e+00,
       -2.42964342e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187422, -0.06175342,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39656494e-05, 7.64135861e-06, 7.04928119e-06, 7.64505152e-06,
  2.49667873e-05,-7.12460062e-05, 2.65892904e-05,-2.22723200e-05,
  2.97435892e-06,-7.94145940e-05,-5.10896804e-06, 2.91138392e-06,
 -4.51486358e-04,-2.82364051e-05,-2.05419479e-04, 8.41380715e-05,
  3.75708031e-06, 5.78149169e-07,-1.21640734e+00, 9.39205527e-05,
  1.47676400e-03, 3.97451411e-07]


--- Step 259 ---
qpos:
[ 3.01781565e-03,-3.27675018e-03, 1.17778783e-02, 4.15105949e-02,
 -2.21186616e-03,-1.91609909e-03,-1.72505735e-02, 2.85447819e-02,
  5.81763026e-03, 1.63954071e-02,-9.29306450e-03, 2.58406703e-02,
  6.15299034e-01,-2.06296560e-03, 4.36140694e-01, 6.54649293e-02,
  9.49692136e-02,-6.99995837e-02, 1.21774613e-01, 9.99998058e-01,
 -2.26217277e-04,-1.69990162e-04, 1.95035726e-03]

qacc:
[ -1.50875531, -1.77263374,  7.64975777,-13.8135325 , -0.47778789,
  -1.3768787 ,  3.69811933, -2.48366282, -2.77514545, -3.28433837,
  10.71222185,-11.96389107, -2.25690027,  6.99658974, -2.68051671,
   4.1504167 ,  0.75883341, -0.41102522,  0.23261555,  7.07020265,
  12.43372214, -0.87449286]

qfrc_actuator:
[ 1.25103597e-05, 3.40594575e-05, 1.73772345e-04, 3.61658240e-04,
  4.20859850e-05,-3.74225673e-04,-3.09970578e-04, 7.30045131e-05,
  2.03198786e-05, 5.08853192e-04,-6.79152384e-05, 1.61823333e-04,
  6.68712478e-02,-3.91970846e-04, 4.53877640e-02,-4.09938339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023103379130506863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187422, -0.06175404,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.91627112e-06, 8.07586664e-06, 2.36886167e-05,-1.51414934e-05,
 -2.92933588e-06,-4.69181826e-05, 8.48212026e-06, 2.45798376e-06,
 -1.66176775e-05,-4.29959787e-05, 4.16470063e-05,-9.83039272e-07,
 -4.37908817e-04,-2.37576035e-05,-2.23272319e-04,-4.47808393e-05,
  2.61232090e-06, 1.51497026e-07,-1.21641810e+00, 8.95895916e-05,
  1.47576590e-03, 4.82605694e-07]


--- Step 260 ---
qpos:
[ 3.01799486e-03,-3.27731752e-03, 1.17791629e-02, 4.15157682e-02,
 -2.21107259e-03,-1.91728424e-03,-1.72519357e-02, 2.85466114e-02,
  5.81856303e-03, 1.63971343e-02,-9.29497139e-03, 2.58438473e-02,
  6.16703448e-01,-2.06000646e-03, 4.37440652e-01, 6.54665647e-02,
  9.49730611e-02,-6.99919808e-02, 1.21775496e-01, 9.99998032e-01,
 -2.89845269e-04,-1.36229429e-04, 1.95800643e-03]

qacc:
[-9.04152152e-01,-2.23204418e+00, 1.01300335e+01,-2.03357199e+01,
 -4.43714339e-01, 2.76815609e-01,-5.86853105e-01, 2.86351539e-01,
 -1.81127961e+00,-8.76850121e-02,-1.77144421e+00, 1.12395565e+01,
 -8.25958378e-01,-2.99128796e-02, 1.10001677e+01,-4.30696336e+01,
  7.49879356e-01,-4.08874826e-01, 1.43236327e-01, 6.97354577e+00,
  1.23514729e+01,-8.23194175e-01]

qfrc_actuator:
[ 7.38877067e-06, 1.77161901e-05, 1.85751134e-04, 3.32294040e-04,
  3.96128601e-05,-3.27153968e-04,-2.97237617e-04, 7.52329355e-05,
  1.00493023e-05, 5.81034614e-04,-1.45602227e-05, 1.97836232e-04,
  6.67388356e-02,-4.23963319e-04, 4.52587407e-02,-4.34604425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023177364180870796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187398, -0.06175439,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37368913e-06,-7.59418140e-06, 1.60221360e-05,-2.85068968e-05,
 -2.57344124e-06, 2.27528024e-05, 4.19946988e-06, 5.61130403e-07,
 -1.07609655e-05, 5.66670200e-05, 4.95777515e-05, 3.55897887e-05,
 -4.41494469e-04,-9.21599901e-05,-2.37425416e-04,-2.78294499e-04,
  1.83037350e-06,-1.53624695e-07,-1.21642456e+00, 8.59018015e-05,
  1.47603732e-03, 5.80423759e-07]


--- Step 261 ---
qpos:
[ 3.01811120e-03,-3.27796480e-03, 1.17806370e-02, 4.15198649e-02,
 -2.21031513e-03,-1.91792393e-03,-1.72536225e-02, 2.85484266e-02,
  5.81936542e-03, 1.63990565e-02,-9.29621354e-03, 2.58477800e-02,
  6.18105441e-01,-2.05706790e-03, 4.38738177e-01, 6.54667827e-02,
  9.49798796e-02,-6.99860058e-02, 1.21776653e-01, 9.99998010e-01,
 -3.39732549e-04,-7.78724459e-05, 1.96408910e-03]

qacc:
[ -0.54514044, -2.85291552, 14.56074615,-33.43060721, -0.33626669,
   1.59826746, -4.59150671,  4.45996385, -1.11939461, -0.04223608,
  -2.66255642, 14.53174907, -1.35378562,  2.52070278,  0.71487551,
  -7.65206074,  0.74272981, -0.40697684,  0.06842291,  6.89431648,
  12.2848756 , -0.7806262 ]

qfrc_actuator:
[ 4.30675404e-06, 8.20237459e-06, 1.92225305e-04, 2.77439137e-04,
  3.78416516e-05,-2.80793919e-04,-3.06793119e-04, 7.58450410e-05,
  3.63947307e-06, 5.87988729e-04, 1.78491335e-05, 2.35556773e-04,
  6.66142807e-02,-4.26298271e-04, 4.51719242e-02,-4.40311754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023105971106821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40245913e-13, -4.80491826e-13,  1.00000000e+00, -1.15436197e-25,
        1.00000000e+00,  4.80491826e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40245913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187355, -0.06175453,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23770575e-06,-1.16806235e-05, 5.87265695e-06,-5.51936682e-05,
 -1.83681333e-06, 6.00289217e-05,-4.29319541e-06, 1.74512275e-06,
 -6.69783873e-06, 5.03606782e-05, 5.14491084e-05, 4.25509821e-05,
 -4.45738544e-04,-6.79782969e-05,-2.28071820e-04,-1.03621391e-04,
  1.38518923e-06,-3.55326705e-07,-1.21642687e+00, 8.28530502e-05,
  1.47756505e-03, 6.89671011e-07]


--- Step 262 ---
qpos:
[ 3.01818943e-03,-3.27838240e-03, 1.17820353e-02, 4.15232508e-02,
 -2.20992960e-03,-1.91817446e-03,-1.72556990e-02, 2.85509502e-02,
  5.81974018e-03, 1.64009104e-02,-9.29735829e-03, 2.58511721e-02,
  6.19505038e-01,-2.05414640e-03, 4.40032775e-01, 6.54712179e-02,
  9.49841683e-02,-6.99842044e-02, 1.21777584e-01, 9.99997994e-01,
 -3.55129485e-04,-4.18346522e-05, 1.97103676e-03]

qacc:
[ -0.34137834, -0.94897196,  6.82370978,-19.17240662, -3.28066877,
   3.06594626,-13.16606112, 25.74880432, -3.7258895 , -1.46788141,
   7.3978665 ,-16.87211559, -1.26751849,  2.23698944,-17.00881632,
  53.31497955, -0.63243207, -1.04342533, -0.0563334 , 17.22325415,
 -11.1935902 ,  0.42735559]

qfrc_actuator:
[ 2.44872802e-06, 3.83062151e-05, 1.95406512e-04, 2.43533343e-04,
  1.87449771e-05,-2.70801930e-04,-3.29409664e-04, 1.11000035e-04,
 -1.82017739e-05, 5.38017422e-04, 1.88750219e-06, 2.02904722e-04,
  6.64945324e-02,-4.28862322e-04, 4.50785806e-02,-4.17030883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023144657117270782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39844345e-13,  6.73502108e-08,  1.00000000e+00,  1.61535672e-20,
        1.00000000e+00, -6.73502108e-08, -1.00000000e+00,  0.00000000e+00,
       -2.39844345e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888828, -0.04888578,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95251401e-06, 2.24163481e-05,-4.36821607e-07,-3.52882237e-05,
 -1.91279797e-05, 4.27864272e-05,-1.06624368e-05, 3.76141791e-05,
 -2.20139156e-05,-9.42193491e-06, 2.23478226e-06,-2.78954370e-05,
 -4.40367016e-04,-6.72985354e-05,-2.10529744e-04, 1.97282169e-04,
  1.25788143e-06,-4.67693206e-07,-1.21642512e+00, 8.04396656e-05,
  1.48033860e-03, 8.09420235e-07]


--- Step 263 ---
qpos:
[ 3.01790003e-03,-3.27894716e-03, 1.17838569e-02, 4.15265625e-02,
 -2.20943084e-03,-1.91837048e-03,-1.72575663e-02, 2.85531865e-02,
  5.81985071e-03, 1.64022681e-02,-9.29870839e-03, 2.58542250e-02,
  6.20902285e-01,-2.05186560e-03, 4.41324474e-01, 6.54787512e-02,
  9.49859423e-02,-6.99865377e-02, 1.21777938e-01, 9.99997985e-01,
 -3.36345271e-04,-2.78502008e-05, 1.97892286e-03]

qacc:
[ -3.21106759, -1.52475017,  5.47757158, -7.34071537,  0.99867034,
  -1.10518408,  5.25496859,-10.59709509, -2.3029779 , -0.77592179,
   3.25516402, -8.44186495, -0.56496418, -1.22498464,-13.62177627,
  41.44802237, -0.62869363, -1.03365191, -0.14435096, 17.06882716,
 -11.06050161,  0.46458232]

qfrc_actuator:
[-1.64271329e-05, 2.08924926e-05, 2.14554077e-04, 2.40014710e-04,
  2.51085516e-05,-2.82692643e-04,-3.24162478e-04, 9.51533467e-05,
 -3.11998605e-05, 4.71828725e-04,-2.50426499e-05, 1.82280961e-04,
  6.63617758e-02,-4.67064377e-04, 4.49335206e-02,-4.01717535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023217397524415262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39092909e-13,  2.51972366e-07,  1.00000000e+00,  6.02448061e-20,
        1.00000000e+00, -2.51972366e-07, -1.00000000e+00,  1.20370622e-35,
       -2.39092909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888786, -0.04888583,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89229298e-05,-6.49001065e-06, 2.24838518e-05,-3.27013852e-06,
  5.83214988e-06, 1.14661333e-05, 1.40954382e-05,-1.36496096e-05,
 -1.36259239e-05,-7.22591201e-05,-2.95809266e-05,-2.15012589e-05,
 -4.49074988e-04,-1.02404914e-04,-2.20081256e-04, 1.36774063e-04,
  4.68854289e-07,-5.46189463e-07,-1.21643612e+00, 7.96371903e-05,
  1.48201172e-03, 1.01358820e-06]


--- Step 264 ---
qpos:
[ 3.01773161e-03,-3.27980181e-03, 1.17865361e-02, 4.15301395e-02,
 -2.20885969e-03,-1.91870033e-03,-1.72592058e-02, 2.85545485e-02,
  5.82014971e-03, 1.64025391e-02,-9.29953832e-03, 2.58573791e-02,
  6.22297024e-01,-2.04965559e-03, 4.42613468e-01, 6.54864110e-02,
  9.49852139e-02,-6.99929738e-02, 1.21777419e-01, 9.99997983e-01,
 -2.83630726e-04,-3.57039806e-05, 1.98780524e-03]

qacc:
[  1.09409862, -2.23667154,  6.29600401, -2.86143577,  0.64372304,
  -2.61210289, 12.74713104,-28.14072957,  1.67878564, -2.68473132,
   7.05520377, -5.32693042, -1.33000812,  2.25761778, -4.34550539,
   9.4694927 , -0.62557647, -1.0257223 , -0.21814401, 16.94353857,
 -10.95283382,  0.49398236]

qfrc_actuator:
[-9.66368698e-06, 1.07584640e-05, 2.60565234e-04, 2.54375962e-04,
  2.86592469e-05,-3.07534004e-04,-3.20392820e-04, 4.94179053e-05,
 -2.11317428e-05, 3.96364952e-04,-5.03222055e-06, 1.86641746e-04,
  6.62266221e-02,-4.72760881e-04, 4.47841626e-02,-4.01893055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023141731603389354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.93171368e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.93171368e-08, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888774, -0.0488855 ,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22072977e-06,-9.27311642e-06, 4.73057345e-05, 1.47882552e-05,
  3.72093552e-06,-1.60769270e-05, 7.42100036e-06,-4.50226161e-05,
  9.65794870e-06,-1.22947876e-04, 6.90583826e-07,-1.84045312e-07,
 -4.62501674e-04,-7.38028101e-05,-2.35301605e-04,-2.26727355e-05,
 -3.30799897e-07,-3.20999192e-07,-1.21643864e+00, 8.04956411e-05,
  1.48255009e-03, 1.00897075e-06]


--- Step 265 ---
qpos:
[ 3.01798999e-03,-3.28042154e-03, 1.17892740e-02, 4.15341932e-02,
 -2.20859562e-03,-1.91868499e-03,-1.72612902e-02, 2.85556825e-02,
  5.82056654e-03, 1.64021919e-02,-9.29972769e-03, 2.58604918e-02,
  6.23689223e-01,-2.04716686e-03, 4.43899902e-01, 6.54929435e-02,
  9.49819153e-02,-7.00029905e-02, 1.21776153e-01, 9.99997982e-01,
 -2.01367370e-04,-6.57331274e-05, 1.99772212e-03]

qacc:
[  3.74436058,  1.1220533 , -5.5739596 , 13.5704224 , -2.71330523,
   1.23473727, -2.76873468, -0.73089941,  1.0581995 , -2.69490308,
   8.59488681, -9.87799204, -1.75674194,  4.28916294, -0.33034762,
  -4.22518252, -0.64257419, -0.8951245 , -0.18692365, 14.75235425,
 -11.11717652,  0.51358035]

qfrc_actuator:
[ 1.21417856e-05, 4.06991049e-05, 2.68832998e-04, 2.79155438e-04,
  1.27651476e-05,-2.68968688e-04,-3.35364463e-04, 3.97090345e-05,
 -1.53235620e-05, 4.04888171e-04, 4.24991657e-05, 1.87935772e-04,
  6.61007803e-02,-4.59267677e-04, 4.46589418e-02,-4.07638139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022979461415156832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41568548e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.41568548e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10911031, -0.05167373,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19761589e-05, 3.51541173e-05, 1.26612579e-05, 2.62947827e-05,
 -1.57920734e-05, 2.92079913e-05,-1.89162010e-05,-1.10160848e-05,
  6.04271914e-06,-6.00980573e-05, 2.22129037e-05,-3.96063546e-06,
 -4.58891956e-04,-5.45481438e-05,-2.36041075e-04,-8.92426406e-05,
 -1.16105718e-06, 2.12428413e-07,-1.21643293e+00, 8.30003960e-05,
  1.48196067e-03, 7.99272199e-07]


--- Step 266 ---
qpos:
[ 3.01850789e-03,-3.28091125e-03, 1.17915912e-02, 4.15385591e-02,
 -2.20817902e-03,-1.91849488e-03,-1.72635209e-02, 2.85566921e-02,
  5.82104931e-03, 1.64018760e-02,-9.29964223e-03, 2.58635357e-02,
  6.25078979e-01,-2.04483052e-03, 4.45183620e-01, 6.54977146e-02,
  9.49790266e-02,-7.00155378e-02, 1.21775407e-01, 9.99997977e-01,
 -9.75289824e-05,-9.22251019e-05, 2.00713570e-03]

qacc:
[  2.26271399,  1.98702477, -8.15936995, 14.14515682,  1.33002943,
   0.38130855, -0.50349358, -1.54013293,  0.58321547, -0.86926798,
   3.44772361, -5.09731344, -1.2307032 ,  1.82611839,  1.33152505,
 -10.42821638,  0.10250185, -0.63266186,  0.13022378, 10.79101017,
   1.74708268, -0.25199879]

qfrc_actuator:
[ 2.48656426e-05, 2.32651545e-05, 2.37158060e-04, 2.92115550e-04,
  2.10599292e-05,-2.63795386e-04,-3.43246856e-04, 3.35668966e-05,
 -1.20760790e-05, 4.46017191e-04, 7.07094032e-05, 1.87492048e-04,
  6.59752934e-02,-4.70087113e-04, 4.45216585e-02,-4.16604646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022713203013839566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26872140e-07, -2.44400366e-13,  1.00000000e+00,  3.10075975e-20,
        1.00000000e+00,  2.44400366e-13, -1.00000000e+00,  6.01853108e-36,
        1.26872140e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09415481, -0.05720917,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33588131e-05, 5.95409797e-06,-2.19793167e-05, 1.54012159e-05,
  7.85606151e-06, 1.71428998e-05,-4.53823749e-06,-5.75658365e-06,
  3.39830397e-06, 1.19517394e-05, 1.83946101e-05,-2.33359054e-06,
 -4.53341063e-04,-7.71062451e-05,-2.56196878e-04,-1.25340265e-04,
 -1.92703815e-06, 1.06016390e-06,-1.21642083e+00, 8.69308141e-05,
  1.48025090e-03, 4.07071555e-07]


--- Step 267 ---
qpos:
[ 3.01917464e-03,-3.28160090e-03, 1.17940089e-02, 4.15420174e-02,
 -2.20801103e-03,-1.91864220e-03,-1.72650310e-02, 2.85572808e-02,
  5.82156699e-03, 1.64020273e-02,-9.29969934e-03, 2.58661768e-02,
  6.26466306e-01,-2.04291306e-03, 4.46464782e-01, 6.55006034e-02,
  9.49790641e-02,-7.00296999e-02, 1.21774968e-01, 9.99997965e-01,
  2.02235755e-05,-9.37948874e-05, 2.01497218e-03]

qacc:
[  1.31263837, -2.41840349, 12.06301396,-27.77438919, -2.15225452,
  -3.31989131, 12.97538602,-21.17017103,  0.29179573,  0.18608257,
   1.93205991, -9.01831342, -0.93169196,  0.36075059,  1.91874515,
 -12.17275796,  0.73152748, -0.40370086,  0.07654495,  6.98200916,
  12.44718209, -0.78796764]

qfrc_actuator:
[ 3.21370851e-05,-4.82996129e-06, 2.35231263e-04, 2.44700079e-04,
  8.02602080e-06,-2.96377566e-04,-3.11490884e-04, 1.17998093e-05,
 -1.03602677e-05, 4.88554772e-04, 6.96838389e-05, 1.68296861e-04,
  6.58447761e-02,-4.95174514e-04, 4.44091987e-02,-4.25620241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022680159331207872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187266, -0.06175596,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65257745e-06,-2.86618591e-05,-2.90335537e-06,-4.76356430e-05,
 -1.28035739e-05,-2.41602357e-05, 3.45600830e-05,-2.12995032e-05,
  1.81642583e-06, 5.29270854e-05, 3.62443309e-06,-1.80982741e-05,
 -4.57652104e-04,-9.23676814e-05,-2.43742533e-04,-1.30219305e-04,
 -2.36999111e-06, 9.39423943e-07,-1.21641126e+00, 9.20801910e-05,
  1.47883049e-03, 6.33733754e-08]


--- Step 268 ---
qpos:
[ 3.01923365e-03,-3.28254642e-03, 1.17964034e-02, 4.15452421e-02,
 -2.20869019e-03,-1.91925708e-03,-1.72660496e-02, 2.85579825e-02,
  5.82210114e-03, 1.64027842e-02,-9.29986926e-03, 2.58685468e-02,
  6.27850988e-01,-2.04026379e-03, 4.47743275e-01, 6.54993772e-02,
  9.49807580e-02,-7.00424108e-02, 1.21775823e-01, 9.99997943e-01,
  1.26155317e-04,-8.08989531e-05, 2.02277302e-03]

qacc:
[-5.33102858e+00,-7.44680669e-01, 3.16783636e+00,-7.00372814e+00,
 -7.40686676e+00,-1.74378769e+00, 4.86869439e+00,-3.37958463e+00,
  1.29595868e-01, 5.57292094e-01, 3.18803584e-01,-5.27674899e+00,
 -2.36340889e+00, 7.00799601e+00, 8.54371563e+00,-3.54578865e+01,
  4.14110921e-01, 3.62791831e-01, 3.23438508e-01,-5.89582387e+00,
  7.24475365e+00,-1.74057485e-02]

qfrc_actuator:
[ 6.38676806e-07,-2.12912116e-05, 2.33047844e-04, 2.33164670e-04,
 -3.52176310e-05,-3.33418126e-04,-2.92265603e-04, 1.65092724e-05,
 -9.55879671e-06, 5.31489176e-04, 6.91768880e-05, 1.55964976e-04,
  6.57113273e-02,-4.57484710e-04, 4.42584585e-02,-4.47009570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022557773301677038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.22252103e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.22252103e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0882082 , -0.07714007,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12893157e-05,-3.51396542e-05,-1.01385070e-05,-1.38029388e-05,
 -4.36175439e-05,-4.43078872e-05, 1.77736600e-05, 4.45829089e-06,
  8.73547176e-07, 7.24962148e-05, 1.02395405e-05,-1.02966257e-05,
 -4.65647046e-04,-3.15130335e-05,-2.77518289e-04,-2.52781150e-04,
 -2.31671333e-06,-8.07310507e-08,-1.21640525e+00, 9.80245656e-05,
  1.47877950e-03,-1.31642772e-07]


--- Step 269 ---
qpos:
[ 3.01891487e-03,-3.28375618e-03, 1.17981646e-02, 4.15490376e-02,
 -2.20988263e-03,-1.91998049e-03,-1.72675161e-02, 2.85591001e-02,
  5.82229625e-03, 1.64037303e-02,-9.29991631e-03, 2.58714782e-02,
  6.29233047e-01,-2.03681571e-03, 4.49018297e-01, 6.54972552e-02,
  9.49826885e-02,-7.00505688e-02, 1.21777044e-01, 9.99997917e-01,
  1.93973005e-04,-6.49729800e-05, 2.03086033e-03]

qacc:
[ -3.33127329,  2.60474253,-12.18992756, 23.26116016, -4.51397855,
   1.97183212, -8.97971698, 16.95469967, -2.95611381,  1.06825362,
  -5.8069407 , 15.17833096, -2.37210671,  7.15032622, -2.34867764,
   0.94320416,  0.05915894,  1.13823922,  0.09169423,-19.05391102,
   1.55358226,  0.14459466]

qfrc_actuator:
[-1.79193309e-05,-4.83888696e-05, 1.95288568e-04, 2.60598962e-04,
 -6.03838633e-05,-3.37363342e-04,-3.16123247e-04, 3.67390436e-05,
 -2.70540822e-05, 5.21078417e-04, 6.90083720e-05, 1.83285809e-04,
  6.55815524e-02,-4.18616993e-04, 4.41008295e-02,-4.50670911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022987645550653912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20741272e-13,  4.82965088e-13,  1.00000000e+00,  5.83138190e-26,
        1.00000000e+00, -4.82965088e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20741272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477539, -0.09308362,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94605529e-05,-4.94452655e-05,-4.67668270e-05, 2.53004096e-05,
 -2.64258714e-05,-2.48423225e-05,-3.06466549e-05, 1.90366059e-05,
 -1.74422493e-05, 3.17747242e-05, 1.56998826e-05, 3.05749815e-05,
 -4.59339753e-04,-2.70905766e-05,-3.12584048e-04,-8.64355492e-05,
 -2.03222648e-06,-5.78930581e-07,-1.21641147e+00, 1.03316034e-04,
  1.47947143e-03,-3.35618243e-07]


--- Step 270 ---
qpos:
[ 3.01872080e-03,-3.28524490e-03, 1.17994886e-02, 4.15524302e-02,
 -2.21067816e-03,-1.92062439e-03,-1.72693300e-02, 2.85597295e-02,
  5.82228027e-03, 1.64049950e-02,-9.30079670e-03, 2.58744193e-02,
  6.30612653e-01,-2.03323179e-03, 4.50290123e-01, 6.54945765e-02,
  9.49848638e-02,-7.00542210e-02, 1.21778234e-01, 9.99997894e-01,
  2.24082101e-04,-4.61040027e-05, 2.03930571e-03]

qacc:
[ 1.08551859e+00, 2.07758890e-02, 1.08744419e+00,-7.15175443e+00,
  3.46878536e+00, 6.45668540e-02, 1.97180049e+00,-9.91063401e+00,
 -1.87270401e+00, 2.77367313e+00,-9.31280781e+00, 1.05694850e+01,
 -1.53977667e+00, 3.33678957e+00,-2.99569320e+00, 3.72047751e+00,
  6.11871158e-02, 1.12644261e+00,-7.68709689e-03,-1.88512569e+01,
  1.50982433e+00, 1.79967680e-01]

qfrc_actuator:
[-1.09473116e-05,-6.40050088e-05, 1.72308575e-04, 2.39693526e-04,
 -3.91933871e-05,-3.21623350e-04,-3.29582417e-04, 1.26751458e-05,
 -3.74258818e-05, 5.14340027e-04, 1.55944565e-05, 1.80416202e-04,
  6.54594007e-02,-4.14907507e-04, 4.39658647e-02,-4.52729086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002317803513539607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39498952e-13,  4.78997904e-13,  1.00000000e+00,  1.14719496e-25,
        1.00000000e+00, -4.78997904e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39498952e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477581, -0.09308315,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40261142e-06,-5.18331508e-05,-3.80916473e-05,-2.41580506e-05,
  2.04290082e-05,-3.63440821e-06,-2.16825744e-05,-2.58149387e-05,
 -1.08590507e-05, 1.55378119e-05,-4.38748599e-05,-3.77436687e-07,
 -4.46577301e-04,-6.11836055e-05,-2.84837663e-04,-6.50100392e-05,
 -1.32041545e-06,-5.39278487e-07,-1.21642787e+00, 1.06679143e-04,
  1.48042348e-03,-5.32656798e-07]


--- Step 271 ---
qpos:
[ 3.01861117e-03,-3.28650838e-03, 1.18008271e-02, 4.15551034e-02,
 -2.21052368e-03,-1.92157583e-03,-1.72708840e-02, 2.85600733e-02,
  5.82248496e-03, 1.64064742e-02,-9.30251354e-03, 2.58762819e-02,
  6.31989915e-01,-2.02993315e-03, 4.51559636e-01, 6.54907738e-02,
  9.49872903e-02,-7.00534061e-02, 1.21779061e-01, 9.99997879e-01,
  2.16814666e-04,-2.43605240e-05, 2.04816392e-03]

qacc:
[ 7.37308159e-01,-1.22692021e+00, 7.83814754e+00,-2.04703142e+01,
  8.34572852e+00,-1.73586681e+00, 6.77759292e+00,-1.18782540e+01,
  1.89433890e+00, 3.97299532e-01, 3.54246148e+00,-2.10233568e+01,
 -1.03048882e+00, 9.92744822e-01,-6.10947766e-03,-4.90245243e+00,
  6.28079266e-02, 1.11676994e+00,-9.10202817e-02,-1.86852870e+01,
  1.47540510e+00, 2.06949471e-01]

qfrc_actuator:
[-6.76130226e-06,-1.60131100e-06, 1.93758527e-04, 2.08282388e-04,
  9.10622113e-06,-3.47474767e-04,-3.18971334e-04,-1.72209530e-06,
 -2.57632759e-05, 5.09599927e-04,-3.33543540e-05, 1.24254326e-04,
  6.53419021e-02,-4.31949527e-04, 4.38872046e-02,-4.57373966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002319708523289138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19651134e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.19651134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477612, -0.09308315,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35552157e-06, 2.45494306e-05, 5.21025948e-06,-3.54272367e-05,
  4.88825987e-05,-3.34182968e-05, 6.32290487e-06,-1.58023900e-05,
  1.13622350e-05,-5.17629515e-06,-5.11670740e-05,-5.70284470e-05,
 -4.37505631e-04,-8.28485784e-05,-2.14642511e-04,-8.64062583e-05,
 -5.68476552e-07,-4.98577874e-07,-1.21643686e+00, 1.08182234e-04,
  1.48153049e-03,-6.39844120e-07]


--- Step 272 ---
qpos:
[ 3.01855250e-03,-3.28744770e-03, 1.18025735e-02, 4.15573373e-02,
 -2.20979154e-03,-1.92252735e-03,-1.72724628e-02, 2.85609126e-02,
  5.82351787e-03, 1.64076495e-02,-9.30409862e-03, 2.58778023e-02,
  6.33364871e-01,-2.02715140e-03, 4.52827355e-01, 6.54872352e-02,
  9.49899733e-02,-7.00481556e-02, 1.21779244e-01, 9.99997869e-01,
  1.72439546e-04, 2.04002967e-07, 2.05747649e-03]

qacc:
[  0.45440043, -1.6184111 ,  8.24304569,-16.73221157,  5.06610824,
   1.07837957, -5.95475805, 14.58785399,  7.23287636, -1.4884715 ,
   6.14445832,-12.02640834, -0.74213446, -0.34022323, -3.43407775,
   8.18708971,  0.06411699,  1.10892617, -0.16079562,-18.55090859,
   1.44857183,  0.22731613]

qfrc_actuator:
[-4.25650188e-06, 3.62111689e-05, 2.23837049e-04, 1.88798057e-04,
  3.74541869e-05,-3.26915259e-04,-3.12139044e-04, 2.51786418e-05,
  1.65252668e-05, 4.88282802e-04,-2.60297814e-05, 1.08211914e-04,
  6.52219481e-02,-4.61075652e-04, 4.38423632e-02,-4.54615559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023079744580700723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20259457e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.20259457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477633, -0.09308354,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64079975e-06, 5.11252048e-05, 3.45582530e-05,-1.89483816e-05,
  2.97300570e-05, 2.56996708e-06, 1.88330523e-07, 2.53826355e-05,
  4.26201489e-05,-3.72579490e-05,-2.02184092e-06,-1.91485990e-05,
 -4.36278286e-04,-9.55079420e-05,-1.54667022e-04,-5.40868395e-06,
  2.44635689e-07,-4.61780133e-07,-1.21643867e+00, 1.07841877e-04,
  1.48279412e-03,-6.57146900e-07]


--- Step 273 ---
qpos:
[ 3.01852458e-03,-3.28832686e-03, 1.18047701e-02, 4.15596961e-02,
 -2.20906963e-03,-1.92378463e-03,-1.72735616e-02, 2.85624169e-02,
  5.82504966e-03, 1.64086966e-02,-9.30566754e-03, 2.58791035e-02,
  6.34737528e-01,-2.02502391e-03, 4.54092583e-01, 6.54877255e-02,
  9.49929171e-02,-7.00384944e-02, 1.21778550e-01, 9.99997859e-01,
  9.11709454e-05, 2.75483871e-05, 2.06727447e-03]

qacc:
[  0.28312737, -0.92219591,  2.87559521, -1.47851006, -0.06896611,
  -0.37683884, -2.0506155 , 13.01769439,  4.35393282, -0.67444373,
   3.07001858, -6.78037489, -0.52452701, -1.29715845,-15.83098287,
  50.04989746,  0.06518865,  1.10265883, -0.21913455,-18.44384185,
   1.42792121,  0.24246434]

qfrc_actuator:
[-2.76073424e-06, 2.35746181e-05, 2.40940818e-04, 1.94230115e-04,
  3.60708856e-05,-3.49704159e-04,-2.89640595e-04, 5.84387161e-05,
  4.09883024e-05, 4.92957449e-04,-2.10800569e-05, 9.81835876e-05,
  6.51006019e-02,-4.97106531e-04, 4.37432883e-02,-4.33306918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022855144568328933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21441260e-13,  2.42882521e-13,  1.00000000e+00,  2.94959594e-26,
        1.00000000e+00, -2.42882521e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21441260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477648, -0.09308424,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58897435e-06, 2.22889234e-05, 3.12502410e-05, 8.44212412e-06,
 -5.36041708e-07,-2.01634891e-05, 2.39573691e-05, 3.38732654e-05,
  2.56749572e-05,-1.74077327e-05,-3.65727649e-06,-1.20716600e-05,
 -4.38200215e-04,-1.03458849e-04,-1.75035972e-04, 1.91686677e-04,
  1.13401578e-06,-4.29969741e-07,-1.21643346e+00, 1.05671447e-04,
  1.48421526e-03,-5.84627577e-07]


--- Step 274 ---
qpos:
[ 3.01885982e-03,-3.28910437e-03, 1.18069154e-02, 4.15621314e-02,
 -2.20871447e-03,-1.92548650e-03,-1.72739644e-02, 2.85639658e-02,
  5.82617318e-03, 1.64099762e-02,-9.30737022e-03, 2.58805829e-02,
  6.36107985e-01,-2.02428453e-03, 4.55355250e-01, 6.54921103e-02,
  9.49961252e-02,-7.00244421e-02, 1.21776786e-01, 9.99997840e-01,
 -2.68243701e-05, 5.76414629e-05, 2.07758068e-03]

qacc:
[  3.18438006,  0.42916648, -1.66908474,  3.01307819, -3.18726268,
  -2.43340331,  7.6465604 , -7.67028064, -3.56908336,  1.05508519,
  -4.05642033,  7.17061014,  0.34394061, -5.34957484,-15.56044705,
  48.86950417,  0.06608065,  1.09775204, -0.26784547,-18.36048344,
   1.41232831,  0.25349215]

qfrc_actuator:
[ 1.58820747e-05, 1.63082572e-05, 2.32301767e-04, 1.96470958e-04,
  1.72056446e-05,-3.80443762e-04,-2.58237348e-04, 5.96414243e-05,
  1.92488087e-05, 5.30925583e-04,-1.74923445e-05, 1.09530317e-04,
  6.49785026e-02,-5.72441390e-04, 4.36224524e-02,-4.13682026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002254748989322236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23098295e-13,  4.92393180e-13,  1.00000000e+00,  6.06127609e-26,
        1.00000000e+00, -4.92393180e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23098295e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477657, -0.09308516,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86943106e-05, 1.20156552e-05, 8.52852458e-08, 4.43303709e-06,
 -1.88899352e-05,-3.55598091e-05, 3.13858174e-05, 1.82870885e-06,
 -2.10070125e-05, 2.69521828e-05,-8.72527099e-07, 1.02367453e-05,
 -4.41281092e-04,-1.43822682e-04,-1.82168301e-04, 1.83691756e-04,
  2.11047647e-06,-4.00719588e-07,-1.21642138e+00, 1.01681575e-04,
  1.48579425e-03,-4.22406706e-07]


--- Step 275 ---
qpos:
[ 3.01976090e-03,-3.28978589e-03, 1.18086655e-02, 4.15649451e-02,
 -2.20824369e-03,-1.92697924e-03,-1.72745049e-02, 2.85654908e-02,
  5.82702776e-03, 1.64112984e-02,-9.30870717e-03, 2.58825210e-02,
  6.37476086e-01,-2.02439286e-03, 4.56615500e-01, 6.54971852e-02,
  9.49967251e-02,-7.00141356e-02, 1.21775886e-01, 9.99997810e-01,
 -1.13997985e-04, 6.42627913e-05, 2.08858746e-03]

qacc:
[  4.95292234,  2.00231964, -8.5676628 , 15.69389058,  1.00624978,
   0.60955213, -1.67499367,  1.33117069, -2.33469772, -0.01709289,
  -1.78640813,  9.10095802, -0.39394452, -2.09311867, -5.65694292,
  14.58642597, -0.65203857, -0.93642662,  0.21617695, 15.38641435,
 -11.76787477,  0.35086506]

qfrc_actuator:
[ 4.44684021e-05, 1.21984557e-05, 2.08538283e-04, 2.14548006e-04,
  2.37171219e-05,-3.44682127e-04,-2.57404509e-04, 5.97167293e-05,
  6.00067224e-06, 5.35302417e-04, 3.17423430e-06, 1.33392286e-04,
  6.48506995e-02,-6.17105188e-04, 4.34833299e-02,-4.11192468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022364881275295512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910766, -0.05167061,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91225766e-05, 2.81997141e-06,-2.11402224e-05, 1.86716655e-05,
  5.95928283e-06, 2.24944201e-05,-2.56081807e-06,-3.25013142e-07,
 -1.38386549e-05, 1.96736200e-05, 2.64842990e-05, 2.51847550e-05,
 -4.54863826e-04,-1.16784134e-04,-2.04249627e-04, 1.10564555e-05,
  3.18177061e-06,-3.68327063e-07,-1.21640251e+00, 9.58805189e-05,
  1.48753114e-03,-1.70636504e-07]


--- Step 276 ---
qpos:
[ 3.02065291e-03,-3.29049171e-03, 1.18101072e-02, 4.15689992e-02,
 -2.20769876e-03,-1.92820877e-03,-1.72751083e-02, 2.85673375e-02,
  5.82771665e-03, 1.64127768e-02,-9.30953110e-03, 2.58847045e-02,
  6.38841651e-01,-2.02433903e-03, 4.57872483e-01, 6.55056019e-02,
  9.49947313e-02,-7.00075253e-02, 1.21775374e-01, 9.99997778e-01,
 -1.70726868e-04, 4.77951413e-05, 2.10039169e-03]

qacc:
[ -0.08820677,  3.38677622,-17.35307637, 39.32287198,  0.6439944 ,
   1.18389545, -5.07728969, 10.55375303, -1.43169001, -0.71924693,
   1.83239465,  1.4759301 , -1.57065973,  3.36467314,-14.85955227,
  45.09037208, -0.64841455, -0.92404114,  0.09706557, 15.19819555,
 -11.57630255,  0.39839511]

qfrc_actuator:
[ 4.31676301e-05, 9.94758607e-06, 1.93817329e-04, 2.77299597e-04,
  2.73663166e-05,-3.22753525e-04,-2.56606071e-04, 7.69188642e-05,
 -2.12868183e-06, 5.55126747e-04, 3.36421563e-05, 1.46659018e-04,
  6.47248933e-02,-6.07846249e-04, 4.33279890e-02,-3.93965776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022793933496804974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.4353476e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.4353476e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910642, -0.05167138,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.70425775e-07,-4.23548227e-06,-1.61170528e-05, 6.24942904e-05,
  3.82702661e-06, 3.40238368e-05, 5.13828088e-06, 1.80720951e-05,
 -8.51807000e-06, 3.73372254e-05, 3.86625809e-05, 1.55128015e-05,
 -4.58824292e-04,-6.28797301e-05,-2.49678455e-04, 1.46002408e-04,
  2.43509137e-06,-1.60350211e-07,-1.21642063e+00, 9.14578985e-05,
  1.48773145e-03, 2.95614187e-07]


--- Step 277 ---
qpos:
[ 3.02117770e-03,-3.29128103e-03, 1.18116902e-02, 4.15734043e-02,
 -2.20745962e-03,-1.92862401e-03,-1.72762218e-02, 2.85689901e-02,
  5.82795803e-03, 1.64141631e-02,-9.30983457e-03, 2.58870614e-02,
  6.40204816e-01,-2.02480014e-03, 4.59127327e-01, 6.55145073e-02,
  9.49901562e-02,-7.00045701e-02, 1.21774850e-01, 9.99997748e-01,
 -1.97323126e-04, 8.54865025e-06, 2.11306597e-03]

qacc:
[-3.21717586e+00, 2.24155593e-01,-2.42921871e+00, 8.32631727e+00,
 -2.71206727e+00, 2.10662733e+00,-5.12087768e+00, 1.96560886e+00,
 -3.88525726e+00,-1.21188259e+00, 3.42524089e+00,-1.20233241e+00,
 -7.97618854e-01,-2.20293796e-01,-4.62004361e+00, 1.15994331e+01,
 -6.45337455e-01,-9.13797153e-01,-3.05452146e-03, 1.50423362e+01,
 -1.14211147e+01, 4.33793945e-01]

qfrc_actuator:
[ 2.42831749e-05, 8.89396685e-06, 2.02345753e-04, 2.94832091e-04,
  1.15407468e-05,-2.56004583e-04,-2.73600517e-04, 6.85558143e-05,
 -2.49350645e-05, 5.30831005e-04, 5.19446718e-05, 1.53598368e-04,
  6.46003862e-02,-6.37914978e-04, 4.32429675e-02,-3.91267980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023006713463873119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.82564807e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.82564807e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910564, -0.05167169,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89013178e-05,-4.07750145e-06, 7.81241387e-06, 1.79990671e-05,
 -1.57055691e-05, 8.76598117e-05,-8.69119829e-06,-6.37564022e-06,
 -2.30354506e-05, 5.18498583e-06, 3.13024328e-05, 1.01732337e-05,
 -4.52673584e-04,-9.88407592e-05,-1.82293336e-04, 3.07626898e-06,
  1.75511665e-06, 3.22086137e-07,-1.21643112e+00, 8.85139366e-05,
  1.48676156e-03, 5.70427953e-07]


--- Step 278 ---
qpos:
[ 3.02147202e-03,-3.29207021e-03, 1.18133822e-02, 4.15772859e-02,
 -2.20706705e-03,-1.92821503e-03,-1.72778614e-02, 2.85701836e-02,
  5.82826949e-03, 1.64149043e-02,-9.30929406e-03, 2.58891875e-02,
  6.41565585e-01,-2.02559655e-03, 4.60380899e-01, 6.55198626e-02,
  9.49830100e-02,-7.00052365e-02, 1.21773978e-01, 9.99997718e-01,
 -1.94042951e-04,-5.32274870e-05, 2.12666357e-03]

qacc:
[ -2.01997734, -1.3793998 ,  7.13349035,-16.37304842,  1.3147153 ,
   1.61186503, -2.23287824, -5.47296608,  0.64838221, -3.68765922,
  12.8840308 ,-17.75041491, -1.06649671,  0.97845079,  8.85005013,
 -33.65713432, -0.64279631, -0.90538511, -0.08710557, 14.91437501,
 -11.29645426,  0.45956365]

qfrc_actuator:
[ 1.29629082e-05, 8.62762968e-06, 2.06744759e-04, 2.67873652e-04,
  1.98858483e-05,-2.16277695e-04,-3.00798319e-04, 4.52408327e-05,
 -2.06943115e-05, 4.62496472e-04, 8.04879272e-05, 1.38962549e-04,
  6.44820634e-02,-6.55462809e-04, 4.31788503e-02,-4.09562735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023045392609180593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40877438e-13, -4.81754875e-13,  1.00000000e+00, -1.16043880e-25,
        1.00000000e+00,  4.81754875e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40877438e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910524, -0.05167163,  0.0619944 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18610837e-05,-1.69806342e-07, 5.12296569e-06,-2.65233004e-05,
  7.92863557e-06, 8.66966722e-05,-1.03675835e-05,-1.99827338e-05,
  3.58513922e-06,-5.85923165e-05, 3.38051012e-05,-1.31392055e-05,
 -4.47076456e-04,-8.83904416e-05,-1.50507818e-04,-2.07130835e-04,
  1.11263639e-06, 1.08905619e-06,-1.21643430e+00, 8.70304431e-05,
  1.48463154e-03, 6.58730022e-07]


--- Step 279 ---
qpos:
[ 3.02197313e-03,-3.29277752e-03, 1.18148025e-02, 4.15808302e-02,
 -2.20657726e-03,-1.92757996e-03,-1.72793084e-02, 2.85711159e-02,
  5.82862913e-03, 1.64152435e-02,-9.30872470e-03, 2.58914933e-02,
  6.42923800e-01,-2.02558875e-03, 4.61632703e-01, 6.55223071e-02,
  9.49761088e-02,-7.00085114e-02, 1.21773940e-01, 9.99997690e-01,
 -1.68411364e-04,-1.13098348e-04, 2.13978226e-03]

qacc:
[  1.80499621,  0.16904546,  0.97078453, -6.42489453,  0.85475924,
  -0.77835632,  4.30918951, -9.30113453,  0.42812979, -0.24296041,
  -0.6651174 ,  4.02704807, -2.40752691,  7.16581546,  6.2460739 ,
 -25.46916308,  0.06126918, -0.6521326 ,  0.20878699, 11.17769459,
   0.92891546, -0.23986544]

qfrc_actuator:
[ 2.39439425e-05, 8.78341113e-06, 1.90889421e-04, 2.50460094e-04,
  2.46438289e-05,-2.28604952e-04,-2.98392832e-04, 3.10498294e-05,
 -1.83164852e-05, 4.39338858e-04, 7.91386555e-05, 1.47221763e-04,
  6.43622114e-02,-6.12213864e-04, 4.30899943e-02,-4.24091325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022912035871763042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.93476055e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.93476055e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503997, -0.0568818 ,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06440554e-05,-2.20853394e-08,-1.61962523e-05,-1.77701114e-05,
  5.01548865e-06, 3.31600358e-05, 1.83560245e-05,-1.12234760e-05,
  2.46264828e-06,-4.95386257e-05,-9.76270260e-06, 6.65457147e-06,
 -4.43203961e-04,-2.61400936e-05,-1.86792012e-04,-1.77738274e-04,
  4.85692771e-07, 2.14503227e-06,-1.21643039e+00, 8.69929657e-05,
  1.48135012e-03, 5.64315997e-07]


--- Step 280 ---
qpos:
[ 3.02225707e-03,-3.29362725e-03, 1.18160881e-02, 4.15845030e-02,
 -2.20637886e-03,-1.92694202e-03,-1.72808602e-02, 2.85719211e-02,
  5.82901448e-03, 1.64153822e-02,-9.30882797e-03, 2.58942485e-02,
  6.44279665e-01,-2.02569310e-03, 4.62882209e-01, 6.55226535e-02,
  9.49721646e-02,-7.00133923e-02, 1.21774536e-01, 9.99997667e-01,
 -1.28668139e-04,-1.47887174e-04, 2.15120862e-03]

qacc:
[ -1.90790642,  0.45699106, -2.43811743,  4.97520774, -2.55918265,
   0.04007199,  0.40804391, -2.45200763,  0.20699509,  2.53968328,
 -11.33778075, 20.33845496, -1.25380373,  1.99965732,  2.96648307,
 -15.24599546,  0.73925895, -0.40149236,  0.15813534,  7.08254225,
  12.5260333 , -0.84485706]

qfrc_actuator:
[ 1.24554145e-05,-8.64194393e-06, 1.80971071e-04, 2.56549214e-04,
  9.49173417e-06,-2.54143624e-04,-3.14238993e-04, 2.23190321e-05,
 -1.70625559e-05, 4.25549898e-04, 4.25787748e-05, 1.68899774e-04,
  6.42415424e-02,-6.22255412e-04, 4.29757339e-02,-4.34506877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002299937670625779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41359372e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.41359372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187062, -0.06176121,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11838828e-05,-2.15410791e-05,-1.25498657e-05, 5.17177315e-06,
 -1.49978321e-05,-3.69153006e-06,-7.11681120e-06,-6.89348708e-06,
  1.30945899e-06,-4.32447942e-05,-4.77805004e-05, 1.93395740e-05,
 -4.32474134e-04,-7.42177707e-05,-2.23683859e-04,-1.39179335e-04,
 -2.98604574e-07, 2.20127867e-06,-1.21642939e+00, 8.82809004e-05,
  1.47821120e-03, 3.87545571e-07]


--- Step 281 ---
qpos:
[ 3.02171137e-03,-3.29464244e-03, 1.18172599e-02, 4.15882218e-02,
 -2.20636349e-03,-1.92632213e-03,-1.72828018e-02, 2.85719483e-02,
  5.82941163e-03, 1.64156971e-02,-9.30983675e-03, 2.58968642e-02,
  6.45633229e-01,-2.02619988e-03, 4.64128624e-01, 6.55234405e-02,
  9.49711561e-02,-7.00198817e-02, 1.21775456e-01, 9.99997650e-01,
 -7.49877492e-05,-1.57812677e-04, 2.16100683e-03]

qacc:
[ -7.28309612,  0.20829981, -1.22872683,  2.29934201, -1.61775376,
  -0.5319438 ,  5.15326549,-17.98890517,  0.0714342 ,  2.47640868,
  -7.90317237,  6.80710997, -0.85771676,  0.25003182, -5.87822392,
  13.96379405,  0.73392815, -0.40214026,  0.08121069,  6.99518914,
  12.41674712, -0.81350526]

qfrc_actuator:
[-2.99262463e-05,-1.86718175e-05, 1.74586619e-04, 2.58656407e-04,
  4.95953127e-07,-2.69723726e-04,-3.40815738e-04,-1.86705278e-05,
 -1.64797718e-05, 4.52846557e-04, 3.33510312e-06, 1.62782234e-04,
  6.41204567e-02,-6.45923940e-04, 4.28303648e-02,-4.31767860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022965190320976825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.41718664e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.41718664e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187058, -0.06176159,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27067695e-05,-2.44436197e-05,-1.22137701e-05, 8.42124740e-07,
 -9.42399784e-06,-1.94218440e-05,-2.84448927e-05,-4.15273008e-05,
  6.07224413e-07,-5.93532272e-06,-5.33987159e-05,-9.25384318e-06,
 -4.32319335e-04,-9.00727631e-05,-2.65214936e-04,-9.70240759e-06,
 -9.56487494e-07, 1.19175212e-06,-1.21643305e+00, 9.04559770e-05,
  1.47641704e-03, 2.62768669e-07]


--- Step 282 ---
qpos:
[ 3.02066149e-03,-3.29539114e-03, 1.18184372e-02, 4.15915269e-02,
 -2.20645635e-03,-1.92553062e-03,-1.72851864e-02, 2.85718090e-02,
  5.82981290e-03, 1.64158442e-02,-9.31123856e-03, 2.58993948e-02,
  6.46984330e-01,-2.02657984e-03, 4.65372384e-01, 6.55257243e-02,
  9.49730661e-02,-7.00279819e-02, 1.21776443e-01, 9.99997637e-01,
 -7.50721876e-06,-1.43051221e-04, 2.16922614e-03]

qacc:
[-4.43015376e+00,-5.06994727e-01, 4.07815592e+00,-1.14549569e+01,
 -9.66244494e-01, 1.12355422e+00,-2.97092234e+00, 6.67625051e-01,
  2.65802985e-02, 7.01119501e-01,-2.46202394e+00, 1.73894998e+00,
 -1.53142330e+00, 3.19658418e+00,-8.39135879e+00, 2.37676562e+01,
  7.29605601e-01,-4.02681450e-01, 1.68936915e-02, 6.92660407e+00,
  1.23285986e+01,-7.89621913e-01]

qfrc_actuator:
[-5.46391743e-05, 2.90735068e-05, 1.88108154e-04, 2.40653072e-04,
 -4.79784565e-06,-2.43803644e-04,-3.55751222e-04,-2.50556569e-05,
 -1.62960313e-05, 4.33487594e-04,-1.92642849e-05, 1.58149068e-04,
  6.39885497e-02,-6.41928255e-04, 4.27357199e-02,-4.23081306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022810048620428014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43362705e-13, -2.43362705e-13,  1.00000000e+00, -5.92254060e-26,
        1.00000000e+00,  2.43362705e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43362705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187031, -0.06176176,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59360872e-05, 3.15912802e-05, 6.98954661e-06,-1.94633936e-05,
 -5.56632387e-06, 7.40124073e-06,-2.38720567e-05,-9.00657541e-06,
  2.02091233e-07,-3.41088155e-05,-3.07201272e-05,-6.91950144e-06,
 -4.45321525e-04,-6.37360455e-05,-2.16316825e-04, 5.23165789e-05,
 -1.30069214e-06, 2.94891763e-07,-1.21643258e+00, 9.32706469e-05,
  1.47587880e-03, 1.49004276e-07]


--- Step 283 ---
qpos:
[ 3.01932298e-03,-3.29574989e-03, 1.18202406e-02, 4.15941847e-02,
 -2.20626697e-03,-1.92476039e-03,-1.72877425e-02, 2.85722904e-02,
  5.83021340e-03, 1.64156252e-02,-9.31281404e-03, 2.59015153e-02,
  6.48332949e-01,-2.02654802e-03, 4.66613621e-01, 6.55273420e-02,
  9.49778808e-02,-7.00376948e-02, 1.21777284e-01, 9.99997625e-01,
  7.36676555e-05,-1.03742673e-04, 2.17590390e-03]

qacc:
[-2.52082201e+00,-2.56423743e+00, 1.26289113e+01,-2.51254876e+01,
  2.47084632e+00, 1.72250103e+00,-8.81214322e+00, 1.98525499e+01,
 -6.23521336e-03,-8.42533359e-01, 4.03355243e+00,-1.05835507e+01,
 -1.89308280e+00, 4.82812026e+00,-1.65766613e+00, 5.21985322e-01,
  7.26169557e-01,-4.03187493e-01,-3.67646603e-02, 6.87366962e+00,
  1.22586702e+01,-7.71655481e-01]

qfrc_actuator:
[-6.87444717e-05, 7.56129198e-05, 2.31252101e-04, 2.11024556e-04,
  9.88059071e-06,-2.46423808e-04,-3.63492887e-04, 6.77412321e-06,
 -1.63487780e-05, 4.04161471e-04,-3.20273819e-05, 1.36655437e-04,
  6.38662247e-02,-6.21702317e-04, 4.26023462e-02,-4.26926854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022560332294067897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46056443e-13,  2.46056443e-13,  1.00000000e+00,  6.05437733e-26,
        1.00000000e+00, -2.46056443e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46056443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186986, -0.06176176,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48319321e-05, 6.48155298e-05, 4.98463923e-05,-2.84193505e-05,
  1.45236938e-05,-3.80067236e-06,-9.44587211e-06, 3.11497937e-05,
 -5.78004273e-08,-5.50354171e-05,-2.38225722e-05,-2.41557284e-05,
 -4.40735049e-04,-4.76410199e-05,-2.28021033e-04,-6.38079840e-05,
 -1.34339162e-06,-5.02519585e-07,-1.21642808e+00, 9.67214173e-05,
  1.47658603e-03, 4.53378279e-08]


--- Step 284 ---
qpos:
[ 3.01817080e-03,-3.29602658e-03, 1.18224201e-02, 4.15965231e-02,
 -2.20624786e-03,-1.92441496e-03,-1.72899111e-02, 2.85731626e-02,
  5.83026527e-03, 1.64149627e-02,-9.31422987e-03, 2.59033487e-02,
  6.49679194e-01,-2.02656778e-03, 4.67851784e-01, 6.55288598e-02,
  9.49829362e-02,-7.00428873e-02, 1.21778227e-01, 9.99997609e-01,
  1.16946260e-04,-6.14836790e-05, 2.18294406e-03]

qacc:
[  1.64576003, -1.60452591,  7.21920585,-13.39917429, -1.47369837,
  -0.83659351,  0.52268724,  5.93097044, -3.02848444, -1.61750299,
   6.13938176,-11.04837007, -1.30071136,  2.21356396, -4.20211318,
   8.18347692,  0.06020343,  1.13011934,  0.02550942,-18.94486114,
   1.5164615 ,  0.18305491]

qfrc_actuator:
[-5.87464406e-05, 5.01882089e-05, 2.38288875e-04, 1.92572757e-04,
  6.89926551e-07,-2.83796490e-04,-3.49259924e-04, 2.53070348e-05,
 -3.42927908e-05, 3.86873034e-04,-2.11982035e-05, 1.23157093e-04,
  6.37444134e-02,-6.27579186e-04, 4.24458189e-02,-4.27483665e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002260000346240021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22812263e-13,  2.45624525e-13,  1.00000000e+00,  3.01657037e-26,
        1.00000000e+00, -2.45624525e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22812263e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478225, -0.09308632,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.59615772e-06, 1.98838632e-05, 2.55599420e-05,-1.45120417e-05,
 -8.77891893e-06,-4.01081752e-05, 1.33814833e-05, 1.86517404e-05,
 -1.79647947e-05,-5.39977678e-05,-4.29255012e-06,-1.71518875e-05,
 -4.34793865e-04,-7.19271809e-05,-2.69492914e-04,-3.89002140e-05,
 -1.09199714e-06,-1.21085110e-06,-1.21641961e+00, 1.00805379e-04,
  1.47853062e-03,-4.88577314e-08]


--- Step 285 ---
qpos:
[ 3.01783734e-03,-3.29634018e-03, 1.18242279e-02, 4.15986907e-02,
 -2.20668361e-03,-1.92482491e-03,-1.72913900e-02, 2.85739271e-02,
  5.83079127e-03, 1.64138181e-02,-9.31493585e-03, 2.59049722e-02,
  6.51022982e-01,-2.02627248e-03, 4.69086867e-01, 6.55302479e-02,
  9.49882402e-02,-7.00435996e-02, 1.21778919e-01, 9.99997593e-01,
  1.22688534e-04,-1.63411602e-05, 2.19039622e-03]

qacc:
[  7.17524778,  0.624243  , -1.59978136, -0.7089436 , -3.95492179,
  -3.13859845, 10.21118324,-12.63630929,  4.16579818, -3.06131976,
  10.86246103,-15.25832009, -1.75813796,  4.22826919, -4.10435411,
   7.8732864 ,  0.06213706,  1.12002315, -0.06261876,-18.76496028,
   1.4827531 ,  0.20698702]

qfrc_actuator:
[-1.68932824e-05, 1.72421823e-05, 2.05908189e-04, 1.80757877e-04,
 -2.24825872e-05,-3.41608653e-04,-3.22332517e-04, 1.80907160e-05,
 -9.36549645e-06, 3.77031047e-04, 2.12751038e-05, 1.14497013e-04,
  6.36176641e-02,-6.13313825e-04, 4.23021689e-02,-4.27872462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022703623300202036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.4450349e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.4450349e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478259, -0.09308606,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21311848e-05,-1.71827518e-05,-2.56542513e-05,-1.03708217e-05,
 -2.34380653e-05,-7.66693877e-05, 2.09563847e-05,-8.10665849e-06,
  2.43912139e-05,-4.16292367e-05, 3.02181208e-05,-1.14551392e-05,
 -4.39188308e-04,-5.28939354e-05,-2.70552060e-04,-4.06148784e-05,
 -4.69385874e-07,-1.04593692e-06,-1.21643084e+00, 1.02962280e-04,
  1.48075422e-03,-2.42472157e-07]


--- Step 286 ---
qpos:
[ 3.01800818e-03,-3.29677438e-03, 1.18259387e-02, 4.16010376e-02,
 -2.20704902e-03,-1.92571161e-03,-1.72925740e-02, 2.85742459e-02,
  5.83195622e-03, 1.64127094e-02,-9.31533815e-03, 2.59064398e-02,
  6.52364307e-01,-2.02574707e-03, 4.70319245e-01, 6.55311212e-02,
  9.49937992e-02,-7.00398648e-02, 1.21779065e-01, 9.99997579e-01,
  9.11871385e-05, 3.16336399e-05, 2.19829634e-03]

qacc:
[  4.42572305,  0.47259485, -2.68748931,  6.04969572,  0.63402782,
  -2.37092888,  9.41959768,-17.24992488,  5.58169379, -1.13298523,
   4.7482757 , -7.93830515, -1.68063479,  3.82431751, -2.39058876,
   2.67565716,  0.06373782,  1.11179163, -0.13648404,-18.61868451,
   1.4569539 ,  0.22411046]

qfrc_actuator:
[ 7.86076986e-06, 1.53747847e-05, 2.03732304e-04, 1.90657066e-04,
 -1.81862532e-05,-3.57926110e-04,-3.05998432e-04,-4.23282459e-06,
  2.28486207e-05, 4.07378298e-04, 4.66155684e-05, 1.08777472e-04,
  6.34880451e-02,-6.05061754e-04, 4.21876596e-02,-4.29928749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022658613410360406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44989180e-13,  2.44989180e-13,  1.00000000e+00,  6.00196984e-26,
        1.00000000e+00, -2.44989180e-13, -1.00000000e+00,  0.00000000e+00,
       -2.44989180e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478283, -0.09308623,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59482315e-05,-1.72181040e-05,-9.26737722e-06, 8.06369644e-06,
  3.60098277e-06,-5.51872778e-05, 2.81999303e-06,-2.50383817e-05,
  3.28939660e-05, 1.28752531e-05, 2.00845862e-05,-6.68129532e-06,
 -4.42331032e-04,-5.82274986e-05,-2.42106605e-04,-5.75230748e-05,
  2.13389101e-07,-8.86584401e-07,-1.21643479e+00, 1.03268505e-04,
  1.48313522e-03,-3.45448321e-07]


--- Step 287 ---
qpos:
[ 3.01812978e-03,-3.29730729e-03, 1.18275727e-02, 4.16038255e-02,
 -2.20736048e-03,-1.92689631e-03,-1.72934103e-02, 2.85753037e-02,
  5.83280867e-03, 1.64118004e-02,-9.31640643e-03, 2.59089093e-02,
  6.53703206e-01,-2.02538871e-03, 4.71549778e-01, 6.55285645e-02,
  9.49996185e-02,-7.00317093e-02, 1.21778418e-01, 9.99997562e-01,
  2.26767216e-05, 8.24022546e-05, 2.20666960e-03]

qacc:
[ -0.43263193,  0.99434515, -5.59310343, 13.41672886,  0.48965516,
   0.15367245, -4.24170312, 16.69667561, -2.7493    ,  4.19312224,
 -18.78923978, 37.03769317, -1.27643549,  1.89651879,  7.65113385,
 -30.67016973,  0.06508457,  1.10517072, -0.19831126,-18.50140246,
   1.43760401,  0.23585547]

qfrc_actuator:
[ 4.58965257e-06, 1.45003849e-05, 2.01800601e-04, 2.13302854e-04,
 -1.55044883e-05,-3.49323225e-04,-2.78148583e-04, 3.57708266e-05,
  5.82248125e-06, 4.08255853e-04, 8.54066893e-06, 1.58110168e-04,
  6.33567933e-02,-6.18211380e-04, 4.21066892e-02,-4.47143941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002249588192904245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70142087e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.70142087e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.094783  , -0.09308673,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53885968e-06,-1.20725877e-05,-6.37197977e-06, 2.17353351e-05,
  2.76607737e-06,-2.27016316e-05, 1.59551273e-05, 3.72526523e-05,
 -1.60829489e-05, 1.19966437e-05,-3.31584142e-05, 5.04483277e-05,
 -4.46770306e-04,-8.07129175e-05,-1.98960586e-04,-2.06765080e-04,
  9.71016090e-07,-7.33677335e-07,-1.21643167e+00, 1.01738394e-04,
  1.48567425e-03,-3.57985284e-07]


--- Step 288 ---
qpos:
[ 3.01821127e-03,-3.29765270e-03, 1.18287810e-02, 4.16065048e-02,
 -2.20763765e-03,-1.92795205e-03,-1.72943690e-02, 2.85768092e-02,
  5.83345056e-03, 1.64111541e-02,-9.31795042e-03, 2.59115844e-02,
  6.55039587e-01,-2.02450473e-03, 4.72778519e-01, 6.55205603e-02,
  9.50057027e-02,-7.00191540e-02, 1.21776771e-01, 9.99997533e-01,
 -8.26582963e-05, 1.35936669e-04, 2.21553262e-03]

qacc:
[ -0.36875455,  1.2147059 , -3.51154974,  2.17258722,  0.29505161,
   1.43260505, -6.75282212, 14.6038676 , -1.85563137,  2.10338391,
  -7.85710224, 11.97311583, -2.1303361 ,  5.70410853, 13.85245806,
 -52.16591617,  0.06623867,  1.09994243, -0.24999617,-18.40922411,
   1.42353253,  0.24334698]

qfrc_actuator:
[ 2.60788079e-06, 3.20007676e-05, 1.82281519e-04, 2.07757936e-04,
 -1.38032118e-05,-3.25756183e-04,-2.79065479e-04, 5.89065242e-05,
 -4.54667530e-06, 4.26778851e-04,-1.34773786e-05, 1.68368139e-04,
  6.32352986e-02,-5.90639004e-04, 4.20085817e-02,-4.74917608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002224115304141766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24793780e-13,  4.99175120e-13,  1.00000000e+00,  6.22939502e-26,
        1.00000000e+00, -4.99175120e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24793780e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478311, -0.09308749,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05947355e-06, 1.03569661e-05,-2.20645566e-05,-5.86802764e-06,
  1.77000342e-06, 1.58158678e-05,-2.33044499e-06, 2.34419202e-05,
 -1.08302192e-05, 2.05811743e-05,-2.18594391e-05, 1.06063081e-05,
 -4.43297749e-04,-4.26055927e-05,-2.15877381e-04,-3.15815953e-04,
  1.81365320e-06,-5.84719125e-07,-1.21642162e+00, 9.83834116e-05,
  1.48837140e-03,-2.80331851e-07]


--- Step 289 ---
qpos:
[ 3.01826847e-03,-3.29805464e-03, 1.18301186e-02, 4.16087441e-02,
 -2.20789223e-03,-1.92876101e-03,-1.72962315e-02, 2.85786196e-02,
  5.83396283e-03, 1.64108979e-02,-9.31980579e-03, 2.59136429e-02,
  6.56373446e-01,-2.02262943e-03, 4.74004619e-01, 6.55141896e-02,
  9.50091653e-02,-7.00103469e-02, 1.21776051e-01, 9.99997498e-01,
 -1.57124280e-04, 1.66069985e-04, 2.22519954e-03]

qacc:
[ -0.20851891, -1.34275797,  6.53522616,-14.31211633,  0.16567618,
   3.47719861,-13.2132181 , 19.7512462 , -1.14738545,  0.11878723,
   2.93176085,-13.39662696, -2.53121677,  7.72113478, -8.73848121,
  25.12238066, -0.6554299 , -0.93703725,  0.23168939, 15.40850142,
 -11.73474927,  0.40308856]

qfrc_actuator:
[ 1.41028737e-06, 2.47740302e-05, 1.88094789e-04, 1.85671871e-04,
 -1.26921585e-05,-3.29023666e-04,-3.32416581e-04, 7.19170603e-05,
 -1.08985985e-05, 4.55746153e-04,-2.57851826e-05, 1.37824355e-04,
  6.31197538e-02,-5.39259285e-04, 4.19322081e-02,-4.64305855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022793476646343347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910216, -0.05166908,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25216753e-06,-6.25257390e-06, 5.01577027e-06,-2.25279828e-05,
  1.16614357e-06, 6.14684197e-06,-4.95400141e-05, 1.40649769e-05,
 -6.65783899e-06, 3.64493187e-05,-1.03612031e-05,-3.02122411e-05,
 -4.29486255e-04,-1.53740444e-05,-2.13806119e-04, 5.98534445e-05,
  2.74821240e-06,-4.34049186e-07,-1.21640473e+00, 9.32125411e-05,
  1.49122643e-03,-1.12760512e-07]


--- Step 290 ---
qpos:
[ 3.01796628e-03,-3.29898620e-03, 1.18317422e-02, 4.16107517e-02,
 -2.20813127e-03,-1.92965654e-03,-1.72986065e-02, 2.85805885e-02,
  5.83404985e-03, 1.64111941e-02,-9.32219617e-03, 2.59153137e-02,
  6.57704883e-01,-2.01981413e-03, 4.75227994e-01, 6.55130346e-02,
  9.50100250e-02,-7.00052383e-02, 1.21775769e-01, 9.99997465e-01,
 -2.01107169e-04, 1.73180432e-04, 2.23575444e-03]

qacc:
[ -3.13657436, -1.97101514,  6.99991342,-11.08835254,  0.12177258,
   1.64247769, -6.69240055, 10.31823498, -3.73544271,  1.4345617 ,
  -2.40635002, -3.86807982, -2.36004469,  7.14579116,-19.67191952,
  63.19438023, -0.65069196, -0.92462056,  0.10958392, 15.21581997,
 -11.54539108,  0.44470301]

qfrc_actuator:
[-1.70691965e-05,-3.26252091e-05, 1.90970061e-04, 1.71788446e-04,
 -1.19372470e-05,-3.48561272e-04,-3.63139888e-04, 7.88163227e-05,
 -3.25895144e-05, 4.90747599e-04,-4.99935210e-05, 1.19044629e-04,
  6.30078700e-02,-4.92023732e-04, 4.18423870e-02,-4.36478822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002322441891413618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.39020625e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.39020625e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910101, -0.05166988,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85171270e-05,-6.08313566e-05, 1.40607622e-06,-1.44232776e-05,
  7.91710668e-07,-2.56826421e-05,-3.50420842e-05, 5.72415909e-06,
 -2.18696670e-05, 5.19748369e-05,-1.89799099e-05,-1.81637106e-05,
 -4.11710885e-04,-1.55679326e-05,-1.82703266e-04, 2.53630468e-04,
  1.94605782e-06,-4.37157133e-07,-1.21642365e+00, 8.94533818e-05,
  1.49261286e-03, 3.42249947e-07]


--- Step 291 ---
qpos:
[ 3.01744498e-03,-3.30031156e-03, 1.18328222e-02, 4.16126183e-02,
 -2.20801467e-03,-1.93046075e-03,-1.73011241e-02, 2.85818855e-02,
  5.83387609e-03, 1.64119125e-02,-9.32432356e-03, 2.59170526e-02,
  6.59034126e-01,-2.01677854e-03, 4.76449571e-01, 6.55131238e-02,
  9.50082981e-02,-7.00037871e-02, 1.21775515e-01, 9.99997439e-01,
 -2.14926015e-04, 1.57575936e-04, 2.24726118e-03]

qacc:
[-1.93365687e+00, 7.12542855e-01,-2.69425800e+00, 1.40720450e+00,
  3.11278251e+00,-8.68787943e-01, 6.09983232e+00,-1.75562946e+01,
 -2.27345607e+00,-3.24636344e-02, 6.45991515e-01,-2.08280867e-01,
 -1.50261289e+00, 3.41155705e+00,-6.36397783e+00, 1.85169281e+01,
 -6.46683432e-01,-9.14365719e-01, 6.96274549e-03, 1.50565094e+01,
 -1.13912583e+01, 4.76244804e-01]

qfrc_actuator:
[-2.78203828e-05,-6.63743640e-05, 1.56368974e-04, 1.62794387e-04,
  6.35462481e-06,-3.24368419e-04,-3.62563837e-04, 4.65679430e-05,
 -4.53837217e-05, 5.29051243e-04,-2.77360996e-05, 1.25093667e-04,
  6.29035904e-02,-4.83125149e-04, 4.17552516e-02,-4.30700916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002343424483295664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910032, -0.0516702 ,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12983828e-05,-6.80887471e-05,-4.75034809e-05,-1.18371126e-05,
  1.83066518e-05, 2.89465661e-06,-8.81330277e-06,-3.44472215e-05,
 -1.34025951e-05, 6.26754855e-05, 3.00490163e-05, 7.26803366e-06,
 -3.91283032e-04,-5.15152139e-05,-1.44751325e-04, 4.77921769e-05,
  1.19087488e-06,-1.56186037e-07,-1.21643494e+00, 8.71729267e-05,
  1.49282698e-03, 6.05622787e-07]


--- Step 292 ---
qpos:
[ 3.01748853e-03,-3.30189931e-03, 1.18333943e-02, 4.16143436e-02,
 -2.20802445e-03,-1.93153214e-03,-1.73032399e-02, 2.85831393e-02,
  5.83320551e-03, 1.64126752e-02,-9.32571912e-03, 2.59188658e-02,
  6.60361327e-01,-2.01397719e-03, 4.77668776e-01, 6.55159557e-02,
  9.50039977e-02,-7.00059598e-02, 1.21774945e-01, 9.99997420e-01,
 -1.98842261e-04, 1.19505279e-04, 2.25976765e-03]

qacc:
[  4.9463965 ,  0.77207604, -2.67596322,  1.25277027, -1.09125881,
  -1.5618    ,  5.2426116 , -6.43898259, -4.31125862, -1.82513053,
   6.2928218 , -6.22244673, -0.87929666,  0.79791399,-11.75432033,
  36.08796855, -0.64335713, -0.90596163, -0.07916989, 14.92593991,
 -11.26675954,  0.4997971 ]

qfrc_actuator:
[ 1.57414908e-06,-6.81047946e-05, 1.35502477e-04, 1.56735847e-04,
 -6.82908312e-07,-3.45091084e-04,-3.43372938e-04, 4.48558878e-05,
 -7.05869096e-05, 5.15987449e-04, 4.06415134e-06, 1.27986744e-04,
  6.28039399e-02,-4.96885039e-04, 4.16431133e-02,-4.16660821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023466155257809151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36558357e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.36558357e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909999, -0.05167015,  0.0619943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90541058e-05,-5.00959129e-05,-4.11913477e-05,-1.08524012e-05,
 -6.51291108e-06,-2.23383823e-05, 1.75466126e-05,-2.55957987e-06,
 -2.55665621e-05, 2.84929888e-05, 4.87123540e-05, 6.75994991e-06,
 -3.77619850e-04,-7.41156405e-05,-1.78133108e-04, 1.23134028e-04,
  4.58233053e-07, 4.17367285e-07,-1.21643888e+00, 8.63528784e-05,
  1.49187974e-03, 6.82347570e-07]


--- Step 293 ---
qpos:
[ 3.01857385e-03,-3.30391167e-03, 1.18345644e-02, 4.16159261e-02,
 -2.20811821e-03,-1.93292301e-03,-1.73053504e-02, 2.85847427e-02,
  5.83223810e-03, 1.64133234e-02,-9.32655728e-03, 2.59203875e-02,
  6.61686436e-01,-2.01130470e-03, 4.78885090e-01, 6.55189222e-02,
  9.49971346e-02,-7.00117290e-02, 1.21773768e-01, 9.99997403e-01,
 -1.53067565e-04, 5.91672689e-05, 2.27330900e-03]

qacc:
[  9.17037704, -2.54558267,  8.83301425,-11.91435106, -0.73078419,
   0.28313068, -3.09593559,  9.36959931, -2.56969726, -2.30454418,
   9.23724307,-15.10012901, -1.05842775,  1.5019162 , -4.6484938 ,
  10.11851469, -0.64066239, -0.89914374, -0.15136418, 14.82021161,
 -11.16729797,  0.51699203]

qfrc_actuator:
[ 5.43598103e-05,-6.83505223e-05, 1.76316350e-04, 1.52495432e-04,
 -4.82569089e-06,-3.74688450e-04,-3.49005742e-04, 6.11056823e-05,
 -8.51424907e-05, 4.90064851e-04, 2.32634233e-05, 1.11200001e-04,
  6.26911548e-02,-5.06120969e-04, 4.14628317e-02,-4.17390919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023356273034218222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75342544e-13,  4.75342544e-13,  1.00000000e+00, -2.25950534e-25,
        1.00000000e+00, -4.75342544e-13, -1.00000000e+00,  0.00000000e+00,
        4.75342544e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909994, -0.05166979,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36019254e-05,-3.71755706e-05, 2.50241640e-05,-8.02571194e-06,
 -4.33682756e-06,-3.85156203e-05,-8.13920178e-06, 1.58543994e-05,
 -1.52793722e-05, 3.36372110e-07, 3.13224517e-05,-1.37503413e-05,
 -3.84558315e-04,-6.94466088e-05,-2.51030737e-04,-2.41517824e-05,
 -2.70558629e-07, 1.28713189e-06,-1.21643574e+00, 8.69786073e-05,
  1.48978048e-03, 5.76279596e-07]


--- Step 294 ---
qpos:
[ 3.01993859e-03,-3.30615101e-03, 1.18366535e-02, 4.16180869e-02,
 -2.20826123e-03,-1.93429486e-03,-1.73076285e-02, 2.85861516e-02,
  5.83179360e-03, 1.64135774e-02,-9.32726303e-03, 2.59221082e-02,
  6.63009266e-01,-2.00803167e-03, 4.80099123e-01, 6.55183567e-02,
  9.49877174e-02,-7.00210730e-02, 1.21771745e-01, 9.99997379e-01,
 -7.77704005e-05,-2.32816924e-05, 2.28791018e-03]

qacc:
[  2.48570621, -1.68208198,  3.11390439,  5.5986736 , -0.43765557,
   0.09443945,  0.52228988, -3.63508213,  4.57175372, -0.49013169,
   0.13581863,  3.40451986, -2.04503395,  5.6629048 ,  7.35481647,
 -30.4740673 , -0.63854772, -0.89368696, -0.21179369, 14.73603173,
 -11.08908481,  0.52910734]

qfrc_actuator:
[ 6.72193795e-05,-4.96856130e-05, 2.35483078e-04, 1.84909146e-04,
 -7.22346084e-06,-3.56193561e-04,-3.51544488e-04, 5.22518472e-05,
 -5.78055245e-05, 4.38815482e-04, 1.70311761e-05, 1.18446910e-04,
  6.25705671e-02,-4.77148944e-04, 4.13429864e-02,-4.35708343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002313472103495362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79894710e-13, -7.19842065e-13,  1.00000000e+00, -3.45448399e-25,
        1.00000000e+00,  7.19842065e-13, -1.00000000e+00,  0.00000000e+00,
       -4.79894710e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910013, -0.05166919,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43774884e-05, 2.77227801e-06, 5.42954742e-05, 3.15268651e-05,
 -2.53516293e-06,-3.97451462e-06,-1.09106526e-05,-1.04730679e-05,
  2.68999228e-05,-4.52059016e-05,-2.78206473e-06, 8.07498457e-06,
 -3.96976211e-04,-3.18758258e-05,-2.37481683e-04,-2.16904420e-04,
 -1.01030949e-06, 2.45282387e-06,-1.21642567e+00, 8.90385270e-05,
  1.48653701e-03, 2.90350757e-07]


--- Step 295 ---
qpos:
[ 3.02075723e-03,-3.30819416e-03, 1.18392902e-02, 4.16205892e-02,
 -2.20877700e-03,-1.93557899e-03,-1.73094334e-02, 2.85873894e-02,
  5.83202465e-03, 1.64137999e-02,-9.32786136e-03, 2.59235124e-02,
  6.64329888e-01,-2.00469711e-03, 4.81310449e-01, 6.55175213e-02,
  9.49787118e-02,-7.00329455e-02, 1.21770457e-01, 9.99997345e-01,
  1.93574417e-05,-1.02137167e-04, 2.30200441e-03]

qacc:
[ -4.7792835 , -0.55890785,  0.94424754,  3.92702246, -3.25616009,
  -1.55127357,  6.43322601,-10.22689893,  5.89603854, -1.00487936,
   4.83856412,-10.4420748 , -1.3497994 ,  2.63428239, -3.1442253 ,
   5.27993267,  0.1029232 , -0.63213707,  0.1837272 , 10.91941464,
   1.77178474, -0.25357901]

qfrc_actuator:
[ 3.87163178e-05,-1.97021217e-05, 2.69596161e-04, 2.03146061e-04,
 -2.63280005e-05,-3.26806672e-04,-3.16550625e-04, 4.64926308e-05,
 -2.37866492e-05, 4.61458627e-04, 3.12473184e-05, 1.04234719e-04,
  6.24507156e-02,-4.79187900e-04, 4.12381488e-02,-4.35812676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022829763571597823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.09913035e-08, -7.29457636e-13,  1.00000000e+00, -5.17851484e-20,
        1.00000000e+00,  7.29457636e-13, -1.00000000e+00,  0.00000000e+00,
       -7.09913035e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0941483 , -0.05721308,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80915643e-05, 4.41517148e-05, 4.24590859e-05, 2.08428296e-05,
 -1.91773140e-05, 2.45344375e-05, 3.25063395e-05,-6.50576188e-06,
  3.47743422e-05,-2.86170716e-06, 4.81487353e-06,-1.60926047e-05,
 -3.99450256e-04,-6.18396799e-05,-2.39524548e-04,-4.41928512e-05,
 -1.77331916e-06, 3.91089211e-06,-1.21640881e+00, 9.25235985e-05,
  1.48215572e-03,-1.73263909e-07]


--- Step 296 ---
qpos:
[ 3.02122797e-03,-3.30974486e-03, 1.18416991e-02, 4.16226154e-02,
 -2.20917281e-03,-1.93680566e-03,-1.73107904e-02, 2.85885535e-02,
  5.83231622e-03, 1.64149852e-02,-9.32847738e-03, 2.59242689e-02,
  6.65648351e-01,-2.00198080e-03, 4.82518964e-01, 6.55189167e-02,
  9.49713435e-02,-7.00433237e-02, 1.21770836e-01, 9.99997299e-01,
  1.04709917e-04,-1.66198959e-04, 2.31588578e-03]

qacc:
[-3.06975837e+00, 3.12796671e-01, 1.84774658e+00,-1.00942395e+01,
  1.06527451e+00,-1.32901839e+00, 5.15695522e+00,-7.18729983e+00,
  5.10426238e-01,-1.23063382e-02, 4.62350169e+00,-1.65123211e+01,
 -5.29325416e-01,-1.01774892e+00,-1.08756986e+01, 3.20272990e+01,
  4.09299056e-01, 3.73588964e-01, 4.16894610e-01,-5.87065122e+00,
  7.41037262e+00,-1.05958270e-01]

qfrc_actuator:
[ 2.16146731e-05,-1.01247256e-06, 2.53175386e-04, 1.77377118e-04,
 -1.96081231e-05,-3.26466150e-04,-2.95116238e-04, 4.26446500e-05,
 -2.16257159e-05, 5.81490259e-04, 5.77045135e-05, 7.75829362e-05,
  6.23260557e-02,-5.17287275e-04, 4.11317846e-02,-4.23398823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023019003414373378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.95997212e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.95997212e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821327, -0.07714663,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78856434e-05, 5.30674207e-05,-1.36243509e-06,-2.20086199e-05,
  6.18075615e-06, 2.05540632e-05, 3.03153770e-05,-1.79346707e-06,
  3.15753406e-06, 1.18744963e-04, 2.59023991e-05,-2.69247065e-05,
 -4.10205628e-04,-1.00881014e-04,-2.21733010e-04, 9.05967051e-05,
 -2.56113382e-06, 3.85383114e-06,-1.21640084e+00, 9.73593159e-05,
  1.47808062e-03,-5.83150096e-07]


--- Step 297 ---
qpos:
[ 3.02148995e-03,-3.31086978e-03, 1.18436173e-02, 4.16246898e-02,
 -2.20948503e-03,-1.93812824e-03,-1.73117921e-02, 2.85900342e-02,
  5.83263175e-03, 1.64173135e-02,-9.32977900e-03, 2.59247217e-02,
  6.66964505e-01,-1.99934641e-03, 4.83725198e-01, 6.55213438e-02,
  9.49641636e-02,-7.00491392e-02, 1.21771539e-01, 9.99997249e-01,
  1.52057001e-04,-2.27012055e-04, 2.32972152e-03]

qacc:
[ -1.85502897,  2.03777267, -6.64609648,  7.94546311,  0.74609729,
  -0.46922631,  0.14933419,  4.83736355,  0.16795192,  2.80089839,
  -6.5126884 ,  1.50919687, -1.24017275,  1.96818033, -6.44688491,
  17.73962381,  0.04711781,  1.14068812,  0.08103915,-18.99888602,
   1.66834909, -0.01981959]

qfrc_actuator:
[ 1.13741414e-05, 1.05261289e-05, 2.24743479e-04, 1.79143601e-04,
 -1.54898567e-05,-3.43558281e-04,-2.81981588e-04, 5.76671310e-05,
 -2.04820891e-05, 6.34704733e-04, 2.05779607e-05, 6.16778777e-05,
  6.22039118e-02,-5.23109844e-04, 4.10352629e-02,-4.17915445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023391265012964735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18657865e-13,  2.37315730e-13,  1.00000000e+00,  2.81593778e-26,
        1.00000000e+00, -2.37315730e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18657865e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478976, -0.09308606,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07284111e-05, 4.00055193e-05,-1.84143011e-05, 3.55829888e-06,
  4.30047138e-06, 6.46653199e-07, 2.10798520e-05, 1.69202913e-05,
  1.27891259e-06, 1.23778667e-04,-1.03475065e-05,-1.04471158e-05,
 -4.20733714e-04,-7.36112575e-05,-1.88921555e-04, 3.10415678e-05,
 -2.39774155e-06, 2.98034012e-06,-1.21641154e+00, 1.01694007e-04,
  1.47502890e-03,-7.06722045e-07]


--- Step 298 ---
qpos:
[ 3.02162725e-03,-3.31187724e-03, 1.18453008e-02, 4.16267915e-02,
 -2.20940057e-03,-1.93940155e-03,-1.73126686e-02, 2.85920263e-02,
  5.83330399e-03, 1.64202647e-02,-9.33158469e-03, 2.59246900e-02,
  6.68278270e-01,-1.99672136e-03, 4.84929601e-01, 6.55233087e-02,
  9.49571861e-02,-7.00504409e-02, 1.21772174e-01, 9.99997200e-01,
  1.61778585e-04,-2.84733910e-04, 2.34368112e-03]

qacc:
[-1.10382420e+00, 8.70025328e-01,-2.98793659e+00, 3.74460742e+00,
  3.48263947e+00, 7.60240647e-01,-4.78758374e+00, 1.34143562e+01,
  3.08453389e+00, 1.22888614e+00,-1.15211059e+00,-6.87348604e+00,
 -1.40120413e+00, 2.52600448e+00,-1.27040492e+00, 6.05903367e-01,
  5.05878767e-02, 1.12842417e+00,-1.72535756e-02,-1.88090830e+01,
  1.58945450e+00, 6.59588542e-02]

qfrc_actuator:
[ 5.25027692e-06,-1.08845788e-07, 2.07211446e-04, 1.79344781e-04,
  4.80847326e-06,-3.35474346e-04,-2.73913293e-04, 8.36509503e-05,
 -2.18387234e-06, 6.29511101e-04,-1.85186003e-05, 3.43833985e-05,
  6.20727169e-02,-5.27607996e-04, 4.09553518e-02,-4.20110188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002354257114156738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17895261e-13,  4.71581043e-13,  1.00000000e+00,  5.55971700e-26,
        1.00000000e+00, -4.71581043e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17895261e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479051, -0.09308578,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.41368112e-06, 8.09412472e-06,-1.14273968e-05, 1.34091175e-06,
  2.04195839e-05, 1.35828162e-05, 1.14077350e-05, 2.70719239e-05,
  1.83850460e-05, 6.13703870e-05,-1.51771057e-05,-2.25546830e-05,
 -4.32941012e-04,-7.18552032e-05,-1.65991495e-04,-4.53371321e-05,
 -1.09961543e-06, 2.52182140e-06,-1.21642516e+00, 1.04052996e-04,
  1.47235480e-03,-6.76871620e-07]


--- Step 299 ---
qpos:
[ 3.02168982e-03,-3.31247167e-03, 1.18463662e-02, 4.16285226e-02,
 -2.20907339e-03,-1.94063839e-03,-1.73136574e-02, 2.85936420e-02,
  5.83384603e-03, 1.64232010e-02,-9.33300744e-03, 2.59243532e-02,
  6.69589737e-01,-1.99476590e-03, 4.86131904e-01, 6.55259653e-02,
  9.49504214e-02,-7.00472690e-02, 1.21772409e-01, 9.99997154e-01,
  1.34185189e-04,-3.39491970e-04, 2.35790124e-03]

qacc:
[ -0.68271652,  1.51143318, -3.03132567, -2.69792871,  2.1243693 ,
  -0.41656318,  3.13784478, -9.49290924, -1.12350326, -1.71605039,
   7.38237195,-13.26937917, -0.59443283, -0.98918602, -5.18380481,
  13.63491579,  0.05319771,  1.11841772, -0.09965415,-18.65392841,
   1.52564169,  0.13533324]

qfrc_actuator:
[ 1.59584875e-06, 2.93479394e-05, 1.78407076e-04, 1.60855829e-04,
  1.67156726e-05,-3.47896859e-04,-2.86549491e-04, 6.26323040e-05,
 -9.44048873e-06, 6.07088046e-04,-5.44655722e-06, 1.83100130e-05,
  6.19468335e-02,-5.66856557e-04, 4.08641455e-02,-4.16152115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023526670434294294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17974941e-13,  2.35949882e-13,  1.00000000e+00,  2.78361735e-26,
        1.00000000e+00, -2.35949882e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17974941e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479107, -0.09308596,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83281539e-06, 3.16895238e-05,-2.85060635e-05,-1.85175133e-05,
  1.24924076e-05,-1.25129833e-06,-7.46873734e-06,-1.95154656e-05,
 -6.69917491e-06, 7.71690877e-06, 2.30857695e-05,-1.44106184e-05,
 -4.35809565e-04,-1.08485151e-04,-1.76902548e-04, 1.44985223e-05,
  1.76656803e-07, 2.10783229e-06,-1.21643141e+00, 1.04548057e-04,
  1.46982753e-03,-5.60221747e-07]


--- Step 300 ---
qpos:
[ 3.02205309e-03,-3.31286042e-03, 1.18473333e-02, 4.16310449e-02,
 -2.20929556e-03,-1.94198244e-03,-1.73149780e-02, 2.85946826e-02,
  5.83429718e-03, 1.64261960e-02,-9.33425960e-03, 2.59238318e-02,
  6.70898921e-01,-1.99328685e-03, 4.87331935e-01, 6.55238409e-02,
  9.49438772e-02,-7.00396557e-02, 1.21771970e-01, 9.99997107e-01,
  6.95273239e-05,-3.91389613e-04, 2.37249277e-03]

qacc:
[  2.63324679,  2.17260459,-10.69817724, 24.4034074 , -4.8270779 ,
  -0.38783958,  3.62186977,-12.9820753 , -0.78852349, -0.77746306,
   3.66655887, -7.17900185, -0.88663392,  0.25451493, 11.07978969,
 -43.6257947 ,  0.0551385 ,  1.11034375, -0.16863148,-18.52874612,
   1.47392615,  0.1918039 ]

qfrc_actuator:
[ 1.71756359e-05, 4.70119675e-05, 1.78821707e-04, 2.02550248e-04,
 -1.19217703e-05,-3.72630139e-04,-3.11420963e-04, 3.18481013e-05,
 -1.39331617e-05, 6.10221307e-04, 2.73601128e-06, 8.98384475e-06,
  6.18348663e-02,-5.90786131e-04, 4.06970170e-02,-4.42329242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023378002912531615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37450356e-13,  7.12351069e-13,  1.00000000e+00,  1.69148015e-25,
        1.00000000e+00, -7.12351069e-13, -1.00000000e+00,  0.00000000e+00,
       -2.37450356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479149, -0.09308649,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54840563e-05, 2.87072559e-05, 2.79914462e-06, 4.17002207e-05,
 -2.82806715e-05,-2.77547409e-05,-2.67031908e-05,-3.14752105e-05,
 -4.67455242e-06, 1.15101841e-05, 1.21053586e-05,-8.47937031e-06,
 -4.29311586e-04,-9.67513571e-05,-2.50252911e-04,-2.84705747e-04,
  1.47630234e-06, 1.72437676e-06,-1.21643049e+00, 1.03196542e-04,
  1.46745263e-03,-3.55877580e-07]


--- Step 301 ---
qpos:
[ 3.02260045e-03,-3.31335963e-03, 1.18484431e-02, 4.16340708e-02,
 -2.20951458e-03,-1.94297768e-03,-1.73165406e-02, 2.85952813e-02,
  5.83434648e-03, 1.64289688e-02,-9.33558009e-03, 2.59239465e-02,
  6.72205828e-01,-1.99239426e-03, 4.88528953e-01, 6.55195858e-02,
  9.49403825e-02,-7.00336818e-02, 1.21772571e-01, 9.99997068e-01,
  1.91208540e-05,-4.18450354e-04, 2.38515792e-03]

qacc:
[ 1.62262741e+00, 4.89876953e-01,-4.08788705e+00, 1.26588300e+01,
  1.36947687e-02, 2.27632745e-01, 1.72365359e+00,-9.24336514e+00,
 -3.50294769e+00, 1.21371259e+00,-7.42791113e+00, 1.86979776e+01,
 -7.07424699e-01,-4.77909974e-01, 1.98826305e+00,-1.34125871e+01,
  7.62374947e-01,-4.09873133e-01, 2.59778432e-01, 7.15476234e+00,
  1.24014444e+01,-9.66849254e-01]

qfrc_actuator:
[ 2.61977836e-05, 2.21372074e-05, 1.78742658e-04, 2.26083204e-04,
 -1.09331306e-05,-3.15857643e-04,-3.07863847e-04, 1.33063281e-05,
 -3.45073257e-05, 5.75362735e-04,-9.70857669e-06, 3.92126845e-05,
  6.17153529e-02,-6.23202272e-04, 4.05589873e-02,-4.52337893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023530713254123203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.35909344e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.35909344e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186867, -0.06177047,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47108665e-06,-6.45581245e-06, 7.62489461e-06, 2.56636305e-05,
  1.75205572e-07, 3.44396987e-05,-6.52404580e-06,-2.12629089e-05,
 -2.06961672e-05,-2.63776960e-05,-8.88793242e-06, 3.09734921e-05,
 -4.31189443e-04,-1.03212364e-04,-2.85872443e-04,-1.48587289e-04,
  2.83295729e-06, 1.36363759e-06,-1.21642257e+00, 1.00012337e-04,
  1.46523387e-03,-6.31969772e-08]


--- Step 302 ---
qpos:
[ 3.02290676e-03,-3.31367344e-03, 1.18489350e-02, 4.16366799e-02,
 -2.20937585e-03,-1.94315092e-03,-1.73180675e-02, 2.85955710e-02,
  5.83414920e-03, 1.64311952e-02,-9.33715254e-03, 2.59248235e-02,
  6.73510442e-01,-1.99187540e-03, 4.89722450e-01, 6.55170984e-02,
  9.49398962e-02,-7.00293421e-02, 1.21773833e-01, 9.99997041e-01,
 -1.72447963e-05,-4.20844740e-04, 2.39601213e-03]

qacc:
[ -2.13872958,  1.11725398, -1.86204795, -4.50700771,  3.12462676,
   0.34489971,  1.64074068, -7.63867463, -2.14872815,  1.55525469,
  -9.80416666, 23.79285416, -0.88272288,  0.38524236,-10.51103406,
  29.26362736,  0.75209991, -0.40850746,  0.16550629,  7.04942683,
  12.31638172, -0.90865548]

qfrc_actuator:
[ 1.35290350e-05, 2.52309471e-05, 1.42660495e-04, 2.03185226e-04,
  7.49841079e-06,-2.28347428e-04,-2.87206729e-04, 2.20699283e-06,
 -4.66304300e-05, 5.17966546e-04,-3.43587579e-05, 7.46750220e-05,
  6.16020449e-02,-6.42657125e-04, 4.04172621e-02,-4.42067668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023625454012232705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34963321e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.34963321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186838, -0.06177094,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24027664e-05, 2.15783431e-06,-3.56032795e-05,-2.24197018e-05,
  1.84497038e-05, 1.04563282e-04, 2.62601132e-05,-1.02585843e-05,
 -1.27190152e-05,-7.27476158e-05,-3.01382376e-05, 3.46245794e-05,
 -4.27248439e-04,-9.12018428e-05,-2.88228186e-04, 5.78126240e-05,
  1.74831829e-06, 6.35450327e-07,-1.21643167e+00, 9.77493777e-05,
  1.46371266e-03,-4.94536749e-08]


--- Step 303 ---
qpos:
[ 3.02340387e-03,-3.31380063e-03, 1.18488902e-02, 4.16400247e-02,
 -2.20901725e-03,-1.94260030e-03,-1.73193280e-02, 2.85953753e-02,
  5.83449801e-03, 1.64325825e-02,-9.33858527e-03, 2.59264754e-02,
  6.74812586e-01,-1.99059129e-03, 4.90913627e-01, 6.55136378e-02,
  9.49423853e-02,-7.00266313e-02, 1.21775442e-01, 9.99997027e-01,
 -3.97407716e-05,-3.98713165e-04, 2.40514851e-03]

qacc:
[  1.65504537,  3.26100667,-14.37804673, 27.83591374,  1.92408397,
  -0.78971295,  6.24697217,-15.59772731,  4.78205476,  0.08647413,
  -5.20544921, 19.02899502, -2.31256018,  6.49226276, -0.41042631,
  -3.3540209 ,  0.74382879, -0.40726893,  0.08659778,  6.96383783,
  12.24634569, -0.86163134]

qfrc_actuator:
[ 2.37025244e-05, 4.48541100e-05, 1.21185076e-04, 2.41910859e-04,
  1.82871873e-05,-1.94017847e-04,-2.74223083e-04,-2.21357453e-05,
 -1.81721716e-05, 4.65213495e-04,-3.06160839e-05, 1.12896940e-04,
  6.14872178e-02,-6.01055442e-04, 4.03267317e-02,-4.46563684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023565982507747774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186791, -0.06177117,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.82333428e-06, 1.25099519e-05,-2.61984172e-05, 3.71438845e-05,
  1.13505439e-05, 9.78157328e-05, 3.74799918e-05,-1.91502912e-05,
  2.80736874e-05,-9.82448677e-05,-1.38077629e-05, 3.47324865e-05,
 -4.23963538e-04,-2.87609965e-05,-2.13985305e-04,-7.83775639e-05,
  1.01091318e-06, 4.11211383e-08,-1.21643660e+00, 9.61258217e-05,
  1.46344708e-03,-2.41002518e-08]


--- Step 304 ---
qpos:
[ 3.02401879e-03,-3.31374105e-03, 1.18491215e-02, 4.16434047e-02,
 -2.20853171e-03,-1.94155469e-03,-1.73206029e-02, 2.85952843e-02,
  5.83484035e-03, 1.64330081e-02,-9.33961099e-03, 2.59289152e-02,
  6.76112325e-01,-1.98877745e-03, 4.92102760e-01, 6.55111656e-02,
  9.49478233e-02,-7.00255454e-02, 1.21777133e-01, 9.99997026e-01,
 -4.85052613e-05,-3.52168787e-04, 2.41264256e-03]

qacc:
[ 1.03968122,-0.45492468, 1.82837354,-1.79605223, 1.10442922, 0.90717908,
 -2.73075714, 4.20300029,-0.02676416,-0.78659821,-2.36652591,16.06084454,
 -1.98630572, 5.14389682,-5.93217667,16.53270834, 0.73724314,-0.4061883 ,
  0.0206899 , 6.89475345,12.18988751,-0.82343732]

qfrc_actuator:
[ 2.94932999e-05, 7.43195400e-05, 1.44145115e-04, 2.45614160e-04,
  2.44850885e-05,-1.91827284e-04,-2.83841195e-04,-1.86193185e-05,
 -1.93170201e-05, 4.15757515e-04,-1.01285911e-05, 1.52457020e-04,
  6.13662520e-02,-5.77067227e-04, 4.02669369e-02,-4.40188154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002338455575996573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186729, -0.06177121,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07423688e-06, 3.26402162e-05, 2.35961465e-05, 4.04810114e-06,
  6.55487089e-06, 6.38091266e-05, 1.45486536e-05, 8.63404284e-06,
 -3.72058140e-07,-1.05785127e-04,-3.09213226e-07, 3.55433725e-05,
 -4.18134360e-04,-4.09323475e-05,-1.68997609e-04, 3.11965860e-05,
  5.98591849e-07,-4.37899960e-07,-1.21643746e+00, 9.51383205e-05,
  1.46442593e-03, 1.18408996e-08]


--- Step 305 ---
qpos:
[ 3.02469857e-03,-3.31370304e-03, 1.18497617e-02, 4.16461291e-02,
 -2.20797522e-03,-1.94052418e-03,-1.73211860e-02, 2.85955988e-02,
  5.83482116e-03, 1.64332003e-02,-9.34061712e-03, 2.59307066e-02,
  6.77409576e-01,-1.98597870e-03, 4.93290010e-01, 6.55100538e-02,
  9.49561896e-02,-7.00260806e-02, 1.21778688e-01, 9.99997035e-01,
 -4.36487886e-05,-2.81300149e-04, 2.41855580e-03]

qacc:
[  0.58210749, -2.52401254, 11.72048587,-23.6971737 ,  0.64452201,
  -1.11964469,  2.24857641,  3.67867264, -3.14917886, -1.69184105,
   8.33334987,-19.42681698, -2.53761241,  7.48646666, -6.7932356 ,
  19.9505529 ,  0.73207956, -0.40528293, -0.0342319 ,  6.83952571,
  12.14570266, -0.79221772]

qfrc_actuator:
[ 3.26511038e-05, 5.63576425e-05, 1.57662918e-04, 2.10957837e-04,
  2.79334535e-05,-2.08980820e-04,-2.53588163e-04, 1.21685020e-06,
 -3.78896226e-05, 4.39748656e-04, 2.32998690e-06, 1.21486504e-04,
  6.12416859e-02,-5.28212414e-04, 4.01936874e-02,-4.32772734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023108046874714683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80448664e-13,  2.40224332e-13,  1.00000000e+00,  1.15415459e-25,
        1.00000000e+00, -2.40224332e-13, -1.00000000e+00,  0.00000000e+00,
       -4.80448664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186656, -0.0617711 ,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33999608e-06, 5.32559904e-06, 2.32943373e-05,-3.23714205e-05,
  3.65653426e-06, 2.18829858e-05, 4.55265782e-05, 2.32425958e-05,
 -1.86208666e-05,-3.37131414e-05,-8.19911264e-06,-3.48268474e-05,
 -4.19114148e-04,-1.64377448e-05,-1.51339779e-04, 5.30757001e-05,
  4.95675213e-07,-8.15954894e-07,-1.21643434e+00, 9.47838927e-05,
  1.46664041e-03, 5.76173911e-08]


--- Step 306 ---
qpos:
[ 3.02575606e-03,-3.31375401e-03, 1.18500562e-02, 4.16488244e-02,
 -2.20772630e-03,-1.93989148e-03,-1.73208512e-02, 2.85958373e-02,
  5.83457906e-03, 1.64336043e-02,-9.34142317e-03, 2.59316964e-02,
  6.78704508e-01,-1.98320178e-03, 4.94475981e-01, 6.55100167e-02,
  9.49674684e-02,-7.00282340e-02, 1.21779923e-01, 9.99997047e-01,
 -2.52585395e-05,-1.86173529e-04, 2.42293879e-03]

qacc:
[  3.30605932,  0.78227883, -2.84756174,  2.97249244, -2.66194848,
  -3.23985591, 11.11908643,-13.61558919, -1.94196151, -1.92554861,
  10.66248027,-25.01709501, -1.33854866,  2.32697096, -5.09114974,
  15.16253025,  0.72811997, -0.40456066, -0.0798859 ,  6.7959876 ,
  12.11262263, -0.76649975]

qfrc_actuator:
[ 5.19875962e-05, 2.78256116e-05, 1.29766903e-04, 2.07220198e-04,
  1.19846758e-05,-2.55181349e-04,-2.17865629e-04,-5.00320656e-06,
 -4.88085792e-05, 4.89711734e-04, 2.79484729e-05, 8.48240705e-05,
  6.11150539e-02,-5.36115233e-04, 4.01603564e-02,-4.26585362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002275876768819407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87822118e-13, -2.43911059e-13,  1.00000000e+00, -1.18985209e-25,
        1.00000000e+00,  2.43911059e-13, -1.00000000e+00,  0.00000000e+00,
       -4.87822118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186575, -0.06177088,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94325809e-05,-2.21449831e-05,-2.50618562e-05,-3.34147556e-06,
 -1.58397164e-05,-2.35938546e-05, 4.66486523e-05,-3.25651103e-06,
 -1.14627595e-05, 2.79186150e-05, 1.64458841e-05,-3.90700800e-05,
 -4.17983569e-04,-7.14832395e-05,-1.01759338e-04, 4.40776464e-05,
  6.91669433e-07,-1.10443297e-06,-1.21642731e+00, 9.50599761e-05,
  1.47008372e-03, 1.12696248e-07]


--- Step 307 ---
qpos:
[ 3.02669225e-03,-3.31394779e-03, 1.18497458e-02, 4.16518249e-02,
 -2.20801545e-03,-1.93939217e-03,-1.73203920e-02, 2.85960214e-02,
  5.83455259e-03, 1.64343191e-02,-9.34204742e-03, 2.59329170e-02,
  6.79997455e-01,-1.98214202e-03, 4.95660072e-01, 6.55104743e-02,
  9.49816479e-02,-7.00320035e-02, 1.21780687e-01, 9.99997055e-01,
  6.59808775e-06,-6.68350342e-05, 2.42583344e-03]

qacc:
[-1.08114562, 2.13401265,-9.16618515,15.51621235,-4.71317095,-0.6269445 ,
  2.22570384,-3.28654037, 1.88117698, 0.37417379,-1.7185639 , 5.1995575 ,
  0.7326785 ,-6.44682278,-4.32538614,10.95666977, 0.72518363,-0.40402273,
 -0.1177377 , 6.76236262,12.08960598,-0.7451138 ]

qfrc_actuator:
[ 4.51872357e-05, 1.07801601e-05, 9.53662650e-05, 2.21669664e-04,
 -1.52522532e-05,-2.65163427e-04,-2.14869283e-04,-8.78510330e-06,
 -3.73767442e-05, 5.19400943e-04, 4.35219267e-05, 9.84168381e-05,
  6.10032338e-02,-6.30717753e-04, 4.00497997e-02,-4.24711200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022355170214967413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48314599e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.48314599e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186488, -0.06177057,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.25412340e-06,-3.47528912e-05,-4.21879570e-05, 1.25610361e-05,
 -2.76984211e-05,-1.37127851e-05, 3.74519551e-06,-3.24434331e-06,
  1.11146174e-05, 4.70120993e-05, 2.20169322e-05, 1.45969934e-05,
 -4.10437402e-04,-1.62840160e-04,-1.59732448e-04, 6.22371145e-06,
  1.18030560e-06,-1.31271180e-06,-1.21641639e+00, 9.59644498e-05,
  1.47475071e-03, 1.76724116e-07]


--- Step 308 ---
qpos:
[ 3.02753998e-03,-3.31454444e-03, 1.18494342e-02, 4.16542763e-02,
 -2.20793921e-03,-1.93886150e-03,-1.73199787e-02, 2.85964948e-02,
  5.83500802e-03, 1.64354455e-02,-9.34224959e-03, 2.59342604e-02,
  6.81288183e-01,-1.98155020e-03, 4.96841339e-01, 6.55106499e-02,
  9.49974901e-02,-7.00343697e-02, 1.21781855e-01, 9.99997048e-01,
  2.67867014e-05, 6.63989176e-05, 2.42885981e-03]

qacc:
[-7.69910059e-01,-1.65969957e+00, 7.46385281e+00,-1.66692052e+01,
  3.20303261e+00, 7.58597626e-01,-3.87747184e+00, 8.94704571e+00,
  4.20944393e+00,-3.91288518e-01, 1.65134208e+00,-4.87837087e-01,
 -7.86117245e-01, 2.57227413e-03,-3.30315820e+00, 5.52514927e+00,
  4.15661920e-01, 3.50818259e-01, 1.01049551e-01,-5.81713118e+00,
  6.96186046e+00, 6.62244143e-02]

qfrc_actuator:
[ 4.08053242e-05,-1.70365414e-05, 9.29656679e-05, 1.93450683e-04,
  4.34936517e-06,-2.53519731e-04,-2.13329912e-04, 6.65745219e-06,
 -1.28837953e-05, 5.54494607e-04, 7.07592596e-05, 1.05945817e-04,
  6.08950287e-02,-6.51367609e-04, 3.98770305e-02,-4.27185227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002192977594166414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26565705e-13, -4.24521626e-07,  1.00000000e+00, -5.37298791e-20,
        1.00000000e+00,  4.24521626e-07, -1.00000000e+00,  0.00000000e+00,
       -1.26565705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821265, -0.07714975,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57065074e-06,-5.54277865e-05,-1.43420247e-05,-3.09284467e-05,
  1.88072744e-05, 4.57645861e-06,-9.54534373e-07, 1.49199327e-05,
  2.48283105e-05, 6.65390483e-05, 4.01609954e-05, 1.05861425e-05,
 -4.15732135e-04,-9.54108619e-05,-2.49752969e-04,-4.61156267e-05,
  1.95882172e-06,-1.44886359e-06,-1.21640163e+00, 9.74956360e-05,
  1.48063767e-03, 2.49495913e-07]


--- Step 309 ---
qpos:
[ 3.02867336e-03,-3.31539895e-03, 1.18493389e-02, 4.16556459e-02,
 -2.20797361e-03,-1.93851658e-03,-1.73197519e-02, 2.85975327e-02,
  5.83540870e-03, 1.64370133e-02,-9.34156456e-03, 2.59356466e-02,
  6.82576491e-01,-1.98050791e-03, 4.98019858e-01, 6.55114457e-02,
  9.50136083e-02,-7.00322973e-02, 1.21782428e-01, 9.99997021e-01,
  9.71930014e-06, 2.02349831e-04, 2.43248436e-03]

qacc:
[  2.51795037, -3.18033947, 15.39934788,-34.26351037, -0.97274419,
   1.43821373, -7.86478665, 18.06451742, -0.45736142, -1.80703652,
   7.11083074, -8.11540131, -1.90830421,  4.71598847, -5.8658055 ,
  14.77716767,  0.06898753,  1.10967226, -0.14871543,-18.62467255,
   1.40373045,  0.29783819]

qfrc_actuator:
[ 5.56427932e-05,-1.54935453e-05, 1.09403250e-04, 1.40362932e-04,
 -1.89203553e-06,-2.82269870e-04,-2.30296673e-04, 3.33126426e-05,
 -1.64119777e-05, 5.92606050e-04, 1.22434536e-04, 1.09852164e-04,
  6.07731077e-02,-6.28208224e-04, 3.97629505e-02,-4.23333947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021917429024771728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79911014e-13,  2.53274009e-13,  1.00000000e+00,  9.62215857e-26,
        1.00000000e+00, -2.53274009e-13, -1.00000000e+00,  0.00000000e+00,
       -3.79911014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479308, -0.09309066,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46915361e-05,-3.37240179e-05, 2.15650534e-06,-5.65637936e-05,
 -5.70428624e-06,-2.57673947e-05,-1.56357073e-05, 2.71046954e-05,
 -2.79172113e-06, 8.40386454e-05, 7.07184648e-05, 8.34745745e-06,
 -4.23334683e-04,-4.67106034e-05,-2.34007935e-04, 3.64375196e-06,
  2.56863197e-06,-1.42078774e-06,-1.21639432e+00, 9.85249556e-05,
  1.48722661e-03, 1.54440706e-07]


--- Step 310 ---
qpos:
[ 3.02997570e-03,-3.31641492e-03, 1.18493548e-02, 4.16567083e-02,
 -2.20842716e-03,-1.93848125e-03,-1.73199100e-02, 2.85985671e-02,
  5.83576441e-03, 1.64390704e-02,-9.34078951e-03, 2.59371177e-02,
  6.83862508e-01,-1.97979211e-03, 4.99195749e-01, 6.55122994e-02,
  9.50271177e-02,-7.00339062e-02, 1.21783245e-01, 9.99996980e-01,
  2.30696514e-05, 3.15532066e-04, 2.43719678e-03]

qacc:
[  1.48913047, -1.16014857,  5.11742807,-10.48554398, -3.68303422,
   0.66623974, -2.94230771,  3.71198192, -0.39768401,  0.57074681,
  -1.45453833,  2.42048218, -0.98615821,  0.7801872 , -4.03031287,
   8.51316176, -0.6521662 , -0.92034302,  0.06093467, 15.18102876,
 -11.42129458,  0.54713603]

qfrc_actuator:
[ 6.39205311e-05,-1.40712240e-05, 1.19174135e-04, 1.26364184e-04,
 -2.33093619e-05,-3.17299092e-04,-2.58208178e-04, 3.07993127e-05,
 -1.86563051e-05, 5.96828178e-04, 1.17128111e-04, 1.11615882e-04,
  6.06483809e-02,-6.50505051e-04, 3.96415728e-02,-4.22867493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022076321844852198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02902174e-13,  2.51451087e-13,  1.00000000e+00,  1.26455298e-25,
        1.00000000e+00, -2.51451087e-13, -1.00000000e+00,  0.00000000e+00,
       -5.02902174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909525, -0.05166347,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.68921979e-06,-1.93831474e-05, 1.11967538e-06,-1.64715792e-05,
 -2.15894171e-05,-5.15258738e-05,-3.42308417e-05,-3.63447369e-06,
 -2.29228900e-06, 6.61150713e-05, 2.10233085e-05, 7.96659008e-06,
 -4.23821458e-04,-8.94243869e-05,-2.29247935e-04,-2.55701931e-05,
  2.95294495e-06,-8.83623229e-07,-1.21639276e+00, 9.77384568e-05,
  1.49399418e-03,-8.96808560e-08]


--- Step 311 ---
qpos:
[ 3.03136727e-03,-3.31758902e-03, 1.18497536e-02, 4.16575748e-02,
 -2.20878907e-03,-1.93867175e-03,-1.73204663e-02, 2.85998994e-02,
  5.83643580e-03, 1.64413135e-02,-9.34041939e-03, 2.59379827e-02,
  6.85146282e-01,-1.97963873e-03, 5.00369000e-01, 6.55147858e-02,
  9.50380407e-02,-7.00391625e-02, 1.21783933e-01, 9.99996931e-01,
  6.65517693e-05, 4.06229437e-04, 2.44305964e-03]

qacc:
[  0.79793263, -1.68521947,  6.52906899,-10.41284638,  0.79531576,
   1.42474033, -6.77382255, 12.7338995 ,  2.7370875 ,  0.12426586,
   2.46382451,-12.43495876, -0.67025517, -0.51532271, -8.81501979,
  25.19400949, -0.64661821, -0.91185633, -0.03237506, 15.03825644,
 -11.27910146,  0.58024417]

qfrc_actuator:
[ 6.82648643e-05,-1.27145690e-05, 1.42716293e-04, 1.17724282e-04,
 -1.79742150e-05,-3.20392381e-04,-2.74660873e-04, 4.66322424e-05,
 -2.36557197e-06, 5.62739837e-04, 7.80749586e-05, 7.65293831e-05,
  6.05326977e-02,-6.81726209e-04, 3.95372074e-02,-4.13748925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022265916816725795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98619946e-13, -2.49309973e-13,  1.00000000e+00, -1.24310925e-25,
        1.00000000e+00,  2.49309973e-13, -1.00000000e+00,  0.00000000e+00,
       -4.98619946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909476, -0.05166381,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58868920e-06,-9.92357382e-06, 1.91140718e-05,-9.75284351e-06,
  4.70329338e-06,-3.91420510e-05,-3.14379210e-05, 1.23684810e-05,
  1.62545118e-05, 7.48116324e-06,-2.25670000e-05,-3.13801549e-05,
 -4.21597596e-04,-1.02184874e-04,-2.13611308e-04, 5.98605192e-05,
  1.82202552e-06,-1.56986158e-06,-1.21640733e+00, 9.84586496e-05,
  1.49951798e-03, 1.22625519e-07]


--- Step 312 ---
qpos:
[ 3.03245513e-03,-3.31867910e-03, 1.18503133e-02, 4.16586599e-02,
 -2.20873943e-03,-1.93925585e-03,-1.73208752e-02, 2.86010491e-02,
  5.83695299e-03, 1.64430741e-02,-9.33994223e-03, 2.59388181e-02,
  6.86427695e-01,-1.97919490e-03, 5.01540838e-01, 6.55154662e-02,
  9.50463961e-02,-7.00480389e-02, 1.21784178e-01, 9.99996876e-01,
  1.39934231e-04, 4.74675576e-04, 2.45012650e-03]

qacc:
[ -2.66219817,  0.1169192 , -1.16932988,  4.6242643 ,  3.62078005,
  -1.31411099,  4.68989872, -7.78279472, -1.33330097, -0.99499184,
   2.75196778, -3.08457857, -1.76353101,  4.04920157,  3.41631578,
 -14.85626295, -0.6419134 , -0.9050059 , -0.11065301, 14.92270119,
 -11.16206491,  0.60882256]

qfrc_actuator:
[ 5.25086607e-05, 6.41656893e-06, 1.56452309e-04, 1.30063993e-04,
  3.06928231e-06,-3.39789282e-04,-2.66318444e-04, 3.76677357e-05,
 -1.08017231e-05, 5.05772767e-04, 7.24906051e-05, 7.32478286e-05,
  6.04225188e-02,-6.64677542e-04, 3.94857517e-02,-4.22677303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002229375944535622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48998610e-13, -4.97997221e-13,  1.00000000e+00, -1.24000616e-25,
        1.00000000e+00,  4.97997221e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48998610e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909456, -0.05166379,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56261977e-05, 1.71453004e-05, 1.37085555e-05, 1.23855177e-05,
  2.11646576e-05,-4.72365572e-05,-3.18151592e-06,-1.14905270e-05,
 -7.95774503e-06,-5.88695350e-05,-7.93686423e-06,-4.36081297e-06,
 -4.16287057e-04,-5.48542519e-05,-1.44362556e-04,-1.13921668e-04,
  6.70189438e-07,-1.95715164e-06,-1.21641458e+00, 1.00635383e-04,
  1.50388054e-03, 1.48849117e-07]


--- Step 313 ---
qpos:
[ 3.03334575e-03,-3.31958565e-03, 1.18506548e-02, 4.16609336e-02,
 -2.20843788e-03,-1.94027783e-03,-1.73211165e-02, 2.86013960e-02,
  5.83736505e-03, 1.64447944e-02,-9.34003968e-03, 2.59406343e-02,
  6.87706681e-01,-1.97757947e-03, 5.02711513e-01, 6.55100288e-02,
  9.50520892e-02,-7.00572895e-02, 1.21785298e-01, 9.99996821e-01,
  2.16136554e-04, 5.20979696e-04, 2.45778367e-03]

qacc:
[ -1.7405408 ,  3.30616176,-16.44320053, 37.21422646,  2.2216563 ,
  -2.70206331, 12.17731275,-26.0070093 , -0.93356018,  3.57344007,
 -16.95664324, 34.87580706, -2.8539249 ,  8.66950031, 16.84382908,
 -61.18504435, -0.66554686, -0.09355879,  0.21871935,  1.38266087,
 -11.0743881 ,  0.29736819]

qfrc_actuator:
[ 4.28020294e-05, 1.82808702e-05, 1.46620785e-04, 1.90160447e-04,
  1.54285989e-05,-3.68710258e-04,-2.61237786e-04,-3.56651444e-06,
 -1.59777758e-05, 5.24435603e-04, 5.11322793e-05, 1.24220379e-04,
  6.03157340e-02,-6.01542246e-04, 3.94021169e-02,-4.54582135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002239351309205606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47889427e-13, -2.47889427e-13,  1.00000000e+00, -6.14491679e-26,
        1.00000000e+00,  2.47889427e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47889427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889122, -0.06838775,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01441217e-05, 2.48356750e-05,-4.16975442e-06, 6.15455442e-05,
  1.29467343e-05,-5.64543318e-05,-5.45752173e-06,-4.35935217e-05,
 -5.41796342e-06,-1.61560511e-05,-3.46743085e-05, 4.80838229e-05,
 -4.01736886e-04,-4.11688309e-06,-1.68667686e-04,-3.45541170e-04,
 -5.16025444e-07,-2.04124614e-06,-1.21641474e+00, 1.04255090e-04,
  1.50709079e-03,-7.39499755e-09]


--- Step 314 ---
qpos:
[ 3.03445784e-03,-3.32018256e-03, 1.18508049e-02, 4.16642366e-02,
 -2.20799046e-03,-1.94157198e-03,-1.73214263e-02, 2.86022773e-02,
  5.83805630e-03, 1.64470188e-02,-9.34067192e-03, 2.59426276e-02,
  6.88983282e-01,-1.97455405e-03, 5.03879106e-01, 6.55042794e-02,
  9.50565457e-02,-7.00644716e-02, 1.21787355e-01, 9.99996768e-01,
  2.75033376e-04, 5.57466694e-04, 2.46545685e-03]

qacc:
[ 1.93319366e+00, 3.06224192e+00,-1.46727094e+01, 3.25673299e+01,
  1.28228435e+00, 9.28171855e-01,-6.09238242e+00, 1.56547412e+01,
  2.40983621e+00, 2.52084536e+00,-8.77776425e+00, 1.23363490e+01,
 -2.95977653e+00, 9.35587951e+00,-3.49515498e+00, 5.88954376e+00,
 -3.09173340e-01, 5.17115765e-01, 2.34306718e-01,-8.66479208e+00,
 -4.88727785e+00, 4.55642951e-03]

qfrc_actuator:
[ 5.44927703e-05, 4.34045927e-05, 1.40716285e-04, 2.42348352e-04,
  2.25724269e-05,-3.67638689e-04,-2.58193492e-04, 2.52936970e-05,
 -1.43252438e-06, 5.88227294e-04, 3.87010242e-05, 1.35736320e-04,
  6.02057506e-02,-5.29504933e-04, 3.92512707e-02,-4.55387837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022402941329802947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.43313319e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.43313319e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10202704, -0.0804162 ,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14101612e-05, 4.08043112e-05, 8.42535404e-07, 5.43019811e-05,
  7.49520653e-06,-3.34493727e-05,-1.07837126e-05, 2.54051268e-05,
  1.43894130e-05, 4.95894787e-05,-1.83980294e-05, 1.05522418e-05,
 -3.87335221e-04, 1.13895084e-05,-2.72813501e-04,-5.05712136e-05,
 -1.08219999e-06,-1.49643961e-06,-1.21642008e+00, 1.07960455e-04,
  1.50932206e-03,-3.29714150e-07]


--- Step 315 ---
qpos:
[ 3.03535622e-03,-3.32023383e-03, 1.18505145e-02, 4.16677806e-02,
 -2.20746112e-03,-1.94272222e-03,-1.73219232e-02, 2.86037965e-02,
  5.83891678e-03, 1.64493425e-02,-9.34074407e-03, 2.59440278e-02,
  6.90257695e-01,-1.97096933e-03, 5.05043342e-01, 6.55023824e-02,
  9.50612608e-02,-7.00671734e-02, 1.21789068e-01, 9.99996719e-01,
  2.96611486e-04, 5.97031331e-04, 2.47326543e-03]

qacc:
[ -1.89891805,  2.45313984, -8.71001186, 13.17511305,  0.71055993,
   2.02323362, -9.634522  , 20.87017432,  1.49139077, -2.65801616,
  12.16744658,-23.39658217, -1.82576497,  4.74181285,-16.50960143,
  50.72634351,  0.06465843,  1.12010035, -0.08608236,-18.65553994,
   1.58483586,  0.05686989]

qfrc_actuator:
[ 4.31768687e-05, 7.62844315e-05, 1.19475736e-04, 2.53969628e-04,
  2.65922288e-05,-3.30809523e-04,-2.56201902e-04, 5.96893327e-05,
  6.85061374e-06, 5.89804888e-04, 6.73213105e-05, 1.06236965e-04,
  6.00939317e-02,-5.06091348e-04, 3.91295477e-02,-4.34319405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022485666841663698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71479667e-14,  2.46873493e-13,  1.00000000e+00,  1.90457880e-26,
        1.00000000e+00, -2.46873493e-13, -1.00000000e+00,  0.00000000e+00,
       -7.71479667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479513, -0.09308965,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09778796e-05, 5.82106826e-05,-1.08331957e-05, 1.44483090e-05,
  4.22115540e-06, 1.70369617e-05,-5.35027591e-06, 3.30847622e-05,
  8.71999845e-06, 2.58897915e-05, 3.69397495e-05,-2.78139280e-05,
 -3.76908033e-04,-3.36750101e-05,-2.51762249e-04, 1.72849757e-04,
 -8.93354903e-07,-1.07400295e-06,-1.21642799e+00, 1.10833139e-04,
  1.51119304e-03,-5.81791919e-07]


--- Step 316 ---
qpos:
[ 3.03576720e-03,-3.31988582e-03, 1.18503259e-02, 4.16707267e-02,
 -2.20688793e-03,-1.94342574e-03,-1.73225077e-02, 2.86046331e-02,
  5.83952551e-03, 1.64516058e-02,-9.34090275e-03, 2.59447841e-02,
  6.91530070e-01,-1.96771694e-03, 5.06205505e-01, 6.55008249e-02,
  9.50662430e-02,-7.00654293e-02, 1.21790158e-01, 9.99996678e-01,
  2.81133005e-04, 6.39607135e-04, 2.48126943e-03]

qacc:
[ -4.2822305 , -0.98078587,  6.79862079,-17.61421274,  0.37377771,
  -0.56953755,  5.76872424,-17.76972393, -2.19775302, -1.15920118,
   6.74340963,-17.71232944, -0.83753424,  0.5048398 , -4.06696647,
   9.82036003,  0.06678072,  1.11144949, -0.15563844,-18.52457034,
   1.55143113,  0.08619118]

qfrc_actuator:
[ 1.84035673e-05, 9.57054618e-05, 1.24864464e-04, 2.23874955e-04,
  2.87432205e-05,-2.90585645e-04,-2.54695937e-04, 2.60783860e-05,
 -6.37786263e-06, 5.54257037e-04, 4.86810225e-05, 7.05805677e-05,
  5.99810796e-02,-5.29317920e-04, 3.90467374e-02,-4.32485194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002241147136500532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74033729e-14,  2.47690793e-13,  1.00000000e+00,  1.91721029e-26,
        1.00000000e+00, -2.47690793e-13, -1.00000000e+00,  0.00000000e+00,
       -7.74033729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479545, -0.09309   ,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50660609e-05, 5.03444296e-05, 1.65736478e-05,-2.77016564e-05,
  2.27609936e-06, 5.01093616e-05, 5.52650251e-06,-3.24219547e-05,
 -1.29622561e-05,-1.47123039e-05,-9.73379848e-06,-3.38184060e-05,
 -3.77243810e-04,-8.27920618e-05,-1.78131293e-04,-4.29857644e-06,
 -1.61318769e-07,-9.14975187e-07,-1.21643491e+00, 1.11915750e-04,
  1.51331270e-03,-7.11818008e-07]


--- Step 317 ---
qpos:
[ 3.03656791e-03,-3.31934888e-03, 1.18508700e-02, 4.16729270e-02,
 -2.20629340e-03,-1.94361286e-03,-1.73233983e-02, 2.86047211e-02,
  5.83997157e-03, 1.64533446e-02,-9.34104792e-03, 2.59451615e-02,
  6.92800314e-01,-1.96468578e-03, 5.07365352e-01, 6.54991735e-02,
  9.50714994e-02,-7.00592672e-02, 1.21790393e-01, 9.99996640e-01,
  2.28808392e-04, 6.85143392e-04, 2.48951329e-03]

qacc:
[ 3.44025978e+00,-3.34278183e+00, 1.54147401e+01,-2.96169510e+01,
  1.68185955e-01,-2.75394851e-03, 4.16078185e+00,-1.70071589e+01,
 -1.40972201e+00,-1.50836920e+00, 5.97694006e+00,-1.21757899e+01,
 -1.02111357e+00, 1.15858466e+00,-3.11097313e+00, 5.97150661e+00,
  6.85308871e-02, 1.10450697e+00,-2.13790779e-01,-1.84194090e+01,
  1.52596613e+00, 1.07721950e-01]

qfrc_actuator:
[ 3.91729009e-05, 1.06979313e-04, 1.63617293e-04, 1.87245789e-04,
  2.97782264e-05,-2.66437932e-04,-2.71258584e-04,-1.17659030e-05,
 -1.44073925e-05, 4.96553977e-04, 3.76122340e-05, 4.92705292e-05,
  5.98623471e-02,-5.44355428e-04, 3.89286963e-02,-4.33117995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022228200720059155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52641052e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.52641052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479568, -0.09309063,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00719636e-05, 4.16362277e-05, 5.02266178e-05,-3.44443548e-05,
  1.11850169e-06, 5.19522214e-05,-6.64025961e-06,-3.61356893e-05,
 -8.39726399e-06,-6.94745621e-05,-1.65020486e-05,-2.29412101e-05,
 -3.90726511e-04,-7.90993098e-05,-2.03890165e-04,-3.04653369e-05,
  5.97101268e-07,-7.59606132e-07,-1.21643482e+00, 1.11170822e-04,
  1.51558614e-03,-7.53068595e-07]


--- Step 318 ---
qpos:
[ 3.03761117e-03,-3.31876096e-03, 1.18519759e-02, 4.16747006e-02,
 -2.20603573e-03,-1.94362485e-03,-1.73244175e-02, 2.86054229e-02,
  5.84066286e-03, 1.64543588e-02,-9.34065252e-03, 2.59452702e-02,
  6.94068369e-01,-1.96179437e-03, 5.08522314e-01, 6.55007842e-02,
  9.50741441e-02,-7.00534873e-02, 1.21791449e-01, 9.99996612e-01,
  1.79293822e-04, 7.08388190e-04, 2.49831786e-03]

qacc:
[  2.14566473, -2.38673291, 10.39924901,-18.7076103 , -2.96113514,
   1.85846463, -8.87256813, 19.55973121,  2.16800712, -3.02566213,
  10.52559046,-15.49736907, -1.07717283,  1.40069888,-14.067889  ,
  43.10684201, -0.65291382, -0.09554366,  0.20510643,  1.37707627,
 -11.14912866,  0.28386074]

qfrc_actuator:
[ 5.10803831e-05, 9.56628472e-05, 1.86211755e-04, 1.64835729e-04,
  1.23959861e-05,-2.69936932e-04,-2.80656301e-04, 1.91993563e-05,
 -1.55329226e-06, 4.61551392e-04, 6.65261961e-05, 3.65609202e-05,
  5.97454940e-02,-5.54457654e-04, 3.88109165e-02,-4.15673356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002232675510570742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48630627e-13, -2.48630627e-13,  1.00000000e+00, -6.18171887e-26,
        1.00000000e+00,  2.48630627e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48630627e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889111, -0.0683873 ,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24904282e-05, 2.08393832e-05, 3.61698661e-05,-1.95673753e-05,
 -1.73304530e-05, 2.26498749e-05,-7.22627397e-07, 3.22608312e-05,
  1.25962108e-05,-7.83086591e-05, 1.17179813e-05,-1.67083119e-05,
 -3.97747192e-04,-7.60415285e-05,-2.17238846e-04, 1.45807829e-04,
  1.39866303e-06,-6.07395265e-07,-1.21642783e+00, 1.08608695e-04,
  1.51801455e-03,-7.05584192e-07]


--- Step 319 ---
qpos:
[ 3.03775425e-03,-3.31790464e-03, 1.18530369e-02, 4.16758609e-02,
 -2.20598782e-03,-1.94412052e-03,-1.73255189e-02, 2.86069180e-02,
  5.84115725e-03, 1.64556604e-02,-9.34065233e-03, 2.59455047e-02,
  6.95334353e-01,-1.95965798e-03, 5.09677037e-01, 6.55043536e-02,
  9.50741909e-02,-7.00480824e-02, 1.21793031e-01, 9.99996595e-01,
  1.32571288e-04, 7.09548450e-04, 2.50768654e-03]

qacc:
[ -7.90783425, -0.76829909,  5.86739427,-16.632063  , -1.83349227,
   1.2258529 , -8.64275596, 22.85421109, -1.73450853,  1.74671943,
  -6.20215122,  8.79294089, -0.36394539, -1.58508592, -9.2189982 ,
  27.43843029, -0.64946591, -0.09375468,  0.13170056,  1.36822506,
 -11.04567272,  0.28500788]

qfrc_actuator:
[ 4.40413415e-06, 1.06359846e-04, 1.81236398e-04, 1.33183569e-04,
  2.06569110e-06,-3.43147149e-04,-3.03562745e-04, 5.48822005e-05,
 -1.20171296e-05, 5.29342039e-04, 6.56394314e-05, 4.68054831e-05,
  5.96351761e-02,-5.97096967e-04, 3.87200569e-02,-4.05466725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022301852587491844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.97816502e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.97816502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889099, -0.0683872 ,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63172073e-05, 2.89461363e-05, 3.08166088e-06,-2.98972693e-05,
 -1.08177095e-05,-5.93063817e-05,-1.71895374e-05, 3.72578138e-05,
 -1.01262252e-05, 2.56694480e-05,-1.62138356e-05, 6.96520900e-06,
 -3.95437836e-04,-1.09588457e-04,-1.75283516e-04, 8.18966207e-05,
  1.18611615e-06,-3.62275119e-07,-1.21643241e+00, 1.06083808e-04,
  1.51917648e-03,-4.78199755e-07]


--- Step 320 ---
qpos:
[ 3.03768169e-03,-3.31660680e-03, 1.18536834e-02, 4.16762912e-02,
 -2.20606416e-03,-1.94512659e-03,-1.73270688e-02, 2.86085143e-02,
  5.84117769e-03, 1.64572078e-02,-9.34076290e-03, 2.59465350e-02,
  6.96598048e-01,-1.95734197e-03, 5.10830175e-01, 6.55060377e-02,
  9.50716510e-02,-7.00430465e-02, 1.21794895e-01, 9.99996590e-01,
  8.86238317e-05, 6.88790095e-04, 2.51762040e-03]

qacc:
[ -1.91390692,  0.24123084,  3.07286377,-15.37418361, -1.09507497,
   0.788645  , -4.21443593,  7.05367752, -4.14088373,  2.28063564,
 -11.00603779, 24.75859973, -1.60611459,  3.40015409,  3.3966406 ,
 -15.1699243 , -0.64667437, -0.09225286,  0.07037767,  1.3598502 ,
 -10.96271631,  0.28501165]

qfrc_actuator:
[-5.36610562e-06, 1.30027113e-04, 1.60101090e-04, 9.63434634e-05,
 -4.02579719e-06,-3.86584793e-04,-3.34569341e-04, 5.74651985e-05,
 -3.61276772e-05, 5.51570726e-04, 6.53444217e-05, 8.82881903e-05,
  5.95181960e-02,-5.87576834e-04, 3.86347436e-02,-4.15580411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022162099051457884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50477859e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.50477859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088911 , -0.0683871 ,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10822649e-05, 3.91472187e-05,-1.58346280e-05,-3.60805087e-05,
 -6.42140325e-06,-7.85317500e-05,-4.40690146e-05, 1.72414829e-07,
 -2.43873250e-05, 3.34828754e-05, 3.23646210e-06, 4.21543813e-05,
 -4.05530067e-04,-6.01764492e-05,-1.60014241e-04,-1.20050745e-04,
  1.11833403e-06,-3.93382498e-08,-1.21643444e+00, 1.03677676e-04,
  1.51924594e-03,-2.69156650e-07]


--- Step 321 ---
qpos:
[ 3.03818217e-03,-3.31523525e-03, 1.18544542e-02, 4.16766318e-02,
 -2.20586830e-03,-1.94649090e-03,-1.73285062e-02, 2.86100709e-02,
  5.84090896e-03, 1.64589207e-02,-9.34056726e-03, 2.59480350e-02,
  6.97859365e-01,-1.95424639e-03, 5.11981295e-01, 6.55045352e-02,
  9.50665496e-02,-7.00399781e-02, 1.21796668e-01, 9.99996593e-01,
  6.08072032e-05, 6.45930963e-04, 2.52845874e-03]

qacc:
[ 5.03260262e+00,-4.44335477e-01, 2.08622067e+00,-3.86999800e+00,
  2.39698349e+00,-8.74093593e-01, 2.58951457e+00,-3.18472192e+00,
 -2.51484611e+00, 3.34867101e-01,-2.85200168e+00, 1.03627633e+01,
 -2.33730745e+00, 6.42042471e+00, 6.71846802e+00,-2.76397414e+01,
 -6.40375079e-01,-4.91862727e-01,-2.24982500e-02, 8.03725402e+00,
 -1.10706198e+01, 4.58761069e-01]

qfrc_actuator:
[ 2.44354299e-05, 1.25690791e-04, 1.65162590e-04, 9.22580393e-05,
  1.01770313e-05,-3.76433456e-04,-3.16778957e-04, 5.83157619e-05,
 -5.03178012e-05, 5.64141451e-04, 8.30307322e-05, 1.12288281e-04,
  5.94026385e-02,-5.47393668e-04, 3.85154993e-02,-4.32254453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021923534229764327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53203478e-13, -2.25065482e-07,  1.00000000e+00, -5.69873629e-20,
        1.00000000e+00,  2.25065482e-07, -1.00000000e+00,  0.00000000e+00,
       -2.53203478e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10898934, -0.06022939,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94968338e-05, 1.26794533e-05, 9.92551820e-06,-3.66364530e-06,
  1.39941502e-05,-4.28098216e-05,-3.82648499e-06,-4.03398878e-06,
 -1.48744006e-05, 3.37041020e-05, 2.64417854e-05, 2.63628665e-05,
 -4.03508577e-04,-2.68911141e-05,-2.11402970e-04,-1.95407703e-04,
  1.19140884e-06, 3.61857477e-07,-1.21643399e+00, 1.01389467e-04,
  1.51823108e-03,-7.81391134e-08]


--- Step 322 ---
qpos:
[ 3.03869086e-03,-3.31385304e-03, 1.18553014e-02, 4.16772775e-02,
 -2.20584909e-03,-1.94774362e-03,-1.73301848e-02, 2.86105525e-02,
  5.84047200e-03, 1.64610287e-02,-9.34053637e-03, 2.59501592e-02,
  6.99118447e-01,-1.95097866e-03, 5.13129716e-01, 6.55046576e-02,
  9.50589463e-02,-7.00404796e-02, 1.21797501e-01, 9.99996602e-01,
  6.25269120e-05, 5.81026511e-04, 2.54040408e-03]

qacc:
[  0.07441547,  0.42895652, -2.79574014,  7.9428864 , -1.55942548,
  -1.38651677,  9.70267919,-28.0095208 , -1.47881403,  2.27044647,
  -9.96770416, 20.73627128, -1.48520916,  3.04602682, -8.83848373,
  25.24815375, -0.62549452, -0.89250016, -0.23527846, 14.73989025,
 -11.05993108,  0.56369891]

qfrc_actuator:
[ 2.40196957e-05, 1.22496151e-04, 1.67816637e-04, 1.07476887e-04,
  7.04436266e-07,-3.51829352e-04,-3.23349942e-04, 4.96943595e-06,
 -5.85508953e-05, 5.88652138e-04, 7.56279123e-05, 1.43559068e-04,
  5.92880249e-02,-5.42742377e-04, 3.84185987e-02,-4.22479683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002171814283105089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55598058e-13, -1.02239223e-12,  1.00000000e+00, -2.61321468e-25,
        1.00000000e+00,  1.02239223e-12, -1.00000000e+00,  0.00000000e+00,
       -2.55598058e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909217, -0.05166166,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23381675e-07, 5.73821608e-06, 6.34126250e-06, 1.60272495e-05,
 -9.08830910e-06,-2.30480999e-07,-1.59956399e-05,-5.53896502e-05,
 -8.64395612e-06, 4.98762073e-05, 3.70293426e-06, 3.41360892e-05,
 -3.96255133e-04,-5.91911635e-05,-2.18842130e-04, 5.87991138e-05,
  1.07061653e-06, 9.79962288e-07,-1.21643339e+00, 9.98681205e-05,
  1.51604181e-03, 2.14860033e-08]


--- Step 323 ---
qpos:
[ 3.03850102e-03,-3.31255363e-03, 1.18559579e-02, 4.16781313e-02,
 -2.20628842e-03,-1.94878205e-03,-1.73323140e-02, 2.86103922e-02,
  5.84028486e-03, 1.64632636e-02,-9.34070758e-03, 2.59519884e-02,
  7.00375296e-01,-1.94791813e-03, 5.14275690e-01, 6.55101148e-02,
  9.50488410e-02,-7.00445357e-02, 1.21797216e-01, 9.99996613e-01,
  9.36437387e-05, 4.94217391e-04, 2.55349098e-03]

qacc:
[ -6.13581082,  0.86467431, -4.09880831,  8.04331477, -4.03993251,
   0.22962133,  2.31644025,-12.8780209 ,  2.17018469,  0.12093336,
   1.05025329, -5.91827802, -1.00505654,  1.03671754,-19.67703961,
  63.67010075, -0.62548423, -0.88861811, -0.2794103 , 14.67035401,
 -10.9896018 ,  0.57999909]

qfrc_actuator:
[-1.19434067e-05, 1.02267456e-04, 1.51271715e-04, 1.16166933e-04,
 -2.26334522e-05,-3.36632750e-04,-3.44228986e-04,-2.65860084e-05,
 -4.54623911e-05, 5.66772940e-04, 5.35200806e-05, 1.25592140e-04,
  5.91633990e-02,-5.59114615e-04, 3.83565415e-02,-3.93638791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021445362025689085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58849215e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.58849215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909231, -0.05166099,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59553376e-05,-1.50863914e-05,-1.40520802e-05, 9.46073768e-06,
 -2.35940796e-05, 9.45099777e-06,-2.47798441e-05,-3.31908950e-05,
  1.28636781e-05, 8.15381973e-06,-1.01978268e-05,-1.50462897e-05,
 -4.05991883e-04,-8.21020250e-05,-1.57341586e-04, 2.63087085e-04,
  6.13710336e-07, 1.96695519e-06,-1.21642941e+00, 9.97680919e-05,
  1.51264204e-03,-7.17401558e-08]


--- Step 324 ---
qpos:
[ 3.03788187e-03,-3.31179143e-03, 1.18569109e-02, 4.16791079e-02,
 -2.20665912e-03,-1.94985225e-03,-1.73341043e-02, 2.86105221e-02,
  5.84025622e-03, 1.64655577e-02,-9.34133780e-03, 2.59529250e-02,
  7.01629932e-01,-1.94534097e-03, 5.15419820e-01, 6.55185855e-02,
  9.50361585e-02,-7.00505443e-02, 1.21796530e-01, 9.99996620e-01,
  1.40763265e-04, 3.85607512e-04, 2.56754448e-03]

qacc:
[ -3.74979834, -1.27866453,  3.02325198, -0.99044532,  0.61335824,
  -0.39298171,  0.11252759,  4.39507984,  1.36650324, -0.47899553,
   5.58540842,-20.33800347, -0.74328639, -0.13650645,-11.80170512,
  37.36597601, -0.64429812, -0.48815209, -0.10026344,  7.97324994,
 -10.92072781,  0.48828763]

qfrc_actuator:
[-3.30262206e-05, 5.41548972e-05, 1.58949200e-04, 1.20914548e-04,
 -1.84326943e-05,-3.27228001e-04,-3.20129066e-04,-9.56477386e-06,
 -3.76843248e-05, 5.52675381e-04, 2.26924925e-05, 7.87520432e-05,
  5.90434975e-02,-5.87790481e-04, 3.82728584e-02,-3.78647901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021137158082925396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.47975031e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.47975031e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899031, -0.06022828,  0.06199486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21169556e-05,-5.91147251e-05, 3.13479696e-06, 3.79457027e-06,
  3.53388616e-06, 8.20380463e-06, 2.18897283e-05, 1.59313391e-05,
  8.15794965e-06,-1.23682999e-05,-3.09489253e-05,-4.71456115e-05,
 -4.11012225e-04,-9.83003695e-05,-1.30137539e-04, 1.43367289e-04,
  1.27108414e-07, 3.25724924e-06,-1.21641868e+00, 1.01084227e-04,
  1.50811141e-03,-3.41598050e-07]


--- Step 325 ---
qpos:
[ 3.03735940e-03,-3.31155187e-03, 1.18579698e-02, 4.16804910e-02,
 -2.20697710e-03,-1.95063444e-03,-1.73354539e-02, 2.86108057e-02,
  5.84032153e-03, 1.64676099e-02,-9.34222683e-03, 2.59533186e-02,
  7.02882382e-01,-1.94312131e-03, 5.16562193e-01, 6.55248648e-02,
  9.50222100e-02,-7.00544861e-02, 1.21796440e-01, 9.99996618e-01,
  1.70776679e-04, 2.67434229e-04, 2.58151657e-03]

qacc:
[  0.86121739, -0.15085459, -2.18136236,  9.43066033,  0.47136324,
  -0.53539672,  1.81114398, -0.06687746,  0.81500308, -0.71576395,
   4.37844296,-13.18216087, -0.9616033 ,  0.73061342,  4.03958706,
 -17.85871881, -0.31652511,  0.51672945,  0.14896357, -8.56528805,
  -4.75972915, -0.04332866]

qfrc_actuator:
[-2.74180214e-05, 2.53048008e-05, 1.62996553e-04, 1.41051356e-04,
 -1.58051437e-05,-2.85632735e-04,-2.87403740e-04, 4.21832821e-07,
 -3.31011327e-05, 5.25511092e-04, 4.72343270e-06, 5.08088511e-05,
  5.89371608e-02,-6.05736845e-04, 3.81442791e-02,-3.91476160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020934082650573242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.85583852e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.85583852e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203064, -0.08041871,  0.06199491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95375994e-06,-6.11437409e-05,-7.66633537e-06, 1.77819795e-05,
  2.72960079e-06, 5.14478377e-05, 3.77006227e-05, 1.14116096e-05,
  4.82274316e-06,-4.25690648e-05,-2.59891111e-05,-3.04677700e-05,
 -4.03412195e-04,-8.99505482e-05,-1.77890848e-04,-1.38480565e-04,
  1.11671308e-07, 4.59060407e-06,-1.21640485e+00, 1.03168132e-04,
  1.50258225e-03,-6.49501543e-07]


--- Step 326 ---
qpos:
[ 3.03690775e-03,-3.31150393e-03, 1.18586598e-02, 4.16820949e-02,
 -2.20691622e-03,-1.95103896e-03,-1.73364550e-02, 2.86115462e-02,
  5.84078620e-03, 1.64694191e-02,-9.34255224e-03, 2.59540075e-02,
  7.04132584e-01,-1.94079055e-03, 5.17702503e-01, 6.55295385e-02,
  9.50084693e-02,-7.00539168e-02, 1.21796050e-01, 9.99996607e-01,
  1.63514919e-04, 1.52504397e-04, 2.59537403e-03]

qacc:
[  0.61340233,  1.23191975, -5.69283301, 10.24538989,  3.32757698,
   0.45870624, -2.85225448,  9.93796458,  3.50502223, -1.29534366,
   2.89382721,  1.50807312, -1.4992502 ,  2.9723153 ,  1.84241073,
 -10.76906288,  0.05198608,  1.12775794, -0.07487159,-18.63332144,
   1.66982407, -0.06255811]

qfrc_actuator:
[-2.39021281e-05, 2.59651336e-05, 1.47185270e-04, 1.52336362e-04,
  3.61957978e-06,-2.60535514e-04,-2.67493132e-04, 2.39608371e-05,
 -1.26810714e-05, 5.44041999e-04, 4.77107872e-05, 6.97165657e-05,
  5.88283886e-02,-5.99425388e-04, 3.80474039e-02,-3.99292799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021113476749408389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31459048e-13, -5.25836194e-13,  1.00000000e+00, -6.91259256e-26,
        1.00000000e+00,  5.25836194e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31459048e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480061, -0.09309593,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63310719e-06,-3.43738778e-05,-2.87876451e-05, 8.74067269e-06,
  1.95184895e-05, 6.21876417e-05, 3.56004911e-05, 2.72744064e-05,
  2.05514400e-05,-1.20109572e-05, 2.99241914e-05, 1.55875847e-05,
 -3.99785759e-04,-6.36770597e-05,-1.98449947e-04,-1.09966580e-04,
  1.05963636e-06, 4.67826658e-06,-1.21640268e+00, 1.04561309e-04,
  1.49689992e-03,-6.48505281e-07]


--- Step 327 ---
qpos:
[ 3.03615687e-03,-3.31173249e-03, 1.18591844e-02, 4.16834729e-02,
 -2.20627775e-03,-1.95141365e-03,-1.73370554e-02, 2.86132951e-02,
  5.84149229e-03, 1.64707974e-02,-9.34200498e-03, 2.59552644e-02,
  7.05380506e-01,-1.93834112e-03, 5.18840678e-01, 6.55334917e-02,
  9.49949472e-02,-7.00488751e-02, 1.21795081e-01, 9.99996588e-01,
  1.19210194e-04, 4.06673357e-05, 2.60929348e-03]

qacc:
[ -2.62710788, -0.36349504,  1.72776736, -5.17837497,  5.07845176,
   0.98455142, -7.72894229, 24.53782111,  2.1404951 , -1.84342626,
   3.34103589,  5.41945411, -1.51197326,  2.9893886 , -0.9299341 ,
  -1.21525988,  0.05461761,  1.11809527, -0.14493606,-18.51740993,
   1.5944562 ,  0.02792711]

qfrc_actuator:
[-3.94070534e-05, 8.70450508e-06, 1.37643829e-04, 1.40580714e-04,
  3.27753774e-05,-2.81047237e-04,-2.55355475e-04, 7.30191251e-05,
 -8.54523512e-07, 5.19077412e-04, 9.10478241e-05, 9.83610913e-05,
  5.87075878e-02,-5.96637482e-04, 3.79589908e-02,-4.02298131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021125292590186417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480126, -0.09309617,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54138141e-05,-4.20650133e-05,-1.98966712e-05,-1.40593485e-05,
  2.97313081e-05, 2.28174082e-05, 3.03258427e-05, 5.34866461e-05,
  1.24151520e-05,-2.48865372e-05, 4.50619090e-05, 2.94629586e-05,
 -4.05194110e-04,-6.43835317e-05,-1.95101289e-04,-6.26312529e-05,
  2.28912258e-06, 3.87813775e-06,-1.21640664e+00, 1.04227365e-04,
  1.49155831e-03,-3.63873684e-07]


--- Step 328 ---
qpos:
[ 3.03557095e-03,-3.31227631e-03, 1.18598917e-02, 4.16843346e-02,
 -2.20563950e-03,-1.95179170e-03,-1.73373947e-02, 2.86152876e-02,
  5.84233521e-03, 1.64714621e-02,-9.34066816e-03, 2.59558613e-02,
  7.06626219e-01,-1.93615566e-03, 5.19976587e-01, 6.55334126e-02,
  9.49816509e-02,-7.00393919e-02, 1.21793297e-01, 9.99996556e-01,
  3.80482683e-05,-6.82012005e-05, 2.62342098e-03]

qacc:
[ 1.45879931e+00,-1.99460179e+00, 8.67952126e+00,-1.76659414e+01,
  6.53194973e-03,-2.33174955e-01,-2.03716369e-01, 4.00483631e+00,
  1.22975750e+00,-4.51076555e+00, 1.74972066e+01,-2.96508807e+01,
 -1.10752882e+00, 1.28340105e+00, 8.84604168e+00,-3.57592717e+01,
  5.64672587e-02, 1.11036826e+00,-2.03637219e-01,-1.84246687e+01,
  1.53235574e+00, 1.03114263e-01]

qfrc_actuator:
[-3.04774863e-05,-1.39454860e-06, 1.49561024e-04, 1.15359065e-04,
  3.19142857e-05,-2.93222292e-04,-2.48073020e-04, 8.33968625e-05,
  5.81411698e-06, 4.50547985e-04, 1.16307544e-04, 6.14464013e-05,
  5.85903053e-02,-6.13768344e-04, 3.78171517e-02,-4.23744124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002102342413152214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64044291e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.64044291e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480175, -0.09309668,  0.06199489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.47717144e-06,-3.83377600e-05, 2.86209299e-07,-2.79886433e-05,
 -9.07999514e-09, 9.16764773e-06, 1.75880598e-05, 1.34428539e-05,
  7.01797412e-06,-7.19279011e-05, 2.66637366e-05,-3.58560797e-05,
 -4.05406899e-04,-8.53872610e-05,-2.41681419e-04,-2.43956558e-04,
  3.51625640e-06, 3.14984502e-06,-1.21640352e+00, 1.02052360e-04,
  1.48636755e-03, 6.84541858e-09]


--- Step 329 ---
qpos:
[ 3.03544121e-03,-3.31281567e-03, 1.18603062e-02, 4.16848788e-02,
 -2.20536154e-03,-1.95169257e-03,-1.73377873e-02, 2.86166585e-02,
  5.84325161e-03, 1.64717345e-02,-9.33969262e-03, 2.59567417e-02,
  7.07869821e-01,-1.93450631e-03, 5.21109985e-01, 6.55300302e-02,
  9.49685854e-02,-7.00254916e-02, 1.21790502e-01, 9.99996502e-01,
 -7.98260364e-05,-1.74204285e-04, 2.63787856e-03]

qacc:
[  3.99473285,  0.16253819,  0.75477408, -5.76799417, -3.17026436,
  -0.49276241,  5.30801159,-16.34440819,  0.63642498,  1.07355998,
  -5.77936319, 11.55450717, -0.73176035, -0.15698408,  6.26686278,
 -27.30402658,  0.05770822,  1.10428533, -0.25277402,-18.35235581,
   1.4808826 ,  0.16626437]

qfrc_actuator:
[-7.23172075e-06, 1.07053245e-05, 1.38566107e-04, 1.00191118e-04,
  1.33898269e-05,-2.47116196e-04,-2.43724607e-04, 5.31750794e-05,
  9.39603540e-06, 4.27345223e-04, 9.49496453e-05, 7.49600726e-05,
  5.84858609e-02,-6.42515296e-04, 3.77019295e-02,-4.39917150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020832123813088743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.66468996e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.66468996e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480212, -0.09309741,  0.06199494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34758235e-05,-1.04641152e-05,-1.98505599e-05,-1.73476259e-05,
 -1.85227877e-05, 5.54548745e-05, 8.87762520e-06,-2.89615733e-05,
  3.76200897e-06,-5.94900226e-05,-3.41962127e-05, 1.06501026e-05,
 -3.96426926e-04,-9.88899781e-05,-2.55096730e-04,-2.06953660e-04,
  4.78108039e-06, 2.47971687e-06,-1.21639345e+00, 9.80483599e-05,
  1.48133259e-03, 4.64641228e-07]


--- Step 330 ---
qpos:
[ 3.03524621e-03,-3.31332541e-03, 1.18605344e-02, 4.16852261e-02,
 -2.20496284e-03,-1.95107643e-03,-1.73384965e-02, 2.86183600e-02,
  5.84385874e-03, 1.64721102e-02,-9.33977836e-03, 2.59577619e-02,
  7.09111371e-01,-1.93352783e-03, 5.22240742e-01, 6.55252853e-02,
  9.49586349e-02,-7.00132471e-02, 1.21789457e-01, 9.99996438e-01,
 -1.83209501e-04,-2.54879724e-04, 2.65040241e-03]

qacc:
[ -0.57937853,  0.15501561,  0.33719593, -3.47204649,  1.04045644,
   2.24519219, -8.4139207 , 14.26473252, -2.73214334,  3.39591123,
 -12.49104905, 16.52072688, -0.51134491, -0.96442713,  0.21362612,
  -6.41882292,  0.77873028, -0.41393145,  0.43757471,  7.27863168,
  12.64474176, -0.96709917]

qfrc_actuator:
[-1.12587104e-05, 1.81783220e-05, 1.31979077e-04, 9.10631348e-05,
  2.01327824e-05,-2.19778489e-04,-2.58679119e-04, 7.03719171e-05,
 -6.61809332e-06, 4.49055280e-04, 4.64561959e-05, 8.25460069e-05,
  5.83838644e-02,-6.77854177e-04, 3.75974552e-02,-4.45736943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021356520926446576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59926003e-13,  2.59926003e-13,  1.00000000e+00, -6.75615271e-26,
        1.00000000e+00, -2.59926003e-13, -1.00000000e+00,  0.00000000e+00,
        2.59926003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185929, -0.06177898,  0.06199481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35928926e-06,-3.19978007e-06,-1.17942484e-05,-1.06026963e-05,
  6.23515894e-06, 5.89320183e-05,-3.40749084e-06, 1.93152585e-05,
 -1.59240722e-05,-1.81834455e-05,-6.46411921e-05, 4.05585219e-06,
 -3.89893114e-04,-1.05364346e-04,-2.45436503e-04,-1.02854187e-04,
  6.11423808e-06, 1.86075362e-06,-1.21637653e+00, 9.22247359e-05,
  1.47645704e-03, 1.01029028e-06]


--- Step 331 ---
qpos:
[ 3.03534964e-03,-3.31387672e-03, 1.18609659e-02, 4.16854429e-02,
 -2.20448603e-03,-1.95073994e-03,-1.73387305e-02, 2.86199569e-02,
  5.84426874e-03, 1.64729786e-02,-9.33987000e-03, 2.59583950e-02,
  7.10350814e-01,-1.93295243e-03, 5.23368867e-01, 6.55217453e-02,
  9.49517477e-02,-7.00026480e-02, 1.21789680e-01, 9.99996374e-01,
 -2.72371398e-04,-3.10477829e-04, 2.66112406e-03]

qacc:
[  2.62657146, -0.89707818,  3.65973217, -6.20036214,  0.70471546,
  -1.91310297,  6.72443359, -9.08452276, -1.72796272, -0.12614113,
   3.03494979,-10.09524679, -0.79119416,  0.20883856, -7.50585958,
  20.64807278,  0.76583632, -0.41138279,  0.3168185 ,  7.14376099,
  12.51994165, -0.90061258]

qfrc_actuator:
[ 4.19489025e-06, 2.28482439e-05, 1.45799974e-04, 8.55656694e-05,
  2.39466242e-05,-2.74943066e-04,-2.49425579e-04, 6.20584032e-05,
 -1.62838568e-05, 5.32879508e-04, 7.12890901e-05, 6.88529317e-05,
  5.82780816e-02,-6.99046372e-04, 3.75048576e-02,-4.38305688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021844229607775878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185966, -0.06177989,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53590347e-05, 4.74039479e-09, 1.13432561e-05,-6.24901395e-06,
  4.01147759e-06,-2.21016624e-05, 2.16718307e-05,-5.53383061e-06,
 -1.01248407e-05, 6.04587001e-05, 1.32508512e-05,-1.66321719e-05,
 -3.89985314e-04,-9.09319570e-05,-2.17467076e-04, 3.67196663e-05,
  4.32263858e-06, 1.20684998e-06,-1.21639655e+00, 8.74051045e-05,
  1.47222771e-03, 1.02801100e-06]


--- Step 332 ---
qpos:
[ 3.03563734e-03,-3.31429197e-03, 1.18614413e-02, 4.16862705e-02,
 -2.20431210e-03,-1.95060329e-03,-1.73387940e-02, 2.86211084e-02,
  5.84490490e-03, 1.64736689e-02,-9.33893233e-03, 2.59599078e-02,
  7.11588028e-01,-1.93226375e-03, 5.24494836e-01, 6.55193157e-02,
  9.49478816e-02,-6.99936852e-02, 1.21790764e-01, 9.99996317e-01,
 -3.47533815e-04,-3.41208650e-04, 2.67015009e-03]

qacc:
[  1.61687559,  1.31272937, -7.00122192, 17.40384721, -2.64793071,
  -1.65125609,  7.39490031,-15.23977912,  2.0080109 , -1.30506727,
   0.59070678, 13.12769472, -1.44520085,  2.79163393, -6.48411299,
  18.1745745 ,  0.75529207, -0.4090574 ,  0.21540652,  7.03254003,
  12.41520122, -0.84659688]

qfrc_actuator:
[ 1.32466170e-05, 4.36482964e-05, 1.53797988e-04, 1.17763952e-04,
  8.24470654e-06,-2.90255977e-04,-2.44064965e-04, 3.87416355e-05,
 -4.37641651e-06, 5.11520633e-04, 1.21734283e-04, 1.13874050e-04,
  5.81647798e-02,-6.93997365e-04, 3.74248060e-02,-4.32002375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022115510350141643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51005518e-13, -5.02011035e-13,  1.00000000e+00, -1.26007540e-25,
        1.00000000e+00,  5.02011035e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51005518e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185974, -0.0617805 ,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.49025734e-06, 2.28974874e-05, 9.18008078e-06, 3.24684756e-05,
 -1.55959268e-05,-2.34445290e-05, 3.26854156e-06,-2.36257427e-05,
  1.16412381e-05, 1.44403713e-05, 6.39807381e-05, 4.77441893e-05,
 -3.94934241e-04,-6.36374835e-05,-1.77324202e-04, 3.66320842e-05,
  2.92075946e-06, 6.97931551e-07,-1.21641208e+00, 8.32285784e-05,
  1.46927977e-03, 1.06066054e-06]


--- Step 333 ---
qpos:
[ 3.03568646e-03,-3.31451979e-03, 1.18619868e-02, 4.16874685e-02,
 -2.20432818e-03,-1.94994421e-03,-1.73393953e-02, 2.86219273e-02,
  5.84567913e-03, 1.64738283e-02,-9.33706845e-03, 2.59609651e-02,
  7.12822850e-01,-1.93080518e-03, 5.25619016e-01, 6.55142851e-02,
  9.49470025e-02,-6.99863503e-02, 1.21792370e-01, 9.99996271e-01,
 -4.08879509e-04,-3.47246521e-04, 2.67756741e-03]

qacc:
[ -2.09498377,  0.81928904, -4.11711186, 10.26831615, -1.69263155,
   1.51195628, -2.97964081, -2.30608535,  1.24199718, -4.2300684 ,
  15.98278659,-24.94834927, -2.34288883,  6.25994677,  5.2920169 ,
 -22.14961295,  0.74672707, -0.40697758,  0.13038121,  6.94103089,
  12.32826526, -0.80243894]

qfrc_actuator:
[ 6.99375218e-07, 5.62127947e-05, 1.58380283e-04, 1.36385420e-04,
 -1.06428851e-06,-2.28367958e-04,-2.58678135e-04, 2.45583027e-05,
  2.37790272e-06, 4.45278097e-04, 1.51008740e-04, 8.64959366e-05,
  5.80417279e-02,-6.55806143e-04, 3.73203792e-02,-4.45942449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000222120381216398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49914713e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.49914713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818596 , -0.06178084,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22700001e-05, 2.86658130e-05, 1.15628466e-05, 2.05495682e-05,
 -9.76089216e-06, 4.84282757e-05,-1.98734057e-05,-1.55368474e-05,
  7.09193711e-06,-4.29385066e-05, 4.17676619e-05,-2.36236733e-05,
 -4.03503817e-04,-2.90337683e-05,-1.85457201e-04,-1.61157133e-04,
  1.87450921e-06, 3.11797739e-07,-1.21642331e+00, 7.96910469e-05,
  1.46759708e-03, 1.10649723e-06]


--- Step 334 ---
qpos:
[ 3.03592995e-03,-3.31469166e-03, 1.18626956e-02, 4.16882003e-02,
 -2.20445592e-03,-1.94881305e-03,-1.73399317e-02, 2.86221881e-02,
  5.84618326e-03, 1.64740348e-02,-9.33526320e-03, 2.59609907e-02,
  7.14055502e-01,-1.92951676e-03, 5.26741581e-01, 6.55048716e-02,
  9.49485893e-02,-6.99820662e-02, 1.21794029e-01, 9.99996246e-01,
 -4.44644524e-04,-3.32800134e-04, 2.68302523e-03]

qacc:
[ 1.70995775e+00,-1.34707266e+00, 6.87094612e+00,-1.52337600e+01,
 -9.85642221e-01,-7.03557658e-01, 5.77450813e+00,-1.58897764e+01,
 -2.35899581e+00,-1.89335351e+00, 1.12057801e+01,-2.90131294e+01,
 -1.21321029e+00, 1.74669949e+00, 1.08687380e+01,-4.14280670e+01,
  6.16465824e-01,-7.62706439e-01, 1.33677437e-02, 1.28173794e+01,
  1.02082478e+01,-9.80029612e-01]

qfrc_actuator:
[ 1.10471641e-05, 4.59775324e-05, 1.60869385e-04, 1.11351575e-04,
 -6.52923827e-06,-1.91812237e-04,-2.49130183e-04,-1.83244774e-06,
 -1.17146842e-05, 4.59045238e-04, 1.49519506e-04, 3.44140848e-05,
  5.79288982e-02,-6.69442032e-04, 3.72386524e-02,-4.68151326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002214951144668894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14548596e-07, -2.50620206e-13,  1.00000000e+00, -1.28956275e-19,
        1.00000000e+00,  2.50620206e-13, -1.00000000e+00,  0.00000000e+00,
       -5.14548596e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08415117, -0.05448436,  0.06199462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00069205e-05, 9.05805192e-06, 1.05394589e-05,-2.30086717e-05,
 -5.72483660e-06, 5.88438256e-05, 1.65633062e-05,-2.53069187e-05,
 -1.39023511e-05,-2.65402401e-06,-6.05712222e-06,-5.29435207e-05,
 -3.93890425e-04,-7.91465589e-05,-1.89221847e-04,-2.56074749e-04,
  1.15823505e-06, 3.16967976e-08,-1.21643037e+00, 7.67887082e-05,
  1.46716660e-03, 1.16417623e-06]


--- Step 335 ---
qpos:
[ 3.03629563e-03,-3.31502049e-03, 1.18635483e-02, 4.16886558e-02,
 -2.20464798e-03,-1.94756588e-03,-1.73402085e-02, 2.86221627e-02,
  5.84616976e-03, 1.64745637e-02,-9.33481375e-03, 2.59614829e-02,
  7.15286001e-01,-1.92866518e-03, 5.27860809e-01, 6.54966530e-02,
  9.49526005e-02,-6.99808663e-02, 1.21795461e-01, 9.99996243e-01,
 -4.54615115e-04,-2.98111286e-04, 2.68659262e-03]

qacc:
[  1.07963851, -1.18121929,  5.07192296, -9.96154034, -0.55814188,
  -1.15946165,  5.56730948,-11.02282167, -4.56206144,  5.1847363 ,
 -19.8229955 , 29.81145075, -0.77450729,  0.07783212, -8.51469806,
  22.66434358,  0.60612442, -0.77103243, -0.0566589 , 12.92400972,
  10.08701274, -0.94503105]

qfrc_actuator:
[ 1.70418251e-05, 2.21189141e-05, 1.61981306e-04, 9.63183192e-05,
 -9.69012150e-06,-2.06119775e-04,-2.43225764e-04,-1.74362984e-05,
 -3.79624560e-05, 4.67194653e-04, 7.69285150e-05, 5.70317326e-05,
  5.78116162e-02,-6.95789480e-04, 3.70800560e-02,-4.61309238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002206524985664719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51577261e-13,  1.05249511e-06,  1.00000000e+00, -2.64783836e-19,
        1.00000000e+00, -1.05249511e-06, -1.00000000e+00,  0.00000000e+00,
        2.51577261e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08423363, -0.05422045,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.28305321e-06,-1.76029423e-05, 3.47628972e-06,-1.47317440e-05,
 -3.30314974e-06, 2.08971305e-05, 1.92161669e-05,-1.30031736e-05,
 -2.66422630e-05, 3.11333074e-06,-7.57396860e-05, 2.12600918e-05,
 -3.99780744e-04,-9.49416886e-05,-2.78513819e-04, 2.86344412e-05,
  5.21740176e-07,-1.28499189e-07,-1.21643623e+00, 7.50904491e-05,
  1.46772667e-03, 1.22228667e-06]


--- Step 336 ---
qpos:
[ 3.03638551e-03,-3.31547838e-03, 1.18641217e-02, 4.16892993e-02,
 -2.20453131e-03,-1.94653004e-03,-1.73399491e-02, 2.86219740e-02,
  5.84618685e-03, 1.64750364e-02,-9.33571719e-03, 2.59626368e-02,
  7.16514295e-01,-1.92808928e-03, 5.28976608e-01, 6.54902786e-02,
  9.49584456e-02,-6.99842320e-02, 1.21795703e-01, 9.99996265e-01,
 -4.26391037e-04,-2.47902716e-04, 2.68823184e-03]

qacc:
[ -2.42728121,  1.00256425, -4.60635213,  8.39049861,  2.72810554,
  -2.11790201,  7.82677387,-11.34315207,  0.22599217,  5.06869444,
 -20.97488615, 34.63141398, -0.97028714,  0.84208558,-10.6018527 ,
  29.7921022 ,  0.4584711 , -1.14140575, -0.29769026, 19.11782842,
   7.70896711, -0.9662786 ]

qfrc_actuator:
[ 2.66640070e-06, 8.02946001e-06, 1.44468408e-04, 1.05034512e-04,
  6.28139719e-06,-2.33025407e-04,-2.21975556e-04,-2.66167095e-05,
 -3.56425033e-05, 4.36174116e-04,-1.49763304e-06, 8.78780821e-05,
  5.76970653e-02,-7.11676474e-04, 3.69234829e-02,-4.51621138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021958301059986363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52802578e-13, -2.52802578e-13,  1.00000000e+00,  6.39091436e-26,
        1.00000000e+00,  2.52802578e-13, -1.00000000e+00,  0.00000000e+00,
        2.52802578e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680358, -0.04603688,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42020583e-05,-2.38440812e-05,-2.12382242e-05, 7.79315968e-06,
  1.58844204e-05,-1.18512361e-05, 2.74725343e-05,-7.87500455e-06,
  1.56171495e-06,-4.40483780e-05,-8.63878511e-05, 2.87706816e-05,
 -4.03743403e-04,-8.69291260e-05,-2.79705997e-04, 6.29167786e-05,
  2.69387913e-07,-2.57978119e-07,-1.21643672e+00, 7.46238381e-05,
  1.46934570e-03, 1.27486691e-06]


--- Step 337 ---
qpos:
[ 3.03664729e-03,-3.31591917e-03, 1.18644245e-02, 4.16896775e-02,
 -2.20387907e-03,-1.94585671e-03,-1.73393120e-02, 2.86217078e-02,
  5.84657664e-03, 1.64748491e-02,-9.33705716e-03, 2.59641665e-02,
  7.17740421e-01,-1.92770451e-03, 5.30090565e-01, 6.54838028e-02,
  9.49661116e-02,-6.99921434e-02, 1.21794556e-01, 9.99996306e-01,
 -3.60179708e-04,-1.82211144e-04, 2.68801873e-03]

qacc:
[ 1.49987226, 0.22933762, 0.32907247,-4.49316453, 4.71534304,-1.7024839 ,
  5.6867898 ,-7.34744389, 3.2482835 , 1.11480478,-6.83809618,14.53646474,
 -1.10697387, 1.39244808,-2.38197549, 4.45254952, 0.45522239,-1.13644548,
 -0.34723721,19.01414012, 7.69081031,-0.9275959 ]

qfrc_actuator:
[ 1.19233010e-05, 1.75890031e-05, 1.33898929e-04, 9.21414348e-05,
  3.33850335e-05,-2.67208953e-04,-2.09650906e-04,-3.19515096e-05,
 -1.65230981e-05, 3.81901099e-04,-2.96275867e-05, 1.05527259e-04,
  5.75948868e-02,-7.21273622e-04, 3.68800940e-02,-4.50989756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002171700631442286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55611434e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.55611434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680306, -0.0460362 ,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.84533862e-06,-7.82390994e-06,-1.78430868e-05,-1.44987722e-05,
  2.75515093e-05,-3.55083790e-05, 1.29728955e-05,-5.04851042e-06,
  1.91518884e-05,-9.55253269e-05,-4.68713375e-05, 1.33306594e-05,
 -3.92743841e-04,-8.06901707e-05,-1.63054189e-04,-2.58470709e-05,
  2.74842205e-07,-4.23000699e-07,-1.21643166e+00, 7.59985002e-05,
  1.47177673e-03, 1.31555202e-06]


--- Step 338 ---
qpos:
[ 3.03667293e-03,-3.31642127e-03, 1.18648579e-02, 4.16902255e-02,
 -2.20290677e-03,-1.94560191e-03,-1.73387358e-02, 2.86214181e-02,
  5.84719219e-03, 1.64743472e-02,-9.33830304e-03, 2.59651235e-02,
  7.18964107e-01,-1.92581166e-03, 5.31202669e-01, 6.54777152e-02,
  9.49761940e-02,-7.00030754e-02, 1.21792839e-01, 9.99996352e-01,
 -2.68870508e-04,-9.62192769e-05, 2.68606180e-03]

qacc:
[ -2.06747732, -0.09192626, -0.49899214,  3.26522211,  2.81221424,
  -0.43662652,  0.84362492, -0.83329597,  1.97681611, -1.86164206,
   8.4460363 ,-18.26991037, -3.12719962,  9.49467572, -3.77659433,
   9.55233809,  0.60409463, -0.7551341 , -0.14250114, 12.57601509,
  10.11669246, -0.87054049]

qfrc_actuator:
[-4.83040724e-07, 2.34907877e-05, 1.45351068e-04, 1.02166098e-04,
  4.90649700e-05,-3.05523547e-04,-2.20490210e-04,-3.49993831e-05,
 -5.43099032e-06, 4.03066150e-04,-1.02023890e-05, 7.97741694e-05,
  5.74895563e-02,-6.38307982e-04, 3.68034060e-02,-4.48570540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000214228145237358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72345637e-07, -5.18243307e-13,  1.00000000e+00, -1.92965635e-19,
        1.00000000e+00,  5.18243307e-13, -1.00000000e+00, -2.40741243e-35,
       -3.72345637e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08414917, -0.05448314,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21547992e-05,-2.76614316e-06, 7.13681576e-06, 8.78889881e-06,
  1.64525935e-05,-5.57293121e-05,-1.67662932e-05,-4.22245519e-06,
  1.16074569e-05,-4.13369870e-05,-5.60474807e-06,-3.12098408e-05,
 -3.86748907e-04, 1.39050084e-05,-1.59150246e-04, 5.56934439e-07,
  7.21529504e-07,-6.48634751e-07,-1.21641811e+00, 7.92201376e-05,
  1.47505413e-03, 1.31548186e-06]


--- Step 339 ---
qpos:
[ 3.03620478e-03,-3.31690694e-03, 1.18654092e-02, 4.16905344e-02,
 -2.20175395e-03,-1.94562573e-03,-1.73383619e-02, 2.86214318e-02,
  5.84759058e-03, 1.64742280e-02,-9.33966090e-03, 2.59653419e-02,
  7.20185523e-01,-1.92262375e-03, 5.32313286e-01, 6.54675935e-02,
  9.49867106e-02,-7.00165463e-02, 1.21791500e-01, 9.99996387e-01,
 -1.56193130e-04,-6.83586603e-06, 2.68352543e-03]

qacc:
[ -4.33100236, -0.79275567,  3.88130038, -8.2354261 ,  1.58197447,
   0.81793774, -4.73702855, 10.52055767, -1.90434092, -0.69784022,
   6.34709251,-19.23941894, -2.88019726,  8.58685717, 10.08842861,
 -38.21771021,  0.10855242, -0.63472644,  0.09463601, 10.68857553,
   1.66714527, -0.29028433]

qfrc_actuator:
[-2.55480504e-05, 2.72694881e-05, 1.51970729e-04, 9.01072008e-05,
  5.78919887e-05,-3.10610462e-04,-2.27187773e-04,-1.89455606e-05,
 -1.69100267e-05, 4.69412606e-04, 1.89462393e-06, 4.65305334e-05,
  5.73877628e-02,-5.72437951e-04, 3.67068059e-02,-4.69977219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021222841899343076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32763289e-07, -2.61563232e-13,  1.00000000e+00, -6.08823183e-20,
        1.00000000e+00,  2.61563232e-13, -1.00000000e+00,  1.20370622e-35,
       -2.32763289e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09413565, -0.05721581,  0.06199484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54117880e-05, 4.09005421e-06, 7.23150298e-06,-1.17599079e-05,
  9.27740635e-06,-3.99044026e-05,-2.04298468e-05, 1.30013280e-05,
 -1.11618696e-05, 4.07719555e-05, 1.80651812e-06,-3.58150246e-05,
 -3.63761087e-04, 6.36153284e-06,-1.74626433e-04,-2.35792513e-04,
  1.63470900e-06,-8.21134339e-07,-1.21640040e+00, 8.36481464e-05,
  1.47939475e-03, 1.28446783e-06]


--- Step 340 ---
qpos:
[ 3.03578441e-03,-3.31694000e-03, 1.18655962e-02, 4.16899828e-02,
 -2.20050436e-03,-1.94567914e-03,-1.73381868e-02, 2.86212595e-02,
  5.84750348e-03, 1.64745616e-02,-9.34156487e-03, 2.59658710e-02,
  7.21404996e-01,-1.91930905e-03, 5.33421891e-01, 6.54598541e-02,
  9.49946583e-02,-7.00335891e-02, 1.21789498e-01, 9.99996401e-01,
 -1.37139186e-05, 6.03429301e-05, 2.68217173e-03]

qacc:
[  0.39962252, -0.15707554,  5.05587942,-19.69080517,  0.84288477,
   0.13191338,  0.25518677, -3.13074851, -4.25874377,  2.77257673,
 -10.31454211, 16.21455178, -1.26634244,  2.4551703 ,-10.11343759,
  31.17414764, -0.64224234, -0.89298017, -0.16584728, 14.87107227,
 -11.14234674,  0.58953045]

qfrc_actuator:
[-2.23508885e-05, 6.52263773e-05, 1.37898528e-04, 4.73865518e-05,
  6.26187514e-05,-2.95733287e-04,-2.31234400e-04,-2.72533520e-05,
 -4.15791471e-05, 4.91285865e-04,-2.57420973e-05, 6.24453907e-05,
  5.72934899e-02,-5.70473396e-04, 3.66675277e-02,-4.55545365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021185973953996573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.24036812e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.24036812e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090856 , -0.05165842,  0.06199485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47591161e-06, 4.12370713e-05,-1.27435742e-05,-4.25238268e-05,
  4.97757313e-06,-1.11003234e-05,-1.43602676e-05,-1.04729689e-05,
 -2.49751648e-05, 4.35285971e-05,-2.02137916e-05, 1.70309480e-05,
 -3.41894756e-04,-5.44681165e-05,-1.51012972e-04, 1.07363950e-04,
  2.02269396e-06,-1.05520351e-06,-1.21638792e+00, 8.91903475e-05,
  1.48385992e-03, 1.09948315e-06]


--- Step 341 ---
qpos:
[ 3.03540554e-03,-3.31680781e-03, 1.18659653e-02, 4.16889224e-02,
 -2.19955287e-03,-1.94553326e-03,-1.73381852e-02, 2.86206119e-02,
  5.84746647e-03, 1.64747574e-02,-9.34299279e-03, 2.59665918e-02,
  7.22622524e-01,-1.91622993e-03, 5.34527998e-01, 6.54598529e-02,
  9.50013902e-02,-7.00501911e-02, 1.21789121e-01, 9.99996391e-01,
  1.25084166e-04, 1.17096954e-04, 2.68109031e-03]

qacc:
[  0.36693498, -1.34022808,  7.24002413,-16.45399208, -2.62376964,
  -0.22454106,  3.19922775,-11.30582165,  0.45414431, -1.11886438,
   2.9137693 , -0.25265257, -0.75890893,  0.45770088,-27.0105603 ,
  89.205526  , -0.30393467,  0.11022298,  0.40632469, -1.85454595,
  -5.20743197,  0.13599101]

qfrc_actuator:
[-2.02931053e-05, 6.99895427e-05, 1.47351698e-04, 2.24910530e-05,
  4.71442769e-05,-2.69015229e-04,-2.33613191e-04,-4.98101964e-05,
 -3.83018545e-05, 4.68499397e-04,-5.72960694e-06, 7.15962918e-05,
  5.71824785e-02,-5.88449254e-04, 3.65935080e-02,-4.14764881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021009868823580435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32107325e-13,  1.03125144e-06,  1.00000000e+00, -1.36235869e-19,
        1.00000000e+00, -1.03125144e-06, -1.00000000e+00,  0.00000000e+00,
        1.32107325e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198461, -0.07226034,  0.06199489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14500331e-06, 2.33716478e-05, 1.49295514e-05,-2.43969831e-05,
 -1.53354462e-05, 1.70977856e-05,-6.80413297e-06,-2.37333460e-05,
  2.57586210e-06,-1.89058460e-06, 2.71215565e-05, 1.06516659e-05,
 -3.52811316e-04,-7.67408667e-05,-1.35958700e-04, 3.93181430e-04,
  1.26702533e-06,-1.40847007e-06,-1.21637755e+00, 9.63169156e-05,
  1.48709047e-03, 6.24948132e-07]


--- Step 342 ---
qpos:
[ 3.03505447e-03,-3.31672547e-03, 1.18665280e-02, 4.16879442e-02,
 -2.19948396e-03,-1.94528922e-03,-1.73385226e-02, 2.86204139e-02,
  5.84746905e-03, 1.64745093e-02,-9.34395623e-03, 2.59671121e-02,
  7.23837976e-01,-1.91328456e-03, 5.35631731e-01, 6.54628497e-02,
  9.50084271e-02,-7.00621970e-02, 1.21789512e-01, 9.99996366e-01,
  2.25362301e-04, 1.76546501e-04, 2.68077326e-03]

qacc:
[ 2.51058285e-01,-4.38314528e-01, 1.11966137e+00, 2.99988629e-02,
 -7.75268720e+00, 2.01623646e+00,-8.87368947e+00, 1.70964110e+01,
  3.67251672e-01,-2.29819332e+00, 8.18795355e+00,-1.20708450e+01,
 -1.04599902e+00, 1.34709023e+00,-1.25161482e+01, 3.87760781e+01,
  7.62610484e-02, 1.14900866e+00, 1.91820798e-01,-1.92563356e+01,
  1.39944330e+00, 3.79775853e-01]

qfrc_actuator:
[-1.89317914e-05, 5.49427808e-05, 1.52766667e-04, 2.60358139e-05,
  2.15260148e-06,-2.70914953e-04,-2.52689602e-04,-2.72947454e-05,
 -3.63507245e-05, 4.19326652e-04, 6.56341679e-06, 5.89308360e-05,
  5.70614941e-02,-6.00325068e-04, 3.64401760e-02,-4.01412412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002164256547978194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28245312e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.28245312e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480247, -0.09309561,  0.06199474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43039155e-06, 5.66013183e-08, 1.12339190e-05, 4.58881328e-06,
 -4.54215850e-05, 5.22958959e-06,-1.72037819e-05, 2.25526186e-05,
  2.02207236e-06,-4.41623880e-05, 1.56243089e-05,-1.15997168e-05,
 -3.73454167e-04,-7.47500125e-05,-1.75878205e-04, 1.36911859e-04,
  9.53202444e-07,-1.23310747e-06,-1.21638341e+00, 1.03194168e-04,
  1.48984239e-03, 1.13379307e-07]


--- Step 343 ---
qpos:
[ 3.03506722e-03,-3.31643881e-03, 1.18670224e-02, 4.16876922e-02,
 -2.19960964e-03,-1.94539924e-03,-1.73391435e-02, 2.86201969e-02,
  5.84715002e-03, 1.64741072e-02,-9.34541232e-03, 2.59678522e-02,
  7.25051318e-01,-1.91015258e-03, 5.36733150e-01, 6.54595993e-02,
  9.50157652e-02,-7.00696610e-02, 1.21790213e-01, 9.99996336e-01,
  2.87596176e-04, 2.38691471e-04, 2.68116728e-03]

qacc:
[  3.18817268,  1.95167568, -9.64060558, 22.1754774 , -1.70960883,
   0.28844643, -1.62172648,  2.00105536, -2.81754689,  1.63117888,
  -7.02908905, 11.7211276 , -1.60295523,  3.39173172, 15.48036136,
 -59.01875203,  0.07528584,  1.1354576 ,  0.07765433,-19.01851035,
   1.39878143,  0.35187829]

qfrc_actuator:
[-2.38628698e-07, 8.14169615e-05, 1.55674409e-04, 6.40099180e-05,
 -6.58779716e-06,-3.25469196e-04,-2.81549771e-04,-3.17287049e-05,
 -5.29574666e-05, 4.07941269e-04,-2.14593395e-05, 6.89963135e-05,
  5.69559108e-02,-5.90795819e-04, 3.62393353e-02,-4.36306995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022063592846012503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51596155e-13,  5.03192310e-13,  1.00000000e+00,  1.26601250e-25,
        1.00000000e+00, -5.03192310e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51596155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480242, -0.09309447,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87326348e-05, 2.90170398e-05, 4.45682539e-06, 3.84553383e-05,
 -1.00335696e-05,-5.42372049e-05,-2.91154250e-05,-4.36365715e-06,
 -1.65660029e-05,-3.33311353e-05,-3.56090755e-05, 8.48925766e-06,
 -3.72406690e-04,-5.64880289e-05,-2.69583702e-04,-3.64822552e-04,
  6.84834831e-07,-9.64171556e-07,-1.21640581e+00, 1.08171291e-04,
  1.49269539e-03,-2.70221227e-07]


--- Step 344 ---
qpos:
[ 3.03564904e-03,-3.31622192e-03, 1.18676700e-02, 4.16879169e-02,
 -2.19880475e-03,-1.94588290e-03,-1.73397830e-02, 2.86195684e-02,
  5.84697902e-03, 1.64737695e-02,-9.34704456e-03, 2.59686569e-02,
  7.26262631e-01,-1.90692587e-03, 5.37832142e-01, 6.54507517e-02,
  9.50234017e-02,-7.00726281e-02, 1.21790841e-01, 9.99996308e-01,
  3.12178182e-04, 3.03533567e-04, 2.68222595e-03]

qacc:
[ 5.00130957e+00, 4.52212171e-01,-3.77375796e+00, 1.18457380e+01,
  8.16722945e+00,-1.30394405e+00, 5.64365168e+00,-1.24329283e+01,
  1.28443817e+00, 7.07874264e-01,-2.67797183e+00, 4.03579104e+00,
 -1.43694948e+00, 2.83662194e+00, 1.33500087e+01,-5.18183605e+01,
  7.46154206e-02, 1.12425065e+00,-1.82474674e-02,-1.88223296e+01,
  1.39912831e+00, 3.27443699e-01]

qfrc_actuator:
[ 2.85065118e-05, 6.15589438e-05, 1.57262286e-04, 8.64594582e-05,
  4.15928927e-05,-3.40192659e-04,-2.80694786e-04,-5.20435673e-05,
 -4.48483007e-05, 4.36868459e-04,-1.96423353e-05, 7.46077788e-05,
  5.68596461e-02,-5.86443032e-04, 3.61325627e-02,-4.63839959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022277443008804354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02459548e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02459548e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480236, -0.09309391,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92856740e-05,-1.07293632e-06, 9.45174163e-06, 2.45933469e-05,
  4.78771093e-05,-5.12454809e-05,-1.40759142e-05,-2.37290136e-05,
  7.62112052e-06, 3.31961299e-06,-9.13985681e-06, 3.11931264e-06,
 -3.60434117e-04,-5.95125530e-05,-2.72126625e-04,-3.30675095e-04,
  5.70945532e-07,-6.92697080e-07,-1.21642054e+00, 1.11270952e-04,
  1.49571969e-03,-5.60170054e-07]


--- Step 345 ---
qpos:
[ 3.03622610e-03,-3.31611103e-03, 1.18683892e-02, 4.16884197e-02,
 -2.19777421e-03,-1.94606837e-03,-1.73407776e-02, 2.86193280e-02,
  5.84690597e-03, 1.64739061e-02,-9.34885889e-03, 2.59691236e-02,
  7.27472006e-01,-1.90425619e-03, 5.38928646e-01, 6.54443841e-02,
  9.50313351e-02,-7.00711349e-02, 1.21791075e-01, 9.99996285e-01,
  2.99429243e-04, 3.71076385e-04, 2.68390827e-03]

qacc:
[ -0.03748926,  0.23276852, -2.20627286,  6.9816713 ,  1.96305552,
   2.1799161 , -8.84694894, 15.91949339,  0.84040787,  0.43859825,
   0.76994215, -6.67384764, -0.50907894, -0.69802302,-11.15134084,
  33.68693001,  0.07419622,  1.11506384, -0.09870669,-18.66187673,
   1.40051783,  0.30572515]

qfrc_actuator:
[ 2.74267977e-05, 4.95992452e-05, 1.57864068e-04, 9.95532899e-05,
  5.18683748e-05,-2.77598570e-04,-2.79914763e-04,-2.82288039e-05,
 -4.00032140e-05, 4.89826557e-04,-1.77935477e-05, 5.98613529e-05,
  5.67530638e-02,-6.20684139e-04, 3.61036275e-02,-4.47715254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022324447093180488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26361435e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.26361435e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948023 , -0.09309383,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48759990e-07,-9.56147213e-06, 2.38293992e-06, 1.38499161e-05,
  1.16238995e-05, 3.00565430e-05,-1.23472235e-05, 2.06717128e-05,
  5.06236577e-06, 5.30917983e-05, 1.53742427e-06,-1.48574580e-05,
 -3.62932324e-04,-9.65345604e-05,-1.91283326e-04, 1.07575393e-04,
  5.95221412e-07,-4.23485216e-07,-1.21642791e+00, 1.12512533e-04,
  1.49891097e-03,-7.57436788e-07]


--- Step 346 ---
qpos:
[ 3.03678561e-03,-3.31555955e-03, 1.18685985e-02, 4.16890455e-02,
 -2.19731823e-03,-1.94567329e-03,-1.73419596e-02, 2.86193251e-02,
  5.84689195e-03, 1.64740632e-02,-9.35047873e-03, 2.59694420e-02,
  7.28679448e-01,-1.90258371e-03, 5.40023142e-01, 6.54398672e-02,
  9.50395643e-02,-7.00652112e-02, 1.21790643e-01, 9.99996264e-01,
  2.49608731e-04, 4.41325447e-04, 2.68617742e-03]

qacc:
[ -0.17763724,  2.26207092, -7.73812495, 10.3558955 , -5.05482452,
   1.78900643, -6.25165975, 10.21578217,  0.52033884, -0.8230187 ,
   3.59829479, -6.48987314, -0.04891522, -2.62679727, -8.56525258,
  25.61258241,  0.07398481,  1.10761955, -0.1661237 ,-18.53219537,
   1.40295309,  0.28613072]

qfrc_actuator:
[ 2.65509958e-05, 9.57005678e-05, 1.40141771e-04, 1.07041565e-04,
  2.19807959e-05,-2.22394211e-04,-2.78835939e-04,-1.40766938e-05,
 -3.71257231e-05, 4.68004223e-04,-1.58492893e-05, 5.10295491e-05,
  5.66403557e-02,-6.77467727e-04, 3.60256235e-02,-4.37934537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002223832487895927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02815682e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02815682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480222, -0.09309413,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.88084474e-07, 4.18245488e-05,-1.89359135e-05, 7.42769613e-06,
 -2.95461100e-05, 7.03704580e-05, 6.49538314e-06, 1.54179658e-05,
  3.04035545e-06, 7.56455894e-06, 1.26046856e-05,-6.79007182e-06,
 -3.75820253e-04,-1.23420330e-04,-1.56328443e-04, 7.85105122e-05,
  7.44897307e-07,-1.58033161e-07,-1.21642811e+00, 1.11911876e-04,
  1.50226580e-03,-8.62870308e-07]


--- Step 347 ---
qpos:
[ 3.03733017e-03,-3.31449438e-03, 1.18682434e-02, 4.16894047e-02,
 -2.19756855e-03,-1.94512360e-03,-1.73427219e-02, 2.86201946e-02,
  5.84691340e-03, 1.64730765e-02,-9.35091245e-03, 2.59693892e-02,
  7.29884648e-01,-1.90058239e-03, 5.41115482e-01, 6.54382025e-02,
  9.50480894e-02,-7.00548808e-02, 1.21789322e-01, 9.99996239e-01,
  1.62922787e-04, 5.14288185e-04, 2.68899989e-03]

qacc:
[ -0.15793611,  1.70791541, -3.97922407, -0.10890312, -6.18366301,
   0.83821679, -6.35553083, 20.6472977 ,  0.36575394, -5.59151265,
  19.3094857 ,-26.78607304, -1.66597053,  3.63899614,-11.72618971,
  36.55179331,  0.07394592,  1.10167991, -0.22254248,-18.42912394,
   1.40641581,  0.26819104]

qfrc_actuator:
[ 2.58122461e-05, 1.22876414e-04, 1.11978043e-04, 9.34578280e-05,
 -1.35420475e-05,-2.25283219e-04,-2.59850701e-04, 2.97784726e-05,
 -3.54290274e-05, 3.48319960e-04, 2.13537683e-05, 2.79394908e-05,
  5.65293674e-02,-6.58350657e-04, 3.59342018e-02,-4.23120146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022047193801637277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41628104e-13,  2.51783296e-13,  1.00000000e+00,  3.56595908e-26,
        1.00000000e+00, -2.51783296e-13, -1.00000000e+00,  0.00000000e+00,
       -1.41628104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480214, -0.09309472,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.51078141e-07, 4.69451564e-05,-2.16108096e-05,-1.23059800e-05,
 -3.63414066e-05, 3.84536448e-05, 3.48645851e-05, 4.73987110e-05,
  1.78516593e-06,-1.13127865e-04, 4.00994718e-05,-2.24594716e-05,
 -3.87153794e-04,-5.23653869e-05,-1.58887642e-04, 1.31258620e-04,
  1.00988465e-06, 1.05277274e-07,-1.21642132e+00, 1.09481767e-04,
  1.50578142e-03,-8.77215051e-07]


--- Step 348 ---
qpos:
[ 3.03786191e-03,-3.31338639e-03, 1.18677034e-02, 4.16899782e-02,
 -2.19789799e-03,-1.94437750e-03,-1.73434901e-02, 2.86216073e-02,
  5.84695484e-03, 1.64712755e-02,-9.35092439e-03, 2.59694175e-02,
  7.31087685e-01,-1.89864725e-03, 5.42205210e-01, 6.54358047e-02,
  9.50539649e-02,-7.00449237e-02, 1.21789275e-01, 9.99996213e-01,
  7.91338060e-05, 5.64673011e-04, 2.69242555e-03]

qacc:
[ -0.11885985,  1.01549619, -4.44214711,  8.41413263, -0.69708202,
   1.39433451, -6.88658056, 16.14952   ,  0.20133733, -2.08827722,
   5.54084797, -4.20962044, -1.24941964,  1.9540345 , -1.60685582,
   0.10266337, -0.66237506, -0.09331187,  0.31851957,  1.41796476,
 -11.29275875,  0.30417906]

qfrc_actuator:
[ 2.51601428e-05, 1.02942374e-04, 9.55604903e-05, 1.03076500e-04,
 -1.65792062e-05,-2.27329263e-04,-2.66159088e-04, 5.52203144e-05,
 -3.44408822e-05, 3.13095587e-04, 4.31374238e-05, 3.20819617e-05,
  5.64141825e-02,-6.65630876e-04, 3.57602541e-02,-4.28538170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021981415115750191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52536750e-13,  2.52536750e-13,  1.00000000e+00,  6.37748099e-26,
        1.00000000e+00, -2.52536750e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52536750e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888801, -0.06838514,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.58810477e-07, 1.28959634e-06,-9.81806491e-06, 1.06397716e-05,
 -4.06303987e-06, 2.86642273e-05, 7.57107259e-06, 2.92186293e-05,
  9.95587205e-07,-9.11239421e-05, 2.59419183e-06, 2.48062518e-07,
 -3.87457499e-04,-7.40659333e-05,-2.36564014e-04,-6.84162060e-05,
  1.38212354e-06, 3.71057033e-07,-1.21640766e+00, 1.05232354e-04,
  1.50945555e-03,-8.01124788e-07]


--- Step 349 ---
qpos:
[ 3.03838178e-03,-3.31244717e-03, 1.18673366e-02, 4.16910106e-02,
 -2.19757195e-03,-1.94311083e-03,-1.73447094e-02, 2.86229582e-02,
  5.84735183e-03, 1.64695735e-02,-9.35081184e-03, 2.59697427e-02,
  7.32288611e-01,-1.89708970e-03, 5.43292426e-01, 6.54310693e-02,
  9.50572065e-02,-7.00369772e-02, 1.21790098e-01, 9.99996188e-01,
  1.19048810e-05, 5.92420210e-04, 2.69680011e-03]

qacc:
[ -0.09570802,  0.23879735, -3.11013102, 10.89557433,  5.72576476,
   1.80931355, -5.21145687,  4.49954563,  3.10337384,  0.38777926,
  -2.45694336,  7.33424805, -0.91399104,  0.59966533,  3.36370526,
 -17.1191717 , -0.65849342, -0.50265674,  0.21754672,  8.24925379,
 -11.3410266 ,  0.48001545]

qfrc_actuator:
[ 2.45638667e-05, 9.05130644e-05, 1.03789503e-04, 1.26242320e-04,
  1.72830057e-05,-1.93467914e-04,-2.87385954e-04, 5.18417861e-05,
 -1.61239249e-05, 3.81933072e-04, 7.37119576e-05, 5.22600375e-05,
  5.63018789e-02,-6.88485989e-04, 3.56327738e-02,-4.40525397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002215675275264002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50538298e-13,  8.65171377e-08,  1.00000000e+00,  2.16758564e-20,
        1.00000000e+00, -8.65171377e-08, -1.00000000e+00, -3.00926554e-36,
       -2.50538298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10898271, -0.06022781,  0.06199462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17709057e-07,-1.33173691e-05, 7.64583929e-06, 2.30858210e-05,
  3.37548752e-05, 5.26836642e-05,-1.33652826e-05,-1.32245405e-06,
  1.83078771e-05, 1.84926817e-05, 1.21008792e-05, 1.63715663e-05,
 -3.88931053e-04,-9.16181735e-05,-2.44926672e-04,-1.54503889e-04,
  1.08392433e-06, 1.43428208e-07,-1.21641591e+00, 1.01098832e-04,
  1.51198776e-03,-4.13771198e-07]


--- Step 350 ---
qpos:
[ 3.03854554e-03,-3.31177318e-03, 1.18671801e-02, 4.16916318e-02,
 -2.19718753e-03,-1.94141019e-03,-1.73461553e-02, 2.86239084e-02,
  5.84796481e-03, 1.64682901e-02,-9.34994109e-03, 2.59695290e-02,
  7.33487173e-01,-1.89479509e-03, 5.44377703e-01, 6.54237403e-02,
  9.50578678e-02,-7.00326834e-02, 1.21790912e-01, 9.99996170e-01,
 -2.50584558e-05, 5.97678807e-04, 2.70240544e-03]

qacc:
[-3.11482347e+00,-1.78013305e+00, 7.58308211e+00,-1.48495415e+01,
  4.97229269e-01, 3.81316428e-01, 1.16320985e+00,-8.05456018e+00,
  1.89996526e+00,-2.67878353e+00, 1.26231836e+01,-2.34630758e+01,
 -2.30408608e+00, 5.92565647e+00, 5.05138300e+00,-2.16249365e+01,
 -6.45069364e-01,-9.13177939e-01,-2.15138611e-03, 1.51020482e+01,
 -1.12850630e+01, 6.24478682e-01]

qfrc_actuator:
[ 6.25265378e-06, 6.50284160e-05, 1.08769782e-04, 1.03948294e-04,
  1.93240019e-05,-1.73970116e-04,-2.99363719e-04, 3.15587617e-05,
 -5.50588046e-06, 4.41609701e-04, 1.27442224e-04, 2.85534332e-05,
  5.61860517e-02,-6.49337619e-04, 3.55652135e-02,-4.52713856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022403671116041912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.95554063e-13, -2.47777031e-13,  1.00000000e+00, -1.22786915e-25,
        1.00000000e+00,  2.47777031e-13, -1.00000000e+00,  0.00000000e+00,
       -4.95554063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908199, -0.0516613 ,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83375282e-05,-3.03974483e-05, 3.96058783e-06,-2.21541665e-05,
  3.02216761e-06, 4.61181143e-05,-2.79276323e-06,-1.85179847e-05,
  1.11429220e-05, 7.32862783e-05, 5.96246684e-05,-2.21746576e-05,
 -3.96439792e-04,-3.15941290e-05,-1.98391588e-04,-1.62376739e-04,
  8.50749649e-07,-6.13938752e-08,-1.21642665e+00, 9.77666780e-05,
  1.51338301e-03,-5.50182648e-08]


--- Step 351 ---
qpos:
[ 3.03848864e-03,-3.31149961e-03, 1.18671902e-02, 4.16916567e-02,
 -2.19678125e-03,-1.93944202e-03,-1.73473669e-02, 2.86239068e-02,
  5.84870038e-03, 1.64675800e-02,-9.34903437e-03, 2.59687170e-02,
  7.34683335e-01,-1.89166270e-03, 5.45460623e-01, 6.54162779e-02,
  9.50559650e-02,-7.00320117e-02, 1.21791386e-01, 9.99996161e-01,
 -3.20307440e-05, 5.80676723e-04, 2.70925783e-03]

qacc:
[ -1.92505762, -2.22041942,  9.67024789,-19.96476774,  0.19392145,
  -2.25902395, 12.5865946 ,-29.62909792,  1.06018305, -0.57641412,
   5.67721882,-16.50731074, -2.37797556,  6.23536639, -2.98374229,
   5.60593735, -0.6410309 , -0.90553936, -0.08524581, 14.96501559,
 -11.17084095,  0.6321924 ]

qfrc_actuator:
[-4.58591217e-06, 3.18745426e-05, 1.11694346e-04, 7.28174709e-05,
  2.03598041e-05,-1.63212073e-04,-2.88083363e-04,-1.62559350e-05,
  4.90161409e-07, 4.59925194e-04, 1.23371898e-04,-3.01431040e-06,
  5.60628833e-02,-6.09456051e-04, 3.54697347e-02,-4.52477100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022472983407452463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.94025650e-13,  2.47012825e-13,  1.00000000e+00,  1.22030672e-25,
        1.00000000e+00, -2.47012825e-13, -1.00000000e+00,  0.00000000e+00,
       -4.94025650e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908172, -0.05166142,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13728086e-05,-5.03139433e-05,-3.63980294e-06,-3.27289347e-05,
  1.13892897e-06, 3.51308564e-05, 1.98162634e-05,-4.62981450e-05,
  6.33633380e-06, 7.07062429e-05, 1.76502230e-05,-2.67945438e-05,
 -3.98801066e-04,-2.66156101e-05,-2.08463304e-04,-3.31911845e-05,
  5.30694551e-07,-5.60960765e-08,-1.21643646e+00, 9.58989466e-05,
  1.51360630e-03, 1.69997313e-07]


--- Step 352 ---
qpos:
[ 3.03830203e-03,-3.31162708e-03, 1.18677655e-02, 4.16919715e-02,
 -2.19602066e-03,-1.93736250e-03,-1.73481066e-02, 2.86236811e-02,
  5.84915769e-03, 1.64670415e-02,-9.34828459e-03, 2.59679446e-02,
  7.35877260e-01,-1.88806612e-03, 5.46540803e-01, 6.54102154e-02,
  9.50515112e-02,-7.00349373e-02, 1.21791239e-01, 9.99996161e-01,
 -9.23482764e-06, 5.41597149e-04, 2.71736784e-03]

qacc:
[ -1.11369975, -1.51083064,  3.39881987,  1.00253909,  3.12032728,
  -1.63746307,  6.98802369,-11.69028504, -2.43471139,  0.75152932,
  -2.50958932,  3.31022691, -1.8320655 ,  4.26906232, -8.19734828,
  22.97087442, -0.63775398, -0.89930798, -0.15488482, 14.85377336,
 -11.07904938,  0.63708739]

qfrc_actuator:
[-1.09338979e-05, 2.98656676e-05, 1.48850290e-04, 8.99919845e-05,
  3.85582888e-05,-1.57705028e-04,-2.63218556e-04,-2.66204213e-05,
 -1.40326296e-05, 4.35349246e-04, 1.02792804e-04,-3.51855807e-06,
  5.59567015e-02,-5.87282742e-04, 3.53469607e-02,-4.44927487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022403289080698274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47781257e-13, -2.47781257e-13,  1.00000000e+00, -6.13955512e-26,
        1.00000000e+00,  2.47781257e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47781257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908171, -0.05166123,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68884427e-06,-3.23121244e-05, 2.51797036e-05, 1.42560228e-05,
  1.82443392e-05, 2.72042697e-05, 3.29513285e-05,-9.07606186e-06,
 -1.43175618e-05, 1.74825111e-05,-4.72685302e-06, 2.61631747e-06,
 -3.82461097e-04,-4.43894589e-05,-2.24849725e-04, 4.61168687e-05,
  1.72390324e-07, 2.74577160e-07,-1.21643914e+00, 9.54740399e-05,
  1.51267586e-03, 2.11740122e-07]


--- Step 353 ---
qpos:
[ 3.03769558e-03,-3.31188259e-03, 1.18684041e-02, 4.16924885e-02,
 -2.19504772e-03,-1.93525184e-03,-1.73487550e-02, 2.86233697e-02,
  5.84943761e-03, 1.64663873e-02,-9.34739033e-03, 2.59678797e-02,
  7.37069156e-01,-1.88456152e-03, 5.47618600e-01, 6.54033702e-02,
  9.50445167e-02,-7.00414401e-02, 1.21790241e-01, 9.99996166e-01,
  4.31510485e-05, 4.80585102e-04, 2.72674145e-03]

qacc:
[ -3.68086308,  0.07802445, -1.36420524,  4.84240066,  1.86467571,
  -0.39414019,  1.82066089, -3.46586012, -1.54015246,  0.90304133,
  -6.42410359, 18.51932907, -1.14788603,  1.70820138, -1.1223326 ,
  -1.10890366, -0.63515746, -0.89429438, -0.21317023, 14.76478163,
 -11.00640536,  0.63970403]

qfrc_actuator:
[-3.23428524e-05, 2.89519617e-05, 1.52821985e-04, 9.99968823e-05,
  4.89605532e-05,-1.73052060e-04,-2.66039452e-04,-3.26143791e-05,
 -2.27622666e-05, 4.20716190e-04, 1.07992232e-04, 3.19693774e-05,
  5.58607835e-02,-5.93448525e-04, 3.52292319e-02,-4.49115542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022223768350099204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.49782802e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.49782802e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090819 , -0.05166079,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16126024e-05,-1.31755999e-05, 8.86662690e-07, 9.76822010e-06,
  1.09308649e-05, 6.22280956e-06, 6.52722490e-06,-3.86785522e-06,
 -9.13496397e-06,-5.71209654e-06, 8.31929586e-06, 3.61264372e-05,
 -3.63843918e-04,-7.18107286e-05,-2.17134132e-04,-6.86298890e-05,
 -2.30072783e-07, 9.27195300e-07,-1.21643488e+00, 9.64809303e-05,
  1.51060055e-03, 7.32691956e-08]


--- Step 354 ---
qpos:
[ 3.03649218e-03,-3.31211608e-03, 1.18687660e-02, 4.16927805e-02,
 -2.19361237e-03,-1.93328727e-03,-1.73496209e-02, 2.86233794e-02,
  5.84961059e-03, 1.64655948e-02,-9.34643498e-03, 2.59689401e-02,
  7.38259118e-01,-1.88175159e-03, 5.48693737e-01, 6.54003075e-02,
  9.50349896e-02,-7.00515042e-02, 1.21788194e-01, 9.99996166e-01,
  1.24987280e-04, 3.97752848e-04, 2.73738089e-03]

qacc:
[ -5.24900828,  0.34864803, -0.23348943, -3.254271  ,  4.05156912,
   1.06732582, -5.4555493 , 11.4824888 , -0.92767903,  1.96473247,
 -12.01842465, 31.49375579, -0.33336282, -1.3662019 ,-15.33952883,
  47.9575711 , -0.63316786, -0.89033562, -0.2618937 , 14.69506842,
 -10.95018543,  0.64045944]

qfrc_actuator:
[-6.24463740e-05, 2.85827642e-05, 1.37159038e-04, 8.79190538e-05,
  7.24379619e-05,-2.00875856e-04,-2.85280156e-04,-1.82821507e-05,
 -2.80055855e-05, 4.12267402e-04, 1.10667495e-04, 8.83687744e-05,
  5.57551083e-02,-6.33999913e-04, 3.51465516e-02,-4.28229178e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021958689838459666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52798102e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.52798102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908225, -0.05166015,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07240878e-05,-7.14042505e-06,-1.79413412e-05,-1.24223658e-05,
  2.37910639e-05,-2.32261373e-05,-1.73020687e-05, 1.47464480e-05,
 -5.51017906e-06,-8.36531768e-06, 3.76805069e-06, 5.71455894e-05,
 -3.65386412e-04,-1.05796375e-04,-1.92149019e-04, 1.76511593e-04,
 -6.82245878e-07, 1.89646048e-06,-1.21642381e+00, 9.89108893e-05,
  1.50738749e-03,-2.43113212e-07]


--- Step 355 ---
qpos:
[ 3.03528197e-03,-3.31220397e-03, 1.18688585e-02, 4.16929090e-02,
 -2.19225142e-03,-1.93170721e-03,-1.73505875e-02, 2.86235841e-02,
  5.84971910e-03, 1.64648837e-02,-9.34550548e-03, 2.59703004e-02,
  7.39447153e-01,-1.88002406e-03, 5.49766722e-01, 6.53980479e-02,
  9.50241804e-02,-7.00594770e-02, 1.21787321e-01, 9.99996160e-01,
  1.89437064e-04, 3.05202800e-04, 2.74793155e-03]

qacc:
[-0.0708095 , 0.60944431,-1.20436624,-1.29825977,-0.64908035, 0.17526543,
 -2.18365503, 6.00011447,-0.56437503, 0.79814563,-3.95440584, 9.12445727,
  0.01867239,-2.87872781,-5.62535179,15.00022225,-0.32050716, 0.52282073,
  0.29341277,-8.70647319,-4.83508547,-0.04722221]

qfrc_actuator:
[-6.19163212e-05, 4.61940576e-05, 1.27782417e-04, 8.06906544e-05,
  6.79201817e-05,-2.36020938e-04,-2.96347596e-04,-9.87934796e-06,
 -3.11566094e-05, 4.25350685e-04, 1.11853861e-04, 1.03356485e-04,
  5.56436431e-02,-6.94543181e-04, 3.50370790e-02,-4.24678112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021751894282014258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55201457e-13,  7.73932106e-07,  1.00000000e+00,  1.97508602e-19,
        1.00000000e+00, -7.73932106e-07, -1.00000000e+00,  0.00000000e+00,
       -2.55201457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203098, -0.08041814,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.45982927e-07, 9.37704647e-06,-1.34908466e-05,-8.39633328e-06,
 -3.84763596e-06,-5.11279234e-05,-1.74998100e-05, 7.09228977e-06,
 -3.31575146e-06, 1.16464002e-05, 1.89593122e-06, 1.58692805e-05,
 -3.77379294e-04,-1.29580995e-04,-1.80153111e-04, 2.00338646e-05,
 -1.18976373e-06, 3.17526201e-06,-1.21640603e+00, 1.02757158e-04,
  1.50304230e-03,-7.35730077e-07]


--- Step 356 ---
qpos:
[ 3.03443215e-03,-3.31208076e-03, 1.18684939e-02, 4.16929542e-02,
 -2.19129991e-03,-1.93050762e-03,-1.73516500e-02, 2.86235422e-02,
  5.84978871e-03, 1.64644905e-02,-9.34462153e-03, 2.59707644e-02,
  7.40632976e-01,-1.87832699e-03, 5.50837845e-01, 6.53945104e-02,
  9.50135929e-02,-7.00628860e-02, 1.21786709e-01, 9.99996149e-01,
  2.16020241e-04, 2.15879743e-04, 2.75844692e-03]

qacc:
[ 3.14526270e+00, 1.37901911e+00,-4.17099903e+00, 3.31654370e+00,
 -3.58766037e+00,-7.34959509e-01, 2.94462941e+00,-6.79278337e+00,
 -3.46569821e-01,-1.29695876e+00, 9.01982661e+00,-2.46951555e+01,
 -1.35354494e+00, 2.23825351e+00, 1.14948663e+00,-7.91836110e+00,
  5.54104972e-02, 1.14095580e+00, 6.51717692e-02,-1.89287915e+01,
  1.66551441e+00,-2.37295650e-02]

qfrc_actuator:
[-4.33574907e-05, 5.67086329e-05, 1.04528536e-04, 7.64002059e-05,
  4.69571497e-05,-2.57509311e-04,-3.02541087e-04,-2.27891928e-05,
 -3.30519370e-05, 4.51188996e-04, 1.12209391e-04, 5.83671448e-05,
  5.55287731e-02,-6.95405452e-04, 3.49435358e-02,-4.31381593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022109609853239454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25536252e-13,  5.02145009e-13,  1.00000000e+00,  6.30374026e-26,
        1.00000000e+00, -5.02145009e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25536252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480591, -0.09309598,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85533056e-05, 1.26175063e-05,-2.32682879e-05,-4.51909845e-06,
 -2.10901423e-05,-5.34376406e-05,-1.86719267e-05,-1.55700975e-05,
 -1.98808495e-06, 3.34337775e-05, 3.53852835e-06,-4.41191630e-05,
 -3.93021292e-04,-7.42866285e-05,-1.77547791e-04,-9.00247954e-05,
 -4.49942553e-07, 3.31384405e-06,-1.21640811e+00, 1.05869305e-04,
  1.49858703e-03,-8.78957555e-07]


--- Step 357 ---
qpos:
[ 3.03415647e-03,-3.31199711e-03, 1.18679140e-02, 4.16933087e-02,
 -2.18991723e-03,-1.92972112e-03,-1.73524971e-02, 2.86233285e-02,
  5.84949028e-03, 1.64643621e-02,-9.34431769e-03, 2.59710753e-02,
  7.41816412e-01,-1.87566206e-03, 5.51906378e-01, 6.53918956e-02,
  9.50032358e-02,-7.00617798e-02, 1.21785981e-01, 9.99996137e-01,
  2.05083310e-04, 1.29643723e-04, 2.76907641e-03]

qacc:
[  5.03369824,  1.17731032, -5.59463132, 11.33626301,  3.79532234,
  -1.50799589,  5.29760914, -8.29702415, -3.23264462,  1.66232261,
  -4.76156983,  2.83087119, -2.48936766,  6.66432365, -6.50283191,
  17.44414202,  0.05761345,  1.12880789, -0.02899386,-18.75573626,
   1.59527316,  0.05268404]

qfrc_actuator:
[-1.43458636e-05, 4.50888018e-05, 9.09962526e-05, 9.16104601e-05,
  6.97496503e-05,-2.70653881e-04,-2.88022002e-04,-3.03703497e-05,
 -5.19462778e-05, 4.48905861e-04, 7.65911877e-05, 4.94783645e-05,
  5.54172808e-02,-6.43325461e-04, 3.48223210e-02,-4.26309193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022298630245970452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2447211e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2447211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480651, -0.09309566,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95455804e-05,-9.55497911e-06,-1.39455369e-05, 1.48574335e-05,
  2.21740779e-05,-4.75892432e-05, 6.41884968e-07,-1.08196591e-05,
 -1.89382209e-05, 1.52558667e-05,-2.98093410e-05,-8.19423019e-06,
 -3.91289000e-04,-1.87030148e-05,-2.17192069e-04, 2.17280007e-05,
  4.98490722e-07, 2.71197273e-06,-1.21641820e+00, 1.07195685e-04,
  1.49443330e-03,-7.33530283e-07]


--- Step 358 ---
qpos:
[ 3.03423103e-03,-3.31232215e-03, 1.18678806e-02, 4.16941827e-02,
 -2.18827254e-03,-1.92907532e-03,-1.73532899e-02, 2.86230011e-02,
  5.84931266e-03, 1.64643922e-02,-9.34472054e-03, 2.59716455e-02,
  7.42997685e-01,-1.87271024e-03, 5.52972905e-01, 6.53891019e-02,
  9.49931154e-02,-7.00561978e-02, 1.21784821e-01, 9.99996123e-01,
  1.56908783e-04, 4.63798097e-05, 2.77994278e-03]

qacc:
[  3.09866196, -1.00335688,  0.59163118,  7.83508619,  2.30214214,
  -0.57585751,  2.25565444, -4.19732065,  1.02905505,  2.71655831,
 -10.48053109, 15.98593853, -1.64302746,  3.50752893, -2.36356341,
   4.1039252 ,  0.05916687,  1.11893098, -0.10800674,-18.61462581,
   1.53762904,  0.11572081]

qfrc_actuator:
[ 2.82689274e-06, 2.03545484e-05, 1.18743318e-04, 1.18161922e-04,
  8.26133822e-05,-2.60854743e-04,-2.79100914e-04,-3.47304570e-05,
 -4.51900522e-05, 4.47428463e-04, 3.76941755e-05, 6.18652882e-05,
  5.53132365e-02,-6.31476793e-04, 3.47432195e-02,-4.26767052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022325573898861195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.97287563e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.97287563e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480696, -0.09309576,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80111599e-05,-3.23073431e-05, 2.45740124e-05, 2.59479723e-05,
  1.34796190e-05,-1.71542174e-05,-1.20368948e-06,-6.58822028e-06,
  6.22018321e-06, 5.37937587e-07,-3.97031695e-05, 1.18494414e-05,
 -3.73472375e-04,-5.33222490e-05,-1.78365397e-04,-3.18566784e-05,
  1.44309013e-06, 2.16081911e-06,-1.21642098e+00, 1.06661950e-04,
  1.49042967e-03,-5.01710753e-07]


--- Step 359 ---
qpos:
[ 3.03382104e-03,-3.31277660e-03, 1.18681225e-02, 4.16950054e-02,
 -2.18717619e-03,-1.92847261e-03,-1.73540320e-02, 2.86226111e-02,
  5.84990703e-03, 1.64644704e-02,-9.34555612e-03, 2.59720098e-02,
  7.44177063e-01,-1.87058450e-03, 5.54037514e-01, 6.53881541e-02,
  9.49832358e-02,-7.00461719e-02, 1.21782964e-01, 9.99996102e-01,
  7.17235798e-05,-3.40068070e-05, 2.79114779e-03]

qacc:
[ -4.24225396, -1.03866744,  3.6860293 , -4.93540056, -4.80711271,
  -0.31784033,  1.33110844, -2.48054859,  6.71844413,  0.83584547,
  -2.04138763, -0.84186347, -0.22647246, -1.7992133 , -8.40997289,
  25.28449811,  0.060218  ,  1.11099157, -0.17422751,-18.50127481,
   1.49011321,  0.16824131]

qfrc_actuator:
[-2.26146778e-05, 2.36418625e-05, 1.35077056e-04, 1.15678837e-04,
  5.40112666e-05,-2.55149156e-04,-2.73463737e-04,-3.71473727e-05,
 -5.63249302e-06, 4.46434820e-04, 1.49411102e-05, 5.11610798e-05,
  5.52137266e-02,-6.78978353e-04, 3.46841009e-02,-4.16267698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022223346996996796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.49362613e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.49362613e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948073, -0.0930962,  0.0619946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49410207e-05,-8.57536574e-06, 1.35865877e-05,-2.51344339e-06,
 -2.82235437e-05,-4.42672211e-06, 1.71958150e-06,-3.32142797e-06,
  3.97369525e-05,-8.38230966e-06,-2.71195773e-05,-1.18250499e-05,
 -3.62270077e-04,-1.13213957e-04,-1.48638580e-04, 7.92177108e-05,
  2.42066838e-06, 1.64784882e-06,-1.21641665e+00, 1.04284139e-04,
  1.48658055e-03,-1.82632868e-07]


--- Step 360 ---
qpos:
[ 3.03345423e-03,-3.31302194e-03, 1.18681568e-02, 4.16954363e-02,
 -2.18643107e-03,-1.92788732e-03,-1.73547395e-02, 2.86225381e-02,
  5.85062614e-03, 1.64644730e-02,-9.34634034e-03, 2.59718800e-02,
  7.45354316e-01,-1.86834977e-03, 5.55099887e-01, 6.53891641e-02,
  9.49735998e-02,-7.00317272e-02, 1.21780188e-01, 9.99996065e-01,
 -5.02938629e-05,-1.11594725e-04, 2.80277669e-03]

qacc:
[  0.36862121,  0.04909224,  1.87678406, -8.47340651, -3.07885508,
   0.53818991, -3.28049293,  8.71225605,  1.09052304, -1.26279818,
   6.44050159,-15.01548024, -1.37837678,  2.53564404, -9.15796349,
  27.3617119 ,  0.06088169,  1.10470816, -0.22966586,-18.41213432,
   1.45076078,  0.21249592]

qfrc_actuator:
[-1.96722670e-05, 4.36263010e-05, 1.26862637e-04, 9.61381177e-05,
  3.67404700e-05,-2.51941036e-04,-2.69815029e-04,-2.06513783e-05,
 -3.51526548e-07, 4.45778573e-04, 1.96357796e-05, 2.69637434e-05,
  5.51063397e-02,-6.72328666e-04, 3.45731269e-02,-4.06490408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002201938011496124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52101335e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.52101335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480754, -0.09309691,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22962285e-06, 1.78921723e-05,-8.39715448e-06,-1.94870803e-05,
 -1.80767833e-05, 9.23377635e-07, 2.83489136e-06, 1.63035066e-05,
  6.41817063e-06,-1.14304873e-05,-7.79270565e-07,-2.57257151e-05,
 -3.72094587e-04,-6.32340985e-05,-1.75255157e-04, 8.18193539e-05,
  3.45909973e-06, 1.16650139e-06,-1.21640535e+00, 1.00075056e-04,
  1.48288902e-03, 2.24357790e-07]


--- Step 361 ---
qpos:
[ 3.03312534e-03,-3.31316314e-03, 1.18683683e-02, 4.16959617e-02,
 -2.18555422e-03,-1.92700683e-03,-1.73561143e-02, 2.86230171e-02,
  5.85105833e-03, 1.64644872e-02,-9.34685952e-03, 2.59717800e-02,
  7.46529274e-01,-1.86505787e-03, 5.56160290e-01, 6.53925838e-02,
  9.49670679e-02,-7.00189490e-02, 1.21779106e-01, 9.99996019e-01,
 -1.57910081e-04,-1.63816113e-04, 2.81256530e-03]

qacc:
[  0.33671685, -0.16406171,  0.38532475,  0.88878168,  1.12961748,
   3.38666084,-13.84431806, 24.24894045, -2.49421785, -0.65908221,
   2.25460568, -2.17916955, -2.51023459,  6.85733204,-10.07241427,
  31.27312609,  0.7760166 , -0.41665934,  0.42329599,  7.23602944,
  12.66307941, -0.9202961 ]

qfrc_actuator:
[-1.77860000e-05, 5.55896366e-05, 1.39797518e-04, 1.02228930e-04,
  4.40433064e-05,-2.32487198e-04,-3.02868838e-04, 6.83787315e-06,
 -1.52980666e-05, 4.63181739e-04, 4.04880814e-05, 3.05464053e-05,
  5.49996411e-02,-6.16040254e-04, 3.45003725e-02,-3.93680844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022174439941724522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00676918e-13, -2.50338459e-13,  1.00000000e+00, -1.25338688e-25,
        1.00000000e+00,  2.50338459e-13, -1.00000000e+00,  0.00000000e+00,
       -5.00676918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185551, -0.06178686,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95782661e-06, 1.94089130e-05, 1.49237946e-05, 6.18680620e-06,
  6.78708774e-06, 2.12353229e-05,-3.19474326e-05, 2.79453965e-05,
 -1.47662627e-05, 9.76162666e-06, 1.75149650e-05, 2.56709563e-06,
 -3.69914356e-04,-1.04199184e-05,-1.47763777e-04, 1.09150480e-04,
  4.57983085e-06, 7.15355860e-07,-1.21638719e+00, 9.40447377e-05,
  1.47935729e-03, 7.19766155e-07]


--- Step 362 ---
qpos:
[ 3.03213163e-03,-3.31309293e-03, 1.18689652e-02, 4.16965270e-02,
 -2.18494186e-03,-1.92575643e-03,-1.73579526e-02, 2.86237978e-02,
  5.85165290e-03, 1.64646297e-02,-9.34751503e-03, 2.59727720e-02,
  7.47702259e-01,-1.86176440e-03, 5.57218748e-01, 6.53981516e-02,
  9.49635917e-02,-7.00078245e-02, 1.21779239e-01, 9.99995972e-01,
 -2.51377756e-04,-1.90921623e-04, 2.82062932e-03]

qacc:
[ -5.82694967, -0.70414326,  2.76691167, -2.86856718, -2.34044495,
   2.40861123, -9.14550194, 14.82783216,  1.41036622,  2.79567346,
 -14.33745722, 33.36468497, -1.1687173 ,  1.90186653, -9.311139  ,
  28.50191963,  0.76392623, -0.41340652,  0.30377255,  7.10942227,
  12.53812829, -0.86146393]

qfrc_actuator:
[-5.20507013e-05, 8.05142623e-05, 1.65120113e-04, 1.05616656e-04,
  3.02426050e-05,-2.03591570e-04,-3.21750830e-04, 2.28086768e-05,
 -6.51409060e-06, 4.73610993e-04, 3.52954815e-05, 8.59759908e-05,
  5.49040990e-02,-6.19723520e-04, 3.44133260e-02,-3.82725952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022598418915428797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185584, -0.06178762,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42028937e-05, 3.91288864e-05, 3.13820724e-05, 4.85461467e-06,
 -1.35996992e-05, 3.53545374e-05,-1.74596435e-05, 1.63190488e-05,
  8.36278317e-06, 1.96179817e-05,-9.22871949e-07, 5.65059573e-05,
 -3.48218529e-04,-6.50264579e-05,-1.47823790e-04, 9.53242590e-05,
  3.12021571e-06, 3.46637819e-07,-1.21640385e+00, 8.89440657e-05,
  1.47656212e-03, 7.79838799e-07]


--- Step 363 ---
qpos:
[ 3.03142492e-03,-3.31276530e-03, 1.18693010e-02, 4.16971673e-02,
 -2.18415450e-03,-1.92450426e-03,-1.73593208e-02, 2.86247461e-02,
  5.85269309e-03, 1.64646025e-02,-9.34806019e-03, 2.59740965e-02,
  7.48873222e-01,-1.85846799e-03, 5.58275404e-01, 6.54043018e-02,
  9.49631317e-02,-6.99983421e-02, 1.21780185e-01, 9.99995930e-01,
 -3.30905941e-04,-1.93119882e-04, 2.82706365e-03]

qacc:
[ 2.5065399 , 1.21991489,-4.18076653, 5.71627426, 1.54971467,-0.96923787,
  2.74679296,-0.59421732, 3.8930651 , 0.14432181,-2.25735566, 7.97587061,
 -1.2384543 , 2.06383403,-4.37734799,11.54429031, 0.75407239,-0.41051981,
  0.20342556, 7.00468903,12.43412135,-0.81305127]

qfrc_actuator:
[-3.63078846e-05, 7.75614872e-05, 1.44338491e-04, 1.07399219e-04,
  3.96285657e-05,-2.04728939e-04,-2.96561314e-04, 3.18977804e-05,
  1.61736776e-05, 4.44229324e-04, 3.25239219e-05, 1.00429153e-04,
  5.47940012e-02,-6.23251818e-04, 3.43230986e-02,-3.80055146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022811197449250364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86700896e-13, -4.86700896e-13,  1.00000000e+00, -2.36877763e-25,
        1.00000000e+00,  4.86700896e-13, -1.00000000e+00,  0.00000000e+00,
       -4.86700896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185587, -0.06178809,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47798784e-05, 2.55986092e-05,-8.67279047e-06, 4.63795774e-06,
  9.01066609e-06, 1.56954546e-05, 3.09118242e-05, 1.03178373e-05,
  2.29319953e-05,-1.61751913e-05, 3.12635428e-06, 1.63603415e-05,
 -3.57012916e-04,-6.66583069e-05,-1.52405040e-04, 1.17329745e-05,
  2.03438899e-06, 1.01825490e-07,-1.21641606e+00, 8.44882513e-05,
  1.47504722e-03, 8.54345339e-07]


--- Step 364 ---
qpos:
[ 3.03125731e-03,-3.31260979e-03, 1.18696090e-02, 4.16975188e-02,
 -2.18326063e-03,-1.92355354e-03,-1.73602193e-02, 2.86261804e-02,
  5.85365252e-03, 1.64641480e-02,-9.34817796e-03, 2.59752505e-02,
  7.50042105e-01,-1.85516273e-03, 5.59330289e-01, 6.54110091e-02,
  9.49656562e-02,-6.99904917e-02, 1.21781608e-01, 9.99995897e-01,
 -3.96667180e-04,-1.70582391e-04, 2.83194672e-03]

qacc:
[  4.73388711, -0.75439251,  3.56208433, -8.37127775,  0.95440887,
  -0.71240723, -0.09375248,  7.98146586, -0.68386329, -2.10864724,
   7.42106894,-10.74162868, -1.28333762,  2.15397909, -4.25103826,
  11.17687161,  0.74610731, -0.40799103,  0.11932477,  6.91826119,
  12.34862215, -0.77287049]

qfrc_actuator:
[-8.99907599e-06, 3.99990497e-05, 1.31891823e-04, 9.04149758e-05,
  4.48401985e-05,-2.41418552e-04,-2.81182387e-04, 5.46240705e-05,
  1.13502579e-05, 4.08960393e-04, 4.87654752e-05, 9.06190763e-05,
  5.46805713e-02,-6.26689127e-04, 3.42469973e-02,-3.76958347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022853952840432012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42895186e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.42895186e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185567, -0.06178832,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77373646e-05,-2.48502239e-05,-8.07595583e-06,-1.61009225e-05,
  5.47228165e-06,-2.11140268e-05, 2.27845027e-05, 2.46670648e-05,
 -4.17289761e-06,-4.29515936e-05, 1.38553830e-05,-1.00791082e-05,
 -3.66713639e-04,-6.82804754e-05,-1.49919233e-04, 1.06907486e-05,
  1.29287987e-06,-3.67827656e-08,-1.21642400e+00, 8.06727225e-05,
  1.47479720e-03, 9.41662856e-07]


--- Step 365 ---
qpos:
[ 3.03072867e-03,-3.31281526e-03, 1.18701341e-02, 4.16980174e-02,
 -2.18231104e-03,-1.92296691e-03,-1.73610849e-02, 2.86275699e-02,
  5.85420199e-03, 1.64632459e-02,-9.34776876e-03, 2.59762741e-02,
  7.51208934e-01,-1.85189137e-03, 5.60383311e-01, 6.54144183e-02,
  9.49706282e-02,-6.99857460e-02, 1.21783079e-01, 9.99995878e-01,
 -4.36434571e-04,-1.27611266e-04, 2.83494531e-03]

qacc:
[-3.15582985e+00,-7.74711426e-01, 1.45995015e+00, 9.92580809e-01,
  4.96011981e-01,-6.66018254e-01, 1.86431455e+00,-2.42308487e+00,
 -3.55140385e+00,-2.32624274e+00, 7.99858108e+00,-1.07822578e+01,
 -1.30236137e+00, 2.17033341e+00, 7.23945159e+00,-2.92373650e+01,
  6.11877229e-01,-7.76179585e-01, 1.16711299e-02, 1.30256464e+01,
  1.01803440e+01,-9.40425772e-01]

qfrc_actuator:
[-2.83754701e-05, 1.75026520e-05, 1.42069938e-04, 9.80097832e-05,
  4.75457227e-05,-2.81384372e-04,-2.89630096e-04, 4.96418369e-05,
 -9.63173819e-06, 3.88237147e-04, 7.60537117e-05, 8.43736611e-05,
  5.45758717e-02,-6.30078925e-04, 3.41208499e-02,-3.94929878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022807677343440218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.18775002e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.18775002e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0842277 , -0.05422771,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85949145e-05,-3.87502837e-05, 3.48620198e-06, 5.93451426e-06,
  2.85219521e-06,-4.60347154e-05,-9.15284371e-06,-4.62220814e-06,
 -2.11180696e-05,-4.22951115e-05, 1.97790947e-05,-7.80375669e-06,
 -3.64829813e-04,-7.01544505e-05,-1.99121872e-04,-1.99772669e-04,
  8.73717088e-07,-8.27650775e-08,-1.21642779e+00, 7.74933796e-05,
  1.47579970e-03, 1.04054497e-06]


--- Step 366 ---
qpos:
[ 3.02997188e-03,-3.31294415e-03, 1.18702987e-02, 4.16989319e-02,
 -2.18133618e-03,-1.92298269e-03,-1.73616078e-02, 2.86285536e-02,
  5.85483998e-03, 1.64626770e-02,-9.34787946e-03, 2.59764960e-02,
  7.52373677e-01,-1.84863086e-03, 5.61433777e-01, 6.54166544e-02,
  9.49755348e-02,-6.99856696e-02, 1.21784066e-01, 9.99995876e-01,
 -4.36978249e-04,-8.55907789e-05, 2.83736408e-03]

qacc:
[-2.01498501e+00, 1.97008233e+00,-8.62471557e+00, 1.63333229e+01,
  2.42349733e-01,-2.58792026e+00, 9.78501248e+00,-1.69096286e+01,
  7.49548182e-01, 2.41659002e-01, 3.16034626e+00,-1.64483314e+01,
 -1.28827644e+00, 2.13288485e+00,-1.90976277e-01,-4.71944306e+00,
 -1.63594289e-02,-1.16734916e+00,-1.20799840e-01, 1.96103947e+01,
 -5.30788581e-01,-2.92642660e-01]

qfrc_actuator:
[-3.95732346e-05, 3.98088498e-05, 1.30083882e-04, 1.20031563e-04,
  4.87557610e-05,-3.23132695e-04,-2.76619560e-04, 2.83709859e-05,
 -4.44212476e-06, 4.29690617e-04, 5.64415243e-05, 4.47900087e-05,
  5.44658312e-02,-6.33400998e-04, 3.40020275e-02,-4.00325496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022835069674447862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.57112908e-08,  2.43096045e-13,  1.00000000e+00, -1.84051153e-20,
        1.00000000e+00, -2.43096045e-13, -1.00000000e+00,  3.00926554e-36,
        7.57112908e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09655988, -0.04592249,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17412897e-05, 1.60667195e-06,-1.93589003e-05, 2.05971046e-05,
  1.27583527e-06,-6.95927910e-05, 2.21452535e-06,-2.36529373e-05,
  4.56678911e-06, 2.15729750e-05,-2.61777353e-05,-4.08638724e-05,
 -3.69677797e-04,-6.98581592e-05,-2.36323880e-04,-9.17132517e-05,
  5.64959025e-07,-7.41017020e-08,-1.21643136e+00, 7.55418840e-05,
  1.47780663e-03, 1.16278644e-06]


--- Step 367 ---
qpos:
[ 3.02943133e-03,-3.31277892e-03, 1.18702007e-02, 4.16997225e-02,
 -2.18035490e-03,-1.92289467e-03,-1.73622724e-02, 2.86292172e-02,
  5.85587980e-03, 1.64625710e-02,-9.34893478e-03, 2.59765997e-02,
  7.53536423e-01,-1.84572713e-03, 5.62482323e-01, 6.54157321e-02,
  9.49780138e-02,-6.99902553e-02, 1.21783939e-01, 9.99995883e-01,
 -3.98806181e-04,-6.48858540e-05, 2.84080825e-03]

qacc:
[  1.88463132,  0.86419497, -2.00043765,  0.06567492,  0.04988133,
  -0.12573627,  1.99950223, -7.39143549,  3.46714477,  3.00182491,
  -9.32846142,  8.46555809, -0.91531403,  0.70070779,  6.71497478,
 -27.5714745 , -0.60688729, -1.1655092 , -0.27850566, 19.32759948,
 -10.71288582,  0.50637335]

qfrc_actuator:
[-2.80996590e-05, 7.09508126e-05, 1.23042605e-04, 1.14876617e-04,
  4.90766873e-05,-2.76803397e-04,-2.68809687e-04, 1.54584203e-05,
  1.61159727e-05, 4.54590248e-04, 9.52517629e-06, 3.91847565e-05,
  5.43633146e-02,-6.54444576e-04, 3.39196843e-02,-4.16008761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022857791287476947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.42854397e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.42854397e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10859579, -0.04577195,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11397010e-05, 2.89230424e-05,-8.38230308e-06,-5.35653196e-06,
  3.33901271e-07, 6.86183757e-06,-7.10638725e-06,-1.62797278e-05,
  2.06974203e-05, 2.98298198e-05,-4.70905048e-05,-6.38085697e-06,
 -3.65452007e-04,-8.84431587e-05,-2.02439058e-04,-1.92766726e-04,
  2.71103044e-07,-2.49587966e-07,-1.21643556e+00, 7.55084341e-05,
  1.47981740e-03, 1.28471900e-06]


--- Step 368 ---
qpos:
[ 3.02903247e-03,-3.31246801e-03, 1.18700678e-02, 4.17001027e-02,
 -2.17937765e-03,-1.92247832e-03,-1.73627268e-02, 2.86296659e-02,
  5.85715833e-03, 1.64624250e-02,-9.35042740e-03, 2.59773559e-02,
  7.54697174e-01,-1.84307997e-03, 5.63529483e-01, 6.54110764e-02,
  9.49780777e-02,-6.99994726e-02, 1.21782428e-01, 9.99995898e-01,
 -3.22188977e-04,-6.53080712e-05, 2.84532488e-03]

qacc:
[ 1.23979367e+00,-5.58169844e-01, 3.99576462e+00,-1.11409602e+01,
 -3.44726557e-02,-5.95195542e-01, 3.65913208e+00,-7.95427440e+00,
  2.06933964e+00, 2.50836865e+00,-1.17818385e+01, 2.38086380e+01,
 -1.04675529e+00, 1.19943635e+00, 9.24419221e+00,-3.52599864e+01,
 -6.03777539e-01,-1.15789363e+00,-3.45970185e-01, 1.91925159e+01,
 -1.06183488e+01, 5.30752946e-01]

qfrc_actuator:
[-2.11290345e-05, 7.16407907e-05, 1.19014725e-04, 9.37892102e-05,
  4.88728804e-05,-2.31350676e-04,-2.46020259e-04, 7.63760595e-06,
  2.77938049e-05, 4.33789463e-04,-1.76357410e-05, 7.13562263e-05,
  5.42653794e-02,-6.68018150e-04, 3.38752406e-02,-4.34068647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022742218810128945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.32265638e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.32265638e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10859579, -0.04577154,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.29799225e-06, 1.49019229e-05, 7.26058715e-07,-2.02450747e-05,
 -1.90929487e-07, 4.71275560e-05, 2.27733754e-05,-8.08967645e-06,
  1.22823110e-05,-1.40939435e-05,-2.70065539e-05, 3.16979447e-05,
 -3.60996162e-04,-8.22468919e-05,-1.62427134e-04,-2.18321363e-04,
 -2.56906412e-07,-3.10125295e-07,-1.21643527e+00, 7.73848168e-05,
  1.48075572e-03, 1.21925968e-06]


--- Step 369 ---
qpos:
[ 3.02872040e-03,-3.31220972e-03, 1.18705482e-02, 4.16998625e-02,
 -2.17909997e-03,-1.92221749e-03,-1.73624429e-02, 2.86303877e-02,
  5.85822239e-03, 1.64617871e-02,-9.35115985e-03, 2.59777762e-02,
  7.55855882e-01,-1.84056983e-03, 5.64575000e-01, 6.54061625e-02,
  9.49756480e-02,-7.00127656e-02, 1.21779794e-01, 9.99995910e-01,
 -2.11810535e-04,-8.73270534e-05, 2.85094413e-03]

qacc:
[  0.78173798, -3.06475421, 13.44054164,-25.11493697, -6.10966369,
  -1.69385178,  4.60908317, -0.97010284, -1.83856913, -3.46248179,
  12.82628044,-19.49761221, -1.12659779,  1.53764588, -1.61263541,
   2.19591151, -0.62337653, -1.01893066, -0.28092433, 16.84986037,
 -10.84654683,  0.5467351 ]

qfrc_actuator:
[-1.68721219e-05, 7.18430155e-05, 1.52177299e-04, 6.34782011e-05,
  1.28568492e-05,-2.57700479e-04,-2.14538393e-04, 2.06471392e-05,
  1.63932370e-05, 4.03638700e-04, 2.01850324e-05, 5.44599446e-05,
  5.41596132e-02,-6.77067212e-04, 3.38322547e-02,-4.33842765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022529166481830823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.03615192e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.03615192e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884868, -0.04887119,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46987144e-06, 7.81141620e-06, 3.56266942e-05,-3.00431273e-05,
 -3.60056080e-05, 4.35023704e-06, 4.37410402e-05, 1.56588245e-05,
 -1.10554772e-05,-4.22229793e-05, 3.26981144e-05,-1.78161193e-05,
 -3.64503254e-04,-7.65311265e-05,-1.47645073e-04,-3.22541572e-05,
 -8.68600518e-07,-3.90032624e-08,-1.21642528e+00, 8.11280544e-05,
  1.48058814e-03, 9.24242956e-07]


--- Step 370 ---
qpos:
[ 3.02811688e-03,-3.31201829e-03, 1.18717342e-02, 4.16992559e-02,
 -2.17891126e-03,-1.92194475e-03,-1.73617824e-02, 2.86312635e-02,
  5.85879669e-03, 1.64606894e-02,-9.35113820e-03, 2.59783323e-02,
  7.57012506e-01,-1.83813361e-03, 5.65618484e-01, 6.54003356e-02,
  9.49761748e-02,-7.00276938e-02, 1.21777777e-01, 9.99995917e-01,
 -8.75503438e-05,-8.42397661e-05, 2.85507223e-03]

qacc:
[ -2.5351005 , -2.81125535, 11.44830687,-18.87388684, -0.76862591,
  -0.71790485,  1.93475231,  0.11816093, -4.23999457, -2.42729317,
   7.21366897, -5.74470117, -1.22814541,  1.87127464, -0.20644836,
  -3.54799886,  0.73909695, -0.40881162,  0.15437961,  6.97656892,
  12.53345314, -0.74351607]

qfrc_actuator:
[-3.19978591e-05, 7.18925942e-05, 1.89267329e-04, 4.57600032e-05,
  9.30853005e-06,-2.55768754e-04,-1.96205755e-04, 2.80003173e-05,
 -8.49668107e-06, 3.86098592e-04, 6.04670072e-05, 6.21081835e-05,
  5.40492245e-02,-6.83418489e-04, 3.37209812e-02,-4.38820971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002241809051738014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.95235321e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.95235321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185435, -0.06178873,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49971453e-05, 1.04777722e-05, 4.20440418e-05,-1.67368679e-05,
 -4.57555338e-06, 1.40433421e-05, 2.51544890e-05, 9.35650198e-06,
 -2.52248189e-05,-3.51304660e-05, 3.49878680e-05, 6.62624974e-06,
 -3.70206186e-04,-7.40800714e-05,-1.88291792e-04,-7.19869654e-05,
 -1.50847489e-06, 5.71842291e-07,-1.21640822e+00, 8.65037707e-05,
  1.47930661e-03, 4.20490125e-07]


--- Step 371 ---
qpos:
[ 3.02699207e-03,-3.31202576e-03, 1.18728492e-02, 4.16995490e-02,
 -2.17807705e-03,-1.92160374e-03,-1.73608783e-02, 2.86318773e-02,
  5.85906778e-03, 1.64595964e-02,-9.35136884e-03, 2.59793310e-02,
  7.58167158e-01,-1.83638851e-03, 5.66659167e-01, 6.53959974e-02,
  9.49796387e-02,-7.00442554e-02, 1.21776073e-01, 9.99995914e-01,
  5.04820038e-05,-5.62547468e-05, 2.85772168e-03]

qacc:
[ -4.57394043,  1.7988008 ,-10.57388003, 26.38144151,  5.66784336,
  -1.13997161,  5.28274462,-10.2348427 , -2.65224253,  1.62738329,
  -7.65327404, 15.70261303, -0.42186133, -1.09120074, -8.62754787,
  24.16947041,  0.73426389, -0.40832175,  0.07835397,  6.92152987,
  12.42921924, -0.73879613]

qfrc_actuator:
[-5.84096532e-05, 3.63806310e-05, 1.75118318e-04, 8.88493887e-05,
  4.26627021e-05,-2.54725957e-04,-1.85696347e-04, 1.42168420e-05,
 -2.33665006e-05, 3.94042080e-04, 4.86698130e-05, 8.41458110e-05,
  5.39414654e-02,-7.23664663e-04, 3.35901324e-02,-4.30868467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022405613884896036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47755547e-13, -4.95511094e-13,  1.00000000e+00, -1.22765622e-25,
        1.00000000e+00,  4.95511094e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47755547e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185437, -0.0617889 ,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68379935e-05,-2.17081152e-05,-7.39896688e-06, 4.46662770e-05,
  3.32272427e-05, 1.44713325e-05, 1.68196751e-05,-1.21330435e-05,
 -1.56101843e-05,-4.15922349e-06,-1.45021576e-05, 2.18740336e-05,
 -3.71288172e-04,-1.08701045e-04,-2.29084148e-04, 5.03229986e-05,
 -1.28552670e-06,-2.33124947e-07,-1.21640121e+00, 9.27153553e-05,
  1.47951224e-03, 2.23203043e-07]


--- Step 372 ---
qpos:
[ 3.02590443e-03,-3.31246414e-03, 1.18739206e-02, 4.17007303e-02,
 -2.17719444e-03,-1.92119286e-03,-1.73603708e-02, 2.86320207e-02,
  5.85881324e-03, 1.64586554e-02,-9.35203873e-03, 2.59795441e-02,
  7.59319733e-01,-1.83479564e-03, 5.67697583e-01, 6.53925145e-02,
  9.49833671e-02,-7.00561723e-02, 1.21775491e-01, 9.99995896e-01,
  1.49663002e-04,-2.53913282e-05, 2.86090595e-03]

qacc:
[  0.33279374,  1.38269778, -9.50394087, 25.26009177,  0.41055552,
   0.23155242,  1.29381358, -8.85306766, -4.60112849, -0.17951229,
   4.26432419,-17.28732508, -1.09662672,  1.40333434, -5.89273504,
  15.83314204,  0.06615812,  1.16114544,  0.28036768,-19.42146733,
   1.49472001,  0.26844962]

qfrc_actuator:
[-5.57414007e-05,-2.55685748e-06, 1.66225514e-04, 1.31798645e-04,
  4.42015852e-05,-2.72030270e-04,-2.15403760e-04,-1.18942474e-05,
 -4.99675276e-05, 3.99242637e-04, 2.40824915e-05, 4.34454834e-05,
  5.38406747e-02,-7.30343099e-04, 3.35009389e-02,-4.26012754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022611356211216238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480978, -0.09309589,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89352777e-06,-5.07108992e-05,-1.27537990e-05, 4.26310618e-05,
  2.49089776e-06,-6.27053758e-06,-2.50835890e-05,-2.51506176e-05,
 -2.70537770e-05, 8.51926728e-07,-2.64616927e-05,-4.09532240e-05,
 -3.70959717e-04,-7.88651803e-05,-1.89714976e-04, 2.15894008e-05,
 -7.63638734e-07,-9.57856906e-07,-1.21639015e+00, 9.95660550e-05,
  1.48097137e-03, 3.52929478e-08]


--- Step 373 ---
qpos:
[ 3.02520175e-03,-3.31312723e-03, 1.18748563e-02, 4.17017067e-02,
 -2.17664474e-03,-1.92086682e-03,-1.73601839e-02, 2.86322109e-02,
  5.85789655e-03, 1.64580826e-02,-9.35316412e-03, 2.59795866e-02,
  7.60470126e-01,-1.83264386e-03, 5.68733685e-01, 6.53873225e-02,
  9.49873620e-02,-7.00635075e-02, 1.21775510e-01, 9.99995875e-01,
  2.10523083e-04, 8.29628647e-06, 2.86463872e-03]

qacc:
[  3.37849928, -0.34695569,  1.65942431, -4.81143081, -2.92848424,
   0.88538425, -3.50738016,  4.88087464, -5.79568905,  1.41964936,
  -3.61557452,  1.09752329, -1.98844362,  4.71161732,  1.81987517,
 -11.14664471,  0.06660372,  1.1454432 ,  0.15037   ,-19.15633263,
   1.46694953,  0.27453054]

qfrc_actuator:
[-3.59750647e-05,-7.73281733e-06, 1.60487498e-04, 1.21057410e-04,
  2.69901973e-05,-2.82619140e-04,-2.33193281e-04,-9.58332594e-06,
 -8.32635836e-05, 4.38153340e-04, 9.86160270e-06, 3.71640075e-05,
  5.37388197e-02,-6.99390708e-04, 3.33675558e-02,-4.35438176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000231264576968912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20016545e-13,  2.40033091e-13,  1.00000000e+00,  2.88079424e-26,
        1.00000000e+00, -2.40033091e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20016545e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481002, -0.09309452,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98013750e-05,-3.43369539e-05,-1.63172541e-05,-1.25288149e-05,
 -1.71405140e-05,-2.03746481e-05,-2.30559709e-05, 6.82323467e-07,
 -3.40721138e-05, 3.21972428e-05,-1.87020592e-05,-7.95338946e-06,
 -3.66513388e-04,-3.83577805e-05,-2.21300103e-04,-1.18295449e-04,
 -6.17200974e-07,-8.12866835e-07,-1.21641290e+00, 1.04477358e-04,
  1.48251731e-03,-2.78229991e-07]


--- Step 374 ---
qpos:
[ 3.02474130e-03,-3.31374062e-03, 1.18752750e-02, 4.17028832e-02,
 -2.17596060e-03,-1.92068213e-03,-1.73602242e-02, 2.86327733e-02,
  5.85727711e-03, 1.64580343e-02,-9.35439062e-03, 2.59808889e-02,
  7.61618480e-01,-1.83043528e-03, 5.69766607e-01, 6.53857012e-02,
  9.49916249e-02,-7.00663129e-02, 1.21775694e-01, 9.99995856e-01,
  2.33500864e-04, 4.47656304e-05, 2.86892805e-03]

qacc:
[ 2.10908021e+00, 1.91950372e+00,-7.59943169e+00, 1.18592364e+01,
  1.17461399e+00, 1.21103268e+00,-6.16539691e+00, 1.30797245e+01,
  2.58130795e+00, 3.56399873e+00,-1.70297783e+01, 3.86177612e+01,
 -1.21977963e+00, 2.02992927e+00,-1.54225165e+01, 4.72435466e+01,
  6.69944157e-02, 1.13244246e+00, 4.11104725e-02,-1.89370905e+01,
  1.44517697e+00, 2.77822105e-01]

qfrc_actuator:
[-2.40651713e-05, 7.31430175e-06, 1.38999136e-04, 1.32097728e-04,
  3.43958650e-05,-2.89051972e-04,-2.43749369e-04, 9.45172435e-06,
 -6.69719824e-05, 4.97013240e-04, 1.98051657e-05, 1.04491053e-04,
  5.36364104e-02,-6.99767958e-04, 3.32450255e-02,-4.15929515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023404025763480718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18593168e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.18593168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481018, -0.09309382,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24640400e-05,-8.04118280e-06,-3.10295532e-05, 8.75748407e-06,
  6.91087178e-06,-2.25798281e-05,-1.75867493e-05, 1.73765488e-05,
  1.53242768e-05, 7.26798051e-05, 1.40357990e-05, 6.79098732e-05,
 -3.57462050e-04,-6.47968843e-05,-2.39688930e-04, 1.59389529e-04,
 -3.75205218e-07,-6.67367989e-07,-1.21642786e+00, 1.07499028e-04,
  1.48422736e-03,-4.99536758e-07]


--- Step 375 ---
qpos:
[ 3.02442734e-03,-3.31436859e-03, 1.18756926e-02, 4.17041548e-02,
 -2.17588309e-03,-1.92060982e-03,-1.73603966e-02, 2.86332037e-02,
  5.85720230e-03, 1.64585660e-02,-9.35607197e-03, 2.59826589e-02,
  7.62764870e-01,-1.82824255e-03, 5.70797259e-01, 6.53882199e-02,
  9.49961571e-02,-7.00646313e-02, 1.21775676e-01, 9.99995843e-01,
  2.18956239e-04, 8.39839976e-05, 2.87377755e-03]

qacc:
[ 1.28618635e+00, 1.77382360e-01,-1.06551481e+00, 2.72671205e+00,
 -5.32280480e+00,-4.06629537e-02, 5.05362371e-01,-2.51739239e+00,
  4.72625460e+00, 2.99146920e+00,-1.15448884e+01, 1.99574625e+01,
 -1.10007292e+00, 1.65541679e+00,-1.58023730e+01, 5.05144967e+01,
  6.73533054e-02, 1.12176244e+00,-5.06010087e-02,-1.87571945e+01,
  1.42839579e+00, 2.78917063e-01]

qfrc_actuator:
[-1.68803843e-05, 1.65581049e-05, 1.44001447e-04, 1.38131246e-04,
  2.97968658e-06,-2.92900735e-04,-2.49930631e-04, 2.67176241e-06,
 -3.93749727e-05, 5.14281222e-04,-9.18269821e-06, 1.25857889e-04,
  5.35443858e-02,-7.00911828e-04, 3.31824259e-02,-3.93722126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023489953567124022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18159346e-13,  7.08956079e-13,  1.00000000e+00,  8.37697869e-26,
        1.00000000e+00, -7.08956079e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18159346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481029, -0.09309365,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.53916311e-06,-1.26648492e-06,-1.77832196e-07, 4.78320850e-06,
 -3.12270798e-05,-1.93684017e-05,-1.24135545e-05,-8.01983902e-06,
  2.80570906e-05, 6.37370594e-05,-9.88554033e-06, 2.62879442e-05,
 -3.45120701e-04,-6.68601034e-05,-1.54808731e-04, 2.00065558e-04,
 -3.36479360e-08,-5.27097696e-07,-1.21643534e+00, 1.08652647e-04,
  1.48610021e-03,-6.29083241e-07]


--- Step 376 ---
qpos:
[ 3.02420201e-03,-3.31487531e-03, 1.18758348e-02, 4.17051445e-02,
 -2.17618292e-03,-1.92030692e-03,-1.73607976e-02, 2.86331663e-02,
  5.85676974e-03, 1.64590534e-02,-9.35776571e-03, 2.59840314e-02,
  7.63909327e-01,-1.82606101e-03, 5.71826247e-01, 6.53890374e-02,
  9.50009602e-02,-7.00584973e-02, 1.21775147e-01, 9.99995833e-01,
  1.67181368e-04, 1.25926835e-04, 2.87918734e-03]

qacc:
[ 7.66945187e-01, 3.47889406e-01, 1.78118562e-01,-4.69912374e+00,
 -3.32106677e+00,-1.22588053e-02, 2.47231499e+00,-1.03839445e+01,
 -3.12011527e+00,-8.35918104e-01, 4.58460806e+00,-1.14229575e+01,
 -1.23049138e+00, 2.04469794e+00, 2.71726864e+00,-1.29833866e+01,
  6.76972918e-02, 1.11307791e+00,-1.27477284e-01,-1.86111551e+01,
  1.41578634e+00, 2.78278340e-01]

qfrc_actuator:
[-1.25318310e-05, 2.23643225e-05, 1.29083897e-04, 1.23433107e-04,
 -1.55370539e-05,-2.59666224e-04,-2.53491134e-04,-1.92417187e-05,
 -5.86188827e-05, 4.70823442e-04,-2.56299734e-05, 1.02184066e-04,
  5.34480070e-02,-7.02465728e-04, 3.30706048e-02,-4.03825264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023422645475514037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481035, -0.09309391,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56396966e-06, 5.28480308e-06,-1.50358950e-05,-1.46680512e-05,
 -1.94127865e-05, 1.94834973e-05,-9.36626120e-06,-2.33285578e-05,
 -1.84178003e-05,-8.72505869e-06,-3.58124316e-06,-2.07754293e-05,
 -3.40835609e-04,-6.56695572e-05,-1.64670005e-04,-1.10843373e-04,
  4.09843444e-07,-3.94189666e-07,-1.21643559e+00, 1.07955911e-04,
  1.48813458e-03,-6.67327908e-07]


--- Step 377 ---
qpos:
[ 3.02437569e-03,-3.31531687e-03, 1.18752453e-02, 4.17059898e-02,
 -2.17601269e-03,-1.91998043e-03,-1.73609153e-02, 2.86328571e-02,
  5.85611067e-03, 1.64589194e-02,-9.35961753e-03, 2.59851960e-02,
  7.65051884e-01,-1.82418225e-03, 5.72853128e-01, 6.53857099e-02,
  9.50060354e-02,-7.00479389e-02, 1.21773851e-01, 9.99995820e-01,
  7.84099047e-05, 1.70576429e-04, 2.88515477e-03]

qacc:
[  3.47821875,  1.82734705, -5.79242676,  4.42796202,  4.13115617,
  -1.32730971,  5.9118312 ,-11.0705133 , -1.97000354, -0.80388318,
   2.55898076, -5.45478257, -0.94080592,  0.89979707,  9.41853035,
 -37.42756384,  0.06803857,  1.1061109 , -0.19182863,-18.49435744,
   1.40667957,  0.27626705]

qfrc_actuator:
[ 7.86689637e-06, 8.22536882e-06, 8.47364409e-05, 1.14387381e-04,
  9.20451113e-06,-2.57737663e-04,-2.37577231e-04,-3.20942207e-05,
 -6.97775490e-05, 3.91322400e-04,-5.25660381e-05, 8.76692510e-05,
  5.33437579e-02,-7.22016607e-04, 3.29346036e-02,-4.25795145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023234156476047152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19460225e-13,  2.38920450e-13,  1.00000000e+00,  2.85414907e-26,
        1.00000000e+00, -2.38920450e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19460225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481038, -0.09309451,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05330507e-05,-1.49009392e-05,-4.56132657e-05,-9.62671496e-06,
  2.41963570e-05, 9.87631613e-06, 1.79793933e-05,-1.27945158e-05,
 -1.16885705e-05,-8.60189209e-05,-2.98869585e-05,-1.54166479e-05,
 -3.45974315e-04,-8.27446611e-05,-2.29045362e-04,-2.48355061e-04,
  9.56538785e-07,-2.67467149e-07,-1.21642879e+00, 1.05423171e-04,
  1.49032920e-03,-6.14715316e-07]


--- Step 378 ---
qpos:
[ 3.02479267e-03,-3.31582548e-03, 1.18741702e-02, 4.17063754e-02,
 -2.17589208e-03,-1.91996085e-03,-1.73607142e-02, 2.86331272e-02,
  5.85601234e-03, 1.64584518e-02,-9.36213704e-03, 2.59858318e-02,
  7.66192542e-01,-1.82281499e-03, 5.73877812e-01, 6.53796611e-02,
  9.50113842e-02,-7.00329780e-02, 1.21771573e-01, 9.99995794e-01,
 -4.71752229e-05, 2.17920832e-04, 2.89167499e-03]

qacc:
[  2.12106971,  0.31747119,  0.67192113, -7.79308855, -0.41957118,
  -0.10358227, -2.66389901, 12.40413908,  4.87511749,  0.32732207,
   0.40973093, -8.23112599, -0.68202454, -0.07716187,  4.97539877,
 -22.10707555,  0.06838576,  1.10062392, -0.24562425,-18.40291439,
   1.40052815,  0.2731645 ]

qfrc_actuator:
[ 1.97972438e-05,-1.20481777e-07, 5.88027580e-05, 9.09558479e-05,
  5.94668529e-06,-2.92230543e-04,-2.28151850e-04,-4.01370928e-06,
 -4.05679521e-05, 3.79553613e-04,-8.56447256e-05, 6.08666544e-05,
  5.32401790e-02,-7.52069596e-04, 3.28481037e-02,-4.38595270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022951161519929597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481037, -0.09309537,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25140600e-05,-2.64848271e-05,-3.49535960e-05,-2.58360587e-05,
 -2.56485975e-06,-2.58059962e-05, 1.32346474e-05, 2.88760827e-05,
  2.88442834e-05,-6.66875787e-05,-5.50413035e-05,-3.18208338e-05,
 -3.52214323e-04,-9.57637524e-05,-2.21739837e-04,-1.71962599e-04,
  1.60698326e-06,-1.42637778e-07,-1.21641508e+00, 1.01065892e-04,
  1.49268292e-03,-4.71665710e-07]


--- Step 379 ---
qpos:
[ 3.02500472e-03,-3.31651813e-03, 1.18730983e-02, 4.17061129e-02,
 -2.17581156e-03,-1.91966891e-03,-1.73612289e-02, 2.86347651e-02,
  5.85626445e-03, 1.64578197e-02,-9.36464660e-03, 2.59864175e-02,
  7.67331132e-01,-1.82143201e-03, 5.74900257e-01, 6.53736465e-02,
  9.50140891e-02,-7.00217893e-02, 1.21770520e-01, 9.99995758e-01,
 -1.41589728e-04, 2.41798819e-04, 2.89913974e-03]

qacc:
[ -1.79585246, -1.58467419,  8.0365472 ,-19.12472318, -0.37792279,
   5.17280404,-23.69719362, 48.31061194,  3.05950617, -0.35453044,
   1.15004033, -1.90187696, -1.29746534,  2.15795895, -3.36227775,
   7.06577971, -0.66096395, -0.94304734,  0.30636267, 15.55121425,
 -11.77824722,  0.475123  ]

qfrc_actuator:
[ 8.89005795e-06,-4.88432174e-06, 6.17166376e-05, 5.92659403e-05,
  3.97351754e-06,-2.59492059e-04,-2.58273534e-04, 6.56369240e-05,
 -2.33393090e-05, 4.08384686e-04,-6.85782567e-05, 6.26006523e-05,
  5.31317447e-02,-7.52588760e-04, 3.27754112e-02,-4.36993808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023414797350168604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37077223e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.37077223e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907222, -0.05166103,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05548750e-05,-2.78675098e-05,-7.73912932e-06,-3.45347698e-05,
 -2.05702158e-06, 2.22744026e-05,-3.28257280e-05, 6.95636290e-05,
  1.80318088e-05,-2.11395007e-05,-4.55705630e-06,-3.64359184e-06,
 -3.63369532e-04,-6.87952133e-05,-1.96049219e-04,-2.27367632e-05,
  2.36126730e-06,-1.24156141e-08,-1.21639456e+00, 9.48930339e-05,
  1.49519468e-03,-2.38568894e-07]


--- Step 380 ---
qpos:
[ 3.02508446e-03,-3.31730272e-03, 1.18722412e-02, 4.17061363e-02,
 -2.17541046e-03,-1.91916401e-03,-1.73618183e-02, 2.86368421e-02,
  5.85637625e-03, 1.64572045e-02,-9.36706670e-03, 2.59869890e-02,
  7.68467641e-01,-1.82002209e-03, 5.75920733e-01, 6.53703639e-02,
  9.50141744e-02,-7.00143193e-02, 1.21770152e-01, 9.99995722e-01,
 -2.05275634e-04, 2.42603493e-04, 2.90760403e-03]

qacc:
[ -1.15279919, -0.130525  , -0.91287204,  5.57870096,  2.80598913,
   1.38738375, -6.40249926, 13.97493158, -1.22126277, -0.25456359,
   1.00386178, -1.40881016, -1.2618641 ,  2.06106807,-11.10409879,
  34.73536739, -0.65488893, -0.92966791,  0.17122753, 15.33066675,
 -11.58122185,  0.50185081]

qfrc_actuator:
[ 2.38388188e-06, 1.03974969e-05, 8.16443581e-05, 7.62510688e-05,
  2.05340962e-05,-2.40129170e-04,-2.57958534e-04, 8.81988279e-05,
 -3.10658630e-05, 4.26034883e-04,-5.73405240e-05, 6.34368855e-05,
  5.30258066e-02,-7.53462883e-04, 3.27270633e-02,-4.21592288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023934681367215882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.9578304e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.9578304e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907102, -0.05166209,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.81144066e-06,-3.34573335e-06, 1.20447719e-05, 1.48562613e-05,
  1.65081451e-05, 2.80106063e-05, 3.27839408e-06, 2.37314128e-05,
 -7.22116620e-06, 4.78941120e-06, 6.21867179e-06,-2.93271070e-07,
 -3.63478756e-04,-6.85472045e-05,-1.43999660e-04, 1.26724944e-04,
  1.85394608e-06,-1.78782120e-07,-1.21641603e+00, 9.01770133e-05,
  1.49634049e-03, 2.98516940e-07]


--- Step 381 ---
qpos:
[ 3.02508525e-03,-3.31775884e-03, 1.18714098e-02, 4.17066662e-02,
 -2.17515885e-03,-1.91870722e-03,-1.73616719e-02, 2.86381143e-02,
  5.85639446e-03, 1.64567788e-02,-9.36913277e-03, 2.59871794e-02,
  7.69602119e-01,-1.81833419e-03, 5.76940106e-01, 6.53687709e-02,
  9.50116606e-02,-7.00105235e-02, 1.21770015e-01, 9.99995692e-01,
 -2.38599235e-04, 2.20655824e-04, 2.91710792e-03]

qacc:
[ -0.69765412,  1.40780296, -6.5237559 , 15.00217049, -1.28767699,
  -3.7711474 , 16.75733632,-31.82945238, -0.80868165, -1.52192464,
   7.40175395,-14.70579446, -1.54321534,  3.1784111 , -6.6648123 ,
  21.09952158, -0.64979543, -0.91855642,  0.05761671, 15.14788484,
 -11.42037083,  0.52113668]

qfrc_actuator:
[-1.47234033e-06, 5.54408472e-05, 9.38149698e-05, 1.04013904e-04,
  1.23650253e-05,-2.46593792e-04,-2.21983740e-04, 4.73837936e-05,
 -3.56623279e-05, 4.54613629e-04,-3.19308937e-05, 4.59658938e-05,
  5.29374191e-02,-7.36814859e-04, 3.27040300e-02,-4.12383991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024207715271173935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29311815e-13,  2.29311815e-13,  1.00000000e+00, -5.25839084e-26,
        1.00000000e+00, -2.29311815e-13, -1.00000000e+00,  0.00000000e+00,
        2.29311815e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907029, -0.05166261,  0.06199412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04914468e-06, 4.63324347e-05, 1.34964843e-05, 2.83293842e-05,
 -7.68985481e-06, 1.08827213e-05, 4.29811452e-05,-3.90444976e-05,
 -4.80634008e-06, 3.25761373e-05, 2.71893906e-05,-1.70504595e-05,
 -3.45429597e-04,-5.13121354e-05,-8.00968239e-05, 7.93531048e-05,
  1.36927438e-06,-4.01396952e-08,-1.21642971e+00, 8.69466524e-05,
  1.49630429e-03, 6.41492843e-07]


--- Step 382 ---
qpos:
[ 3.02503967e-03,-3.31778088e-03, 1.18707025e-02, 4.17068128e-02,
 -2.17500683e-03,-1.91828668e-03,-1.73616309e-02, 2.86392903e-02,
  5.85635749e-03, 1.64562980e-02,-9.37076805e-03, 2.59871849e-02,
  7.70734581e-01,-1.81613650e-03, 5.77958015e-01, 6.53686679e-02,
  9.50065644e-02,-7.00103653e-02, 1.21769726e-01, 9.99995670e-01,
 -2.41861900e-04, 1.76215939e-04, 2.92767960e-03]

qacc:
[ -0.41063847, -0.56246488,  4.45580191,-11.60654738, -0.87619742,
   0.05027621,  0.16076577, -1.63525851, -0.46696259, -1.65634262,
   6.58230091,-10.43124509, -1.77919741,  4.11993736, -6.58520903,
  20.07355948, -0.6455916 , -0.90939232, -0.03776827, 14.99748041,
 -11.29003353,  0.53451033]

qfrc_actuator:
[-3.73900694e-06, 8.24522234e-05, 1.01434501e-04, 8.46504662e-05,
  7.45263071e-06,-2.68379055e-04,-2.36404167e-04, 4.06213712e-05,
 -3.83713355e-05, 4.36312201e-04,-1.60711010e-05, 3.56358122e-05,
  5.28436552e-02,-7.09915364e-04, 3.26269432e-02,-4.05121404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002428173956018631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906995, -0.05166269,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36535865e-06, 5.69454131e-05, 1.98463480e-05,-1.63584139e-05,
 -5.12790265e-06,-8.51883269e-06,-8.23872053e-06,-5.57260204e-06,
 -2.83922675e-06, 4.83853975e-06, 2.53767586e-05,-8.31976605e-06,
 -3.35212406e-04,-3.63759008e-05,-1.13618628e-04, 6.46347496e-05,
  8.89797233e-07, 4.06628736e-07,-1.21643595e+00, 8.51826145e-05,
  1.49509945e-03, 7.95947971e-07]


--- Step 383 ---
qpos:
[ 3.02531225e-03,-3.31747847e-03, 1.18704364e-02, 4.17063729e-02,
 -2.17491498e-03,-1.91777498e-03,-1.73621040e-02, 2.86407339e-02,
  5.85628828e-03, 1.64557372e-02,-9.37214530e-03, 2.59870823e-02,
  7.71865220e-01,-1.81452287e-03, 5.78973928e-01, 6.53698467e-02,
  9.49988994e-02,-7.00138147e-02, 1.21768967e-01, 9.99995651e-01,
 -2.15309141e-04, 1.09492429e-04, 2.93933776e-03]

qacc:
[  2.8005505 , -2.01896899, 10.28432334,-21.36370734, -0.54530802,
   2.10772833, -8.46934744, 13.85420285, -0.27183977, -1.04888918,
   4.04349455, -6.26805027, -0.47483301, -0.68399942, -6.80838394,
  19.54764699, -0.64219028, -0.90190167, -0.11773449, 14.87493237,
 -11.18554105,  0.54316675]

qfrc_actuator:
[ 1.26996674e-05, 9.84074230e-05, 1.23967307e-04, 5.54511312e-05,
  4.50413616e-06,-2.63844044e-04,-2.62762187e-04, 5.39039380e-05,
 -3.99488463e-05, 4.25556669e-04,-6.15958405e-06, 2.95464768e-05,
  5.27360853e-02,-7.48218508e-04, 3.25174966e-02,-3.99073867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002419678870037023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58830731e-13, -2.29415365e-13,  1.00000000e+00, -1.05262820e-25,
        1.00000000e+00,  2.29415365e-13, -1.00000000e+00,  0.00000000e+00,
       -4.58830731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906991, -0.05166242,  0.06199412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63918228e-05, 5.12058136e-05, 3.61818471e-05,-2.63903413e-05,
 -3.09707266e-06,-2.18945672e-06,-2.93331334e-05, 1.25205156e-05,
 -1.66108054e-06,-3.12899639e-06, 1.37736086e-05,-5.16101772e-06,
 -3.39670099e-04,-9.82591767e-05,-1.61355393e-04, 4.77399118e-05,
  4.02175569e-07, 1.16121508e-06,-1.21643500e+00, 8.48692896e-05,
  1.49273722e-03, 7.66221368e-07]


--- Step 384 ---
qpos:
[ 3.02543508e-03,-3.31728910e-03, 1.18709250e-02, 4.17059667e-02,
 -2.17554946e-03,-1.91685960e-03,-1.73624565e-02, 2.86412045e-02,
  5.85654529e-03, 1.64552538e-02,-9.37290788e-03, 2.59872077e-02,
  7.72993785e-01,-1.81266238e-03, 5.79987875e-01, 6.53668153e-02,
  9.49886764e-02,-7.00208474e-02, 1.21767468e-01, 9.99995630e-01,
 -1.59138243e-04, 2.06500523e-05, 2.95209351e-03]

qacc:
[ -1.28867368, -2.18748336,  7.44466541, -7.99084429, -6.37422475,
  -1.79186502, 11.29418572,-28.64796924,  2.86325437, -1.15187187,
   3.28340785, -0.36715503, -1.65526839,  3.40635099,  9.85951707,
 -38.57831043, -0.63951006, -0.89585022, -0.18467439, 14.77643727,
 -11.10303205,  0.54803832]

qfrc_actuator:
[ 4.51032103e-06, 7.21596435e-05, 1.55081296e-04, 5.62119555e-05,
 -3.27708601e-05,-2.08124523e-04,-2.42574109e-04, 7.87749027e-06,
 -2.30956927e-05, 4.54880972e-04, 3.56886645e-05, 4.37513629e-05,
  5.26256132e-02,-7.35990151e-04, 3.23727572e-02,-4.22198359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000239862773258534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.31428789e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.31428789e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907011, -0.05166187,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.70555512e-06, 8.72762501e-06, 4.52336444e-05, 3.69268996e-06,
 -3.73633792e-05, 4.89554986e-05, 1.65522311e-05,-4.68947555e-05,
  1.68009010e-05, 3.02343492e-05, 4.27427369e-05, 1.44515435e-05,
 -3.56505678e-04,-5.48884599e-05,-2.17904937e-04,-2.50467632e-04,
 -1.04235697e-07, 2.22047954e-06,-1.21642708e+00, 8.59941881e-05,
  1.48922697e-03, 5.55636515e-07]


--- Step 385 ---
qpos:
[ 3.02545912e-03,-3.31737608e-03, 1.18719383e-02, 4.17056104e-02,
 -2.17628081e-03,-1.91562991e-03,-1.73625744e-02, 2.86411225e-02,
  5.85700218e-03, 1.64549080e-02,-9.37291154e-03, 2.59878289e-02,
  7.74120221e-01,-1.81030368e-03, 5.80999050e-01, 6.53636828e-02,
  9.49759035e-02,-7.00314443e-02, 1.21765008e-01, 9.99995595e-01,
 -7.35046932e-05,-9.01838797e-05, 2.96595182e-03]

qacc:
[ -0.84584941, -1.72788473,  5.42281084, -5.19813114, -0.84792768,
  -1.37526257,  7.84306114,-18.01644385,  1.76492058, -0.92198999,
   1.45142053,  5.8228205 , -1.85015566,  4.20130328, -3.71024152,
   7.21313859, -0.63747588, -0.89103772, -0.2406288 , 14.69878889,
 -11.03930551,  0.54985148]

qfrc_actuator:
[-3.62573719e-07, 3.86504115e-05, 1.73101482e-04, 5.68107591e-05,
 -3.66936318e-05,-1.93053793e-04,-2.30392495e-04,-1.93427569e-05,
 -1.32823385e-05, 4.72622423e-04, 7.84864759e-05, 6.98400168e-05,
  5.25188135e-02,-7.11792810e-04, 3.22601692e-02,-4.21497080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023678009699774905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.34441796e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.34441796e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090705 , -0.05166111,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09232254e-06,-1.91421074e-05, 2.55152107e-05, 2.60945742e-06,
 -4.96943492e-06, 4.38125946e-05, 2.27037390e-05,-2.54629352e-05,
  1.03008854e-05, 4.41299120e-05, 5.48217219e-05, 2.91463676e-05,
 -3.57456912e-04,-4.11815271e-05,-2.43699399e-04,-3.58015793e-05,
 -6.38437319e-07, 3.57882510e-06,-1.21641232e+00, 8.85474544e-05,
  1.48457635e-03, 1.66686434e-07]


--- Step 386 ---
qpos:
[ 3.02542440e-03,-3.31756820e-03, 1.18731463e-02, 4.17052655e-02,
 -2.17670871e-03,-1.91431423e-03,-1.73624534e-02, 2.86410893e-02,
  5.85722836e-03, 1.64547945e-02,-9.37238849e-03, 2.59887615e-02,
  7.75244740e-01,-1.80828599e-03, 5.82007168e-01, 6.53639133e-02,
  9.49661138e-02,-7.00436533e-02, 1.21763799e-01, 9.99995550e-01,
  2.65556923e-05,-1.75391947e-04, 2.97804159e-03]

qacc:
[ -0.50790139, -0.65879963,  2.10087337, -2.13954987,  2.6675336 ,
  -0.45793501,  1.58216691, -1.17050325, -1.99947104, -0.52004806,
   0.99163929,  3.37794503, -0.72611767,  0.23999647,-14.63907486,
  44.70533756,  0.74578904, -0.40300791,  0.31287057,  7.25130834,
  12.79154599, -0.88396003]

qfrc_actuator:
[-3.23665407e-06, 3.64981150e-05, 1.83193446e-04, 5.72826171e-05,
 -2.09440051e-05,-2.02444458e-04,-2.23177256e-04,-1.75578894e-05,
 -2.54496354e-05, 4.83323130e-04, 1.03711283e-04, 8.49472256e-05,
  5.24196228e-02,-7.34022084e-04, 3.21457122e-02,-4.03192312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023674798820087772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818552 , -0.06179516,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02763333e-06,-7.48429092e-06, 9.36119068e-06, 5.84537954e-07,
  1.56234087e-05, 1.86627450e-05, 1.81678686e-05, 3.95038548e-06,
 -1.18610295e-05, 4.79678722e-05, 4.21041531e-05, 1.94615398e-05,
 -3.47967064e-04,-8.64767707e-05,-2.31126049e-04, 1.49447845e-04,
 -1.20856412e-06, 5.22841995e-06,-1.21639084e+00, 9.25214722e-05,
  1.47879146e-03,-3.98819544e-07]


--- Step 387 ---
qpos:
[ 3.02535514e-03,-3.31742512e-03, 1.18739989e-02, 4.17049102e-02,
 -2.17659957e-03,-1.91297226e-03,-1.73621862e-02, 2.86410923e-02,
  5.85696202e-03, 1.64552396e-02,-9.37220143e-03, 2.59895408e-02,
  7.76367251e-01,-1.80619427e-03, 5.83013142e-01, 6.53635496e-02,
  9.49592809e-02,-7.00574784e-02, 1.21763427e-01, 9.99995497e-01,
  1.40825995e-04,-2.35301979e-04, 2.98842008e-03]

qacc:
[-0.32002992, 1.41598019,-4.36091587, 4.50233341, 4.71445099,-0.30889096,
  0.98366018,-0.59551403,-4.31573661, 1.37012239,-3.15165194, 0.60707356,
 -1.34296275, 2.36938364,-1.32521264, 0.14702953, 0.7392176 ,-0.4040282 ,
  0.20944572, 7.14244636,12.62777879,-0.85720431]

qfrc_actuator:
[-4.91195164e-06, 7.08519274e-05, 1.70896001e-04, 5.76968598e-05,
  6.24749298e-06,-2.08656718e-04,-2.19039763e-04,-1.65030687e-05,
 -5.04546941e-05, 5.07402190e-04, 8.28156532e-05, 7.56990375e-05,
  5.23197291e-02,-7.30209482e-04, 3.20409108e-02,-4.06622552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002385331718793432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32718790e-13, -4.65437581e-13,  1.00000000e+00, -1.08316071e-25,
        1.00000000e+00,  4.65437581e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32718790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185567, -0.06179588,  0.0619942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76510625e-06, 3.21198747e-05,-1.26810780e-05, 4.27592030e-07,
  2.76424542e-05, 8.10215100e-06, 1.03495586e-05, 2.55632887e-06,
 -2.53304657e-05, 6.04266790e-05,-5.13395737e-06,-5.35941853e-06,
 -3.49701940e-04,-6.37125287e-05,-1.94606042e-04,-5.58603004e-05,
 -2.02594150e-06, 3.77412220e-06,-1.21639674e+00, 9.77387330e-05,
  1.47455553e-03,-6.72013897e-07]


--- Step 388 ---
qpos:
[ 3.02561109e-03,-3.31674390e-03, 1.18742635e-02, 4.17048976e-02,
 -2.17616496e-03,-1.91181340e-03,-1.73623252e-02, 2.86415193e-02,
  5.85708788e-03, 1.64560471e-02,-9.37243030e-03, 2.59895441e-02,
  7.77487736e-01,-1.80374080e-03, 5.84017611e-01, 6.53625908e-02,
  9.49526450e-02,-7.00666865e-02, 1.21763880e-01, 9.99995437e-01,
  2.16609064e-04,-2.92057283e-04, 2.99889505e-03]

qacc:
[  2.82694731,  3.05589906,-11.31818541, 17.80074651,  2.84521177,
   1.75942282, -8.42509408, 16.55821403,  3.40103652,  0.03737532,
   3.82637159,-16.84542561, -1.67775214,  3.61650258, -0.35919075,
  -1.81403573,  0.04925168,  1.15423266,  0.20617605,-19.23880492,
   1.63487117,  0.05255275]

qfrc_actuator:
[ 1.18839224e-05, 1.08958493e-04, 1.45637086e-04, 7.58463589e-05,
  2.21965073e-05,-2.48441898e-04,-2.52257189e-04, 1.85965654e-06,
 -2.95504198e-05, 5.03583705e-04, 5.26524064e-05, 3.44251786e-05,
  5.22248168e-02,-7.11050396e-04, 3.20005144e-02,-4.08630502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024301561531182847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28426273e-13,  4.56852546e-13,  1.00000000e+00,  1.04357124e-25,
        1.00000000e+00, -4.56852546e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28426273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948171 , -0.09309356,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67560471e-05, 5.34522619e-05,-2.01822448e-05, 1.90935443e-05,
  1.67392571e-05,-3.30494453e-05,-3.02005874e-05, 1.91130371e-05,
  2.02014505e-05, 2.86525915e-05,-1.85074642e-05,-3.89684091e-05,
 -3.41957413e-04,-4.63843026e-05,-1.39298833e-04,-4.90908291e-05,
 -2.51070055e-06, 2.45371876e-06,-1.21639830e+00, 1.03604577e-04,
  1.47159707e-03,-9.33542296e-07]


--- Step 389 ---
qpos:
[ 3.02572164e-03,-3.31600616e-03, 1.18746758e-02, 4.17051133e-02,
 -2.17623173e-03,-1.91134520e-03,-1.73628681e-02, 2.86418844e-02,
  5.85815316e-03, 1.64569819e-02,-9.37350687e-03, 2.59894596e-02,
  7.78606358e-01,-1.80139119e-03, 5.85020529e-01, 6.53587182e-02,
  9.49462167e-02,-7.00713372e-02, 1.21764679e-01, 9.99995379e-01,
  2.54378095e-04,-3.45802234e-04, 3.00960829e-03]

qacc:
[ -1.27239414,  0.13500345, -1.33187441,  5.00018446, -4.39844149,
   0.09680033, -1.39365222,  1.46078983,  8.16470129,  2.34048566,
  -7.75767564,  7.52780372, -1.12747342,  1.66034336,  6.53590259,
 -26.11729259,  0.05190394,  1.13935119,  0.08625927,-19.00238338,
   1.56219578,  0.12435782]

qfrc_actuator:
[ 3.91131496e-06, 9.57218008e-05, 1.48481275e-04, 8.65355401e-05,
 -4.10847022e-06,-3.25924587e-04,-2.89640877e-04,-5.30057185e-06,
  1.82117433e-05, 4.82999595e-04,-6.09686133e-07, 2.78777296e-05,
  5.21329671e-02,-7.18506010e-04, 3.19082422e-02,-4.23963317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024608727655126006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12787528e-13,  2.25575056e-13,  1.00000000e+00,  2.54420530e-26,
        1.00000000e+00, -2.25575056e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12787528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481776, -0.09309284,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.47910471e-06, 1.32803214e-05, 1.20478834e-05, 1.26493171e-05,
 -2.58389424e-05,-1.01418464e-04,-4.72825865e-05,-9.25350639e-06,
  4.83559224e-05,-1.00734621e-05,-5.09788972e-05,-6.72044541e-06,
 -3.30257161e-04,-7.00572091e-05,-1.67878765e-04,-1.75520331e-04,
 -1.55133677e-06, 2.07536204e-06,-1.21641757e+00, 1.07354747e-04,
  1.46903653e-03,-9.83774856e-07]


--- Step 390 ---
qpos:
[ 3.02573594e-03,-3.31532391e-03, 1.18755171e-02, 4.17047599e-02,
 -2.17661313e-03,-1.91157959e-03,-1.73635586e-02, 2.86421457e-02,
  5.85943818e-03, 1.64577542e-02,-9.37484160e-03, 2.59892943e-02,
  7.79723112e-01,-1.79939732e-03, 5.86020984e-01, 6.53524540e-02,
  9.49400040e-02,-7.00714795e-02, 1.21765419e-01, 9.99995327e-01,
  2.54522968e-04,-3.96654069e-04, 3.02067417e-03]

qacc:
[-8.30741731e-01,-2.44401608e+00, 1.10106755e+01,-2.15052855e+01,
 -2.75213073e+00,-7.23978610e-01, 1.68174794e+00,-2.73507235e+00,
  1.91113310e+00, 3.36859486e-01,-1.17779948e+00, 3.18607730e-01,
 -8.29657913e-01, 5.39060786e-01, 3.59965556e+00,-1.78392783e+01,
  5.38702687e-02, 1.12710985e+00,-1.43744032e-02,-1.88075783e+01,
  1.50321410e+00, 1.82446713e-01]

qfrc_actuator:
[-8.29234067e-07, 8.74507748e-05, 1.67686903e-04, 5.72205021e-05,
 -1.95639143e-05,-3.54434446e-04,-2.93859020e-04,-9.70566044e-06,
  2.81266447e-05, 4.70198907e-04,-1.38750689e-05, 2.40357750e-05,
  5.20270359e-02,-7.41609542e-04, 3.17689255e-02,-4.36383808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002470551705040652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12345658e-13,  2.24691315e-13,  1.00000000e+00, -2.52430936e-26,
        1.00000000e+00, -2.24691315e-13, -1.00000000e+00,  0.00000000e+00,
        1.12345658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481825, -0.09309269,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95275285e-06, 2.15074338e-06, 2.38566165e-05,-2.80857932e-05,
 -1.62250742e-05,-9.54063777e-05,-3.13099375e-05,-1.05670840e-05,
  1.13016779e-05,-2.92530424e-05,-2.18568734e-05,-6.16965760e-06,
 -3.40786664e-04,-8.61009240e-05,-2.41154782e-04,-1.56889652e-04,
 -5.95600166e-07, 1.73388040e-06,-1.21642921e+00, 1.09223929e-04,
  1.46662455e-03,-9.46684995e-07]


--- Step 391 ---
qpos:
[ 3.02569320e-03,-3.31468508e-03, 1.18766048e-02, 4.17040692e-02,
 -2.17717752e-03,-1.91192247e-03,-1.73646158e-02, 2.86426354e-02,
  5.86014304e-03, 1.64579703e-02,-9.37586742e-03, 2.59887503e-02,
  7.80837824e-01,-1.79729730e-03, 5.87018804e-01, 6.53469694e-02,
  9.49340124e-02,-7.00671533e-02, 1.21765765e-01, 9.99995280e-01,
  2.17361833e-04,-4.44708182e-04, 3.03218551e-03]

qacc:
[ -0.49232839, -1.44066303,  6.4771013 ,-12.67488354, -1.61452393,
   1.35351183, -5.99300761, 10.60414108, -5.04111158, -2.36805063,
   8.99240813,-15.64771929, -1.35874952,  2.41268701, -6.19018771,
  16.12465962,  0.05530648,  1.11712908, -0.09869523,-18.64860413,
   1.45525692,  0.22976379]

qfrc_actuator:
[-3.62153162e-06, 8.22485595e-05, 1.78616443e-04, 4.01143385e-05,
 -2.84958501e-05,-3.17767155e-04,-2.96025123e-04, 5.36166259e-06,
 -2.07552671e-06, 4.26801728e-04,-3.39287581e-06, 4.09256552e-06,
  5.19180492e-02,-7.38303135e-04, 3.16760811e-02,-4.31015190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002463410326407761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25342691e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.25342691e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481861, -0.093093  ,  0.06199401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93536004e-06,-3.10430306e-07, 1.33234675e-05,-1.67376599e-05,
 -9.42601739e-06,-2.35934914e-05,-2.60841869e-05, 9.69181911e-06,
 -2.98862262e-05,-6.45388657e-05, 1.54176544e-06,-2.20717638e-05,
 -3.54141174e-04,-6.31524246e-05,-2.22353944e-04, 1.35427752e-05,
  3.96118301e-07, 1.41514094e-06,-1.21643350e+00, 1.09232931e-04,
  1.46436574e-03,-8.21492657e-07]


--- Step 392 ---
qpos:
[ 3.02561738e-03,-3.31425185e-03, 1.18778885e-02, 4.17035489e-02,
 -2.17750012e-03,-1.91202926e-03,-1.73659028e-02, 2.86429010e-02,
  5.86048085e-03, 1.64573405e-02,-9.37716915e-03, 2.59883960e-02,
  7.81950467e-01,-1.79483005e-03, 5.88014804e-01, 6.53383659e-02,
  9.49282462e-02,-7.00583907e-02, 1.21765435e-01, 9.99995236e-01,
  1.43150873e-04,-4.90042344e-04, 3.04421822e-03]

qacc:
[ -0.28066809, -0.46819002,  0.55765516,  2.22541324,  2.10926191,
   0.488887  , -0.35150195, -3.32503541, -3.19540607,  0.04948646,
  -2.58825503,  6.92089446, -1.76658853,  3.81275179,  6.79180537,
 -27.50909327,  0.05633404,  1.10908595, -0.16923319,-18.52058547,
   1.41619686,  0.2686234 ]

qfrc_actuator:
[-5.24559391e-06, 6.11451180e-05, 1.84591166e-04, 4.80818423e-05,
 -1.57668262e-05,-2.77811904e-04,-2.96681913e-04,-3.68344118e-06,
 -2.01306790e-05, 3.47752802e-04,-3.23838460e-05, 1.03240167e-05,
  5.18179636e-02,-7.19470352e-04, 3.15845951e-02,-4.47149309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002442969866766065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13614073e-13,  6.81684436e-13,  1.00000000e+00,  7.74489452e-26,
        1.00000000e+00, -6.81684436e-13, -1.00000000e+00,  0.00000000e+00,
       -1.13614073e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481888, -0.09309367,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71061950e-06,-1.92771834e-05, 6.95396959e-06, 8.08723657e-06,
  1.24527545e-05, 2.18098315e-05,-8.39212479e-06,-1.07676956e-05,
 -1.89339624e-05,-1.15769660e-04,-4.28835578e-05, 3.09388321e-06,
 -3.49940439e-04,-4.77749777e-05,-1.93627191e-04,-1.89618731e-04,
  1.45322552e-06, 1.11077442e-06,-1.21643066e+00, 1.07398630e-04,
  1.46226323e-03,-6.07653256e-07]


--- Step 393 ---
qpos:
[ 3.02621250e-03,-3.31397177e-03, 1.18789247e-02, 4.17038431e-02,
 -2.17732278e-03,-1.91193024e-03,-1.73675052e-02, 2.86430655e-02,
  5.86059908e-03, 1.64560677e-02,-9.37862325e-03, 2.59884304e-02,
  7.83061198e-01,-1.79246567e-03, 5.89008454e-01, 6.53278807e-02,
  9.49255273e-02,-7.00512775e-02, 1.21766200e-01, 9.99995202e-01,
  8.31630631e-05,-5.10492174e-04, 3.05435602e-03]

qacc:
[  5.88460446,  2.15712375,-11.44013418, 26.06247585,  4.37141373,
   0.93627501, -2.5312761 ,  1.14832305, -1.90870349,  0.38023034,
  -4.22383989, 11.66277187, -1.12171699,  1.60219028,  2.24320756,
 -12.81114807,  0.76183674, -0.41232004,  0.27414066,  7.14895287,
  12.4203248 , -0.95273134]

qfrc_actuator:
[ 2.93354180e-05, 4.84331133e-05, 1.69792288e-04, 8.84735651e-05,
  9.60718875e-06,-2.71690321e-04,-3.14175943e-04,-9.08233364e-06,
 -3.08786657e-05, 3.36588228e-04,-3.13395588e-05, 3.18435336e-05,
  5.17232945e-02,-7.27130557e-04, 3.14726427e-02,-4.56298498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002432073957868569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28246148e-13,  2.28246148e-13,  1.00000000e+00,  5.20963040e-26,
        1.00000000e+00, -2.28246148e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28246148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185509, -0.06179877,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45223596e-05,-2.17389280e-05,-1.76630753e-05, 3.99614531e-05,
  2.57373743e-05, 1.61454639e-05,-1.43801701e-05,-4.96215273e-06,
 -1.13329105e-05,-8.45959938e-05,-2.80200109e-05, 1.51406488e-05,
 -3.39033707e-04,-7.19743502e-05,-2.26062286e-04,-1.27991396e-04,
  2.59778278e-06, 8.17333244e-07,-1.21642084e+00, 1.03734558e-04,
  1.46031910e-03,-3.04785701e-07]


--- Step 394 ---
qpos:
[ 3.02652751e-03,-3.31384327e-03, 1.18797815e-02, 4.17046142e-02,
 -2.17684252e-03,-1.91178516e-03,-1.73689776e-02, 2.86431537e-02,
  5.86024178e-03, 1.64548026e-02,-9.37987247e-03, 2.59893029e-02,
  7.84170068e-01,-1.79048975e-03, 5.90000205e-01, 6.53191324e-02,
  9.49258150e-02,-7.00458052e-02, 1.21767672e-01, 9.99995181e-01,
  3.71911079e-05,-5.06240912e-04, 3.06270520e-03]

qacc:
[-2.46148189, 1.28871552,-6.88854157,15.5284947 , 2.6600923 ,-0.46412927,
  2.05633026,-3.60794626,-4.14072417, 1.17089153,-7.68475627,21.84123077,
 -0.70812226, 0.17213645,-8.0258783 ,24.04676771, 0.75162819,-0.41026588,
  0.17648373, 7.04515958,12.32901112,-0.89893472]

qfrc_actuator:
[ 1.39381402e-05, 4.07857747e-05, 1.60647047e-04, 1.12102186e-04,
  2.44606928e-05,-2.68180471e-04,-3.06089517e-04,-1.23267451e-05,
 -5.49956334e-05, 4.01794876e-04, 5.46534050e-06, 8.00134499e-05,
  5.16266101e-02,-7.50363338e-04, 3.14443878e-02,-4.45278337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002439754525503518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27527608e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.27527608e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818548 , -0.06179917,  0.06199407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44245353e-05,-2.17531327e-05,-1.44462941e-05, 2.28589906e-05,
  1.55935596e-05, 9.37924823e-06, 9.49453139e-06,-3.14470724e-06,
 -2.44763513e-05, 1.28204082e-05, 1.64354452e-05, 4.38762636e-05,
 -3.37948121e-04,-8.82276477e-05,-1.48270149e-04, 7.34682671e-05,
  1.61385299e-06, 3.05951008e-07,-1.21642980e+00, 1.00956495e-04,
  1.45913915e-03,-2.68875456e-07]


--- Step 395 ---
qpos:
[ 3.02631082e-03,-3.31379862e-03, 1.18805472e-02, 4.17046116e-02,
 -2.17653264e-03,-1.91172470e-03,-1.73697051e-02, 2.86428308e-02,
  5.85994280e-03, 1.64534816e-02,-9.38038458e-03, 2.59903697e-02,
  7.85276956e-01,-1.78872631e-03, 5.90990566e-01, 6.53149008e-02,
  9.49290763e-02,-7.00419669e-02, 1.21769522e-01, 9.99995176e-01,
  5.06579267e-06,-4.77438982e-04, 3.06935215e-03]

qacc:
[ -4.66892501, -1.44147931,  8.25786328,-21.45306825, -1.46979833,
  -3.03531341, 12.40184615,-20.64985783,  0.53281963, -1.73494413,
   5.2563333 , -3.02740938, -0.92054234,  0.87228867,-15.648871  ,
  51.84542434,  0.74341222, -0.40846219,  0.09476073,  6.96045116,
  12.25404279, -0.85509093]

qfrc_actuator:
[-1.30107936e-05, 3.62369198e-05, 1.54924751e-04, 7.24268775e-05,
  1.52463054e-05,-2.66160224e-04,-2.65221379e-04,-3.20155395e-05,
 -5.12849398e-05, 4.05915020e-04, 4.56776781e-05, 9.03109296e-05,
  5.15181290e-02,-7.64860301e-04, 3.14344407e-02,-4.20667890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024315709134914432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28293368e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.28293368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185432, -0.06179933,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73691794e-05,-1.87404183e-05,-1.12168105e-05,-4.06653947e-05,
 -8.76687776e-06, 9.10873301e-06, 4.38809450e-05,-1.90173990e-05,
  3.00595246e-06, 1.66134449e-05, 4.64311843e-05, 1.22740894e-05,
 -3.51092065e-04,-8.14109625e-05,-7.47765039e-05, 2.29902373e-04,
  9.74461474e-07,-7.79833696e-08,-1.21643458e+00, 9.88186801e-05,
  1.45921567e-03,-2.21251577e-07]


--- Step 396 ---
qpos:
[ 3.02646253e-03,-3.31376842e-03, 1.18809088e-02, 4.17041467e-02,
 -2.17668017e-03,-1.91198331e-03,-1.73698079e-02, 2.86426583e-02,
  5.85969019e-03, 1.64523907e-02,-9.38100616e-03, 2.59908831e-02,
  7.86381730e-01,-1.78676721e-03, 5.91979488e-01, 6.53156471e-02,
  9.49352851e-02,-7.00397561e-02, 1.21771479e-01, 9.99995184e-01,
 -1.33501698e-05,-4.24207385e-04, 3.07436757e-03]

qacc:
[ 3.22101866e+00, 1.51339984e-01, 1.37221706e+00,-8.70315070e+00,
 -3.98664890e+00,-1.84881621e+00, 5.35821944e+00,-3.53017303e+00,
  3.96720979e-01,-5.30168143e-01, 4.66709015e+00,-1.42391451e+01,
 -1.43082080e+00, 2.64394283e+00,-1.70853792e+01, 5.68335731e+01,
  7.36875293e-01,-4.06915315e-01, 2.65243737e-02, 6.89174546e+00,
  1.21937346e+01,-8.19117076e-01]

qfrc_actuator:
[ 6.73081040e-06, 3.35400558e-05, 1.33487171e-04, 4.90869281e-05,
 -8.05668076e-06,-3.00426757e-04,-2.40856550e-04,-2.57003332e-05,
 -4.89739296e-05, 4.08949038e-04, 3.40623897e-05, 6.04408180e-05,
  5.14079736e-02,-7.56383736e-04, 3.13769171e-02,-3.95351783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024108634911951254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.60508456e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.60508456e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185368, -0.0617993 ,  0.06199414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89567390e-05,-1.72547512e-05,-2.81053422e-05,-2.53230737e-05,
 -2.35506828e-05,-2.09201316e-05, 3.10024312e-05, 7.85636078e-06,
  2.39608672e-06, 2.24928973e-05,-2.02124181e-06,-2.73111890e-05,
 -3.59802297e-04,-6.03906979e-05,-7.43104491e-05, 2.54389486e-04,
  6.58460696e-07,-3.50924520e-07,-1.21643528e+00, 9.73174586e-05,
  1.46053721e-03,-1.62972873e-07]


--- Step 397 ---
qpos:
[ 3.02615960e-03,-3.31390302e-03, 1.18812806e-02, 4.17040868e-02,
 -2.17745109e-03,-1.91215450e-03,-1.73700330e-02, 2.86429082e-02,
  5.85912239e-03, 1.64515021e-02,-9.38204948e-03, 2.59914060e-02,
  7.87484495e-01,-1.78472791e-03, 5.92966880e-01, 6.53172034e-02,
  9.49444209e-02,-7.00391679e-02, 1.21773315e-01, 9.99995203e-01,
 -1.81671804e-05,-3.46640710e-04, 3.07780975e-03]

qacc:
[-3.98733873, 0.59646035,-4.13759302,11.23576666,-5.47267739, 1.33635462,
 -6.36196683,13.78058901,-2.76566142, 1.47104305,-4.88789524, 5.56739138,
 -1.33724787, 2.3241979 ,-4.6527124 ,13.11454937, 0.73175742,-0.40562306,
 -0.03031261, 6.83651702,12.14658891,-0.78935974]

qfrc_actuator:
[-1.72112257e-05, 3.19185273e-05, 1.38475037e-04, 7.10516032e-05,
 -3.94576463e-05,-2.85186524e-04,-2.44323954e-04,-4.17992858e-06,
 -6.52667315e-05, 4.11067805e-04, 9.65489629e-06, 6.03981199e-05,
  5.13128742e-02,-7.52198833e-04, 3.12642732e-02,-3.92917489e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002380414389227814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33199528e-13,  2.33199528e-13,  1.00000000e+00,  5.43820199e-26,
        1.00000000e+00, -2.33199528e-13, -1.00000000e+00,  0.00000000e+00,
       -2.33199528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185292, -0.06179914,  0.06199422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34063064e-05,-1.81585485e-05,-2.91858687e-06, 1.97594183e-05,
 -3.20811489e-05, 1.02848761e-05,-3.69224269e-06, 2.18516589e-05,
 -1.62190448e-05, 1.31546775e-05,-2.09367020e-05, 3.22287311e-07,
 -3.46886606e-04,-6.40874863e-05,-1.26517189e-04, 2.69839460e-05,
  6.50872134e-07,-5.25707334e-07,-1.21643200e+00, 9.64496175e-05,
  1.46309471e-03,-9.48217365e-08]


--- Step 398 ---
qpos:
[ 3.02522739e-03,-3.31437013e-03, 1.18820623e-02, 4.17042840e-02,
 -2.17893782e-03,-1.91181964e-03,-1.73707787e-02, 2.86433873e-02,
  5.85870857e-03, 1.64508578e-02,-9.38397616e-03, 2.59919514e-02,
  7.88585392e-01,-1.78297448e-03, 5.93952422e-01, 6.53190824e-02,
  9.49564681e-02,-7.00401980e-02, 1.21774840e-01, 9.99995228e-01,
 -9.47289363e-06,-2.44809806e-04, 3.07972716e-03]

qacc:
[-5.50470164,-1.04554585, 2.02474616, 1.98997028,-6.30308663, 2.60633202,
 -9.27007407,13.67468554, 1.31125194, 2.83566884,-9.74137107,11.36732578,
 -0.8599445 , 0.69832474,-3.68140686, 8.96455645, 0.72784283,-0.40457756,
 -0.07753117, 6.79269243,12.1112786 ,-0.76450558]

qfrc_actuator:
[-4.89351147e-05, 1.33456915e-05, 1.59065601e-04, 8.40113249e-05,
 -7.53684552e-05,-2.40521095e-04,-2.63993531e-04, 8.37903786e-06,
 -5.68735459e-05, 4.12573141e-04,-3.98244930e-05, 6.01576348e-05,
  5.12215494e-02,-7.68304365e-04, 3.11665491e-02,-3.91567766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023425327372003646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.36970653e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.36970653e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185207, -0.06179886,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23975471e-05,-2.84901053e-05, 1.71627176e-05, 1.24661858e-05,
 -3.68224425e-05, 5.05876320e-05,-1.72385255e-05, 1.32989052e-05,
  7.92991262e-06, 4.58631246e-06,-4.93082569e-05,-3.91200746e-07,
 -3.35569507e-04,-8.23364563e-05,-1.59268769e-04,-2.87444057e-06,
  9.41687535e-07,-6.12654586e-07,-1.21642480e+00, 9.62124164e-05,
  1.46688117e-03,-1.73556634e-08]


--- Step 399 ---
qpos:
[ 3.02426675e-03,-3.31483258e-03, 1.18827084e-02, 4.17042839e-02,
 -2.18084364e-03,-1.91106470e-03,-1.73719872e-02, 2.86429842e-02,
  5.85908804e-03, 1.64504089e-02,-9.38619923e-03, 2.59917648e-02,
  7.89684309e-01,-1.78106675e-03, 5.94936367e-01, 6.53210170e-02,
  9.49714151e-02,-7.00428432e-02, 1.21775899e-01, 9.99995249e-01,
  1.26643786e-05,-1.18764134e-04, 3.08016060e-03]

qacc:
[ -0.25408414, -0.0203759 ,  0.91407085, -4.11238171, -3.69797162,
   0.04036272,  4.40009544,-19.25369274,  6.90594502, -0.43381724,
   4.98876415,-17.30236199, -1.41623846,  2.63637628, -2.47106009,
   5.34764912,  0.72495226, -0.40376744, -0.11665099,  6.75856643,
  12.08663212, -0.74351062]

qfrc_actuator:
[-4.94663703e-05, 2.03409817e-05, 1.53108586e-04, 7.38015008e-05,
 -9.58907598e-05,-2.31912048e-04,-2.92937326e-04,-3.76727511e-05,
 -1.62592306e-05, 4.31340013e-04,-5.04588001e-05, 2.42764000e-05,
  5.11218972e-02,-7.60744897e-04, 3.11044898e-02,-3.90852449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022991273719426275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.41444436e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.41444436e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185115, -0.0617985 ,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46453462e-06,-4.85840037e-06,-9.29834625e-06,-1.05932622e-05,
 -2.15541195e-05, 3.38894616e-05,-2.01527544e-05,-4.42201182e-05,
  4.08413198e-05, 1.11755980e-05,-1.57457291e-05,-3.73943113e-05,
 -3.39633160e-04,-5.86129214e-05,-1.40313251e-04,-1.47087663e-05,
  1.52497035e-06,-6.20406446e-07,-1.21641372e+00, 9.66035965e-05,
  1.47189125e-03, 6.90521210e-08]


--- Step 400 ---
qpos:
[ 3.02296183e-03,-3.31505477e-03, 1.18828553e-02, 4.17045018e-02,
 -2.18298068e-03,-1.91024785e-03,-1.73734269e-02, 2.86424085e-02,
  5.85960666e-03, 1.64498871e-02,-9.38818419e-03, 2.59911469e-02,
  7.90781330e-01,-1.77936724e-03, 5.95918498e-01, 6.53223563e-02,
  9.49892538e-02,-7.00471011e-02, 1.21776362e-01, 9.99995258e-01,
  4.81928626e-05, 3.14661557e-05, 3.07914480e-03]

qacc:
[ -3.04160049,  2.16868979, -8.18012326, 12.56040249, -2.03643318,
   0.37651521, -0.48823154, -2.18204461,  1.22202188, -1.65213473,
   7.56783611,-15.35478761, -0.98521935,  1.10616905, -0.85053305,
  -0.84655737,  0.72293671, -0.40317935, -0.14896842,  6.73273443,
  12.07161869, -0.72554447]

qfrc_actuator:
[-6.71364342e-05, 4.24729676e-05, 1.31604695e-04, 8.55465417e-05,
 -1.07190365e-04,-2.45053272e-04,-3.09542506e-04,-4.68605520e-05,
 -1.02710357e-05, 4.24909856e-04,-3.80196936e-05, 3.26147390e-06,
  5.10226519e-02,-7.74817523e-04, 3.10106153e-02,-3.94054511e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022517688595115326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46522422e-13, -2.46522422e-13,  1.00000000e+00, -6.07733044e-26,
        1.00000000e+00,  2.46522422e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46522422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185019, -0.06179808,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77118498e-05, 1.70525084e-05,-2.40203424e-05, 1.10088019e-05,
 -1.18995164e-05,-2.67866500e-07,-1.36105507e-05,-9.29054770e-06,
  7.16124775e-06,-4.97757718e-06, 1.15446847e-05,-2.18038249e-05,
 -3.37667435e-04,-7.85485736e-05,-1.65882565e-04,-5.23698660e-05,
  2.39818174e-06,-5.56542968e-07,-1.21639880e+00, 9.76213719e-05,
  1.47812111e-03, 1.64180576e-07]


--- Step 401 ---
qpos:
[ 3.02111048e-03,-3.31526015e-03, 1.18827651e-02, 4.17055597e-02,
 -2.18454671e-03,-1.90961622e-03,-1.73747503e-02, 2.86431164e-02,
  5.85950397e-03, 1.64488161e-02,-9.38979617e-03, 2.59906797e-02,
  7.91876398e-01,-1.77779069e-03, 5.96898589e-01, 6.53232836e-02,
  9.50073867e-02,-7.00468723e-02, 1.21776574e-01, 9.99995242e-01,
  4.61896389e-05, 1.84265783e-04, 3.07892568e-03]

qacc:
[ -4.80356171,  2.42571608,-12.1434863 , 27.02679604,  5.01577532,
   2.06062527,-13.14018218, 35.32379299, -5.39781535, -1.44753475,
   3.48998915, -1.09338031, -1.10545926,  1.48742822, -1.73283976,
   1.76876102,  0.07351529,  1.12166553, -0.06251273,-18.76182121,
   1.34246501,  0.39772649]

qfrc_actuator:
[-9.47625698e-05, 3.79442503e-05, 1.18943228e-04, 1.27880957e-04,
 -7.74713148e-05,-2.53301892e-04,-3.01038426e-04, 1.89711062e-05,
 -4.24743158e-05, 3.68046359e-04,-2.99051143e-05, 8.91108413e-06,
  5.09183885e-02,-7.83815972e-04, 3.09137060e-02,-3.95993592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022567645844201456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45976703e-13,  2.45976703e-13,  1.00000000e+00,  6.05045385e-26,
        1.00000000e+00, -2.45976703e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45976703e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481911, -0.09309924,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81236388e-05, 5.20924419e-07,-1.17143650e-05, 4.24486639e-05,
  2.93807017e-05,-1.16235351e-05, 6.45981638e-06, 6.51716110e-05,
 -3.20031043e-05,-5.81490324e-05, 7.78486782e-06, 5.41819513e-06,
 -3.45020916e-04,-7.52817166e-05,-1.83646393e-04,-4.48439162e-05,
  3.56167568e-06,-4.28052473e-07,-1.21638004e+00, 9.92644120e-05,
  1.48556810e-03, 2.67935472e-07]


--- Step 402 ---
qpos:
[ 3.01894226e-03,-3.31546751e-03, 1.18825544e-02, 4.17067657e-02,
 -2.18505471e-03,-1.90907982e-03,-1.73759366e-02, 2.86439035e-02,
  5.85901576e-03, 1.64475104e-02,-9.39085161e-03, 2.59905762e-02,
  7.92969427e-01,-1.77597593e-03, 5.97876676e-01, 6.53232491e-02,
  9.50243133e-02,-7.00462043e-02, 1.21778226e-01, 9.99995206e-01,
  4.05605058e-05, 3.26722519e-04, 3.07897626e-03]

qacc:
[-2.78497490e+00, 6.44741604e-01,-2.91752673e+00, 5.66269703e+00,
  9.28577780e+00,-3.64055058e-01, 7.49373239e-01, 5.07447634e-01,
 -3.34098564e+00,-1.11051760e+00, 1.98554188e+00, 3.57883672e+00,
 -1.55998127e+00, 3.06954731e+00, 5.07412795e-03,-4.17414239e+00,
 -3.01541147e-01, 1.09786364e-01, 3.59772728e-01,-1.82889297e+00,
 -5.16583154e+00, 1.34781823e-01]

qfrc_actuator:
[-1.10269853e-04, 3.52990813e-05, 1.11524609e-04, 1.34601751e-04,
 -2.38508097e-05,-2.58392580e-04,-2.95476337e-04, 2.19115333e-05,
 -6.13824314e-05, 3.87944103e-04, 1.08899055e-05, 3.01499524e-05,
  5.08165135e-02,-7.72019254e-04, 3.08203873e-02,-4.00719947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022502436441019936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.3554299e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.3554299e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198322, -0.07226053,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63088902e-05,-2.95302917e-06,-7.28087580e-06, 7.16391348e-06,
  5.44509604e-05,-7.46206234e-06, 6.21727205e-06, 3.93290271e-06,
 -1.98514243e-05,-1.07321003e-05, 2.99634881e-05, 1.91300891e-05,
 -3.47084722e-04,-5.54938194e-05,-1.86460191e-04,-7.43625903e-05,
  3.54977838e-06, 1.38841612e-07,-1.21638125e+00, 9.92436200e-05,
  1.49306827e-03,-5.60189494e-08]


--- Step 403 ---
qpos:
[ 3.01660476e-03,-3.31560438e-03, 1.18819632e-02, 4.17077065e-02,
 -2.18526069e-03,-1.90873575e-03,-1.73769471e-02, 2.86440395e-02,
  5.85864861e-03, 1.64467307e-02,-9.39204774e-03, 2.59910223e-02,
  7.94060548e-01,-1.77433574e-03, 5.98852651e-01, 6.53248819e-02,
  9.50386380e-02,-7.00491884e-02, 1.21779928e-01, 9.99995154e-01,
  6.53091545e-05, 4.46666926e-04, 3.08031617e-03]

qacc:
[-1.49915488e+00, 6.13867222e-01,-9.30009590e-01,-3.10570775e+00,
  2.65738480e+00,-2.08925457e+00, 9.82191713e+00,-2.12217702e+01,
  1.04294079e+00, 2.21806503e+00,-9.22465008e+00, 1.85807179e+01,
 -9.70073123e-01, 1.09080784e+00,-8.11633773e+00, 2.39403685e+01,
 -6.50494214e-01,-9.12989292e-01, 1.24976534e-02, 1.51539504e+01,
 -1.13028479e+01, 6.50104492e-01]

qfrc_actuator:
[-1.18516815e-04, 3.37961101e-05, 8.94773309e-05, 1.20310378e-04,
 -9.86276170e-06,-2.79357055e-04,-2.91746886e-04,-1.21918950e-05,
 -5.45480626e-05, 4.53803719e-04, 1.77025388e-05, 6.04691812e-05,
  5.07214753e-02,-7.83562675e-04, 3.07505964e-02,-3.91069827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002273431090636241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906629, -0.05165701,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.71187426e-06,-4.34287413e-06,-2.33010434e-05,-1.45310072e-05,
  1.55371345e-05,-2.36728306e-05, 3.09372437e-06,-3.41341269e-05,
  6.25435503e-06, 6.69187173e-05, 8.97647504e-06, 3.12746142e-05,
 -3.38164171e-04,-7.71286594e-05,-1.67583589e-04, 6.73827040e-05,
  3.09664907e-06, 1.10982546e-07,-1.21638887e+00, 9.90200225e-05,
  1.50009879e-03,-5.37647938e-08]


--- Step 404 ---
qpos:
[ 3.01453158e-03,-3.31585303e-03, 1.18808539e-02, 4.17091930e-02,
 -2.18564191e-03,-1.90851187e-03,-1.73776498e-02, 2.86437474e-02,
  5.85871083e-03, 1.64465010e-02,-9.39344061e-03, 2.59911378e-02,
  7.95149857e-01,-1.77315422e-03, 5.99826512e-01, 6.53273036e-02,
  9.50503845e-02,-7.00557968e-02, 1.21781336e-01, 9.99995092e-01,
  1.20155311e-04, 5.44347139e-04, 3.08297488e-03]

qacc:
[  2.3059131 ,  2.42072096,-11.15413267, 21.5128982 , -1.52565286,
  -1.89603227,  8.34263289,-16.15824229,  3.72921392,  0.588817  ,
   0.33901548, -6.13921456, -0.62656567, -0.09420498, -5.48885828,
  14.69452551, -0.64454786, -0.90610592, -0.07364962, 15.01409644,
 -11.17835257,  0.66686201]

qfrc_actuator:
[-1.04675798e-04, 1.51541567e-05, 5.89612176e-05, 1.47023551e-04,
 -1.93213900e-05,-2.74205336e-04,-2.71457760e-04,-3.23175791e-05,
 -3.26205910e-05, 4.75563123e-04, 4.60034487e-06, 4.26471346e-05,
  5.06306008e-02,-8.08792702e-04, 3.06470718e-02,-3.87220368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000228119406778568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86685039e-13, -2.43342520e-13,  1.00000000e+00, -1.18431164e-25,
        1.00000000e+00,  2.43342520e-13, -1.00000000e+00,  0.00000000e+00,
       -4.86685039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906609, -0.05165721,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35937715e-05,-2.64917229e-05,-3.47767644e-05, 2.54383305e-05,
 -9.02271272e-06,-8.90542064e-06, 1.46062999e-05,-2.16969067e-05,
  2.21248237e-05, 6.24174649e-05, 2.93004772e-06,-1.40319631e-05,
 -3.31455280e-04,-9.17768373e-05,-1.77020932e-04, 1.96626938e-05,
  2.15771490e-06,-8.58538069e-07,-1.21640227e+00, 1.00369066e-04,
  1.50600745e-03, 1.19106652e-07]


--- Step 405 ---
qpos:
[ 3.01264055e-03,-3.31654544e-03, 1.18797640e-02, 4.17116844e-02,
 -2.18578851e-03,-1.90845512e-03,-1.73775085e-02, 2.86428393e-02,
  5.85903540e-03, 1.64468326e-02,-9.39500035e-03, 2.59910357e-02,
  7.96237324e-01,-1.77226312e-03, 6.00797973e-01, 6.53275770e-02,
  9.50594833e-02,-7.00627718e-02, 1.21783607e-01, 9.99995030e-01,
  1.77887052e-04, 6.19847786e-04, 3.08626320e-03]

qacc:
[  1.60766879,  1.4271445 ,-10.18323647, 27.87009099,  2.08686965,
  -3.84895419, 15.99833759,-27.87782868,  2.27331288,  0.75566739,
  -0.7070957 , -3.19710151, -0.89246553,  0.79120623,  2.96326389,
 -15.46553603, -0.66190487, -0.09163594,  0.21598822,  1.40842428,
 -11.09413848,  0.31692608]

qfrc_actuator:
[-9.57005008e-05,-1.36171241e-05, 5.91587093e-05, 1.97634740e-04,
 -6.98629109e-06,-2.71131743e-04,-2.23682729e-04,-6.17720136e-05,
 -1.97466165e-05, 5.06133238e-04,-2.58576955e-06, 3.21061249e-05,
  5.05369589e-02,-8.24128123e-04, 3.04967543e-02,-3.99257002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022877268601440015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.8529527e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.8529527e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888404, -0.06838044,  0.06199444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.35522176e-06,-4.96491258e-05,-8.66349739e-06, 4.87677656e-05,
  1.20751158e-05, 1.78480910e-07, 4.69906899e-05,-2.97508402e-05,
  1.35282770e-05, 6.55105174e-05, 5.60033875e-06,-8.03540480e-06,
 -3.32359917e-04,-8.23179064e-05,-2.33135207e-04,-1.42999040e-04,
  1.16484493e-06,-1.50083306e-06,-1.21640845e+00, 1.03165673e-04,
  1.51075756e-03, 1.07092695e-07]


--- Step 406 ---
qpos:
[ 3.01121657e-03,-3.31725442e-03, 1.18785687e-02, 4.17136802e-02,
 -2.18578629e-03,-1.90842854e-03,-1.73768225e-02, 2.86415879e-02,
  5.85916739e-03, 1.64473142e-02,-9.39644556e-03, 2.59904964e-02,
  7.97322719e-01,-1.77086383e-03, 6.01767409e-01, 6.53236331e-02,
  9.50659569e-02,-7.00701131e-02, 1.21786438e-01, 9.99994970e-01,
  2.38494489e-04, 6.73359071e-04, 3.09018490e-03]

qacc:
[  4.09616916, -0.75645779,  4.74183607,-13.1201403 ,  1.3226971 ,
  -2.26964664,  9.47992101,-16.26267059, -1.67888795, -1.01837195,
   5.77026882,-13.6357142 , -1.95127552,  4.38568623,  9.81615121,
 -38.50201883, -0.65630937, -0.09156504,  0.14000341,  1.40371173,
 -10.99900927,  0.31952672]

qfrc_actuator:
[-7.19155723e-05, 5.16859144e-06, 5.97014859e-05, 1.73144055e-04,
  3.32629205e-07,-2.69210006e-04,-1.95580561e-04,-7.87117535e-05,
 -3.00621022e-05, 4.88500716e-04,-6.17342810e-06, 8.20028780e-06,
  5.04310729e-02,-7.98006302e-04, 3.03983498e-02,-4.20563122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002284062197572545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86073902e-13, -4.86073902e-13,  1.00000000e+00, -2.36267838e-25,
        1.00000000e+00,  4.86073902e-13, -1.00000000e+00,  0.00000000e+00,
       -4.86073902e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888414, -0.06838044,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40352094e-05,-8.63709932e-06,-9.07516062e-06,-2.59694744e-05,
  7.66252196e-06, 1.04552272e-05, 3.28971769e-05,-1.58840780e-05,
 -9.90530946e-06, 1.98260458e-05, 1.03705863e-05,-2.10585691e-05,
 -3.44051938e-04,-3.98546892e-05,-2.23037454e-04,-2.51485490e-04,
  4.56612394e-07,-1.32653815e-06,-1.21641730e+00, 1.06033780e-04,
  1.51444439e-03,-1.26744593e-07]


--- Step 407 ---
qpos:
[ 3.01008877e-03,-3.31788875e-03, 1.18773302e-02, 4.17150053e-02,
 -2.18604131e-03,-1.90811221e-03,-1.73765336e-02, 2.86412035e-02,
  5.85883009e-03, 1.64478228e-02,-9.39782266e-03, 2.59893495e-02,
  7.98406181e-01,-1.76973296e-03, 6.02734285e-01, 6.53194149e-02,
  9.50698236e-02,-7.00778207e-02, 1.21789576e-01, 9.99994917e-01,
  3.01972435e-04, 7.05036688e-04, 3.09474485e-03]

qacc:
[  2.59675893, -1.16810293,  7.12810683,-18.70832576, -2.27314651,
   3.27908721,-14.78996808, 30.20643872, -4.09194747, -1.39762869,
   7.61476045,-18.27564014, -0.92590705,  0.84277884, -2.92546451,
   4.80189162, -0.65173166, -0.09160462,  0.07658794,  1.40129685,
 -10.92113967,  0.32268514]

qfrc_actuator:
[-5.73552477e-05, 1.67335582e-05, 6.05685686e-05, 1.40196032e-04,
 -1.31188337e-05,-2.50296864e-04,-2.14825736e-04,-3.49112209e-05,
 -5.39412784e-05, 4.77638530e-04,-7.81665159e-06,-2.34178491e-05,
  5.03232531e-02,-8.18703104e-04, 3.03045166e-02,-4.20509158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002268586390414551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22347448e-13,  3.67042345e-13,  1.00000000e+00,  4.49066943e-26,
        1.00000000e+00, -3.67042345e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22347448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888442, -0.06838042,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52464291e-05, 3.79626642e-06,-2.91504135e-06,-3.41384889e-05,
 -1.32300628e-05, 3.08704901e-05,-1.35887903e-05, 4.50786266e-05,
 -2.41557843e-05, 1.46202643e-06, 3.01383660e-06,-3.08157162e-05,
 -3.46387113e-04,-8.41914188e-05,-2.27159118e-04,-4.29125825e-05,
 -1.10653944e-07,-1.06537882e-06,-1.21642359e+00, 1.09022143e-04,
  1.51704273e-03,-3.77886647e-07]


--- Step 408 ---
qpos:
[ 3.00879982e-03,-3.31875583e-03, 1.18762280e-02, 4.17159525e-02,
 -2.18611052e-03,-1.90758702e-03,-1.73764922e-02, 2.86420375e-02,
  5.85820918e-03, 1.64482621e-02,-9.39919911e-03, 2.59885408e-02,
  7.99487831e-01,-1.76945658e-03, 6.03698056e-01, 6.53172296e-02,
  9.50739642e-02,-7.00810721e-02, 1.21792188e-01, 9.99994869e-01,
  3.28296060e-04, 7.39689838e-04, 3.09953273e-03]

qacc:
[ -1.40641626, -1.46497046,  6.37604558,-12.96776305,  1.61910619,
   3.47013864,-17.12396321, 38.4593897 , -2.47218308,  0.60781589,
  -3.72004592,  9.61564798, -0.15570934, -1.80263261,-10.7305    ,
  30.84471255,  0.06846791,  1.1140779 , -0.1313965 ,-18.57254345,
   1.54528261,  0.10041152]

qfrc_actuator:
[-6.60982771e-05,-1.16237825e-05, 6.16101142e-05, 1.20299591e-04,
 -3.18072172e-06,-2.39249358e-04,-2.26250196e-04, 2.65079519e-05,
 -6.78522811e-05, 4.70901562e-04,-8.29261839e-06,-6.06008306e-06,
  5.02249867e-02,-8.66917738e-04, 3.01656154e-02,-4.09640025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022380247804942854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39520451e-13, -2.48036357e-13,  1.00000000e+00, -3.46061442e-26,
        1.00000000e+00,  2.48036357e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39520451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481973, -0.0931004 ,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.30288427e-06,-2.82555246e-05, 3.04821676e-07,-2.04984463e-05,
  9.57043847e-06, 2.74166193e-05,-5.16783983e-06, 6.31493084e-05,
 -1.46017560e-05,-6.62667706e-06,-8.55656644e-07, 1.69304150e-05,
 -3.45987278e-04,-1.17167671e-04,-2.49491988e-04, 7.66651927e-05,
 -5.39812120e-07,-7.17933868e-07,-1.21642738e+00, 1.12130569e-04,
  1.51856020e-03,-6.46351607e-07]


--- Step 409 ---
qpos:
[ 3.00776115e-03,-3.31963530e-03, 1.18748031e-02, 4.17163123e-02,
 -2.18571527e-03,-1.90689163e-03,-1.73765648e-02, 2.86435968e-02,
  5.85742612e-03, 1.64486303e-02,-9.40056327e-03, 2.59879459e-02,
  8.00567377e-01,-1.76877802e-03, 6.04659756e-01, 6.53161469e-02,
  9.50783837e-02,-7.00798977e-02, 1.21794027e-01, 9.99994828e-01,
  3.17702356e-04, 7.77274020e-04, 3.10458197e-03]

qacc:
[  2.18649432, -0.32906275,  3.61935826,-13.2470529 ,  4.06772882,
   2.02630338, -9.97471322, 22.59578289, -1.41253503,  0.31429647,
  -2.15466102,  5.88090629, -1.72835769,  3.62901402, -6.30903384,
  17.80656348,  0.06973994,  1.10643528, -0.19328662,-18.45412472,
   1.52276208,  0.11653051]

qfrc_actuator:
[-5.29791961e-05,-1.03990818e-05, 4.48415562e-05, 9.04570476e-05,
  2.04509768e-05,-2.32956247e-04,-2.32972870e-04, 6.22947295e-05,
 -7.57803557e-05, 4.66725230e-04,-8.02800378e-06, 4.47507585e-06,
  5.01271854e-02,-8.42186490e-04, 3.01010045e-02,-4.03153101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022238312544614613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02815795e-13,  7.48858320e-13,  1.00000000e+00,  1.51880295e-25,
        1.00000000e+00, -7.48858320e-13, -1.00000000e+00,  0.00000000e+00,
       -2.02815795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481991, -0.09310091,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28772669e-05,-1.53475523e-05,-2.32540488e-05,-3.14384890e-05,
  2.39116473e-05, 2.32451729e-05, 4.79899463e-07, 3.80083631e-05,
 -8.34977913e-06,-7.33828397e-06,-6.11082021e-07, 1.05554477e-05,
 -3.51055715e-04,-4.78621299e-05,-1.70266340e-04, 3.70727596e-05,
 -1.15016407e-07,-5.66365273e-07,-1.21643525e+00, 1.13444340e-04,
  1.52036538e-03,-7.78217062e-07]


--- Step 410 ---
qpos:
[ 3.00688771e-03,-3.32049716e-03, 1.18733740e-02, 4.17169763e-02,
 -2.18538467e-03,-1.90612294e-03,-1.73763648e-02, 2.86452131e-02,
  5.85655372e-03, 1.64492367e-02,-9.40207343e-03, 2.59877981e-02,
  8.01644865e-01,-1.76750365e-03, 6.05619821e-01, 6.53153999e-02,
  9.50802081e-02,-7.00790980e-02, 1.21796279e-01, 9.99994801e-01,
  3.09981806e-04, 7.92901371e-04, 3.11025647e-03]

qacc:
[  1.45007254,  0.65921873, -3.60432415,  8.86525178, -0.55976201,
  -0.54589418,  1.8478869 , -1.35119776, -0.78749575,  1.64495308,
  -7.29374833, 15.08807758, -1.93391723,  4.4222235 , -3.34349472,
   8.3901352 , -0.64878268, -0.09367422,  0.10323731,  1.40224079,
 -10.98272424,  0.3172119 ]

qfrc_actuator:
[-4.48424411e-05, 8.44759519e-06, 5.32965781e-05, 1.08265215e-04,
  1.64405786e-05,-2.29560660e-04,-2.19156491e-04, 6.49553956e-05,
 -8.01266870e-05, 4.99620125e-04,-7.33094317e-06, 2.86585632e-05,
  5.00350803e-02,-8.10107829e-04, 3.00383801e-02,-4.01059052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022188637539646838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00356555e-13,  2.50178278e-13,  1.00000000e+00,  1.25178341e-25,
        1.00000000e+00, -2.50178278e-13, -1.00000000e+00,  0.00000000e+00,
       -5.00356555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088851 , -0.06838026,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50460185e-06, 4.16990349e-06, 1.35957352e-06, 1.57380905e-05,
 -3.32229535e-06, 1.81026590e-05, 1.99802452e-05, 4.40726866e-06,
 -4.58899308e-06, 2.91159568e-05,-5.16290357e-07, 2.40570383e-05,
 -3.35979667e-04,-3.40786649e-05,-1.40862814e-04, 5.80290271e-08,
  3.55178363e-07,-4.17916150e-07,-1.21643615e+00, 1.12937251e-04,
  1.52232562e-03,-8.21384207e-07]


--- Step 411 ---
qpos:
[ 3.00577390e-03,-3.32149588e-03, 1.18723872e-02, 4.17178366e-02,
 -2.18579423e-03,-1.90547308e-03,-1.73755715e-02, 2.86461605e-02,
  5.85563598e-03, 1.64499928e-02,-9.40350914e-03, 2.59872462e-02,
  8.02720568e-01,-1.76649518e-03, 6.06578528e-01, 6.53115371e-02,
  9.50794493e-02,-7.00786700e-02, 1.21798718e-01, 9.99994788e-01,
  3.05119775e-04, 7.86721252e-04, 3.11655623e-03]

qacc:
[ -2.09347005, -1.00905991,  2.51412451,  0.26807333, -6.47151971,
  -3.17685107, 13.94607662,-26.40481638, -0.39603801, -0.84109106,
   4.99363446,-12.21756797, -0.93455413,  0.96367628,  7.42322297,
 -28.8276202 , -0.64580776, -0.09292202,  0.04682815,  1.39508886,
 -10.90803295,  0.31711851]

qfrc_actuator:
[-5.74627828e-05, 2.33715402e-06, 7.66964399e-05, 1.18502051e-04,
 -2.15643686e-05,-2.45627397e-04,-1.93357563e-04, 3.03657610e-05,
 -8.23319291e-05, 5.01218936e-04,-6.22104998e-06, 7.45420018e-06,
  4.99464646e-02,-8.27233144e-04, 2.99556799e-02,-4.17545525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022009283331771157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.30542467e-13, -2.52216987e-13,  1.00000000e+00, -1.59033521e-25,
        1.00000000e+00,  2.52216987e-13, -1.00000000e+00,  0.00000000e+00,
       -6.30542467e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888531, -0.06838019,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23732973e-05,-2.77147952e-06, 2.49990763e-05, 1.07723124e-05,
 -3.80943200e-05,-1.66294447e-06, 3.21369247e-05,-3.30423851e-05,
 -2.32725923e-06, 1.87966005e-05, 7.90319188e-06,-1.95039276e-05,
 -3.19691632e-04,-7.91926226e-05,-1.53242547e-04,-1.84428070e-04,
  1.52606060e-07,-2.05289592e-07,-1.21643923e+00, 1.12509438e-04,
  1.52309379e-03,-7.80816983e-07]


--- Step 412 ---
qpos:
[ 3.00451735e-03,-3.32229241e-03, 1.18718806e-02, 4.17180754e-02,
 -2.18700093e-03,-1.90506734e-03,-1.73743528e-02, 2.86463690e-02,
  5.85469946e-03, 1.64501571e-02,-9.40427446e-03, 2.59861543e-02,
  8.03794428e-01,-1.76564667e-03, 6.07535777e-01, 6.53062898e-02,
  9.50761166e-02,-7.00786113e-02, 1.21801156e-01, 9.99994788e-01,
  3.03104336e-04, 7.58851689e-04, 3.12348098e-03]

qacc:
[-1.24161170e+00,-2.35350431e+00, 1.14038123e+01,-2.30753765e+01,
 -6.97448690e+00,-3.01678497e+00, 1.34328945e+01,-2.67467462e+01,
 -1.33119240e-01,-3.76751518e+00, 1.45790074e+01,-2.45625118e+01,
 -1.04042226e+00, 1.32415182e+00, 2.05727682e+00,-1.02512192e+01,
 -6.43464016e-01,-9.23194487e-02,-1.01346608e-04, 1.38924199e+00,
 -1.08490109e+01, 3.16900972e-01]

qfrc_actuator:
[-6.44452423e-05, 3.46577481e-05, 1.08618261e-04, 8.86769860e-05,
 -6.15120492e-05,-2.73208713e-04,-1.78551481e-04,-8.11833923e-06,
 -8.32607654e-05, 4.30775349e-04, 1.27271434e-05,-2.25578676e-05,
  4.98493405e-02,-8.37752167e-04, 2.99089002e-02,-4.23545416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021749863057014818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82837936e-13, -2.55225291e-13,  1.00000000e+00, -9.77099236e-26,
        1.00000000e+00,  2.55225291e-13, -1.00000000e+00,  0.00000000e+00,
       -3.82837936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888567, -0.06838011,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33329839e-06, 3.64408714e-05, 3.48241502e-05,-2.88657931e-05,
 -4.10340452e-05,-2.33375965e-05, 1.72604074e-05,-3.80902245e-05,
 -9.87677082e-07,-5.91488052e-05, 2.31378137e-05,-2.93100080e-05,
 -3.25531432e-04,-7.45997358e-05,-1.43612321e-04,-9.14543888e-05,
  8.91337727e-08, 9.29209106e-08,-1.21643984e+00, 1.12201260e-04,
  1.52278273e-03,-7.58218884e-07]


--- Step 413 ---
qpos:
[ 3.00318676e-03,-3.32279406e-03, 1.18717191e-02, 4.17179520e-02,
 -2.18798739e-03,-1.90504391e-03,-1.73728453e-02, 2.86457973e-02,
  5.85410430e-03, 1.64493451e-02,-9.40460515e-03, 2.59858145e-02,
  8.04866291e-01,-1.76426177e-03, 6.08490681e-01, 6.53007731e-02,
  9.50702172e-02,-7.00789200e-02, 1.21803439e-01, 9.99994801e-01,
  3.03925982e-04, 7.09383661e-04, 3.13103028e-03]

qacc:
[ -0.64428608, -1.32071006,  6.80433072,-13.84308024,  1.94686338,
  -2.92007414, 12.96722458,-26.64312219,  3.00806474, -0.96244496,
  -1.62697633, 14.68116495, -1.82966122,  4.10128325, -2.56816477,
   4.14358213, -0.64168677, -0.09184463, -0.03902854,  1.38456535,
 -10.80351684,  0.31660853]

qfrc_actuator:
[-6.80464550e-05, 5.42474089e-05, 1.27685926e-04, 7.10592365e-05,
 -4.90144272e-05,-3.07525962e-04,-1.70410565e-04,-4.86014637e-05,
 -6.56795572e-05, 3.53293369e-04, 2.39999464e-05, 1.34536369e-05,
  4.97525067e-02,-8.08801759e-04, 2.97825406e-02,-4.25077123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021429470671700812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.18082337e-13,  2.59041168e-13,  1.00000000e+00,  1.34204654e-25,
        1.00000000e+00, -2.59041168e-13, -1.00000000e+00,  0.00000000e+00,
       -5.18082337e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888614, -0.06838002,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79456902e-06, 4.59596777e-05, 2.99013499e-05,-1.54107554e-05,
  1.13207091e-05,-4.54785885e-05, 4.11073745e-06,-4.16297301e-05,
  1.75320687e-05,-1.07032848e-04, 8.99108320e-07, 3.37105335e-05,
 -3.28139713e-04,-3.58303961e-05,-2.08491654e-04,-4.03631466e-05,
  1.62033140e-07, 4.76269478e-07,-1.21643804e+00, 1.12012237e-04,
  1.52139827e-03,-7.53437611e-07]


--- Step 414 ---
qpos:
[ 3.00182357e-03,-3.32324856e-03, 1.18716406e-02, 4.17176689e-02,
 -2.18847168e-03,-1.90549819e-03,-1.73714985e-02, 2.86454797e-02,
  5.85372365e-03, 1.64487171e-02,-9.40585518e-03, 2.59865442e-02,
  8.05936148e-01,-1.76246918e-03, 6.09443165e-01, 6.52967064e-02,
  9.50645775e-02,-7.00748233e-02, 1.21804672e-01, 9.99994819e-01,
  2.68142667e-04, 6.62913468e-04, 3.13871224e-03]

qacc:
[ -0.28441663, -0.49817087,  2.54124281, -5.47305717,  4.40762224,
   0.33158652, -3.1865741 ,  8.20938314,  1.83976428,  5.01065023,
 -22.03417206, 41.88302067, -1.65474439,  3.48031993, -7.87772517,
  22.53642822,  0.06494272,  1.10133768, -0.26242981,-18.29774008,
   1.55623357,  0.05288049]

qfrc_actuator:
[-6.96305236e-05, 3.05196712e-05, 1.21231376e-04, 6.07553204e-05,
 -2.35007875e-05,-3.45648920e-04,-1.84054909e-04,-3.66892335e-05,
 -5.50975886e-05, 4.14230582e-04,-4.87014345e-06, 7.02503696e-05,
  4.96452755e-02,-7.92307296e-04, 2.96884523e-02,-4.16883005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021002769526301535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48670977e-13, -2.64303958e-13,  1.00000000e+00, -3.92943276e-26,
        1.00000000e+00,  2.64303958e-13, -1.00000000e+00,  0.00000000e+00,
       -1.48670977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482102, -0.09310513,  0.0619949 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67488862e-06, 7.51229564e-06, 6.19779253e-06,-7.59835428e-06,
  2.58220278e-05,-6.45027854e-05,-2.39893601e-05, 9.29266874e-06,
  1.10427446e-05, 2.75241703e-06,-4.96892286e-05, 5.28995544e-05,
 -3.33661381e-04,-4.43847530e-05,-1.96831143e-04, 5.22286066e-05,
  3.68733967e-07, 9.44384768e-07,-1.21643385e+00, 1.11941970e-04,
  1.51894491e-03,-7.66356005e-07]


--- Step 415 ---
qpos:
[ 3.00079705e-03,-3.32376935e-03, 1.18715706e-02, 4.17172852e-02,
 -2.18864657e-03,-1.90611195e-03,-1.73704841e-02, 2.86456236e-02,
  5.85312733e-03, 1.64489788e-02,-9.40757287e-03, 2.59874793e-02,
  8.07004085e-01,-1.76074652e-03, 6.10394061e-01, 6.52950916e-02,
  9.50563701e-02,-7.00710969e-02, 1.21805847e-01, 9.99994844e-01,
  2.35177300e-04, 5.94711779e-04, 3.14699597e-03]

qacc:
[ 2.95639380e+00,-3.24641826e-01, 1.44459035e+00,-3.13876048e+00,
  2.70636341e+00, 1.66166795e+00,-8.18860500e+00, 1.68328771e+01,
 -1.91067959e+00, 2.90920999e+00,-9.52772429e+00, 1.31675653e+01,
 -1.08850963e+00, 1.49566533e+00,-9.70148921e+00, 3.06328168e+01,
 -6.41935817e-01,-9.25853315e-02,-1.45644728e-02, 1.37466214e+00,
 -1.08700362e+01, 3.04716801e-01]

qfrc_actuator:
[-5.22635001e-05, 1.64365424e-05, 1.17340318e-04, 5.47820681e-05,
 -8.30017944e-06,-3.32549098e-04,-1.92683879e-04,-1.18147148e-05,
 -6.64774849e-05, 5.21944127e-04,-3.38794386e-06, 8.56422376e-05,
  4.95425302e-02,-8.01124910e-04, 2.96617502e-02,-4.03014549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020823670480843437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66577169e-13, -2.66577169e-13,  1.00000000e+00, -7.10633870e-26,
        1.00000000e+00,  2.66577169e-13, -1.00000000e+00,  0.00000000e+00,
       -2.66577169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888696, -0.06837983,  0.06199494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73235869e-05,-8.90580341e-06,-1.83059103e-06,-5.58275387e-06,
  1.59147230e-05,-2.75164763e-05,-2.45965921e-05, 2.14586711e-05,
 -1.10657331e-05, 1.01294063e-04,-2.21965803e-06, 1.48220644e-05,
 -3.34184358e-04,-7.18098192e-05,-1.13914937e-04, 1.15599769e-04,
  1.05144318e-06, 6.31123774e-07,-1.21643131e+00, 1.10181023e-04,
  1.51683057e-03,-5.62422364e-07]


--- Step 416 ---
qpos:
[ 3.00033167e-03,-3.32447808e-03, 1.18717793e-02, 4.17171754e-02,
 -2.18863796e-03,-1.90646320e-03,-1.73703499e-02, 2.86457021e-02,
  5.85274444e-03, 1.64496864e-02,-9.40883900e-03, 2.59878926e-02,
  8.08070266e-01,-1.75947345e-03, 6.11343481e-01, 6.52921733e-02,
  9.50484187e-02,-7.00629793e-02, 1.21805830e-01, 9.99994868e-01,
  1.65725083e-04, 5.29459886e-04, 3.15546122e-03]

qacc:
[  4.93765309, -0.47259808,  0.15247442,  4.2972989 ,  1.57726625,
   2.6675526 , -8.73757697,  8.82436444,  1.86765066, -1.75021715,
   9.29235261,-19.36512661, -0.67671614,  0.09012829,  1.76827881,
  -9.32412643,  0.06400804,  1.09783221, -0.29795259,-18.23874399,
   1.53232411,  0.07956548]

qfrc_actuator:
[-2.38820391e-05, 8.23475560e-06, 1.32781168e-04, 6.91645752e-05,
  7.04492912e-07,-3.06595383e-04,-2.33572766e-04,-1.49770400e-05,
 -5.51848638e-05, 5.32675986e-04, 1.62216852e-05, 5.88748359e-05,
  4.94585185e-02,-8.24815206e-04, 2.95636502e-02,-4.10753367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020451902586253456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69639325e-14,  5.42845840e-13,  1.00000000e+00,  9.20880020e-27,
        1.00000000e+00, -5.42845840e-13, -1.00000000e+00,  0.00000000e+00,
       -1.69639325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482156, -0.09310703,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88738794e-05,-1.37693454e-05, 1.31907832e-05, 1.38306547e-05,
  9.44880970e-06, 6.42126110e-06,-4.88655275e-05,-4.77687703e-06,
  1.10094995e-05, 6.75555808e-05, 4.07875495e-05,-2.22133537e-05,
 -3.20072873e-04,-9.01779238e-05,-1.44086105e-04,-8.72042848e-05,
  1.43593943e-06, 1.06726757e-06,-1.21642553e+00, 1.08423180e-04,
  1.51347195e-03,-4.31535077e-07]


--- Step 417 ---
qpos:
[ 2.99986504e-03,-3.32493549e-03, 1.18716935e-02, 4.17175670e-02,
 -2.18886601e-03,-1.90694211e-03,-1.73706226e-02, 2.86461049e-02,
  5.85284488e-03, 1.64506040e-02,-9.40968022e-03, 2.59873241e-02,
  8.09134597e-01,-1.75844192e-03, 6.12290624e-01, 6.52890920e-02,
  9.50378939e-02,-7.00552323e-02, 1.21805875e-01, 9.99994890e-01,
  9.90592223e-05, 4.42332938e-04, 3.16449746e-03]

qacc:
[-2.43000847e-02, 2.18898245e+00,-9.43748146e+00, 1.83984891e+01,
 -2.08616626e+00, 1.63904293e+00,-7.45171737e+00, 1.38011201e+01,
  4.22475326e+00,-2.93949698e+00, 1.50150615e+01,-3.28265557e+01,
 -9.11214375e-01, 8.79533953e-01,-2.84092604e+00, 5.11761231e+00,
 -6.43373655e-01,-9.26767983e-02, 1.56363242e-02, 1.35850750e+00,
 -1.09418195e+01, 2.88049247e-01]

qfrc_actuator:
[-2.47563315e-05, 3.92151971e-05, 1.24042382e-04, 9.54262757e-05,
 -1.17588822e-05,-3.26545420e-04,-2.57631702e-04, 8.86014380e-07,
 -3.06315542e-05, 5.20811802e-04, 2.82229770e-05, 7.45683958e-06,
  4.93591721e-02,-8.39268863e-04, 2.94440619e-02,-4.11651190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020371568355569136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888744, -0.06837962,  0.06199505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.57490795e-08, 2.66326819e-05,-9.47422421e-06, 2.63978111e-05,
 -1.21896292e-05,-2.66430678e-05,-2.89151626e-05, 1.43543925e-05,
  2.48927619e-05, 3.33774897e-05, 3.02158483e-05,-4.75441801e-05,
 -3.29614818e-04,-8.03375653e-05,-2.01341601e-04,-3.38239378e-05,
  2.19450105e-06, 6.52854403e-07,-1.21641707e+00, 1.04996379e-04,
  1.51045493e-03,-1.00946432e-07]


--- Step 418 ---
qpos:
[ 2.99939193e-03,-3.32521810e-03, 1.18712147e-02, 4.17186322e-02,
 -2.18889633e-03,-1.90807510e-03,-1.73703962e-02, 2.86466998e-02,
  5.85323901e-03, 1.64516964e-02,-9.41004170e-03, 2.59861452e-02,
  8.10196943e-01,-1.75721907e-03, 6.13235447e-01, 6.52839205e-02,
  9.50248101e-02,-7.00494504e-02, 1.21805726e-01, 9.99994905e-01,
  4.85041015e-05, 3.33095527e-04, 3.17440887e-03]

qacc:
[ -0.07182913,  2.71824567,-12.19695421, 24.34922378,  1.76127511,
  -1.86672001,  4.58466105, -1.56928531,  2.57322605, -2.37141586,
  11.35890988,-22.80864499, -1.50693306,  2.84068472,  2.93855292,
 -15.12568613, -0.63971948, -0.49127592, -0.04864011,  8.02015125,
 -11.08062161,  0.44225336]

qfrc_actuator:
[-2.50935007e-05, 4.00830031e-05, 1.01257446e-04, 1.28478425e-04,
 -1.25105268e-06,-3.73752552e-04,-2.36208539e-04, 1.00481135e-05,
 -1.62297469e-05, 5.30952869e-04, 5.32579242e-05,-2.25774185e-05,
  4.92560225e-02,-8.30456120e-04, 2.93170315e-02,-4.22708425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000201146509193142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75973724e-13, -8.12346595e-07,  1.00000000e+00,  2.24186315e-19,
        1.00000000e+00,  8.12346595e-07, -1.00000000e+00,  0.00000000e+00,
        2.75973724e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897515, -0.06022015,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28717183e-07, 1.49527996e-05,-1.75313670e-05, 3.43794382e-05,
  1.01516409e-05,-6.74478366e-05, 1.28632284e-05, 7.30046093e-06,
  1.51296739e-05, 3.29968740e-05, 3.40056481e-05,-2.84835991e-05,
 -3.38321649e-04,-5.76553580e-05,-2.25966463e-04,-1.39055377e-04,
  2.75112985e-06, 1.05726671e-06,-1.21640964e+00, 1.01555438e-04,
  1.50618027e-03, 1.74061555e-07]


--- Step 419 ---
qpos:
[ 2.99891865e-03,-3.32562673e-03, 1.18708964e-02, 4.17197404e-02,
 -2.18880099e-03,-1.90930606e-03,-1.73701405e-02, 2.86477060e-02,
  5.85345820e-03, 1.64527995e-02,-9.40946884e-03, 2.59849500e-02,
  8.11257454e-01,-1.75621594e-03, 6.14177353e-01, 6.52794470e-02,
  9.50092173e-02,-7.00472403e-02, 1.21804633e-01, 9.99994906e-01,
  2.75029341e-05, 2.01757487e-04, 3.18536657e-03]

qacc:
[ 5.77491200e-03,-5.26333954e-01, 1.45312684e+00,-8.71469818e-01,
  1.10498333e+00, 6.32448207e-01,-4.18339064e+00, 1.13302170e+01,
 -1.49692096e+00,-2.62740044e+00, 9.46209328e+00,-1.12485478e+01,
 -8.87794145e-01, 8.51398107e-01,-6.38159684e+00, 1.61347401e+01,
 -6.27268706e-01,-8.92945140e-01,-2.36002276e-01, 1.47416493e+01,
 -1.10971382e+01, 5.28616579e-01]

qfrc_actuator:
[-2.51026717e-05, 2.28592220e-05, 1.05766426e-04, 1.29726906e-04,
  4.94713389e-06,-3.47973285e-04,-2.23744713e-04, 3.29447887e-05,
 -2.56751643e-05, 5.36495737e-04, 1.03640897e-04,-2.20075402e-05,
  4.91666470e-02,-8.43525033e-04, 2.91909476e-02,-4.18358925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019973028074556087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55861145e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.55861145e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906682, -0.05165041,  0.06199515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28608254e-08,-1.09958389e-05, 6.63489350e-06, 1.95102538e-06,
  6.46319194e-06,-8.92690410e-06, 3.78177566e-07, 2.05936213e-05,
 -8.99755252e-06, 2.97724437e-05, 6.03957646e-05, 2.60667315e-06,
 -3.26575239e-04,-7.85395485e-05,-2.47405201e-04, 6.13881980e-06,
  3.14986348e-06, 1.86646645e-06,-1.21640349e+00, 9.88680326e-05,
  1.50073849e-03, 3.03325973e-07]


--- Step 420 ---
qpos:
[ 2.99775897e-03,-3.32594117e-03, 1.18702781e-02, 4.17208589e-02,
 -2.18897753e-03,-1.90982143e-03,-1.73706515e-02, 2.86482374e-02,
  5.85287318e-03, 1.64537187e-02,-9.40847706e-03, 2.59848680e-02,
  8.12316176e-01,-1.75566147e-03, 6.15116759e-01, 6.52806287e-02,
  9.49911126e-02,-7.00485863e-02, 1.21802427e-01, 9.99994887e-01,
  3.59172224e-05, 4.84391288e-05, 3.19738573e-03]

qacc:
[ -6.03597524,  0.99599808, -3.39322827,  3.95877376, -2.42119779,
   2.11513703, -4.15663967, -3.37110996, -6.99732097,  0.89092235,
  -8.20564395, 26.91012784, -0.50022639, -0.39314777,-20.74264947,
  67.23679735, -0.62795708, -0.88900817, -0.27822906, 14.67253853,
 -11.03693669,  0.53403366]

qfrc_actuator:
[-6.04240276e-05, 3.05166497e-05, 9.07502609e-05, 1.30006843e-04,
 -9.20011652e-06,-2.78696672e-04,-2.51891517e-04, 1.05283131e-05,
 -6.68303825e-05, 5.03868465e-04, 1.15328313e-04, 3.20800531e-05,
  4.90749424e-02,-8.69388426e-04, 2.91454556e-02,-3.87207944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019788200456495597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45460710e-13,  4.20789788e-13,  1.00000000e+00, -1.03287360e-25,
        1.00000000e+00, -4.20789788e-13, -1.00000000e+00,  0.00000000e+00,
        2.45460710e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906683, -0.05164994,  0.06199519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53245032e-05, 2.98012374e-06,-1.63961658e-05, 7.57363835e-08,
 -1.39670085e-05, 6.52871019e-05,-2.92226198e-05,-2.23855068e-05,
 -4.14014320e-05,-3.43747974e-06, 2.53501916e-05, 5.75032977e-05,
 -3.24668724e-04,-9.16429338e-05,-1.58507091e-04, 2.79953237e-04,
  3.24077683e-06, 3.20559600e-06,-1.21639547e+00, 9.75965320e-05,
  1.49409039e-03, 1.83943532e-07]


--- Step 421 ---
qpos:
[ 2.99618476e-03,-3.32587459e-03, 1.18693266e-02, 4.17219372e-02,
 -2.18966667e-03,-1.91034108e-03,-1.73709422e-02, 2.86478294e-02,
  5.85179946e-03, 1.64544250e-02,-9.40727413e-03, 2.59857988e-02,
  8.13372995e-01,-1.75507582e-03, 6.16054737e-01, 6.52847150e-02,
  9.49732058e-02,-7.00454094e-02, 1.21800019e-01, 9.99994845e-01,
  6.89807860e-06,-1.01722312e-04, 3.20938810e-03]

qacc:
[-3.65564435e+00, 1.35974025e+00,-3.93526387e+00, 3.47863116e+00,
 -4.48949664e+00,-2.54383613e+00, 1.30444184e+01,-2.96667922e+01,
 -4.25161762e+00, 1.22227610e+00,-9.02876440e+00, 2.63640550e+01,
 -1.17742491e+00, 1.84245307e+00,-1.08244876e+01, 3.49219399e+01,
  4.94529795e-02, 1.13069961e+00,-5.02992221e-02,-1.87115727e+01,
  1.63829587e+00,-9.32103897e-03]

qfrc_actuator:
[-8.07411291e-05, 7.06856344e-05, 8.21678230e-05, 1.29721258e-04,
 -3.52073581e-05,-3.08364430e-04,-2.50362561e-04,-3.83545583e-05,
 -9.08069857e-05, 4.84034874e-04, 1.21692691e-04, 8.16502383e-05,
  4.89819023e-02,-8.67106425e-04, 2.90951284e-02,-3.72454463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019903597656265037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39450044e-13,  8.36700262e-13,  1.00000000e+00,  1.16677888e-25,
        1.00000000e+00, -8.36700262e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39450044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482395, -0.0931097 ,  0.06199516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13201208e-05, 3.84594890e-05,-9.97272637e-06,-7.22532018e-07,
 -2.63804683e-05,-1.36041787e-07, 1.06515005e-05,-4.75300818e-05,
 -2.51640408e-05,-1.41161527e-05, 1.07453125e-05, 5.14166544e-05,
 -3.26135066e-04,-6.50893079e-05,-9.52145821e-05, 1.41912202e-04,
  3.30209091e-06, 4.83769295e-06,-1.21638072e+00, 9.77432986e-05,
  1.48630959e-03,-1.12039075e-07]


--- Step 422 ---
qpos:
[ 2.99506883e-03,-3.32550950e-03, 1.18685445e-02, 4.17229786e-02,
 -2.19066184e-03,-1.91148222e-03,-1.73703862e-02, 2.86475663e-02,
  5.85148058e-03, 1.64553964e-02,-9.40583992e-03, 2.59862174e-02,
  8.14427933e-01,-1.75444739e-03, 6.16991136e-01, 6.52905781e-02,
  9.49583430e-02,-7.00438731e-02, 1.21799081e-01, 9.99994791e-01,
 -7.70051381e-06,-2.26374928e-04, 3.21958175e-03]

qacc:
[  4.02279232, -0.16317741,  1.2959665 , -2.40956061, -2.64683431,
  -2.88321943,  8.4860185 , -6.8831813 ,  6.58608139, -1.36366025,
   7.51118499,-16.91848879, -1.20235032,  1.93135114, -7.64685103,
  23.47571587,  0.76101319, -0.41012651,  0.36736086,  7.25108047,
  12.73119893, -0.90516102]

qfrc_actuator:
[-5.65477206e-05, 9.45317785e-05, 9.53515824e-05, 1.29142743e-04,
 -5.02284878e-05,-3.61459919e-04,-2.13955749e-04,-3.14522083e-05,
 -5.12123408e-05, 5.25237700e-04, 1.42656084e-04, 5.71543210e-05,
  4.88881355e-02,-8.65990200e-04, 2.90099388e-02,-3.63940107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020070474038810793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53162333e-13, -2.76581167e-13,  1.00000000e+00, -1.52994283e-25,
        1.00000000e+00,  2.76581167e-13, -1.00000000e+00,  0.00000000e+00,
       -5.53162333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184354, -0.06180226,  0.06199512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36005698e-05, 4.32657266e-05, 1.98848107e-05, 7.10524445e-07,
 -1.57715920e-05,-5.29943512e-05, 3.60576690e-05, 6.34388658e-06,
  3.88694893e-05, 3.76780996e-05, 2.11255995e-05,-2.37339027e-05,
 -3.22804763e-04,-6.37089102e-05,-1.20470529e-04, 7.89991764e-05,
  4.32653788e-06, 3.88021458e-06,-1.21638112e+00, 9.63183775e-05,
  1.47919263e-03, 3.07021171e-07]


--- Step 423 ---
qpos:
[ 2.99459641e-03,-3.32508365e-03, 1.18683137e-02, 4.17240086e-02,
 -2.19148479e-03,-1.91279268e-03,-1.73703732e-02, 2.86477721e-02,
  5.85232866e-03, 1.64563216e-02,-9.40431351e-03, 2.59863888e-02,
  8.15480906e-01,-1.75344975e-03, 6.17926144e-01, 6.52950846e-02,
  9.49464865e-02,-7.00439731e-02, 1.21799183e-01, 9.99994737e-01,
 -8.11101888e-06,-3.25816238e-04, 3.22804698e-03]

qacc:
[  5.66474143, -1.49507942,  5.47528898, -6.57585038,  1.49666024,
   2.25436049,-10.34804324, 19.45963037, 10.18169803, -0.84727441,
   3.94164128, -8.29508664, -1.68779582,  3.50439859,  2.11145637,
 -10.20349474,  0.75156654, -0.40909839,  0.25980701,  7.13439603,
  12.58275454, -0.86570947]

qfrc_actuator:
[-2.41076406e-05, 9.07616902e-05, 1.21225584e-04, 1.28401205e-04,
 -4.09068424e-05,-3.74735235e-04,-2.46100092e-04,-9.53984841e-06,
  7.72435751e-06, 4.96153987e-04, 1.36769047e-04, 4.25967353e-05,
  4.87886734e-02,-8.47844865e-04, 2.89252000e-02,-3.71599466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020515864257907024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70576713e-13, -2.70576713e-13,  1.00000000e+00, -7.32117578e-26,
        1.00000000e+00,  2.70576713e-13, -1.00000000e+00,  0.00000000e+00,
       -2.70576713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818442 , -0.06180313,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31259969e-05, 2.45672441e-05, 3.72872217e-05, 1.81151757e-06,
  8.85186836e-06,-3.51598996e-05,-3.84213660e-05, 2.10149290e-05,
  6.00687639e-05,-4.70753491e-06, 3.64578167e-06,-1.26818363e-05,
 -3.26213146e-04,-4.58953986e-05,-1.37624958e-04,-8.92619596e-05,
  2.73088684e-06, 2.92861665e-06,-1.21640036e+00, 9.58868394e-05,
  1.47291076e-03, 1.44207563e-07]


--- Step 424 ---
qpos:
[ 2.99451656e-03,-3.32449626e-03, 1.18686920e-02, 4.17246594e-02,
 -2.19218982e-03,-1.91414017e-03,-1.73713795e-02, 2.86482556e-02,
  5.85318743e-03, 1.64570242e-02,-9.40247696e-03, 2.59863927e-02,
  8.16531865e-01,-1.75159899e-03, 6.18860030e-01, 6.52945937e-02,
  9.49376048e-02,-7.00457058e-02, 1.21799962e-01, 9.99994688e-01,
  5.47856001e-06,-4.00294046e-04, 3.23484593e-03]

qacc:
[  3.46198799, -2.27828568, 10.02081345,-17.66405095,  1.00311679,
   3.36737648,-13.25437598, 19.72015217,  0.10653791, -1.50618791,
   5.65043442, -8.8814677 , -2.33203417,  5.6848634 , 13.52650052,
 -49.48724024,  0.74370898, -0.40815713,  0.16947172,  7.04002539,
  12.45909595, -0.83532867]

qfrc_actuator:
[-4.84073010e-06, 1.06045468e-04, 1.54264258e-04, 1.09798395e-04,
 -3.50880083e-05,-3.82074646e-04,-3.00571333e-04, 3.24395400e-06,
  6.54170097e-06, 4.78361334e-04, 1.50323568e-04, 3.39418950e-05,
  4.86965211e-02,-8.02072987e-04, 2.88514230e-02,-3.97597102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020767292427925632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67300860e-13, -8.01902580e-13,  1.00000000e+00, -2.14349249e-25,
        1.00000000e+00,  8.01902580e-13, -1.00000000e+00,  0.00000000e+00,
       -2.67300860e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184453, -0.06180372,  0.06199495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02161054e-05, 3.67992670e-05, 4.27629984e-05,-1.62289619e-05,
  6.05955828e-06,-3.39861684e-05,-6.57248811e-05, 1.03586626e-05,
  5.42429538e-07,-2.02436093e-05, 1.25617583e-05,-8.98542968e-06,
 -3.18257231e-04,-1.68199729e-05,-1.53312336e-04,-2.84233620e-04,
  1.49305320e-06, 2.11604751e-06,-1.21641513e+00, 9.61001445e-05,
  1.46790647e-03,-4.14297218e-09]


--- Step 425 ---
qpos:
[ 2.99466862e-03,-3.32379973e-03, 1.18692249e-02, 4.17254658e-02,
 -2.19281962e-03,-1.91559085e-03,-1.73724922e-02, 2.86484883e-02,
  5.85299122e-03, 1.64577101e-02,-9.40054071e-03, 2.59859355e-02,
  8.17580894e-01,-1.74889360e-03, 6.19792602e-01, 6.52905512e-02,
  9.49316720e-02,-7.00490679e-02, 1.21801116e-01, 9.99994649e-01,
  3.29173037e-05,-4.50013279e-04, 3.24002628e-03]

qacc:
[ 2.03871987e+00, 2.88192911e-02,-5.57362661e-01, 2.93180978e+00,
  6.57962312e-01,-3.56379466e-01, 2.12973833e+00,-6.22205301e+00,
 -9.19821067e+00,-1.23195731e+00, 6.33883541e+00,-1.45004461e+01,
 -2.23645754e+00, 5.48554868e+00, 8.87603403e+00,-3.36376008e+01,
  7.37220826e-01,-4.07347009e-01, 9.37180808e-02, 6.96426672e+00,
  1.23568197e+01,-8.12151432e-01]

qfrc_actuator:
[ 6.51581444e-06, 9.71312338e-05, 1.55818031e-04, 1.16356672e-04,
 -3.13854568e-05,-3.68164449e-04,-2.96734679e-04,-7.19845875e-06,
 -4.77757034e-05, 4.85290945e-04, 1.57535577e-04, 1.10953400e-05,
  4.86088297e-02,-7.58109406e-04, 2.88055523e-02,-4.14651473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020862034332430612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66086952e-13,  2.66086952e-13,  1.00000000e+00,  7.08022659e-26,
        1.00000000e+00, -2.66086952e-13, -1.00000000e+00,  0.00000000e+00,
       -2.66086952e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184461, -0.06180407,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19417701e-05, 1.97818112e-05, 1.38468102e-05, 9.29397002e-06,
  3.86563755e-06,-1.81648354e-05,-1.08946319e-05,-1.39675096e-05,
 -5.43049429e-05,-2.22501374e-06, 4.23790829e-06,-2.34598314e-05,
 -3.03502984e-04,-1.38035292e-05,-1.54538094e-04,-2.07726567e-04,
  5.88276025e-07, 1.42573951e-06,-1.21642560e+00, 9.69541345e-05,
  1.46416464e-03,-1.39764886e-07]


--- Step 426 ---
qpos:
[ 2.99495580e-03,-3.32298619e-03, 1.18695255e-02, 4.17263710e-02,
 -2.19340031e-03,-1.91696015e-03,-1.73733809e-02, 2.86482011e-02,
  5.85214579e-03, 1.64580902e-02,-9.39842315e-03, 2.59855850e-02,
  8.18628043e-01,-1.74561554e-03, 6.20722964e-01, 6.52825740e-02,
  9.49286669e-02,-7.00540567e-02, 1.21802392e-01, 9.99994624e-01,
  7.40853615e-05,-4.75141713e-04, 3.24362426e-03]

qacc:
[ 1.17671436e+00, 1.00573975e+00,-3.78186825e+00, 5.78009916e+00,
  4.36080244e-01,-1.58801629e+00, 8.01285733e+00,-1.74280612e+01,
 -5.65155216e+00,-6.80203533e-01, 1.40703157e+00, 3.55478159e-01,
 -1.89475317e+00, 4.31033580e+00, 8.69352285e+00,-3.49640743e+01,
  7.31915225e-01,-4.06695605e-01, 3.03034064e-02, 6.90410147e+00,
  1.22730690e+01,-7.94692397e-01]

qfrc_actuator:
[ 1.31297679e-05, 9.14385921e-05, 1.38691668e-04, 1.19875608e-04,
 -2.89571325e-05,-3.41423512e-04,-2.76171181e-04,-3.11591433e-05,
 -7.96546848e-05, 4.53679059e-04, 1.61028460e-04, 1.55996243e-05,
  4.85079024e-02,-7.33326188e-04, 2.86699672e-02,-4.35160868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020831298295553857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66479556e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.66479556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184447, -0.06180424,  0.06199494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95713399e-06, 8.59802459e-06,-1.10300729e-05, 5.02129489e-06,
  2.53319511e-06, 1.38008910e-05, 1.50155857e-05,-2.53828778e-05,
 -3.34314977e-05,-3.30521120e-05, 2.71587410e-06, 4.09639387e-06,
 -3.06151960e-04,-3.00476017e-05,-2.35774106e-04,-2.38040704e-04,
 -1.67693545e-09, 8.45203989e-07,-1.21643191e+00, 9.84451139e-05,
  1.46167311e-03,-2.63970510e-07]


--- Step 427 ---
qpos:
[ 2.99566507e-03,-3.32220214e-03, 1.18699832e-02, 4.17269582e-02,
 -2.19429261e-03,-1.91778239e-03,-1.73745519e-02, 2.86479485e-02,
  5.85126940e-03, 1.64579950e-02,-9.39618571e-03, 2.59856630e-02,
  8.19673412e-01,-1.74231220e-03, 6.21650439e-01, 6.52731819e-02,
  9.49285722e-02,-7.00606704e-02, 1.21803576e-01, 9.99994611e-01,
  1.28889034e-04,-4.75814797e-04, 3.24566703e-03]

qacc:
[  3.71021999, -1.14125315,  5.34142414,-11.06030907, -2.75121339,
   1.5874678 , -4.74853312,  5.38671028, -0.25792313, -0.08046745,
  -2.43290717, 10.00677594, -1.17096184,  1.88482099,  0.05102029,
  -6.27468511,  0.72763322, -0.40621842, -0.02268177,  6.85706294,
  12.20544054, -0.78176891]

qfrc_actuator:
[ 3.46548318e-05, 8.76273790e-05, 1.46187716e-04, 1.03813009e-04,
 -4.50499615e-05,-2.89374791e-04,-2.81364521e-04,-2.73560129e-05,
 -8.03017332e-05, 4.16990805e-04, 1.62168376e-04, 3.61309757e-05,
  4.84097502e-02,-7.37863711e-04, 2.85392651e-02,-4.41585559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002070114930813466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36309848e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.36309848e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184417, -0.06180426,  0.06199497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17233951e-05,-1.09988142e-06, 8.07157973e-06,-1.59830774e-05,
 -1.60153535e-05, 6.18416367e-05,-1.34430851e-06, 4.42572864e-06,
 -1.61385180e-06,-5.44867318e-05,-5.23913871e-06, 1.92850583e-05,
 -3.08604394e-04,-6.15437148e-05,-2.67452334e-04,-1.08352120e-04,
 -2.89803729e-07, 3.65007118e-07,-1.21643417e+00, 1.00569882e-04,
  1.46042217e-03,-3.77737608e-07]


--- Step 428 ---
qpos:
[ 2.99662685e-03,-3.32153640e-03, 1.18708334e-02, 4.17276885e-02,
 -2.19537074e-03,-1.91821300e-03,-1.73757316e-02, 2.86473987e-02,
  5.85039160e-03, 1.64577370e-02,-9.39430096e-03, 2.59852885e-02,
  8.20717189e-01,-1.73997806e-03, 6.22576044e-01, 6.52650870e-02,
  9.49313746e-02,-7.00689078e-02, 1.21804493e-01, 9.99994609e-01,
  1.97256749e-04,-4.52139714e-04, 3.24617454e-03]

qacc:
[ 2.23090023,-0.96304792, 2.59498206,-0.64951318,-1.63704896,-0.06614843,
  2.2476829 ,-7.67240176,-0.02086428,-0.16084899, 2.17175987,-9.31898481,
  0.04619716,-2.24854372,-6.69815209,19.36270177, 0.7242396 ,-0.40592236,
 -0.06686427, 6.82113127,12.15190919,-0.77243842]

qfrc_actuator:
[ 4.70329051e-05, 8.50447322e-05, 1.68160589e-04, 1.11884064e-04,
 -5.41617762e-05,-2.75897539e-04,-2.83842884e-04,-4.27465588e-05,
 -8.03208304e-05, 4.13053687e-04, 1.44132792e-04, 1.26562059e-05,
  4.83186476e-02,-7.95180630e-04, 2.85234748e-02,-4.32552946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020493295123591437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70874698e-13,  5.41749396e-13,  1.00000000e+00,  1.46746204e-25,
        1.00000000e+00, -5.41749396e-13, -1.00000000e+00,  0.00000000e+00,
       -2.70874698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184374, -0.06180416,  0.06199502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29936985e-05,-2.24484395e-06, 2.21693533e-05, 7.98698519e-06,
 -9.54687644e-06, 4.80095980e-05, 1.03074469e-05,-1.26949955e-05,
 -8.29600089e-08,-3.46884324e-05,-2.92946561e-05,-2.56207770e-05,
 -3.08903532e-04,-1.18432339e-04,-1.50238780e-04, 4.99456008e-05,
 -2.84837181e-07,-2.21500496e-08,-1.21643246e+00, 1.03325740e-04,
  1.46040415e-03,-4.81776857e-07]


--- Step 429 ---
qpos:
[ 2.99738455e-03,-3.32070635e-03, 1.18715406e-02, 4.17288557e-02,
 -2.19654931e-03,-1.91893692e-03,-1.73765561e-02, 2.86456966e-02,
  5.84986510e-03, 1.64575068e-02,-9.39275114e-03, 2.59842645e-02,
  8.21759310e-01,-1.73861050e-03, 6.23499897e-01, 6.52590446e-02,
  9.49344357e-02,-7.00726594e-02, 1.21805175e-01, 9.99994610e-01,
  2.28122274e-04,-4.25924265e-04, 3.24748323e-03]

qacc:
[-1.79840107e+00, 1.52096309e+00,-6.94393201e+00, 1.46019077e+01,
 -8.65473899e-01,-3.74762258e+00, 1.76692486e+01,-3.79655809e+01,
  3.05266356e+00,-3.70320116e-01, 4.10638233e+00,-1.48234085e+01,
  1.62121266e-02,-2.20802608e+00,-8.80185949e+00, 2.69805754e+01,
  6.46874420e-02, 1.12145381e+00,-5.88626480e-02,-1.87466895e+01,
  1.33112497e+00, 4.08809163e-01]

qfrc_actuator:
[ 3.61708963e-05, 1.01052464e-04, 1.63016062e-04, 1.34101250e-04,
 -5.90861136e-05,-3.38884442e-04,-2.84852735e-04,-1.04840503e-04,
 -6.22276864e-05, 4.28644942e-04, 1.32769156e-04,-1.87600538e-05,
  4.82264959e-02,-8.47675550e-04, 2.84594766e-02,-4.21561622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020463876630827382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.42528205e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.42528205e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482636, -0.09310898,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04970501e-05, 1.96395187e-05,-2.62213416e-06, 2.30378967e-05,
 -5.17960172e-06,-3.45276102e-05, 9.75767433e-06,-5.99216644e-05,
  1.80819460e-05,-1.09705744e-05,-2.30428564e-05,-3.44180161e-05,
 -3.19503012e-04,-1.20677903e-04,-1.32091688e-04, 9.22227628e-05,
  8.02801438e-09,-3.22125280e-07,-1.21642684e+00, 1.06710478e-04,
  1.46161310e-03,-5.76584036e-07]


--- Step 430 ---
qpos:
[ 2.99766136e-03,-3.31964830e-03, 1.18713142e-02, 4.17303269e-02,
 -2.19777771e-03,-1.92013275e-03,-1.73767542e-02, 2.86443051e-02,
  5.84990466e-03, 1.64571269e-02,-9.39191341e-03, 2.59836117e-02,
  8.22799627e-01,-1.73755722e-03, 6.24421244e-01, 6.52561330e-02,
  9.49377542e-02,-7.00719588e-02, 1.21805336e-01, 9.99994617e-01,
  2.21769997e-04,-3.97178015e-04, 3.24957429e-03]

qacc:
[ -4.25417281,  3.54681839,-13.47654066, 20.04734281, -0.4090839 ,
  -1.73336458,  3.96519193,  0.75682655,  4.91763936,  2.54667079,
 -10.95138005, 18.64174053, -0.72006096,  0.3219197 ,-13.12364609,
  40.59020148,  0.06434058,  1.11305998, -0.13032562,-18.60452536,
   1.325916  ,  0.39881156]

qfrc_actuator:
[ 1.17204270e-05, 9.24738655e-05, 1.06474420e-04, 1.46702648e-04,
 -6.15090238e-05,-3.58458396e-04,-2.49836710e-04,-8.74667710e-05,
 -3.36193485e-05, 4.02569777e-04, 9.00267485e-05,-1.30517603e-06,
  4.81391038e-02,-8.61386943e-04, 2.83293300e-02,-4.05971968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002053730037883672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.70294295e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.70294295e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482635, -0.09310884,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47470355e-05, 2.80206992e-06,-5.20317306e-05, 1.37946545e-05,
 -2.58050174e-06,-3.93962071e-05, 2.70349958e-05, 1.50729931e-05,
  2.91258364e-05,-3.84476204e-05,-4.90520616e-05, 1.55160892e-05,
 -3.22056651e-04,-8.42535206e-05,-1.85980694e-04, 1.42710905e-04,
  8.90745594e-09,-2.18304682e-07,-1.21643588e+00, 1.08248976e-04,
  1.46289855e-03,-7.04553437e-07]


--- Step 431 ---
qpos:
[ 2.99729814e-03,-3.31879130e-03, 1.18708503e-02, 4.17319455e-02,
 -2.19868087e-03,-1.92167701e-03,-1.73760481e-02, 2.86441327e-02,
  5.85028669e-03, 1.64570053e-02,-9.39212926e-03, 2.59838350e-02,
  8.23838022e-01,-1.73633330e-03, 6.25340504e-01, 6.52537399e-02,
  9.49413291e-02,-7.00668331e-02, 1.21804735e-01, 9.99994628e-01,
  1.78429312e-04,-3.65907447e-04, 3.25243080e-03]

qacc:
[ -5.62186897,  0.71263795, -3.52855458,  6.58393619,  2.88772586,
  -0.48440459, -4.09842606, 24.01831933,  2.95021951,  5.08378245,
 -21.33995954, 38.00664849, -1.38754032,  2.50044636, -4.58877141,
  11.71054037,  0.06411526,  1.10627472, -0.19022949,-18.48985133,
   1.32233668,  0.3897826 ]

qfrc_actuator:
[-2.05246739e-05, 6.90140492e-05, 9.09527985e-05, 1.53492522e-04,
 -4.46888804e-05,-3.51688664e-04,-1.93618442e-04,-2.34144462e-05,
 -1.68098057e-05, 4.40424435e-04, 4.67208284e-05, 4.47114198e-05,
  4.80439888e-02,-8.52093895e-04, 2.82235346e-02,-4.03790610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020490833802384867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70907235e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.70907235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482632, -0.09310904,  0.06199502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29508667e-05,-3.20978230e-05,-2.08864601e-05, 5.37381364e-06,
  1.67311188e-05,-8.98240460e-06, 5.19521115e-05, 6.35991247e-05,
  1.76318625e-05, 6.90277084e-06,-5.67577665e-05, 4.29729000e-05,
 -3.25104572e-04,-5.74756420e-05,-1.77837228e-04, 5.19785750e-06,
  1.55996879e-07,-1.24201206e-07,-1.21643782e+00, 1.07952441e-04,
  1.46434766e-03,-7.41123331e-07]


--- Step 432 ---
qpos:
[ 2.99620597e-03,-3.31815641e-03, 1.18707816e-02, 4.17332460e-02,
 -2.19937545e-03,-1.92336448e-03,-1.73754925e-02, 2.86440850e-02,
  5.85017759e-03, 1.64571970e-02,-9.39272063e-03, 2.59848980e-02,
  8.24874564e-01,-1.73500376e-03, 6.26258459e-01, 6.52471881e-02,
  9.49451600e-02,-7.00573038e-02, 1.21803173e-01, 9.99994639e-01,
  9.82818855e-05,-3.32116274e-04, 3.25603734e-03]

qacc:
[ -6.38220094, -2.04122075,  8.21467144,-14.20830264,  1.82716301,
   0.48401523, -2.5336178 ,  5.04560291, -4.30007784,  3.20063471,
 -14.34252249, 29.23025181, -1.41892376,  2.54988563, 10.67564651,
 -40.02708173,  0.06399304,  1.1008781 , -0.24039679,-18.39903596,
   1.32021832,  0.38152178]

qfrc_actuator:
[-5.70950548e-05, 7.24686332e-05, 1.17473084e-04, 1.39078009e-04,
 -3.44306759e-05,-3.82305322e-04,-2.13970302e-04,-2.11507239e-05,
 -4.25876381e-05, 4.80783459e-04, 3.92083938e-05, 8.94590300e-05,
  4.79549670e-02,-8.47110018e-04, 2.81483799e-02,-4.25495606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020349476593009563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36394543e-13,  2.72789086e-13,  1.00000000e+00,  3.72069428e-26,
        1.00000000e+00, -2.72789086e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36394543e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482628, -0.09310951,  0.06199505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75220466e-05,-1.86181102e-05, 1.74972430e-05,-1.64106092e-05,
  1.07272424e-05,-2.21290456e-05,-1.35975919e-05, 4.91568762e-06,
 -2.52700783e-05, 3.43503587e-05,-1.15874628e-05, 4.39154661e-05,
 -3.16262315e-04,-5.92880875e-05,-1.59987992e-04,-2.40568781e-04,
  4.43885698e-07,-3.93313915e-08,-1.21643279e+00, 1.05832146e-04,
  1.46595853e-03,-6.86729172e-07]


--- Step 433 ---
qpos:
[ 2.99502824e-03,-3.31723173e-03, 1.18705201e-02, 4.17343377e-02,
 -2.19994150e-03,-1.92511599e-03,-1.73757479e-02, 2.86441021e-02,
  5.84976032e-03, 1.64579576e-02,-9.39383693e-03, 2.59864655e-02,
  8.25909413e-01,-1.73395249e-03, 6.27174847e-01, 6.52393081e-02,
  9.49519716e-02,-7.00494249e-02, 1.21802136e-01, 9.99994655e-01,
  3.19953738e-05,-2.73560560e-04, 3.25801611e-03]

qacc:
[ -0.76228087,  0.49304681, -0.31894511, -3.20110005,  1.10301869,
   2.31178041, -8.64338743, 11.11161394, -2.71355003,  3.2626787 ,
 -12.66257819, 21.80205507, -0.82827196,  0.71079735,  1.71868886,
  -9.32148735,  0.74517563, -0.41258716,  0.13122525,  6.97046696,
  12.35955883, -0.81740568]

qfrc_actuator:
[-6.04104251e-05, 1.09925949e-04, 1.15423081e-04, 1.30099892e-04,
 -2.81230668e-05,-3.99914406e-04,-2.61818681e-04,-1.98482925e-05,
 -5.77160223e-05, 5.22486895e-04, 1.74101659e-05, 1.15378509e-04,
  4.78749902e-02,-8.62467509e-04, 2.81022659e-02,-4.30905960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020207994891117964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184248, -0.06180449,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39280835e-06, 2.99225008e-05,-4.31529051e-06,-9.49201566e-06,
  6.60600947e-06,-3.25229262e-05,-5.39111407e-05,-1.85403102e-08,
 -1.58419050e-05, 6.03892213e-05,-1.46072018e-05, 2.78448181e-05,
 -3.01794856e-04,-7.82112044e-05,-1.52224149e-04,-8.95170286e-05,
  8.68379467e-07, 3.97739028e-08,-1.21642092e+00, 1.01897013e-04,
  1.46772964e-03,-5.41755381e-07]


--- Step 434 ---
qpos:
[ 2.99381962e-03,-3.31617853e-03, 1.18702318e-02, 4.17360128e-02,
 -2.20042773e-03,-1.92665768e-03,-1.73764880e-02, 2.86444223e-02,
  5.84950976e-03, 1.64590765e-02,-9.39511172e-03, 2.59876423e-02,
  8.26942417e-01,-1.73271998e-03, 6.28088914e-01, 6.52338358e-02,
  9.49617408e-02,-7.00431869e-02, 1.21801347e-01, 9.99994673e-01,
 -2.05673141e-05,-1.90371024e-04, 3.25843159e-03]

qacc:
[ -0.27376584,  1.44743303, -7.37361902, 17.41253741,  0.68135005,
   2.2529751 , -8.91281404, 14.7785818 ,  1.4425966 ,  0.10931468,
   1.94183605, -8.70848829, -1.29328348,  2.30967315,-10.63530129,
  32.36175022,  0.73941631, -0.41023674,  0.06211856,  6.90179006,
  12.2944649 , -0.78392013]

qfrc_actuator:
[-6.18772084e-05, 1.14103964e-04, 1.14413309e-04, 1.59906867e-04,
 -2.41892063e-05,-3.56482931e-04,-2.72186300e-04,-1.35995726e-06,
 -4.86886160e-05, 5.29110682e-04, 5.09270510e-06, 9.44953140e-05,
  4.77791893e-02,-8.54182918e-04, 2.80097374e-02,-4.17779906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020268325147640431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184239, -0.06180468,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58376032e-06, 1.95821073e-05, 4.30207178e-06, 3.07511160e-05,
  4.11299087e-06, 1.41772551e-05,-2.37035564e-05, 1.52330006e-05,
  8.59537826e-06, 3.85449224e-05,-6.78090582e-07,-1.82609036e-05,
 -3.11104156e-04,-5.42640492e-05,-1.77751647e-04, 1.05383249e-04,
  8.03988542e-07, 2.53414043e-07,-1.21642030e+00, 9.86218192e-05,
  1.47053312e-03,-3.97978991e-07]


--- Step 435 ---
qpos:
[ 2.99260271e-03,-3.31494048e-03, 1.18696597e-02, 4.17376972e-02,
 -2.20086333e-03,-1.92766573e-03,-1.73772729e-02, 2.86445423e-02,
  5.84936997e-03, 1.64596897e-02,-9.39642620e-03, 2.59890093e-02,
  8.27973477e-01,-1.73102048e-03, 6.29001253e-01, 6.52295254e-02,
  9.49744498e-02,-7.00385819e-02, 1.21800575e-01, 9.99994690e-01,
 -5.95185415e-05,-8.26491793e-05, 3.25733911e-03]

qacc:
[-8.49431933e-02, 1.05764138e+00,-3.45549869e+00, 3.93489970e+00,
  4.33430059e-01, 4.17471524e-01, 3.78440074e-01,-4.16193711e+00,
  9.73715696e-01,-1.67610778e-01,-1.17858033e+00, 4.91045170e+00,
 -1.70591505e+00, 3.61404125e+00,-5.98167376e+00, 1.74014004e+01,
  7.34930335e-01,-4.08229924e-01, 4.21424006e-03, 6.84551890e+00,
  1.22439277e+01,-7.55015382e-01]

qfrc_actuator:
[-6.22553033e-05, 1.16112372e-04, 9.61861440e-05, 1.59018428e-04,
 -2.16822820e-05,-2.94428003e-04,-2.60067303e-04,-8.32943448e-06,
 -4.32719620e-05, 4.43659336e-04,-1.94453961e-05, 9.94817175e-05,
  4.76792945e-02,-8.32061282e-04, 2.79427424e-02,-4.11605108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000202161637330861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184213, -0.06180472,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21188943e-07, 1.51293603e-05,-1.25998173e-05, 6.92709951e-07,
  2.62943503e-06, 6.58050094e-05, 1.26805360e-05,-6.88139260e-06,
  5.67974101e-06,-6.48454417e-05,-1.72928889e-05, 6.25668235e-06,
 -3.16919440e-04,-3.94681506e-05,-1.40057732e-04, 4.39671797e-05,
  1.05144218e-06, 5.50668567e-07,-1.21641563e+00, 9.59837527e-05,
  1.47458216e-03,-2.43877739e-07]


--- Step 436 ---
qpos:
[ 2.99173548e-03,-3.31342096e-03, 1.18688559e-02, 4.17386513e-02,
 -2.20161021e-03,-1.92846283e-03,-1.73775074e-02, 2.86442319e-02,
  5.84929612e-03, 1.64600213e-02,-9.39779058e-03, 2.59903985e-02,
  8.29002671e-01,-1.72931743e-03, 6.29911816e-01, 6.52269461e-02,
  9.49900849e-02,-7.00356030e-02, 1.21799626e-01, 9.99994698e-01,
 -8.49496457e-05, 4.95294131e-05, 3.25478683e-03]

qacc:
[  3.05685718, -0.49133195,  5.36141657,-17.82097254, -2.7167294 ,
  -2.1384388 ,  9.85633495,-18.34948227,  0.57829712, -0.18834794,
   0.03613737,  0.63581397, -1.15372177,  1.73689909, -7.7991568 ,
  23.58465726,  0.7315332 , -0.40654079, -0.04422957,  6.79979706,
  12.20633253, -0.72971111]

qfrc_actuator:
[-4.42377827e-05, 1.34463925e-04, 8.56490735e-05, 1.22300743e-04,
 -3.77869004e-05,-2.92617269e-04,-2.34702492e-04,-3.01916834e-05,
 -4.00325247e-05, 4.45704516e-04,-1.58660215e-05, 1.01812598e-04,
  4.75770186e-02,-8.37500922e-04, 2.78697945e-02,-4.02471740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020075031311130032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.76518379e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.76518379e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184174, -0.06180464,  0.06199512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80076224e-05, 2.42008453e-05,-8.95025121e-06,-3.64971093e-05,
 -1.60069259e-05, 4.09796116e-05, 4.03016822e-05,-1.87336887e-05,
  3.38092031e-06,-3.75290876e-05,-1.17240647e-05,-9.26358047e-07,
 -3.20279814e-04,-6.65358645e-05,-1.37887880e-04, 7.44242706e-05,
  1.60189897e-06, 9.23205709e-07,-1.21640700e+00, 9.39797077e-05,
  1.47986942e-03,-8.00544332e-08]


--- Step 437 ---
qpos:
[ 2.99109128e-03,-3.31217494e-03, 1.18681342e-02, 4.17395533e-02,
 -2.20254422e-03,-1.92896999e-03,-1.73780262e-02, 2.86444009e-02,
  5.84891624e-03, 1.64607532e-02,-9.39914619e-03, 2.59913662e-02,
  8.30030092e-01,-1.72797640e-03, 6.30820167e-01, 6.52252205e-02,
  9.50030818e-02,-7.00362906e-02, 1.21799077e-01, 9.99994691e-01,
 -7.96708981e-05, 1.58948161e-04, 3.25353687e-03]

qacc:
[  1.96484955, -0.7025843 ,  2.19358135, -3.01781621, -1.65478394,
   2.16637449, -9.187417  , 17.7184893 , -2.67587571, -0.35771529,
   3.83142293,-11.44307988, -0.72114669,  0.29049879, -5.82119411,
  15.66501215, -0.65955396, -0.91662794,  0.09994167, 15.3177724 ,
 -11.42989406,  0.65097256]

qfrc_actuator:
[-3.32901919e-05, 9.14402721e-05, 7.97873563e-05, 1.18079268e-04,
 -4.69641496e-05,-2.91338564e-04,-2.55225323e-04,-7.42136557e-06,
 -5.58515115e-05, 5.17978511e-04, 4.60993860e-06, 8.48895662e-05,
  4.74840287e-02,-8.59200684e-04, 2.77454093e-02,-3.98767675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002027142883848504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73839361e-13, -5.47678722e-13,  1.00000000e+00, -1.49975991e-25,
        1.00000000e+00,  5.47678722e-13, -1.00000000e+00,  0.00000000e+00,
       -2.73839361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906264, -0.05165083,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14666487e-05,-3.29413170e-05,-3.23857539e-06,-4.20930665e-06,
 -9.62007251e-06, 3.17429277e-05,-7.72869279e-06, 2.55600703e-05,
 -1.57347317e-05, 4.88278318e-05, 1.12564567e-05,-1.89559558e-05,
 -3.18102640e-04,-8.66745859e-05,-1.84825603e-04, 2.21292990e-05,
  2.45027935e-06, 1.36358301e-06,-1.21639443e+00, 9.26071387e-05,
  1.48638931e-03, 9.30781716e-08]


--- Step 438 ---
qpos:
[ 2.99092845e-03,-3.31131246e-03, 1.18673924e-02, 4.17411103e-02,
 -2.20323622e-03,-1.92902032e-03,-1.73794336e-02, 2.86452078e-02,
  5.84834998e-03, 1.64616145e-02,-9.40048100e-03, 2.59925020e-02,
  8.31055632e-01,-1.72628181e-03, 6.31726464e-01, 6.52268345e-02,
  9.50134676e-02,-7.00406154e-02, 1.21798538e-01, 9.99994676e-01,
 -4.40201217e-05, 2.45877085e-04, 3.25359525e-03]

qacc:
[ 4.23157462e+00, 8.91053216e-01,-6.68898461e+00, 1.83493314e+01,
  2.08716483e+00, 4.39305949e+00,-1.74893819e+01, 2.96206140e+01,
 -1.62707750e+00, 4.62018656e-01,-2.10285997e+00, 4.87579795e+00,
 -1.47958998e+00, 2.93791888e+00,-1.30416025e+01, 4.13827237e+01,
 -6.52792254e-01,-9.09287098e-01, 2.47718245e-03, 1.51492438e+01,
 -1.12943120e+01, 6.55699803e-01]

qfrc_actuator:
[-8.84513911e-06, 6.52917779e-05, 7.65096433e-05, 1.50722073e-04,
 -3.42319911e-05,-2.72789805e-04,-3.02666133e-04, 2.36382292e-05,
 -6.50073405e-05, 5.07552072e-04,-3.20145330e-07, 9.23541135e-05,
  4.74019949e-02,-8.37034483e-04, 2.76861291e-02,-3.80550067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020616742133287846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906205, -0.05165174,  0.06199499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47570798e-05,-4.54512076e-05,-1.06343686e-05, 3.10342112e-05,
  1.24682628e-05, 3.58191286e-05,-4.09397354e-05, 3.26522851e-05,
 -9.58836638e-06, 1.83717138e-05, 5.89193391e-06, 9.57741140e-06,
 -3.09717237e-04,-4.46739235e-05,-1.44842764e-04, 1.58840562e-04,
  1.84236214e-06, 2.64575437e-07,-1.21640981e+00, 9.30174089e-05,
  1.49184624e-03, 3.37488264e-07]


--- Step 439 ---
qpos:
[ 2.99105987e-03,-3.31077387e-03, 1.18666273e-02, 4.17426936e-02,
 -2.20342558e-03,-1.92850770e-03,-1.73811818e-02, 2.86456383e-02,
  5.84698886e-03, 1.64621213e-02,-9.40134045e-03, 2.59937497e-02,
  8.32079340e-01,-1.72431510e-03, 6.32631204e-01, 6.52269344e-02,
  9.50212649e-02,-7.00485534e-02, 1.21797681e-01, 9.99994654e-01,
  2.17289876e-05, 3.10539536e-04, 3.25497048e-03]

qacc:
[  2.58766047, -0.31369841,  0.37787854,  0.36162843,  4.38787228,
   0.91292956, -0.60057051, -5.76949738, -6.91170191, -1.55313821,
   4.40818713, -2.99346413, -1.50652661,  2.94482771,  2.33436248,
 -11.35755756, -0.64711143, -0.90329084, -0.07943961, 15.01270126,
 -11.1821689 ,  0.66164211]

qfrc_actuator:
[ 5.59820067e-06, 4.94878016e-05, 7.48518460e-05, 1.51539384e-04,
 -8.70846338e-06,-2.26409256e-04,-3.12281958e-04, 6.06314917e-06,
 -1.05667765e-04, 4.65368711e-04, 1.49958880e-05, 9.62777513e-05,
  4.73106310e-02,-8.24624732e-04, 2.75860905e-02,-3.89412326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020785485845135898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.67066893e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.67066893e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906176, -0.05165221,  0.06199495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51294850e-05,-4.21044166e-05,-1.12875806e-05,-8.98205027e-07,
  2.58917301e-05, 5.93744784e-05,-6.11559823e-06,-1.68201953e-05,
 -4.09279143e-05,-3.03055456e-05, 2.01708782e-05, 5.10001373e-06,
 -3.05255490e-04,-4.82152297e-05,-1.53504005e-04,-9.95488715e-05,
  1.17863167e-06,-4.90594461e-07,-1.21641779e+00, 9.48863445e-05,
  1.49613293e-03, 3.93764118e-07]


--- Step 440 ---
qpos:
[ 2.99136349e-03,-3.31045541e-03, 1.18658577e-02, 4.17432237e-02,
 -2.20365248e-03,-1.92747198e-03,-1.73824977e-02, 2.86454601e-02,
  5.84515102e-03, 1.64621285e-02,-9.40185955e-03, 2.59947183e-02,
  8.33101186e-01,-1.72214337e-03, 6.33534004e-01, 6.52227082e-02,
  9.50264926e-02,-7.00600852e-02, 1.21796232e-01, 9.99994625e-01,
  1.17357529e-04, 3.53118933e-04, 3.25767300e-03]

qacc:
[  1.51449112, -2.45223433, 12.75814198,-30.80436589, -0.3249015 ,
  -1.76741127,  9.87672675,-21.48773896, -4.13886737, -2.1781257 ,
   8.00077495,-13.02339929, -1.52315035,  2.89103649, 10.24928497,
 -39.88416276, -0.64237401, -0.89847582, -0.14822127, 14.90349028,
 -11.09008144,  0.66853049]

qfrc_actuator:
[ 1.40350814e-05, 3.99843186e-05, 7.41772621e-05, 9.81228069e-05,
 -1.13728173e-05,-1.81371111e-04,-2.81642391e-04,-2.21808244e-05,
 -1.29042653e-04, 4.22316105e-04, 2.42440675e-05, 8.03130081e-05,
  4.72084065e-02,-8.18128845e-04, 2.74563001e-02,-4.12395471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020812126204186598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66725037e-13,  2.66725037e-13,  1.00000000e+00, -7.11422451e-26,
        1.00000000e+00, -2.66725037e-13, -1.00000000e+00,  0.00000000e+00,
        2.66725037e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906171, -0.05165233,  0.06199494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.85237449e-06,-3.54275050e-05,-1.07944023e-05,-5.56318894e-05,
 -1.90463795e-06, 7.62661827e-05, 4.15808013e-05,-2.62376989e-05,
 -2.45587010e-05,-5.56441946e-05, 5.65068770e-06,-1.64668359e-05,
 -3.14142514e-04,-5.36302886e-05,-2.16820400e-04,-2.56466159e-04,
  4.58507136e-07,-9.10176823e-07,-1.21641862e+00, 9.82009774e-05,
  1.49926082e-03, 2.65914166e-07]


--- Step 441 ---
qpos:
[ 2.99142070e-03,-3.31000589e-03, 1.18654521e-02, 4.17430381e-02,
 -2.20390903e-03,-1.92624008e-03,-1.73833090e-02, 2.86453268e-02,
  5.84373647e-03, 1.64619930e-02,-9.40292356e-03, 2.59951589e-02,
  8.34121098e-01,-1.71953816e-03, 6.34434497e-01, 6.52173329e-02,
  9.50304774e-02,-7.00695220e-02, 1.21796152e-01, 9.99994591e-01,
  1.95491130e-04, 3.85614653e-04, 3.26047754e-03]

qacc:
[ -2.15409024, -2.31531938, 11.53197001,-24.59945667, -0.24760391,
  -1.05741109,  3.95777053, -4.13154681,  3.67693801,  0.24036206,
   1.0863429 , -9.23489487, -1.71457975,  3.57605158,  0.13669315,
  -5.25175768, -0.31075448,  0.52377639,  0.34245824, -8.76386534,
  -5.01330778,  0.04852343]

qfrc_actuator:
[ 1.11981101e-06, 8.75448256e-05, 1.09588280e-04, 6.64927103e-05,
 -1.28581567e-05,-1.90581629e-04,-2.62991642e-04,-2.09380805e-05,
 -1.06541157e-04, 4.14534075e-04,-5.70885969e-06, 5.27616008e-05,
  4.71103859e-02,-7.97470374e-04, 2.73726589e-02,-4.16880426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020870181868810631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.17204232e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.17204232e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203928, -0.08042134,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26730687e-05, 2.31351853e-05, 2.48421801e-05,-3.46047319e-05,
 -1.51360025e-06, 4.08792222e-05, 3.86217151e-05, 5.44036034e-06,
  2.17782498e-05,-3.84477872e-05,-4.13178323e-05,-3.00613049e-05,
 -3.17447704e-04,-4.15677378e-05,-2.14738711e-04,-8.77787344e-05,
 -3.20680027e-07,-1.00219734e-06,-1.21641247e+00, 1.02950739e-04,
  1.50123896e-03,-4.29801967e-08]


--- Step 442 ---
qpos:
[ 2.99097781e-03,-3.30950602e-03, 1.18657336e-02, 4.17428067e-02,
 -2.20383640e-03,-1.92480525e-03,-1.73840935e-02, 2.86448971e-02,
  5.84294686e-03, 1.64621573e-02,-9.40459420e-03, 2.59952130e-02,
  8.35139088e-01,-1.71636778e-03, 6.35332810e-01, 6.52142873e-02,
  9.50347336e-02,-7.00744269e-02, 1.21796198e-01, 9.99994558e-01,
  2.35797354e-04, 4.21010924e-04, 3.26366710e-03]

qacc:
[ -4.36889796, -1.94054752,  7.22311743, -9.16755256,  2.884287  ,
  -0.42182133,  3.13532424, -8.44725162,  5.42635854,  1.28537862,
  -2.3944541 , -3.5265373 , -1.75321724,  3.81954819,-10.16370718,
  31.08148062,  0.06786378,  1.1329571 ,  0.03141605,-18.90893215,
   1.51197243,  0.18492654]

qfrc_actuator:
[-2.42570195e-05, 9.80700479e-05, 1.48531353e-04, 6.57708891e-05,
  4.12368670e-06,-1.96718415e-04,-2.69532098e-04,-3.79187050e-05,
 -7.49757809e-05, 4.63262530e-04,-2.29280626e-05, 3.63712883e-05,
  4.70202869e-02,-7.68624843e-04, 2.73168099e-02,-4.03310075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000212507748078003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30609711e-13,  2.61219423e-13,  1.00000000e+00,  3.41177933e-26,
        1.00000000e+00, -2.61219423e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30609711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482606, -0.09310793,  0.06199484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57302536e-05, 2.70956600e-05, 4.55844296e-05, 4.56000099e-07,
  1.69511793e-05, 2.48979583e-05, 6.84442853e-06,-1.37870895e-05,
  3.21777056e-05, 1.74246784e-05,-3.12797234e-05,-2.00521344e-05,
 -3.09231458e-04,-3.27441531e-05,-1.66509611e-04, 1.02615918e-04,
 -3.55023537e-07,-6.81037749e-07,-1.21642202e+00, 1.06800597e-04,
  1.50285212e-03,-3.60994362e-07]


--- Step 443 ---
qpos:
[ 2.99057936e-03,-3.30942166e-03, 1.18670155e-02, 4.17426066e-02,
 -2.20356059e-03,-1.92349424e-03,-1.73844848e-02, 2.86439393e-02,
  5.84254174e-03, 1.64626748e-02,-9.40600537e-03, 2.59946564e-02,
  8.36155316e-01,-1.71316610e-03, 6.36229504e-01, 6.52085135e-02,
  9.50392644e-02,-7.00748422e-02, 1.21796020e-01, 9.99994529e-01,
  2.38619308e-04, 4.59265421e-04, 3.26726029e-03]

qacc:
[  0.42867361, -3.28269234, 10.77369999,-11.52539528,  1.79615397,
  -2.35128853, 10.37021838,-20.0385979 ,  3.35513758, -1.52210287,
   8.67164253,-19.9035754 , -1.24187742,  2.04218453,  5.88818757,
 -23.96789459,  0.06862491,  1.12240653, -0.05594481,-18.7374543 ,
   1.49032071,  0.19358305]

qfrc_actuator:
[-2.12532702e-05, 5.08971264e-05, 1.89124939e-04, 6.54578536e-05,
  1.40862327e-05,-2.18848805e-04,-2.55405951e-04,-6.55099585e-05,
 -5.60956787e-05, 5.10006625e-04, 3.27790707e-06, 8.99472332e-06,
  4.69296837e-02,-7.70677401e-04, 2.72137985e-02,-4.18264242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021430354919557693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29515240e-13,  2.59030480e-13,  1.00000000e+00,  3.35483948e-26,
        1.00000000e+00, -2.59030480e-13, -1.00000000e+00,  0.00000000e+00,
       -1.29515240e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482625, -0.09310753,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27665562e-06,-2.26142756e-05, 5.18135145e-05, 2.43379127e-06,
  1.04547290e-05,-7.42065801e-06, 1.96276268e-05,-2.65569424e-05,
  1.98094565e-05, 4.91896957e-05, 2.52740801e-05,-2.81006545e-05,
 -3.02013549e-04,-6.13825532e-05,-1.71850642e-04,-1.66177451e-04,
 -1.11989467e-07,-5.19805855e-07,-1.21643278e+00, 1.08805263e-04,
  1.50464866e-03,-5.32072442e-07]


--- Step 444 ---
qpos:
[ 2.99056457e-03,-3.30953371e-03, 1.18687984e-02, 4.17420660e-02,
 -2.20316705e-03,-1.92264930e-03,-1.73845099e-02, 2.86427051e-02,
  5.84167695e-03, 1.64630651e-02,-9.40662151e-03, 2.59938000e-02,
  8.37169789e-01,-1.70997426e-03, 6.37124279e-01, 6.51986644e-02,
  9.50440722e-02,-7.00708022e-02, 1.21795325e-01, 9.99994503e-01,
  2.04236314e-04, 5.00345945e-04, 3.27126909e-03]

qacc:
[  3.38653166, -2.36860135,  9.49268824,-16.02677008,  1.05181252,
  -2.20920702,  8.14751013,-13.17004835, -3.98229619, -2.99944105,
  11.72989774,-18.10972363, -1.2240657 ,  1.95474177,  9.50827507,
 -37.2840148 ,  0.06928628,  1.1138111 , -0.12924861,-18.59785142,
   1.47383293,  0.19891779]

qfrc_actuator:
[-1.56567061e-06, 4.05615701e-05, 2.12368105e-04, 4.75787084e-05,
  1.98315285e-05,-2.68082419e-04,-2.47009680e-04,-8.13648044e-05,
 -8.03415247e-05, 4.84376276e-04, 3.71629079e-05,-6.84215206e-06,
  4.68388327e-02,-7.73208388e-04, 2.71038207e-02,-4.39268942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002145897938805874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39524004e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.39524004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482637, -0.09310754,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97408223e-05,-1.21904778e-05, 2.50228852e-05,-1.70101656e-05,
  6.04103307e-06,-5.05044302e-05, 8.35327173e-06,-1.60109161e-05,
 -2.36606181e-05, 5.89793847e-06, 4.61970180e-05,-1.33989321e-05,
 -3.03079895e-04,-6.38183539e-05,-2.12134448e-04,-2.42572921e-04,
  2.03534335e-07,-3.62691232e-07,-1.21643630e+00, 1.08961342e-04,
  1.50660453e-03,-6.12735391e-07]


--- Step 445 ---
qpos:
[ 2.99044074e-03,-3.30953457e-03, 1.18704645e-02, 4.17413189e-02,
 -2.20236254e-03,-1.92235799e-03,-1.73846207e-02, 2.86413342e-02,
  5.84087355e-03, 1.64631368e-02,-9.40670492e-03, 2.59934946e-02,
  8.38182488e-01,-1.70679099e-03, 6.38016650e-01, 6.51909071e-02,
  9.50476811e-02,-7.00647094e-02, 1.21795343e-01, 9.99994483e-01,
  1.52634366e-04, 5.31432932e-04, 3.27541795e-03]

qacc:
[-0.96282249, 0.04941742, 0.91163573,-4.38426781, 3.61127632,-0.78045145,
  2.28627156,-4.09469167, 0.55776863,-0.77666885,-0.1703367 , 9.0927154 ,
 -1.05646939, 1.51790236,-9.81781584,29.29106705,-0.29976299, 0.51322236,
  0.17840337,-8.62581108,-4.96856348, 0.0667331 ]

qfrc_actuator:
[-7.73002398e-06, 5.22755324e-05, 2.07547646e-04, 3.72717147e-05,
  4.08032912e-05,-3.15433548e-04,-2.59934231e-04,-9.02181410e-05,
 -7.65146893e-05, 4.51165641e-04, 5.72633509e-05, 1.96834320e-05,
  4.67478958e-02,-7.75997814e-04, 2.70430063e-02,-4.26379592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021347374801607445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.69961112e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.69961112e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203916, -0.08042093,  0.06199481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.60800018e-06, 9.32832840e-06,-4.86414266e-06,-1.02977759e-05,
  2.11266665e-05,-7.45794176e-05,-2.28885986e-05,-1.10396036e-05,
  3.14980498e-06,-2.09600533e-05, 2.65498924e-05, 2.81192654e-05,
 -3.04653912e-04,-6.44787173e-05,-1.88253003e-04, 8.73437841e-05,
  5.96987782e-07,-2.10212312e-07,-1.21643276e+00, 1.07282552e-04,
  1.50871916e-03,-6.03299330e-07]


--- Step 446 ---
qpos:
[ 2.99024413e-03,-3.30936744e-03, 1.18717223e-02, 4.17408123e-02,
 -2.20131331e-03,-1.92203234e-03,-1.73852058e-02, 2.86408552e-02,
  5.84046691e-03, 1.64629427e-02,-9.40647989e-03, 2.59931735e-02,
  8.39193439e-01,-1.70391806e-03, 6.38907162e-01, 6.51846163e-02,
  9.50486699e-02,-7.00589879e-02, 1.21796053e-01, 9.99994469e-01,
  1.03894003e-04, 5.40329551e-04, 3.28016532e-03]

qacc:
[ -0.65434061,  1.86094214, -7.32527793, 12.0145953 ,  2.13133432,
   3.20047468,-15.1197799 , 31.29600146,  3.47462459, -1.25259487,
   4.01140481, -4.5691733 , -0.75647061,  0.44860268, -7.1467457 ,
  21.06829818, -0.65499441, -0.0928481 ,  0.17281094,  1.39428358,
 -11.09976586,  0.30169478]

qfrc_actuator:
[-1.13136770e-05, 5.92375355e-05, 1.86306305e-04, 4.92629572e-05,
  5.28179540e-05,-2.72618048e-04,-2.67593285e-04,-4.16418451e-05,
 -5.61814242e-05, 4.31401730e-04, 6.90373448e-05, 1.76376775e-05,
  4.66516466e-02,-7.96692268e-04, 2.69745221e-02,-4.18461195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002142991500839464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59035797e-13, -2.59035797e-13,  1.00000000e+00,  6.70995444e-26,
        1.00000000e+00,  2.59035797e-13, -1.00000000e+00,  0.00000000e+00,
        2.59035797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888445, -0.06837982,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74105900e-06, 1.07132445e-05,-2.02874352e-05, 1.20202581e-05,
  1.25922346e-05,-4.08888279e-06,-2.62650680e-05, 4.43751503e-05,
  2.04140776e-05,-2.47980101e-05, 1.16874135e-05,-1.47766235e-06,
 -3.10504080e-04,-8.30715986e-05,-1.47794939e-04, 5.91945883e-05,
  6.78254640e-07,-1.04995863e-07,-1.21643084e+00, 1.04723878e-04,
  1.51030510e-03,-4.62744957e-07]


--- Step 447 ---
qpos:
[ 2.99035098e-03,-3.30902446e-03, 1.18724118e-02, 4.17404636e-02,
 -2.20047352e-03,-1.92106033e-03,-1.73862283e-02, 2.86408787e-02,
  5.83996243e-03, 1.64622305e-02,-9.40540855e-03, 2.59928258e-02,
  8.40202557e-01,-1.70124838e-03, 6.39796273e-01, 6.51779002e-02,
  9.50470610e-02,-7.00552518e-02, 1.21797031e-01, 9.99994460e-01,
  7.14806300e-05, 5.26957524e-04, 3.28586396e-03]

qacc:
[  2.64271865,  2.14176804, -7.97350521, 11.49330987, -1.86135024,
   3.1126098 ,-11.97495851, 20.8879157 , -0.8180781 , -3.10299905,
  10.18476921,-11.61693823, -0.98865837,  1.09505354, -0.75101688,
  -0.30047154, -0.64943832, -0.49634146,  0.06711452,  8.12667047,
 -11.1609906 ,  0.4811929 ]

qfrc_actuator:
[ 4.41106742e-06, 6.32470944e-05, 1.55550759e-04, 5.65159795e-05,
  4.17076039e-05,-1.93821711e-04,-2.71670020e-04,-1.28396167e-05,
 -6.18094958e-05, 4.02027844e-04, 1.11331927e-04, 1.65481672e-05,
  4.65522714e-02,-8.10071908e-04, 2.69121251e-02,-4.20647572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002136146544912826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.57596518e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.57596518e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897   , -0.06022164,  0.06199481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56205289e-05, 6.30454259e-06,-3.06406946e-05, 7.24205715e-06,
 -1.07536231e-05, 7.29868793e-05,-6.61761583e-06, 2.85829445e-05,
 -5.05242261e-06,-4.08792654e-05, 3.85597517e-05,-1.77685402e-06,
 -3.20708312e-04,-7.92407434e-05,-1.28472659e-04,-3.87432701e-05,
  5.97001106e-07,-6.18998833e-08,-1.21643379e+00, 1.02278033e-04,
  1.51076773e-03,-2.42548719e-07]


--- Step 448 ---
qpos:
[ 2.99064544e-03,-3.30860261e-03, 1.18727384e-02, 4.17402029e-02,
 -2.19977290e-03,-1.92007731e-03,-1.73867717e-02, 2.86409192e-02,
  5.83904965e-03, 1.64611366e-02,-9.40385403e-03, 2.59928207e-02,
  8.41209783e-01,-1.69842716e-03, 6.40683696e-01, 6.51726028e-02,
  9.50429135e-02,-7.00551166e-02, 1.21797381e-01, 9.99994456e-01,
  6.88816171e-05, 4.91455731e-04, 3.29277413e-03]

qacc:
[  1.63407587,  1.29681999, -4.84905954,  6.89984926, -1.20576433,
  -1.28638006,  4.54030021, -5.02402509, -3.53936728, -1.1427033 ,
   1.90775352,  3.51758531, -1.34105122,  2.32402855, -6.71556457,
  20.00933044, -0.63464026, -0.90021107, -0.15716857, 14.87042029,
 -11.11376295,  0.61440044]

qfrc_actuator:
[ 1.36211062e-05, 6.54101312e-05, 1.37162688e-04, 6.09125815e-05,
  3.48311368e-05,-2.18331064e-04,-2.55692019e-04,-1.36218541e-05,
 -8.26784766e-05, 3.84999270e-04, 1.35772349e-04, 3.38020552e-05,
  4.64617427e-02,-8.01292988e-04, 2.68480803e-02,-4.12788917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021305149960422487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.81658209e-13, -5.21105473e-13,  1.00000000e+00, -4.07326371e-25,
        1.00000000e+00,  5.21105473e-13, -1.00000000e+00,  0.00000000e+00,
       -7.81658209e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090597 , -0.0516534 ,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.65636500e-06,-3.44790624e-07,-2.06212429e-05, 3.74517569e-06,
 -7.15845006e-06, 1.61356908e-05, 3.12285734e-05, 2.67343213e-06,
 -2.10307790e-05,-3.19889325e-05, 2.06804824e-05, 1.68017494e-05,
 -3.17922394e-04,-5.86161360e-05,-1.33718683e-04, 5.83674306e-05,
  5.02339831e-07, 1.16604324e-07,-1.21643688e+00, 1.00613409e-04,
  1.51009058e-03,-8.88698109e-08]


--- Step 449 ---
qpos:
[ 2.99139296e-03,-3.30801430e-03, 1.18727557e-02, 4.17403270e-02,
 -2.19950469e-03,-1.91964538e-03,-1.73868158e-02, 2.86413676e-02,
  5.83789359e-03, 1.64599713e-02,-9.40263163e-03, 2.59923486e-02,
  8.42215195e-01,-1.69552686e-03, 6.41569358e-01, 6.51695799e-02,
  9.50362354e-02,-7.00585624e-02, 1.21796876e-01, 9.99994453e-01,
  9.59148890e-05, 4.33978897e-04, 3.30091008e-03]

qacc:
[  3.96440121,  1.87038107, -7.98611499, 15.03141786, -3.76708324,
  -1.27646513,  1.78525091,  4.86731321, -2.13127276, -0.12342858,
   2.28229716, -9.78972321, -1.18701606,  1.90681215, -9.41423715,
  29.27623615, -0.63266297, -0.89527419, -0.21362783, 14.77957955,
 -11.03620347,  0.62092224]

qfrc_actuator:
[ 3.66694077e-05, 8.42445221e-05, 1.26216863e-04, 8.13546464e-05,
  1.27558812e-05,-2.86694380e-04,-2.46175343e-04, 3.63503933e-06,
 -9.45897683e-05, 3.75448705e-04, 1.14019625e-04, 8.44560487e-06,
  4.63765934e-02,-7.97245044e-04, 2.67777974e-02,-4.00845897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021179564458297107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  2.620977e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -2.620977e-13, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905974, -0.05165309,  0.06199485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33222763e-05, 1.45265323e-05,-1.34361954e-05, 1.97850932e-05,
 -2.22750477e-05,-5.28072366e-05, 1.67838625e-05, 1.90801838e-05,
 -1.25287018e-05,-2.24358930e-05,-2.52373412e-05,-2.56850758e-05,
 -3.06727164e-04,-6.04710024e-05,-1.30848396e-04, 1.04115342e-04,
  2.45187918e-07, 6.03150714e-07,-1.21643681e+00, 1.00384389e-04,
  1.50823942e-03,-1.04015601e-07]


--- Step 450 ---
qpos:
[ 2.99275606e-03,-3.30752802e-03, 1.18729771e-02, 4.17413844e-02,
 -2.19984806e-03,-1.91979222e-03,-1.73866411e-02, 2.86420435e-02,
  5.83694799e-03, 1.64591839e-02,-9.40189108e-03, 2.59911837e-02,
  8.43218939e-01,-1.69291887e-03, 6.42453161e-01, 6.51673685e-02,
  9.50269655e-02,-7.00639730e-02, 1.21796179e-01, 9.99994449e-01,
  1.39068778e-04, 3.54588568e-04, 3.31002735e-03]

qacc:
[  5.41184761,  1.20752299, -8.45538225, 24.36890404, -5.34706355,
  -0.89746654,  1.14720854,  2.84849116,  1.81375273,  0.41631838,
   2.1598742 ,-13.65333592, -0.74240024,  0.48172352, -5.16858961,
  14.14799672, -0.64794906, -0.49118854, -0.0479311 ,  8.02388371,
 -10.98324621,  0.49520925]

qfrc_actuator:
[ 6.76801721e-05, 7.74573264e-05, 1.37580654e-04, 1.28844561e-04,
 -1.80897475e-05,-3.27554493e-04,-2.40747245e-04, 1.35651632e-05,
 -8.33755210e-05, 4.23485250e-04, 1.00678306e-04,-2.40518461e-05,
  4.62947327e-02,-8.13776477e-04, 2.66772100e-02,-3.97246176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020997171224696322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64374428e-13, -6.90432588e-07,  1.00000000e+00,  1.82532720e-19,
        1.00000000e+00,  6.90432588e-07, -1.00000000e+00,  2.40741243e-35,
        2.64374428e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897044, -0.06022112,  0.0619949 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16779267e-05,-6.07754845e-07, 1.33849528e-05, 4.80296311e-05,
 -3.15004813e-05,-6.61293323e-05,-2.75648956e-06, 8.61818548e-06,
  1.08468407e-05, 2.91973423e-05,-2.19732967e-05,-3.48308133e-05,
 -2.96204641e-04,-7.92766052e-05,-1.54594983e-04, 2.36290034e-05,
 -5.49803034e-08, 1.40437721e-06,-1.21642989e+00, 1.01580562e-04,
  1.50524894e-03,-2.97792330e-07]


--- Step 451 ---
qpos:
[ 2.99448052e-03,-3.30727641e-03, 1.18734099e-02, 4.17433644e-02,
 -2.20055869e-03,-1.92051109e-03,-1.73860904e-02, 2.86428217e-02,
  5.83648856e-03, 1.64591843e-02,-9.40184858e-03, 2.59892542e-02,
  8.44220865e-01,-1.68988476e-03, 6.43335468e-01, 6.51615853e-02,
  9.50179210e-02,-7.00648588e-02, 1.21795401e-01, 9.99994442e-01,
  1.44657558e-04, 2.78335115e-04, 3.31917242e-03]

qacc:
[ 3.18310900e+00, 9.93987723e-01,-7.89661053e+00, 2.37060077e+01,
 -3.19945463e+00,-1.58902545e+00, 4.14775820e+00,-2.56790343e+00,
  4.20450873e+00, 1.40990855e+00,-3.02566153e-01,-1.23786249e+01,
 -1.72122139e+00, 3.61144754e+00, 8.64381414e+00,-3.32768065e+01,
  5.63483509e-02, 1.13120197e+00,-2.03924767e-02,-1.87772633e+01,
  1.63060269e+00, 7.03044878e-03]

qfrc_actuator:
[ 8.53720527e-05, 5.54990749e-05, 1.44187974e-04, 1.74108299e-04,
 -3.60928260e-05,-3.51664557e-04,-2.19938967e-04, 1.91163382e-05,
 -5.86423844e-05, 4.87900616e-04, 7.49137699e-05,-6.04212411e-05,
  4.62095716e-02,-7.89057879e-04, 2.65798152e-02,-4.16349724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020989167736064351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.64475238e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.64475238e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482852, -0.09310987,  0.0619949 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85894247e-05,-1.74918421e-05, 9.77906067e-06, 4.66303149e-05,
 -1.89243263e-05,-6.12987349e-05, 7.10705798e-06, 2.78927240e-06,
  2.50546122e-05, 7.47343992e-05,-2.36433400e-05,-3.65542600e-05,
 -2.96219352e-04,-3.82620887e-05,-1.70318955e-04,-2.10726440e-04,
 -5.16683707e-08, 2.32039196e-06,-1.21641953e+00, 1.03546696e-04,
  1.50121169e-03,-5.56185431e-07]


--- Step 452 ---
qpos:
[ 2.99605876e-03,-3.30696559e-03, 1.18735927e-02, 4.17451752e-02,
 -2.20113531e-03,-1.92131385e-03,-1.73854763e-02, 2.86432733e-02,
  5.83667428e-03, 1.64597079e-02,-9.40208994e-03, 2.59869086e-02,
  8.45221024e-01,-1.68654934e-03, 6.44216592e-01, 6.51546841e-02,
  9.50091097e-02,-7.00612602e-02, 1.21794226e-01, 9.99994433e-01,
  1.12965188e-04, 2.05098334e-04, 3.32847529e-03]

qacc:
[ -1.29241832,  0.43136974, -0.70640383, -1.86890439,  1.17862928,
  -0.96203896,  4.64459048,-10.33179709,  5.60897031,  0.61751767,
   0.53982167, -7.65246967, -1.49836072,  2.94618537,  1.6920984 ,
  -8.30449568,  0.05831165,  1.12110889, -0.09914882,-18.63548686,
   1.57021049,  0.07348776]

qfrc_actuator:
[ 7.73279443e-05, 6.01169251e-05, 1.30099698e-04, 1.64415658e-04,
 -2.86374313e-05,-3.29994564e-04,-2.07899814e-04, 4.32174891e-06,
 -2.61577910e-05, 5.08324470e-04, 5.98568830e-05,-8.10123635e-05,
  4.61225037e-02,-7.75696039e-04, 2.65695829e-02,-4.20265166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021097000355765894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31561716e-13,  2.63123431e-13,  1.00000000e+00,  3.46169700e-26,
        1.00000000e+00, -2.63123431e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31561716e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482904, -0.09310975,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.52470396e-06,-1.16383521e-06,-1.48981934e-05,-9.20284813e-06,
  6.89416102e-06,-1.10093163e-05, 3.50587715e-07,-1.71219408e-05,
  3.32309868e-05, 5.57765048e-05,-3.79413700e-06,-1.89148479e-05,
 -2.90891333e-04,-4.45899658e-05,-1.16972231e-04,-7.40370730e-05,
  7.61879743e-07, 1.81839090e-06,-1.21642531e+00, 1.03829861e-04,
  1.49766659e-03,-3.88417848e-07]


--- Step 453 ---
qpos:
[ 2.99752844e-03,-3.30658716e-03, 1.18736223e-02, 4.17461576e-02,
 -2.20127359e-03,-1.92189577e-03,-1.73848715e-02, 2.86431637e-02,
  5.83724859e-03, 1.64603117e-02,-9.40266845e-03, 2.59854318e-02,
  8.46219548e-01,-1.68336734e-03, 6.45095808e-01, 6.51529697e-02,
  9.50005372e-02,-7.00532097e-02, 1.21792391e-01, 9.99994419e-01,
  4.42208021e-05, 1.34779655e-04, 3.33804271e-03]

qacc:
[-9.59319493e-01,-1.18808170e+00, 7.86337113e+00,-2.20051364e+01,
  3.84003633e+00,-8.43773141e-01, 5.78894854e+00,-1.56346984e+01,
  3.37779771e+00, 2.82996363e+00,-1.36163459e+01, 2.91442493e+01,
 -7.41536415e-01, 6.47819290e-01,-1.84387144e+01, 6.04875774e+01,
  5.97064937e-02, 1.11296796e+00,-1.65216446e-01,-1.85210751e+01,
  1.52072220e+00, 1.28327497e-01]

qfrc_actuator:
[ 7.19579141e-05, 6.27277722e-05, 1.21723686e-04, 1.22471973e-04,
 -6.26132574e-06,-2.98868507e-04,-2.00960069e-04,-2.22923406e-05,
 -7.12842164e-06, 4.84550022e-04, 3.33369688e-05,-3.89212573e-05,
  4.60396785e-02,-7.86946526e-04, 2.65264611e-02,-3.92091829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021071914847514694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.90310016e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.90310016e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482942, -0.09310999,  0.06199488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.58530684e-06,-1.53651833e-06,-1.07809631e-05,-4.26933458e-05,
  2.25694804e-05, 2.43316804e-05, 4.11739545e-06,-2.74078629e-05,
  2.00032717e-05, 5.82307652e-06,-1.61195282e-05, 4.39852282e-05,
 -2.83703908e-04,-6.92615349e-05,-1.12170470e-04, 2.60855285e-04,
  1.59040282e-06, 1.35454784e-06,-1.21642394e+00, 1.02267099e-04,
  1.49427418e-03,-1.33626299e-07]


--- Step 454 ---
qpos:
[ 2.99926732e-03,-3.30632561e-03, 1.18736288e-02, 4.17462993e-02,
 -2.20148742e-03,-1.92230037e-03,-1.73844776e-02, 2.86427554e-02,
  5.83770249e-03, 1.64603571e-02,-9.40326290e-03, 2.59848773e-02,
  8.47216455e-01,-1.68060092e-03, 6.45973563e-01, 6.51513298e-02,
  9.49922074e-02,-7.00407332e-02, 1.21789673e-01, 9.99994391e-01,
 -6.13943083e-05, 6.72979246e-05, 3.34796324e-03]

qacc:
[  2.36366986, -1.82752252,  9.82992594,-24.24406983, -0.6724175 ,
   0.21014689,  0.85486436, -5.82252522, -1.04052615,  1.20730062,
  -9.26625497, 25.66182577, -0.61243646,  0.0567316 , -2.36687479,
   5.17821762,  0.06066162,  1.10649458, -0.22058891,-18.43054811,
   1.48001263,  0.17402496]

qfrc_actuator:
[ 8.59657892e-05, 4.63497129e-05, 1.16778150e-04, 7.96572615e-05,
 -1.07959812e-05,-2.97845237e-04,-2.14785183e-04,-3.78802691e-05,
 -1.39263028e-05, 4.16737893e-04, 1.78587217e-05, 4.15550561e-06,
  4.59487991e-02,-8.12630187e-04, 2.64264330e-02,-3.93183095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000209413335907363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32539676e-13, -2.65079351e-13,  1.00000000e+00,  3.51335312e-26,
        1.00000000e+00,  2.65079351e-13, -1.00000000e+00,  0.00000000e+00,
        1.32539676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948297 , -0.0931105 ,  0.06199491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38490411e-05,-2.13157655e-05,-8.07635050e-06,-4.40878312e-05,
 -3.88184525e-06, 1.43275798e-05,-9.24139155e-06,-1.49368721e-05,
 -6.22261527e-06,-6.60035875e-05,-1.47361583e-05, 4.36270981e-05,
 -2.91052459e-04,-8.55768711e-05,-1.28023816e-04,-1.21517926e-05,
  2.46448427e-06, 9.20863308e-07,-1.21641558e+00, 9.88713407e-05,
  1.49103793e-03, 2.08865961e-07]


--- Step 455 ---
qpos:
[ 3.00081559e-03,-3.30620803e-03, 1.18735979e-02, 4.17455861e-02,
 -2.20209856e-03,-1.92264439e-03,-1.73842505e-02, 2.86428663e-02,
  5.83772679e-03, 1.64596396e-02,-9.40332940e-03, 2.59848329e-02,
  8.48211498e-01,-1.67746665e-03, 6.46849980e-01, 6.51495136e-02,
  9.49812997e-02,-7.00319501e-02, 1.21787265e-01, 9.99994350e-01,
 -1.36557443e-04,-2.31983760e-05, 3.35870807e-03]

qacc:
[ -1.67227367, -1.84422963,  9.91070631,-24.54073121, -3.49064793,
   1.62072462, -7.84380983, 17.03948091, -3.71716492, -1.42646395,
   1.48150502,  7.0522559 , -1.60221093,  3.20385237, -1.37127402,
   2.09747382, -0.6444812 , -0.92333145,  0.07751767, 15.18734828,
 -11.55822135,  0.41248794]

qfrc_actuator:
[ 7.57608118e-05, 3.64883867e-05, 1.13822047e-04, 3.66635808e-05,
 -3.11385494e-05,-2.97175826e-04,-2.23111262e-04,-1.13851303e-05,
 -3.58669858e-05, 3.76367455e-04, 4.43243808e-05, 2.96699656e-05,
  4.58531443e-02,-7.93392345e-04, 2.63721764e-02,-3.93776727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021230495584750875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.22937875e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.22937875e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090577 , -0.05165268,  0.06199484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.81666385e-06,-2.53483823e-05,-9.88507830e-06,-4.50462841e-05,
 -2.04472249e-05, 6.14204228e-06,-7.02064683e-06, 2.64997925e-05,
 -2.21438726e-05,-7.84485834e-05, 1.25345537e-05, 2.30279053e-05,
 -3.04200652e-04,-4.38849064e-05,-1.20471026e-04,-2.45609318e-05,
  3.40735832e-06, 5.14592875e-07,-1.21640033e+00, 9.36527714e-05,
  1.48796026e-03, 6.39570541e-07]


--- Step 456 ---
qpos:
[ 3.00188459e-03,-3.30608199e-03, 1.18734407e-02, 4.17443496e-02,
 -2.20225889e-03,-1.92304381e-03,-1.73838147e-02, 2.86436278e-02,
  5.83783255e-03, 1.64584154e-02,-9.40342209e-03, 2.59851003e-02,
  8.49204760e-01,-1.67411256e-03, 6.47724214e-01, 6.51470947e-02,
  9.49678219e-02,-7.00268211e-02, 1.21784786e-01, 9.99994295e-01,
 -1.81575151e-04,-1.36427362e-04, 3.37032655e-03]

qacc:
[ -4.211234  , -0.70633918,  4.75610262,-13.62939356,  3.96178772,
   0.67417237, -5.2709897 , 16.25281854,  0.71847339,  0.04387131,
  -2.44653327,  8.25877525, -1.3844229 ,  2.55139908, -1.34599301,
   0.16207151, -0.64249994, -0.91354714, -0.01772825, 15.03446133,
 -11.41696305,  0.43494105]

qfrc_actuator:
[ 5.13802509e-05, 4.83635781e-05, 1.12083241e-04, 1.16655512e-05,
 -7.35598208e-06,-2.96672920e-04,-2.10344993e-04, 2.19086718e-05,
 -3.10307204e-05, 3.52889982e-04, 4.21609728e-05, 4.46902988e-05,
  4.57653562e-02,-7.83324066e-04, 2.62389084e-02,-3.97600205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021491262499505337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29148186e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.29148186e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905684, -0.05165313,  0.06199478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46669454e-05,-6.28166090e-06,-9.75150017e-06,-2.73012829e-05,
  2.32010418e-05, 3.62548937e-06, 1.40889988e-05, 3.38306940e-05,
  4.17033953e-06,-6.37511610e-05,-1.60171715e-05, 1.25431225e-05,
 -2.97225043e-04,-5.05714384e-05,-1.98069967e-04,-5.67298623e-05,
  3.34395673e-06, 1.38138867e-06,-1.21640507e+00, 8.97517032e-05,
  1.48336791e-03, 8.50809324e-07]


--- Step 457 ---
qpos:
[ 3.00265298e-03,-3.30595200e-03, 1.18731919e-02, 4.17435116e-02,
 -2.20213307e-03,-1.92351360e-03,-1.73834543e-02, 2.86444587e-02,
  5.83799507e-03, 1.64568120e-02,-9.40357247e-03, 2.59851862e-02,
  8.50196512e-01,-1.67158704e-03, 6.48596210e-01, 6.51432077e-02,
  9.49573901e-02,-7.00233319e-02, 1.21783847e-01, 9.99994239e-01,
 -2.12224308e-04,-2.24099371e-04, 3.38019824e-03]

qacc:
[-2.64130565, 1.08791972,-5.54291649,12.57036269, 2.50864422, 0.2552326 ,
 -1.34669624, 2.72944359, 0.49954927,-0.7146528 , 2.5852746 ,-5.35279701,
 -0.13798423,-1.49454632, 1.11346959,-8.73630175, 0.76145919,-0.40994876,
  0.38489663, 7.22718326,12.75436057,-0.87204248]

qfrc_actuator:
[ 3.66118800e-05, 5.54331966e-05, 1.11178517e-04, 3.29805595e-05,
  6.70720635e-06,-3.13930801e-04,-2.20737385e-04, 2.34373552e-05,
 -2.82201396e-05, 3.39597142e-04, 4.09157172e-05, 3.56558997e-05,
  4.56823480e-02,-8.32014514e-04, 2.61275931e-02,-4.05087164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021997582526576964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52351144e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.52351144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184309, -0.06181237,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54716174e-05, 3.61271098e-07,-4.34499126e-06, 2.01806830e-05,
  1.47238226e-05,-1.08547536e-05,-6.74053569e-06, 2.82719599e-06,
  2.90408182e-06,-5.16673142e-05,-1.59380415e-05,-1.20743188e-05,
 -2.89576026e-04,-1.08641494e-04,-2.11396279e-04,-1.04210299e-04,
  3.30354368e-06, 2.53882802e-06,-1.21640258e+00, 8.73081674e-05,
  1.47761468e-03, 8.76805131e-07]


--- Step 458 ---
qpos:
[ 3.00358322e-03,-3.30596609e-03, 1.18729746e-02, 4.17432911e-02,
 -2.20183929e-03,-1.92419713e-03,-1.73834352e-02, 2.86456847e-02,
  5.83784488e-03, 1.64550050e-02,-9.40355489e-03, 2.59851245e-02,
  8.51186777e-01,-1.67024354e-03, 6.49466355e-01, 6.51379689e-02,
  9.49499665e-02,-7.00214761e-02, 1.21783996e-01, 9.99994192e-01,
 -2.28742772e-04,-2.86517698e-04, 3.38840509e-03]

qacc:
[ 1.42441198, 0.99172845,-6.42170061,17.16649247, 1.46627144, 1.48062795,
 -7.36252891,14.9072466 ,-2.71873876,-1.03679582, 3.93893417,-6.62178597,
  0.23587636,-2.78231765, 1.30649016,-8.64215402, 0.75207341,-0.40833907,
  0.27210248, 7.10780083,12.60306404,-0.83133803]

qfrc_actuator:
[ 4.53764985e-05, 4.18679661e-05, 1.10790199e-04, 6.36183454e-05,
  1.49230973e-05,-3.41808018e-04,-2.44824447e-04, 4.17331719e-05,
 -4.43854809e-05, 3.50243056e-04, 5.80159598e-05, 3.03097894e-05,
  4.55969215e-02,-8.97247113e-04, 2.60614876e-02,-4.11111036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002237248333513686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.48122439e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.48122439e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184365, -0.06181314,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.32340792e-06,-1.34039985e-05,-1.47449510e-07, 3.08983871e-05,
  8.63196006e-06,-3.52021828e-05,-2.70628087e-05, 1.76501970e-05,
 -1.61041945e-05,-2.19952645e-05, 4.06712484e-06,-8.34309981e-06,
 -2.97891483e-04,-1.30798170e-04,-1.76880324e-04,-9.37767929e-05,
  1.94744666e-06, 1.77436617e-06,-1.21641826e+00, 8.60384869e-05,
  1.47314995e-03, 7.83390185e-07]


--- Step 459 ---
qpos:
[ 3.00461095e-03,-3.30591144e-03, 1.18727340e-02, 4.17423798e-02,
 -2.20144927e-03,-1.92499087e-03,-1.73837516e-02, 2.86471069e-02,
  5.83784662e-03, 1.64532511e-02,-9.40315080e-03, 2.59842593e-02,
  8.52175364e-01,-1.66963728e-03, 6.50334742e-01, 6.51306365e-02,
  9.49455201e-02,-7.00212479e-02, 1.21784855e-01, 9.99994158e-01,
 -2.31323797e-04,-3.23933302e-04, 3.39501189e-03]

qacc:
[  0.85353969, -1.26972412,  7.56941048,-19.52993183,  0.83552456,
   1.19357931, -5.29915449,  9.31677038,  1.33581922, -2.66677232,
  12.99791812,-27.55490263, -0.37791226, -0.90475295,  3.71789557,
 -16.79510867,  0.74431496, -0.40690032,  0.17741467,  7.01081108,
  12.47786039, -0.79917922]

qfrc_actuator:
[ 5.01660682e-05, 5.15735511e-05, 1.10625314e-04, 2.84608049e-05,
  1.96343460e-05,-3.40380066e-04,-2.59079495e-04, 5.19832501e-05,
 -3.60843572e-05, 3.75228076e-04, 8.59209357e-05,-8.28990345e-06,
  4.55047706e-02,-9.36214864e-04, 2.59799475e-02,-4.21535757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022548708323995303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46183287e-13, -4.92366573e-13,  1.00000000e+00, -1.21212421e-25,
        1.00000000e+00,  4.92366573e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46183287e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184387, -0.06181363,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.02099144e-06, 3.50664683e-06,-1.88060302e-06,-3.51348437e-05,
  4.94537473e-06,-2.30657053e-05,-2.42444008e-05, 8.14696603e-06,
  7.82629837e-06, 1.32269834e-05, 2.35953841e-05,-3.95591552e-05,
 -3.14018721e-04,-1.08983222e-04,-1.77000567e-04,-1.33161594e-04,
  9.40108558e-07, 1.13610083e-06,-1.21642950e+00, 8.54143500e-05,
  1.46996429e-03, 7.04240858e-07]


--- Step 460 ---
qpos:
[ 3.00534327e-03,-3.30593112e-03, 1.18730941e-02, 4.17410294e-02,
 -2.20100579e-03,-1.92586665e-03,-1.73842785e-02, 2.86486284e-02,
  5.83760239e-03, 1.64520336e-02,-9.40294873e-03, 2.59832615e-02,
  8.53161810e-01,-1.66790251e-03, 6.51200859e-01, 6.51221167e-02,
  9.49440256e-02,-7.00226423e-02, 1.21786106e-01, 9.99994139e-01,
 -2.20123381e-04,-3.36552040e-04, 3.40006985e-03]

qacc:
[ -2.57311637, -2.67768189, 11.26536161,-19.77873195,  0.4638193 ,
   0.68235637, -3.01094804,  5.12604139, -2.16091748,  1.00473688,
  -1.98626944, -0.38973018, -2.58268368,  6.24292019,  0.36139011,
  -5.82859796,  0.73795981, -0.40566128,  0.09806728,  6.93252422,
  12.3751487 , -0.77380015]

qfrc_actuator:
[ 3.48175799e-05, 5.73337914e-05, 1.46141744e-04, 8.14519857e-06,
  2.22473472e-05,-3.39139674e-04,-2.67304648e-04, 5.74465901e-05,
 -4.89481724e-05, 4.26394146e-04, 8.45177393e-05,-1.28689608e-05,
  4.54086557e-02,-8.70632512e-04, 2.58679017e-02,-4.27371675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022565240495947547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.92005846e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.92005846e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184382, -0.06181389,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52024660e-05, 5.82906259e-06, 3.47962868e-05,-2.09123886e-05,
  2.74655851e-06,-1.62854574e-05,-1.56843727e-05, 3.79362221e-06,
 -1.26394807e-05, 6.18048019e-05, 2.88390839e-06,-3.96106987e-06,
 -3.24633403e-04,-4.87401247e-06,-2.12296557e-04,-8.95553048e-05,
  2.57783451e-07, 6.08632674e-07,-1.21643646e+00, 8.54310278e-05,
  1.46804225e-03, 6.37663207e-07]


--- Step 461 ---
qpos:
[ 3.00623104e-03,-3.30611950e-03, 1.18739046e-02, 4.17401589e-02,
 -2.20087947e-03,-1.92664380e-03,-1.73850052e-02, 2.86501792e-02,
  5.83686075e-03, 1.64516871e-02,-9.40330013e-03, 2.59832330e-02,
  8.54146317e-01,-1.66568599e-03, 6.52064873e-01, 6.51099089e-02,
  9.49454624e-02,-7.00256553e-02, 1.21787484e-01, 9.99994136e-01,
 -1.95266273e-04,-3.24540729e-04, 3.40361945e-03]

qacc:
[ 1.38176084e+00,-4.95902337e-01,-5.84514312e-01, 8.29656484e+00,
 -2.78975535e+00, 7.54131587e-01,-2.61388007e+00, 3.35628530e+00,
 -4.36992501e+00, 4.70201752e+00,-1.91729110e+01, 3.61764339e+01,
 -1.85342504e+00, 3.87385356e+00, 8.10725224e+00,-3.26832679e+01,
  7.32816960e-01,-4.04636849e-01, 3.17053673e-02, 6.86992577e+00,
  1.22919037e+01,-7.53795903e-01]

qfrc_actuator:
[ 4.32454422e-05, 4.30897778e-05, 1.66947223e-04, 3.22647803e-05,
  5.85304022e-06,-3.20243261e-04,-2.71902776e-04, 6.00564686e-05,
 -7.41738153e-05, 4.92764199e-04, 6.59635795e-05, 3.81202183e-05,
  4.53102646e-02,-8.50406751e-04, 2.57536392e-02,-4.46438556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002245468642035897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.47214101e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.47214101e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184355, -0.06181396,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99631009e-06,-4.70098456e-06, 2.55705588e-05, 2.51689853e-05,
 -1.63212248e-05, 6.74807689e-06,-9.74976047e-06, 1.44271641e-06,
 -2.55701767e-05, 1.01396401e-04,-5.55500832e-06, 5.36654464e-05,
 -3.14566695e-04,-3.95038899e-05,-2.24228804e-04,-2.23569293e-04,
 -1.16817139e-07, 1.80265596e-07,-1.21643929e+00, 8.60843888e-05,
  1.46737138e-03, 5.82384502e-07]


--- Step 462 ---
qpos:
[ 3.00721273e-03,-3.30633541e-03, 1.18746862e-02, 4.17392542e-02,
 -2.20198560e-03,-1.92710722e-03,-1.73858735e-02, 2.86510261e-02,
  5.83582208e-03, 1.64525377e-02,-9.40431024e-03, 2.59830896e-02,
  8.55129141e-01,-1.66412867e-03, 6.52926659e-01, 6.51009593e-02,
  9.49498140e-02,-7.00302836e-02, 1.21788767e-01, 9.99994147e-01,
 -1.56850893e-04,-2.88032263e-04, 3.40569261e-03]

qacc:
[ 8.23941939e-01,-2.77671596e-02, 1.87771585e-01,-7.10329236e-01,
 -1.08195003e+01,-6.16257538e-01, 5.80770906e+00,-1.80326537e+01,
 -2.63164004e+00, 3.19145005e+00,-8.58899263e+00, 6.75982173e+00,
 -2.98702624e-01,-1.01731506e+00,-1.31226012e+01, 4.11249469e+01,
  7.28723617e-01,-4.03832068e-01,-2.36781289e-02, 6.82054741e+00,
  1.22255786e+01,-7.38047670e-01]

qfrc_actuator:
[ 4.78537862e-05, 3.47199384e-05, 1.61083423e-04, 2.90441449e-05,
 -5.71016601e-05,-2.90901113e-04,-2.74251060e-04, 2.54792904e-05,
 -8.87140964e-05, 5.67707473e-04, 3.75510953e-05, 3.26382472e-05,
  4.52158923e-02,-8.92704839e-04, 2.57233260e-02,-4.26989618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022244246027823544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49552856e-13,  2.49552856e-13,  1.00000000e+00,  6.22766279e-26,
        1.00000000e+00, -2.49552856e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49552856e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184311, -0.06181388,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83231493e-06,-4.63954518e-06,-2.82095983e-06,-2.04718090e-06,
 -6.34172497e-05, 3.11912414e-05,-2.09066358e-06,-3.45966875e-05,
 -1.52413263e-05, 1.32802535e-04,-6.28650383e-06,-2.81953666e-07,
 -3.10580889e-04,-1.04322079e-04,-1.60539225e-04, 1.52619363e-04,
 -1.95797519e-07,-1.58090958e-07,-1.21643810e+00, 8.73709050e-05,
  1.46794178e-03, 5.37465881e-07]


--- Step 463 ---
qpos:
[ 3.00755239e-03,-3.30690334e-03, 1.18761078e-02, 4.17383137e-02,
 -2.20349260e-03,-1.92767941e-03,-1.73863484e-02, 2.86518146e-02,
  5.83496247e-03, 1.64537624e-02,-9.40531655e-03, 2.59825967e-02,
  8.56110093e-01,-1.66243833e-03, 6.53786110e-01, 6.51009541e-02,
  9.49570679e-02,-7.00365249e-02, 1.21789771e-01, 9.99994167e-01,
 -1.04953368e-04,-2.27129918e-04, 3.40631452e-03]

qacc:
[-5.60923412e+00,-2.31736707e+00, 7.75689208e+00,-9.16047111e+00,
 -3.50174242e+00,-1.35566647e+00, 4.88403231e+00,-6.45662714e+00,
  1.55521687e+00,-2.38337832e-01, 3.03726634e+00,-9.35983477e+00,
 -1.07822335e+00, 1.62509689e+00,-3.03831569e+01, 1.01420472e+02,
  7.25541042e-01,-4.03245241e-01,-6.97947698e-02, 6.78236396e+00,
  1.21740253e+01,-7.25663626e-01]

qfrc_actuator:
[ 1.46645008e-05, 1.20482824e-05, 1.92775092e-04, 2.74941776e-05,
 -7.59399342e-05,-3.08803946e-04,-2.57475099e-04, 2.25691268e-05,
 -7.90919550e-05, 5.40604415e-04, 2.13028709e-05, 1.17228355e-05,
  4.51293040e-02,-8.82805848e-04, 2.56742341e-02,-3.79652503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021956538407978676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05645746e-13, -2.52822873e-13,  1.00000000e+00, -1.27838810e-25,
        1.00000000e+00,  2.52822873e-13, -1.00000000e+00,  0.00000000e+00,
       -5.05645746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184255, -0.0618137 ,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30530102e-05,-2.59371934e-05, 3.03092641e-05,-1.88580633e-06,
 -2.06335791e-05,-2.37221720e-06, 2.17803321e-05,-2.31537798e-06,
  9.23349409e-06, 4.58230059e-05, 1.04016319e-05,-1.54461567e-05,
 -3.11352504e-04,-5.97933181e-05,-1.09334207e-04, 4.60377380e-04,
  1.29684816e-08,-4.13744426e-07,-1.21643295e+00, 8.92876371e-05,
  1.46974567e-03, 5.02234992e-07]


--- Step 464 ---
qpos:
[ 3.00749155e-03,-3.30760161e-03, 1.18778076e-02, 4.17380491e-02,
 -2.20417943e-03,-1.92843904e-03,-1.73862677e-02, 2.86525609e-02,
  5.83457044e-03, 1.64543085e-02,-9.40542648e-03, 2.59819324e-02,
  8.57089025e-01,-1.65970839e-03, 6.54644851e-01, 6.51025023e-02,
  9.49672143e-02,-7.00443776e-02, 1.21790343e-01, 9.99994190e-01,
 -3.96308487e-05,-1.41910991e-04, 3.40550506e-03]

qacc:
[ -3.50395516,  0.44929479, -4.69057949, 16.02062724,  7.21411319,
  -1.90044883,  6.57058186, -8.0231406 ,  4.11766262, -3.763022  ,
  12.82534445,-16.70902098, -2.37160547,  5.67224585, -5.61566912,
  18.41387361,  0.72315108, -0.4028702 , -0.10810438,  6.75371079,
  12.13543054, -0.71593215]

qfrc_actuator:
[-4.99971799e-06, 1.66363088e-05, 2.10837500e-04, 6.24671102e-05,
 -3.31416763e-05,-3.19251513e-04,-2.29702899e-04, 2.05427183e-05,
 -5.53296247e-05, 4.52617640e-04, 4.74594449e-05,-4.19641979e-07,
  4.50421378e-02,-8.24364501e-04, 2.56299422e-02,-3.73089844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021610305413646835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.56873516e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.56873516e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184189, -0.06181343,  0.06199475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06153302e-05,-3.74292659e-06, 1.63659658e-05, 3.48754935e-05,
  4.22084844e-05,-7.35710598e-06, 2.98963591e-05,-1.41807087e-06,
  2.40459630e-05,-6.09065859e-05, 3.63659690e-05,-1.01194076e-05,
 -3.03267195e-04,-6.31807883e-06,-4.80335766e-05, 7.60588696e-05,
  5.05121727e-07,-5.92837774e-07,-1.21642390e+00, 9.18322058e-05,
  1.47277708e-03, 4.76233869e-07]


--- Step 465 ---
qpos:
[ 3.00754006e-03,-3.30824465e-03, 1.18793748e-02, 4.17382099e-02,
 -2.20434834e-03,-1.92906280e-03,-1.73862201e-02, 2.86529310e-02,
  5.83412169e-03, 1.64540867e-02,-9.40512033e-03, 2.59822101e-02,
  8.58066174e-01,-1.65660651e-03, 6.55503148e-01, 6.51028059e-02,
  9.49802465e-02,-7.00538412e-02, 1.21790355e-01, 9.99994208e-01,
  3.90757596e-05,-3.24298757e-05, 3.40327994e-03]

qacc:
[  0.95484499,  1.31935838, -6.39617238, 13.93342782,  4.53876091,
  -0.51060404,  3.65456865,-10.19605334, -0.46805483, -0.23778945,
  -4.60048545, 20.80190315, -1.61025261,  3.23724123,  3.172336  ,
 -11.87891134,  0.72145317, -0.40269803, -0.13985189,  6.73321743,
  12.1082619 , -0.70828481]

qfrc_actuator:
[ 1.21901316e-06, 1.97466382e-05, 2.03075375e-04, 8.31512654e-05,
 -7.68010110e-06,-3.07351103e-04,-2.31157903e-04, 1.30101070e-06,
 -5.89485936e-05, 4.00014343e-04, 6.26595347e-05, 4.59213044e-05,
  4.49547056e-02,-8.08768058e-04, 2.55991196e-02,-3.79958963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021221011276549573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184115, -0.06181309,  0.06199484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.62865476e-06, 5.89063861e-06,-5.32289692e-06, 2.17682713e-05,
  2.66610191e-05, 1.39405045e-05, 6.63524992e-07,-1.85520600e-05,
 -2.95052213e-06,-7.95942564e-05, 6.74310659e-06, 4.47916297e-05,
 -2.88175099e-04,-4.10831044e-05,-5.44879441e-05,-7.30434068e-05,
  1.27928034e-06,-7.00816885e-07,-1.21641099e+00, 9.50027577e-05,
  1.47703155e-03, 4.59178489e-07]


--- Step 466 ---
qpos:
[ 3.00766252e-03,-3.30882112e-03, 1.18808555e-02, 4.17382675e-02,
 -2.20490014e-03,-1.92958024e-03,-1.73867607e-02, 2.86534558e-02,
  5.83397758e-03, 1.64538397e-02,-9.40493189e-03, 2.59833275e-02,
  8.59041771e-01,-1.65421950e-03, 6.56360015e-01, 6.51027316e-02,
  9.49935710e-02,-7.00587736e-02, 1.21790459e-01, 9.99994207e-01,
  7.99384114e-05, 7.96092848e-05, 3.40188591e-03]

qacc:
[ 6.45201589e-01, 1.15634598e-01, 1.48553446e-01,-1.84260752e+00,
 -3.37830810e+00, 2.10798338e+00,-7.95433885e+00, 1.14801043e+01,
  2.65441831e+00, 2.01891627e+00,-1.08010223e+01, 2.55489937e+01,
 -2.82155607e-01,-1.02910570e+00,-9.76091447e-01, 3.29756531e-01,
  7.30648108e-02, 1.13278524e+00, 2.30181230e-02,-1.89175020e+01,
  1.34342778e+00, 4.16134666e-01]

qfrc_actuator:
[ 4.86524627e-06, 2.18369122e-05, 1.97870892e-04, 7.74894669e-05,
 -2.81515993e-05,-3.17795509e-04,-2.67535358e-04, 7.58629844e-06,
 -4.31538095e-05, 4.40012375e-04, 7.14074834e-05, 9.08022570e-05,
  4.48618394e-02,-8.54132002e-04, 2.55124709e-02,-3.82242641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021129219185661574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31361104e-13,  2.62722208e-13,  1.00000000e+00,  3.45114794e-26,
        1.00000000e+00, -2.62722208e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31361104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483245, -0.09311117,  0.06199486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80831926e-06, 5.22372256e-06,-3.90155120e-06,-5.17257109e-06,
 -1.97059104e-05,-3.27630666e-06,-3.40533120e-05, 6.54396659e-06,
  1.56799653e-05,-1.19778550e-06,-5.31489400e-06, 4.25742648e-05,
 -2.90357386e-04,-1.03423207e-04,-1.30095917e-04,-3.63865540e-05,
  2.33663691e-06,-7.42785558e-07,-1.21639424e+00, 9.87979281e-05,
  1.48250596e-03, 4.50927343e-07]


--- Step 467 ---
qpos:
[ 3.00782752e-03,-3.30895023e-03, 1.18818219e-02, 4.17378922e-02,
 -2.20569268e-03,-1.93010690e-03,-1.73876839e-02, 2.86537077e-02,
  5.83402338e-03, 1.64542062e-02,-9.40516865e-03, 2.59835304e-02,
  8.60015672e-01,-1.65204461e-03, 6.57214870e-01, 6.51034251e-02,
  9.50071859e-02,-7.00592162e-02, 1.21790311e-01, 9.99994193e-01,
  8.32968795e-05, 1.94233046e-04, 3.40124934e-03]

qacc:
[  0.34933856,  1.13601156, -1.36711572, -5.62992401, -2.12354666,
   0.49932912, -0.63831555, -3.47545139,  1.63196346,  0.11358234,
   4.62714559,-20.21984453, -0.84958494,  0.8032974 , -5.25814346,
  14.14659157,  0.07259064,  1.12245173, -0.06306792,-18.74761665,
   1.35611628,  0.37715409]

qfrc_actuator:
[ 6.95963118e-06, 5.87869816e-05, 1.76455134e-04, 5.63786251e-05,
 -3.99840497e-05,-3.23918971e-04,-2.88792693e-04,-6.69789311e-06,
 -3.38020876e-05, 4.99630389e-04, 5.88988684e-05, 4.57695917e-05,
  4.47764078e-02,-8.64123619e-04, 2.54137342e-02,-3.78261409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021302383238708256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30293288e-13,  5.21173153e-13,  1.00000000e+00,  6.79053639e-26,
        1.00000000e+00, -5.21173153e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30293288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483233, -0.09311078,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20535219e-06, 3.88481015e-05,-2.10072939e-05,-2.11251078e-05,
 -1.23942125e-05,-1.46918864e-05,-2.58903046e-05,-1.54735058e-05,
  9.79882573e-06, 5.96840903e-05,-1.19401518e-05,-4.44423747e-05,
 -2.96551369e-04,-7.60252211e-05,-1.68499577e-04, 1.95955631e-05,
  2.09318896e-06,-3.12455694e-07,-1.21640421e+00, 1.00874292e-04,
  1.48794755e-03, 1.04090658e-07]


--- Step 468 ---
qpos:
[ 3.00801652e-03,-3.30886824e-03, 1.18825545e-02, 4.17376229e-02,
 -2.20593116e-03,-1.93083397e-03,-1.73882235e-02, 2.86534124e-02,
  5.83418106e-03, 1.64551518e-02,-9.40561544e-03, 2.59831811e-02,
  8.60987791e-01,-1.64940395e-03, 6.58067919e-01, 6.51041892e-02,
  9.50210905e-02,-7.00552027e-02, 1.21789622e-01, 9.99994166e-01,
  4.94276430e-05, 3.11467076e-04, 3.40130475e-03]

qacc:
[  0.19974108,  1.15129326, -4.14797587,  6.2024337 ,  4.87464964,
  -2.470894  , 10.71985162,-20.63504359,  0.95914898,  0.21380583,
   2.67661735,-12.32091791, -1.6321568 ,  3.37848109, -2.80262002,
   6.11147425,  0.0724272 ,  1.11403491, -0.13530454,-18.6093718 ,
   1.36846724,  0.34228841]

qfrc_actuator:
[ 8.12473395e-06, 6.29876279e-05, 1.63527652e-04, 6.18747141e-05,
 -1.11167881e-05,-3.27376854e-04,-2.65442971e-04,-3.29580100e-05,
 -2.83233091e-05, 5.34886490e-04, 5.17435212e-05, 1.92174943e-05,
  4.47008316e-02,-8.35356012e-04, 2.53344777e-02,-3.77721744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021326967915005768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60286185e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.60286185e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483221, -0.0931108 ,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24269605e-06, 2.06749550e-05,-8.23089176e-06, 6.02085616e-06,
  2.85105243e-05,-1.76593495e-05, 1.66074254e-05,-2.80835113e-05,
  5.78376777e-06, 6.42534685e-05, 2.16247060e-06,-2.52735848e-05,
 -2.85780144e-04,-3.50317597e-05,-1.58273771e-04,-1.61284412e-05,
  2.00948594e-06, 1.29082391e-07,-1.21640692e+00, 1.01097085e-04,
  1.49355746e-03,-1.48855056e-07]


--- Step 469 ---
qpos:
[ 3.00821811e-03,-3.30869183e-03, 1.18831300e-02, 4.17381218e-02,
 -2.20582211e-03,-1.93144654e-03,-1.73888977e-02, 2.86527998e-02,
  5.83440356e-03, 1.64563188e-02,-9.40575881e-03, 2.59828717e-02,
  8.61958323e-01,-1.64703923e-03, 6.58919216e-01, 6.51036427e-02,
  9.50323676e-02,-7.00548780e-02, 1.21789385e-01, 9.99994127e-01,
  4.62746661e-05, 4.05964748e-04, 3.40267246e-03]

qacc:
[  0.10436837,  2.14704448,-10.7148282 , 24.18868372,  3.04164095,
  -0.13110387,  2.01700689, -7.36766617,  0.57104263, -0.47427228,
   1.94481206, -1.89879383, -0.77943875,  0.63036307,  1.39364387,
  -8.57959938, -0.65685497, -0.92222036,  0.11299574, 15.31916952,
 -11.42031683,  0.66150865]

qfrc_actuator:
[ 8.73379438e-06, 6.53485562e-05, 1.55618499e-04, 1.00721724e-04,
  5.96651753e-06,-3.11287868e-04,-2.69200133e-04,-4.82677471e-05,
 -2.51662511e-05, 5.37561783e-04, 6.55076798e-05, 2.15099068e-05,
  4.46152600e-02,-8.54936438e-04, 2.52456601e-02,-3.84533792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021518600698985924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.5796822e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.5796822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905493, -0.05165314,  0.06199477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50795667e-07, 1.24690646e-05,-4.45327049e-06, 3.95637150e-05,
  1.78903405e-05, 8.48409014e-06,-6.31640981e-06,-1.60361380e-05,
  3.34869857e-06, 3.79441125e-05, 2.64233332e-05, 4.62836115e-06,
 -2.80838717e-04,-7.63132198e-05,-1.67909625e-04,-9.05060638e-05,
  2.06698139e-06, 5.81799682e-07,-1.21640254e+00, 9.94801953e-05,
  1.49933138e-03,-3.09051672e-07]


--- Step 470 ---
qpos:
[ 3.00842539e-03,-3.30834633e-03, 1.18833389e-02, 4.17383967e-02,
 -2.20585386e-03,-1.93186076e-03,-1.73899550e-02, 2.86520149e-02,
  5.83431786e-03, 1.64571783e-02,-9.40546027e-03, 2.59826512e-02,
  8.62927388e-01,-1.64579103e-03, 6.59768638e-01, 6.51015779e-02,
  9.50410441e-02,-7.00582087e-02, 1.21789195e-01, 9.99994085e-01,
  7.35008696e-05, 4.78003283e-04, 3.40536741e-03]

qacc:
[ 3.53839219e-02, 7.86960841e-01,-1.53652805e+00,-1.87774372e+00,
 -1.25044731e+00, 9.79923590e-01,-2.38175201e+00,-1.39679287e-01,
 -2.66899754e+00,-1.45338893e+00, 4.22623612e+00,-3.17796802e+00,
  1.65310801e-01,-2.48345216e+00, 1.77903892e+00,-1.03353636e+01,
 -6.50158499e-01,-9.13822491e-01, 1.18888109e-02, 1.51510211e+01,
 -1.12811555e+01, 6.70310034e-01]

qfrc_actuator:
[ 9.01104195e-06, 6.66378924e-05, 1.32984346e-04, 8.78641230e-05,
 -1.78827008e-06,-3.01458155e-04,-2.88856536e-04,-5.70181330e-05,
 -4.11525366e-05, 4.85309453e-04, 7.36414737e-05, 2.29851136e-05,
  4.45237378e-02,-9.20722915e-04, 2.51564915e-02,-3.92071056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002182087185992332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.54394745e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.54394745e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905438, -0.05165387,  0.0619947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97421926e-07, 9.02229173e-06,-1.92482279e-05,-1.17102697e-05,
 -7.24093556e-06, 1.26198847e-05,-1.92211468e-05,-8.91393256e-06,
 -1.58748273e-05,-2.54153190e-05, 1.93752252e-05, 4.10393284e-06,
 -2.91454926e-04,-1.26698497e-04,-1.80656279e-04,-1.03073198e-04,
  1.37863038e-06,-2.76250234e-07,-1.21641751e+00, 9.94289397e-05,
  1.50401194e-03,-5.63331481e-08]


--- Step 471 ---
qpos:
[ 3.00863444e-03,-3.30805636e-03, 1.18839319e-02, 4.17381471e-02,
 -2.20632311e-03,-1.93215309e-03,-1.73907039e-02, 2.86514381e-02,
  5.83404111e-03, 1.64581965e-02,-9.40604008e-03, 2.59824829e-02,
  8.63894681e-01,-1.64466346e-03, 6.60615416e-01, 6.51006553e-02,
  9.50470848e-02,-7.00635338e-02, 1.21789569e-01, 9.99994043e-01,
  1.17200767e-04, 5.27695478e-04, 3.40909062e-03]

qacc:
[  0.02824768, -2.22880067, 10.05211091,-19.69983272, -3.82943084,
  -0.26494683,  0.31246689,  2.69336045, -1.69642563,  2.7753679 ,
  -9.80586819, 11.98961467, -0.96826407,  1.13854652, -7.31283772,
  19.99687208, -0.65897038, -0.49863256,  0.14092571,  8.19850383,
 -11.20111587,  0.51888455]

qfrc_actuator:
[ 9.09106356e-06, 6.71718416e-05, 1.55045614e-04, 6.24214043e-05,
 -2.40965942e-05,-2.77761021e-04,-2.64492368e-04,-4.40983662e-05,
 -5.05251083e-05, 4.89304033e-04, 2.48792837e-05, 2.39051310e-05,
  4.44340174e-02,-9.24518900e-04, 2.50352319e-02,-3.85768145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021932404437565608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06202148e-13,  2.52719145e-07,  1.00000000e+00,  1.27926974e-19,
        1.00000000e+00, -2.52719145e-07, -1.00000000e+00, -2.40741243e-35,
       -5.06202148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089665 , -0.06022168,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15436048e-08, 1.08569087e-06, 2.11415527e-05,-2.59521561e-05,
 -2.25091775e-05, 2.64286309e-05, 2.43140828e-05, 1.26273998e-05,
 -9.83444511e-06,-6.07966131e-06,-5.14961016e-05, 5.79686621e-07,
 -3.06293546e-04,-7.30301809e-05,-2.19268705e-04, 3.31615798e-05,
  6.36547830e-07,-7.93629781e-07,-1.21642509e+00, 1.00836762e-04,
  1.50752324e-03, 8.45932369e-09]


--- Step 472 ---
qpos:
[ 3.00884281e-03,-3.30786714e-03, 1.18850749e-02, 4.17379338e-02,
 -2.20671153e-03,-1.93193354e-03,-1.73913349e-02, 2.86509826e-02,
  5.83365449e-03, 1.64587884e-02,-9.40698142e-03, 2.59823674e-02,
  8.64860116e-01,-1.64325783e-03, 6.61460138e-01, 6.51023098e-02,
  9.50504827e-02,-7.00692255e-02, 1.21790666e-01, 9.99994007e-01,
  1.63785111e-04, 5.55304293e-04, 3.41344082e-03]

qacc:
[ 1.30956068e-02,-1.59580910e+00, 5.34320725e+00,-5.52053692e+00,
  7.03948119e-01, 5.95027863e-01,-1.65447362e+00, 3.19037561e+00,
 -9.62282290e-01, 5.57368253e-01,-3.02412180e+00, 4.82448319e+00,
 -1.41212408e+00, 2.58053530e+00,-1.07468366e+01, 3.33424102e+01,
 -6.60675091e-01,-9.16163280e-02, 1.80717007e-01, 1.40440644e+00,
 -1.10465059e+01, 3.15536029e-01]

qfrc_actuator:
[ 9.05439745e-06, 6.74095439e-05, 1.85567245e-04, 6.53229465e-05,
 -1.92787522e-05,-2.27993676e-04,-2.49759393e-04,-3.62406740e-05,
 -5.59233217e-05, 4.37940374e-04,-3.61909164e-06, 2.44931336e-05,
  4.43454582e-02,-9.09422516e-04, 2.49800670e-02,-3.71366448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022008537654714944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52225532e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.52225532e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888298, -0.0683793 ,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49291989e-08, 4.08251543e-06, 3.24418425e-05, 3.17295707e-06,
  4.18392782e-06, 7.01223746e-05, 2.36382843e-05, 1.00819005e-05,
 -5.67758056e-06,-6.54098471e-05,-3.60816317e-05,-1.44331908e-06,
 -3.04830814e-04,-5.03037202e-05,-1.53310664e-04, 1.17358192e-04,
 -7.24357043e-10,-8.16800640e-07,-1.21642901e+00, 1.03007807e-04,
  1.50991390e-03,-1.10101084e-07]


--- Step 473 ---
qpos:
[ 3.00939409e-03,-3.30777535e-03, 1.18863334e-02, 4.17377865e-02,
 -2.20703946e-03,-1.93103318e-03,-1.73924308e-02, 2.86506432e-02,
  5.83355093e-03, 1.64588325e-02,-9.40733066e-03, 2.59815187e-02,
  8.65823876e-01,-1.64228278e-03, 6.62304544e-01, 6.51030389e-02,
  9.50512577e-02,-7.00752832e-02, 1.21792209e-01, 9.99993977e-01,
  2.13242714e-04, 5.60986699e-04, 3.41841891e-03]

qacc:
[  3.01525755, -0.32172907,  0.67141344,  0.36922609,  0.50436096,
   2.4357923 , -7.87158064, 10.12351516,  2.49620145, -3.89266822,
  15.91557854,-29.13596833, -0.70865898,  0.24033132,  2.34493097,
  -8.83822106, -0.65573977, -0.09152359,  0.11159768,  1.39902426,
 -10.967993  ,  0.31653013]

qfrc_actuator:
[ 2.67020889e-05, 4.97842927e-05, 1.85340507e-04, 6.71274387e-05,
 -1.62811769e-05,-1.98528216e-04,-2.76243204e-04,-3.14166018e-05,
 -4.11890475e-05, 4.24893838e-04, 3.31332307e-05,-1.06447339e-05,
  4.42576675e-02,-9.36599033e-04, 2.50018818e-02,-3.75373068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002196013262040497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52781494e-13,  2.52781494e-13,  1.00000000e+00, -6.38984835e-26,
        1.00000000e+00, -2.52781494e-13, -1.00000000e+00,  0.00000000e+00,
        2.52781494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888312, -0.0683793 ,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76449525e-05,-8.52580966e-06, 4.70681318e-06, 3.16119065e-06,
  3.13993777e-06, 7.39943404e-05,-8.73343096e-06, 8.84506674e-06,
  1.45511119e-05,-5.71525011e-05, 1.87510368e-05,-3.92163090e-05,
 -2.98181623e-04,-8.97762515e-05,-3.97378123e-05,-5.42750166e-05,
 -3.72080815e-07,-5.22447696e-07,-1.21643265e+00, 1.05282283e-04,
  1.51124121e-03,-3.06118707e-07]


--- Step 474 ---
qpos:
[ 3.01049765e-03,-3.30788576e-03, 1.18873805e-02, 4.17376989e-02,
 -2.20767378e-03,-1.92956604e-03,-1.73935515e-02, 2.86506938e-02,
  5.83362398e-03, 1.64593046e-02,-9.40768410e-03, 2.59801700e-02,
  8.66785961e-01,-1.64190496e-03, 6.63147977e-01, 6.51030096e-02,
  9.50508179e-02,-7.00792905e-02, 1.21794310e-01, 9.99993955e-01,
  2.45586931e-04, 5.56860385e-04, 3.42345967e-03]

qacc:
[  4.84444288,  0.43736171, -2.21521281,  3.75276319, -2.6974441 ,
   1.62554849, -6.34741224, 12.7106589 ,  1.53259212, -0.45507689,
   4.54999388,-13.5086564 , -0.51634453, -0.40183179,  0.85658406,
  -5.0752563 , -0.3036808 ,  0.51260747,  0.13949744, -8.57342527,
  -4.87507567,  0.02756491]

qfrc_actuator:
[ 5.46170743e-05, 2.14782605e-05, 1.66879075e-04, 6.82294110e-05,
 -3.21403871e-05,-1.63864940e-04,-2.73663518e-04,-1.07033995e-05,
 -3.24768964e-05, 5.06140123e-04, 5.49690675e-05,-3.09481854e-05,
  4.41650622e-02,-9.70789247e-04, 2.49419828e-02,-3.79525955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000217623470394722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27539440e-13,  1.06804716e-06,  1.00000000e+00,  1.36218137e-19,
        1.00000000e+00, -1.06804716e-06, -1.00000000e+00,  2.40741243e-35,
       -1.27539440e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204188, -0.08042174,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84127151e-05,-3.19793504e-05,-1.95500919e-05, 9.57648193e-07,
 -1.57438976e-05, 7.45979166e-05, 1.70967306e-05, 2.37552652e-05,
  9.10980122e-06, 5.14880887e-05, 1.09876359e-05,-2.28651401e-05,
 -3.05515192e-04,-1.00783060e-04,-9.49971609e-05,-5.22561807e-05,
 -6.03921302e-07,-1.41958836e-07,-1.21643380e+00, 1.07676638e-04,
  1.51148326e-03,-5.19629374e-07]


--- Step 475 ---
qpos:
[ 3.01158243e-03,-3.30810536e-03, 1.18876087e-02, 4.17376563e-02,
 -2.20780277e-03,-1.92832913e-03,-1.73940075e-02, 2.86513925e-02,
  5.83345615e-03, 1.64601725e-02,-9.40788983e-03, 2.59796164e-02,
  8.67746303e-01,-1.64191443e-03, 6.63989441e-01, 6.51026156e-02,
  9.50506415e-02,-7.00788548e-02, 1.21795740e-01, 9.99993938e-01,
  2.40907546e-04, 5.55657379e-04, 3.42875984e-03]

qacc:
[ -0.18874845,  2.23824484, -8.37809303, 10.54421745,  4.45723108,
  -0.83673629, -0.20997341, 10.55083195, -2.10247777,  1.7512716 ,
  -8.83554848, 22.06236223, -0.73908947,  0.31730761, -1.78519822,
   2.06746519,  0.06582064,  1.11075575, -0.16799371,-18.50675831,
   1.52504982,  0.11902789]

qfrc_actuator:
[ 5.28406436e-05, 4.66011331e-06, 1.20004921e-04, 6.88897734e-05,
 -5.71308827e-06,-2.15004425e-04,-2.53899895e-04, 1.92228547e-05,
 -4.51374182e-05, 5.36689573e-04, 6.82144635e-05, 1.09672120e-05,
  4.40749545e-02,-9.91096162e-04, 2.48224745e-02,-3.81971003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021656670234937447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.36424691e-13,  7.68970723e-13,  1.00000000e+00,  2.58700738e-25,
        1.00000000e+00, -7.68970723e-13, -1.00000000e+00,  0.00000000e+00,
       -3.36424691e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483349, -0.0931107 ,  0.06199474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.78276095e-07,-3.86997899e-05,-5.58674677e-05,-1.37063123e-06,
  2.60028687e-05,-4.92078812e-06, 3.80965425e-05, 3.41768091e-05,
 -1.23800516e-05, 6.06251385e-05, 2.44445022e-05, 4.40594508e-05,
 -3.10300168e-04,-8.95808739e-05,-1.76882963e-04,-4.14919146e-05,
 -4.03744281e-07, 5.99670375e-08,-1.21643735e+00, 1.09245602e-04,
  1.51132472e-03,-6.38775926e-07]


--- Step 476 ---
qpos:
[ 3.01229262e-03,-3.30828684e-03, 1.18874343e-02, 4.17375742e-02,
 -2.20726878e-03,-1.92777379e-03,-1.73941653e-02, 2.86521844e-02,
  5.83279338e-03, 1.64611156e-02,-9.40777270e-03, 2.59795983e-02,
  8.68704841e-01,-1.64186531e-03, 6.64828947e-01, 6.50999177e-02,
  9.50507324e-02,-7.00740028e-02, 1.21796277e-01, 9.99993927e-01,
  1.99405908e-04, 5.57326479e-04, 3.43436577e-03]

qacc:
[ -3.3012171 ,  1.10109315, -3.67440051,  3.59315246,  5.83584926,
  -1.55311902,  3.81803545, -2.15979079, -4.30769189,  0.30762879,
  -3.19932506, 11.88001108, -1.29789794,  2.09705423,  4.11504459,
 -18.47594504,  0.06683756,  1.10405648, -0.22309609,-18.40617637,
   1.49920723,  0.14228884]

qfrc_actuator:
[ 3.35995137e-05, 3.02278522e-05, 1.10033112e-04, 6.92760699e-05,
  2.76443239e-05,-2.99302631e-04,-2.60010833e-04, 1.87576132e-05,
 -7.02747108e-05, 5.18929323e-04, 7.61553642e-05, 3.58607938e-05,
  4.39917375e-02,-9.85291524e-04, 2.47152573e-02,-3.94051977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021492216650259577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09856485e-13,  5.16569809e-13,  1.00000000e+00,  1.08405524e-25,
        1.00000000e+00, -5.16569809e-13, -1.00000000e+00,  0.00000000e+00,
       -2.09856485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483367, -0.09311129,  0.06199478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92797224e-05,-7.66998088e-06,-2.48950175e-05,-3.23139221e-06,
  3.40939535e-05,-7.77483401e-05,-1.26382992e-06, 1.30279594e-06,
 -2.54713960e-05, 2.30465413e-05, 2.49930364e-05, 2.91951411e-05,
 -3.04955267e-04,-6.27958319e-05,-1.96751330e-04,-1.46777831e-04,
  6.69439918e-08, 1.48965215e-08,-1.21643994e+00, 1.09022436e-04,
  1.51138103e-03,-6.12570780e-07]


--- Step 477 ---
qpos:
[ 3.01311158e-03,-3.30846168e-03, 1.18873526e-02, 4.17378112e-02,
 -2.20668424e-03,-1.92732077e-03,-1.73945628e-02, 2.86525831e-02,
  5.83183445e-03, 1.64621647e-02,-9.40775360e-03, 2.59792141e-02,
  8.69661545e-01,-1.64143660e-03, 6.65666705e-01, 6.50950032e-02,
  9.50482236e-02,-7.00695243e-02, 1.21797225e-01, 9.99993924e-01,
  1.60748507e-04, 5.36962155e-04, 3.44056593e-03]

qacc:
[  0.95766166,  0.40548534, -2.78267807,  8.15566721,  0.43733091,
  -0.27512028,  2.44340208, -8.78725772, -2.58824483, -0.33426867,
   2.94987928, -9.21659685, -1.65161614,  3.26556444,  4.18321079,
 -18.21065292, -0.64991671, -0.09336416,  0.10292734,  1.38410802,
 -11.02147213,  0.30009488]

qfrc_actuator:
[ 3.97481382e-05, 4.56182098e-05, 1.22114036e-04, 8.73171077e-05,
  2.92947518e-05,-2.78684223e-04,-2.63793158e-04, 3.53249518e-07,
 -8.47950146e-05, 5.07850918e-04, 6.29267075e-05, 1.49776446e-05,
  4.39073973e-02,-9.64110913e-04, 2.46474394e-02,-4.04604934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002139290372050462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.59483948e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.59483948e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888391, -0.06837911,  0.0619948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59871208e-06, 5.82052894e-06, 7.32295811e-06, 1.67897821e-05,
  2.59514786e-06,-2.30717679e-05,-1.99600015e-05,-2.17587428e-05,
 -1.52415040e-05, 8.17669178e-06,-4.39148063e-06,-1.84639311e-05,
 -2.97695729e-04,-4.29651095e-05,-1.77752061e-04,-1.39809095e-04,
  5.92368553e-07,-2.91162967e-08,-1.21643562e+00, 1.06982574e-04,
  1.51159273e-03,-4.98049953e-07]


--- Step 478 ---
qpos:
[ 3.01468762e-03,-3.30864023e-03, 1.18871378e-02, 4.17382791e-02,
 -2.20608435e-03,-1.92679792e-03,-1.73948763e-02, 2.86530579e-02,
  5.83105383e-03, 1.64630605e-02,-9.40776443e-03, 2.59786124e-02,
  8.70616653e-01,-1.64165521e-03, 6.66502186e-01, 6.50911468e-02,
  9.50431251e-02,-7.00654150e-02, 1.21798363e-01, 9.99993928e-01,
  1.24914626e-04, 4.94705746e-04, 3.44735637e-03]

qacc:
[ 6.64127140e+00, 8.30220471e-01,-3.96356289e+00, 8.19844562e+00,
  1.36105121e-01, 1.40273234e-02,-2.37961575e-01, 1.37014976e+00,
  1.55680510e+00,-5.70003395e-01, 2.65150282e+00,-6.25028354e+00,
 -3.23393507e-01,-8.68098356e-01,-6.55561523e+00, 1.80430040e+01,
 -6.47425844e-01,-9.22995534e-02, 4.73879153e-02, 1.37393172e+00,
 -1.09507875e+01, 2.97639639e-01]

qfrc_actuator:
[ 7.85497345e-05, 3.71657444e-05, 1.11586973e-04, 9.78553977e-05,
  3.00208614e-05,-2.48680368e-04,-2.48007140e-04, 7.13964617e-06,
 -7.51932900e-05, 4.82967878e-04, 5.50406887e-05, 2.82107570e-06,
  4.38171252e-02,-1.00505968e-03, 2.45607064e-02,-3.98180287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021254289377803381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888404, -0.06837905,  0.06199483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89626886e-05,-2.95972007e-06,-7.84046444e-06, 1.13675015e-05,
  7.93744613e-07, 1.20350695e-05, 7.80723816e-06, 4.68242835e-06,
  9.17190137e-06,-2.20546744e-05,-7.38878755e-06,-1.23185300e-05,
 -2.94875559e-04,-1.01326329e-04,-1.88135641e-04, 3.25769120e-05,
  6.81802535e-07, 1.84042803e-07,-1.21643516e+00, 1.04997995e-04,
  1.51060264e-03,-3.29827729e-07]


--- Step 479 ---
qpos:
[ 3.01671640e-03,-3.30861707e-03, 1.18864502e-02, 4.17385218e-02,
 -2.20513531e-03,-1.92647303e-03,-1.73946007e-02, 2.86532635e-02,
  5.83039463e-03, 1.64633294e-02,-9.40739978e-03, 2.59785938e-02,
  8.71569942e-01,-1.64197144e-03, 6.67335527e-01, 6.50857394e-02,
  9.50354445e-02,-7.00616713e-02, 1.21799506e-01, 9.99993935e-01,
  9.18859582e-05, 4.30667006e-04, 3.45473256e-03]

qacc:
[ 3.95540016e+00, 1.11691959e+00,-2.65872360e+00,-6.15493836e-01,
  3.08393292e+00,-2.46661744e+00, 9.54196162e+00,-1.49847134e+01,
  1.08172764e+00,-6.79605868e-01,-1.24488659e+00, 1.12028307e+01,
 -1.12132907e+00, 1.49263965e+00, 1.56203923e+00,-9.96174990e+00,
 -6.45518677e-01,-9.13960853e-02, 1.09850340e-03, 1.36490752e+00,
 -1.08958996e+01, 2.94926701e-01]

qfrc_actuator:
[ 1.00746027e-04, 4.99205462e-05, 8.76838796e-05, 8.61000143e-05,
  4.79599935e-05,-2.66434359e-04,-2.20707863e-04,-6.77674275e-06,
 -6.92269987e-05, 4.32266531e-04, 6.80839965e-05, 3.14036267e-05,
  4.37180125e-02,-1.01140046e-03, 2.44414317e-02,-4.06661571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002103498403938503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.27798368e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.27798368e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888433, -0.06837897,  0.06199489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33055592e-05, 9.98371447e-06,-2.50864100e-05,-1.19342800e-05,
  1.79654481e-05,-9.22682511e-06, 3.09053359e-05,-1.30409234e-05,
  6.22502022e-06,-6.51188503e-05, 7.14111683e-06, 2.71408497e-05,
 -3.12772409e-04,-7.36785431e-05,-2.04600898e-04,-1.07828511e-04,
  9.08412487e-07, 4.80135401e-07,-1.21643224e+00, 1.03131805e-04,
  1.50852914e-03,-1.79631730e-07]


--- Step 480 ---
qpos:
[ 3.01865089e-03,-3.30845899e-03, 1.18854702e-02, 4.17386180e-02,
 -2.20397869e-03,-1.92612431e-03,-1.73945720e-02, 2.86526400e-02,
  5.82981193e-03, 1.64632636e-02,-9.40670225e-03, 2.59792283e-02,
  8.72521113e-01,-1.64108730e-03, 6.68167255e-01, 6.50785241e-02,
  9.50252045e-02,-7.00598827e-02, 1.21800295e-01, 9.99993941e-01,
  7.49260767e-05, 3.44679893e-04, 3.46302820e-03]

qacc:
[ -0.83914136,  0.69489991, -1.59757835, -0.57383544,  1.81191284,
  -0.98764757,  7.06262633,-21.02896457,  0.68379809, -0.02936666,
  -3.29737018, 14.31908063, -2.67824246,  6.40506469,  3.213349  ,
 -14.37437168, -0.63987012, -0.48875932, -0.08832452,  7.99623344,
 -11.00183356,  0.46418735]

qfrc_actuator:
[ 9.52280184e-05, 5.74431364e-05, 7.39008330e-05, 7.90848212e-05,
  5.81343711e-05,-2.77097931e-04,-2.40297278e-04,-5.05525634e-05,
 -6.54563913e-05, 4.37619567e-04, 9.32914659e-05, 6.59633579e-05,
  4.36243248e-02,-9.44009347e-04, 2.43879144e-02,-4.14991514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002073265746500434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67747400e-13, -5.29595253e-07,  1.00000000e+00,  1.41797752e-19,
        1.00000000e+00,  5.29595253e-07, -1.00000000e+00,  0.00000000e+00,
        2.67747400e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896743, -0.06022011,  0.06199496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84862980e-06, 7.42095245e-06,-1.52194738e-05,-7.68835110e-06,
  1.06825625e-05,-1.00076722e-05,-1.81477879e-05,-4.33582340e-05,
  3.92612418e-06,-2.84374985e-05, 1.35666628e-05, 3.25426466e-05,
 -3.14166479e-04, 1.70679183e-07,-1.62082522e-04,-1.16258239e-04,
  1.26910461e-06, 8.58181882e-07,-1.21642691e+00, 1.01383351e-04,
  1.50537766e-03,-4.72038633e-08]


--- Step 481 ---
qpos:
[ 3.02050476e-03,-3.30863502e-03, 1.18847604e-02, 4.17393413e-02,
 -2.20270886e-03,-1.92586718e-03,-1.73947810e-02, 2.86522023e-02,
  5.82927868e-03, 1.64633507e-02,-9.40611717e-03, 2.59788581e-02,
  8.73470424e-01,-1.63944052e-03, 6.68997360e-01, 6.50702689e-02,
  9.50124067e-02,-7.00600415e-02, 1.21800587e-01, 9.99993941e-01,
  7.39696543e-05, 2.36832268e-04, 3.47224030e-03]

qacc:
[ -0.69310246,  0.09735047, -3.63120918, 14.29468333,  0.98720325,
   0.9233464 , -4.25623293,  7.92360096,  0.42447902, -1.55287588,
  10.07102762,-27.39193399, -2.03111229,  4.54383046,  0.84239303,
  -6.19100959, -0.63943484, -0.48688865, -0.12446703,  7.96367161,
 -10.95786516,  0.46181818]

qfrc_actuator:
[ 9.11999840e-05, 2.63072467e-05, 8.39509464e-05, 1.10430482e-04,
  6.36518031e-05,-2.83649860e-04,-2.51914278e-04,-4.05658964e-05,
 -6.30068538e-05, 4.58811138e-04, 9.01845762e-05, 1.50429406e-05,
  4.35446359e-02,-9.04648553e-04, 2.43259488e-02,-4.19592393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002044620483668991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.18717088e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.18717088e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896777, -0.06021973,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.16213653e-06,-3.04613638e-05, 9.44995365e-06, 3.09886751e-05,
  5.82098615e-06,-1.77627209e-05,-1.74232839e-05, 8.08613757e-06,
  2.55088058e-06, 9.47845313e-06,-6.19357393e-06,-5.10394345e-05,
 -2.86663340e-04,-1.89624459e-05,-1.54464029e-04,-7.45487264e-05,
  1.50470923e-06, 1.57293461e-06,-1.21642066e+00, 1.00389222e-04,
  1.50107438e-03,-4.33021028e-08]


--- Step 482 ---
qpos:
[ 3.02229594e-03,-3.30919179e-03, 1.18845194e-02, 4.17404270e-02,
 -2.20207261e-03,-1.92560374e-03,-1.73952480e-02, 2.86529122e-02,
  5.82912381e-03, 1.64636902e-02,-9.40591523e-03, 2.59775414e-02,
  8.74418037e-01,-1.63733824e-03, 6.69825721e-01, 6.50657156e-02,
  9.49998335e-02,-7.00557483e-02, 1.21800131e-01, 9.99993930e-01,
  3.60788449e-05, 1.31981212e-04, 3.48158945e-03]

qacc:
[ -0.52880377, -1.0662931 ,  1.54543346,  4.25011341, -5.56440612,
   3.09961235,-15.86715931, 36.11349001,  3.28334912, -0.55045558,
   6.43248163,-22.37638708, -1.45949811,  2.94530645,-13.67103536,
  44.26510619,  0.05613524,  1.11302592, -0.18675189,-18.46189511,
   1.5624046 ,  0.06406125]

qfrc_actuator:
[ 8.80899910e-05, 7.89658701e-06, 1.07855504e-04, 1.28572167e-04,
  3.08811342e-05,-2.69876282e-04,-2.58658212e-04, 1.87475471e-05,
 -4.36008631e-05, 4.71399520e-04, 7.04012482e-05,-3.25110073e-05,
  4.34680737e-02,-8.82148377e-04, 2.42962539e-02,-3.98881902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002025417438789312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.09629058e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.09629058e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483543, -0.09311578,  0.06199508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23970944e-06,-3.21596095e-05, 1.98558987e-05, 1.77672758e-05,
 -3.26105734e-05, 5.84488563e-07,-1.22791383e-05, 5.81073554e-05,
  1.94855932e-05, 1.44121977e-05,-2.03619921e-05,-4.83562555e-05,
 -2.68885114e-04,-3.30578059e-05,-1.13996505e-04, 1.81876492e-04,
  1.80112875e-06, 2.48698874e-06,-1.21641075e+00, 1.00155793e-04,
  1.49566880e-03,-1.34759549e-07]


--- Step 483 ---
qpos:
[ 3.02403569e-03,-3.30982277e-03, 1.18845062e-02, 4.17410080e-02,
 -2.20183421e-03,-1.92512700e-03,-1.73959017e-02, 2.86542949e-02,
  5.82954804e-03, 1.64638133e-02,-9.40586011e-03, 2.59770906e-02,
  8.75363955e-01,-1.63464410e-03, 6.70652873e-01, 6.50652167e-02,
  9.49874903e-02,-7.00470294e-02, 1.21798725e-01, 9.99993905e-01,
 -3.85840037e-05, 3.00215503e-05, 3.49119885e-03]

qacc:
[ -0.44322649, -1.77434703,  8.31374514,-17.35520595, -3.49845015,
   2.19379625,-10.24294933, 22.01618903,  5.05044844,  1.89700445,
 -10.85276224, 26.25337131, -1.60257945,  3.42640882,-13.93701321,
  46.36541742,  0.05750567,  1.1064246 , -0.23745188,-18.38089161,
   1.50970677,  0.12766432]

qfrc_actuator:
[ 8.55451407e-05, 1.50539781e-05, 1.22013401e-04, 1.03300326e-04,
  1.13443849e-05,-2.43968659e-04,-2.62362974e-04, 5.33631792e-05,
 -1.43697192e-05, 4.43159966e-04, 5.86803603e-05, 1.10617791e-05,
  4.33881139e-02,-8.52009850e-04, 2.42700132e-02,-3.77619270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020129915344903326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37882227e-13,  2.75764454e-13,  1.00000000e+00, -3.80230172e-26,
        1.00000000e+00, -2.75764454e-13, -1.00000000e+00,  0.00000000e+00,
        1.37882227e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483582, -0.09311633,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64809902e-06,-5.95015502e-06, 1.05808295e-05,-2.56173226e-05,
 -2.04680409e-05, 2.61712964e-05,-3.08389206e-06, 3.53468994e-05,
  2.97985757e-05,-2.64638983e-05,-1.29293756e-05, 4.25456609e-05,
 -2.62571796e-04,-2.41143882e-05,-6.40610072e-05, 2.06729127e-04,
  2.60676653e-06, 1.85721707e-06,-1.21640869e+00, 9.82815947e-05,
  1.49072051e-03, 2.03114169e-07]


--- Step 484 ---
qpos:
[ 3.02573125e-03,-3.31029430e-03, 1.18845531e-02, 4.17412630e-02,
 -2.20148701e-03,-1.92469867e-03,-1.73964488e-02, 2.86554043e-02,
  5.82997492e-03, 1.64633976e-02,-9.40573698e-03, 2.59765018e-02,
  8.76308331e-01,-1.63188917e-03, 6.71478993e-01, 6.50626883e-02,
  9.49726090e-02,-7.00419283e-02, 1.21796849e-01, 9.99993861e-01,
 -8.33609953e-05,-9.44415796e-05, 3.50170030e-03]

qacc:
[ -0.38894447, -0.62850849,  3.92310569, -9.77869641,  0.9582384 ,
  -0.92570576,  4.35892125, -9.2203589 ,  0.03432225, -1.18633728,
   3.77964649, -5.88088117, -1.14273328,  1.8672491 ,  4.64870294,
 -18.36677932, -0.63451405, -0.90444303, -0.1178116 , 14.90354165,
 -11.30385145,  0.44607424]

qfrc_actuator:
[ 8.33531848e-05, 3.73979551e-05, 1.30376698e-04, 8.82075734e-05,
  1.75183154e-05,-2.64248035e-04,-2.64212348e-04, 3.76704949e-05,
 -1.51008147e-05, 3.90791701e-04, 5.17138775e-05, 1.36087905e-06,
  4.33061766e-02,-8.53112131e-04, 2.41712988e-02,-3.89938678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020135751052101358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51369066e-13, -2.75684533e-13,  1.00000000e+00, -1.52003923e-25,
        1.00000000e+00,  2.75684533e-13, -1.00000000e+00,  0.00000000e+00,
       -5.51369066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905387, -0.05164974,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26692471e-06, 2.01201006e-05, 7.55561573e-06,-1.54802680e-05,
  5.59827098e-06,-4.78651868e-06, 4.39938976e-06,-1.39917539e-05,
  1.12940268e-07,-6.80068671e-05,-1.25552144e-05,-1.04549012e-05,
 -2.58256908e-04,-5.32253157e-05,-1.13311166e-04,-1.21876264e-04,
  3.46001048e-06, 1.27359946e-06,-1.21639972e+00, 9.45852583e-05,
  1.48592800e-03, 6.28257223e-07]


--- Step 485 ---
qpos:
[ 3.02773228e-03,-3.31058729e-03, 1.18846543e-02, 4.17416779e-02,
 -2.20141324e-03,-1.92474910e-03,-1.73970281e-02, 2.86556926e-02,
  5.83038986e-03, 1.64625521e-02,-9.40540225e-03, 2.59750874e-02,
  8.77251120e-01,-1.62909624e-03, 6.72303923e-01, 6.50553936e-02,
  9.49607648e-02,-7.00384653e-02, 1.21796299e-01, 9.99993813e-01,
 -1.13844680e-04,-1.93494764e-04, 3.51045655e-03]

qacc:
[  2.68003368,  0.40877414, -1.79891182,  4.35820022, -2.39144487,
  -2.22629059, 10.4953707 ,-24.30930318, -0.09068789, -2.85877255,
  12.85532062,-27.16651787, -1.2305179 ,  2.02376823, 12.67389413,
 -46.78448112,  0.75927355, -0.4095581 ,  0.33174949,  7.1910161 ,
  12.67994207, -0.87220441]

qfrc_actuator:
[ 9.91389369e-05, 5.08972873e-05, 1.35339858e-04, 9.69981924e-05,
  3.26588231e-06,-3.29815835e-04,-2.82919737e-04,-7.53013385e-06,
 -1.57118132e-05, 3.77612881e-04, 6.51965595e-05,-3.96465763e-05,
  4.32177741e-02,-8.54911957e-04, 2.40877113e-02,-4.14860052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002051820432403123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41091709e-13, -8.11637564e-13,  1.00000000e+00, -4.39170357e-25,
        1.00000000e+00,  8.11637564e-13, -1.00000000e+00,  0.00000000e+00,
       -5.41091709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183807, -0.06181771,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57299358e-05, 2.56578451e-05, 9.51674786e-06, 9.61271425e-06,
 -1.40941186e-05,-6.79449991e-05,-1.96395932e-05,-4.55282877e-05,
 -6.31850829e-07,-5.42338447e-05,-2.46809578e-06,-4.45576861e-05,
 -2.68220802e-04,-5.65135984e-05,-1.56355405e-04,-2.72304818e-04,
  3.57817347e-06, 2.44320716e-06,-1.21639592e+00, 9.21570836e-05,
  1.47964168e-03, 6.31322146e-07]


--- Step 486 ---
qpos:
[ 3.03025201e-03,-3.31080561e-03, 1.18845682e-02, 4.17425704e-02,
 -2.20151089e-03,-1.92517569e-03,-1.73976112e-02, 2.86561135e-02,
  5.83079402e-03, 1.64615244e-02,-9.40507287e-03, 2.59738661e-02,
  8.78192181e-01,-1.62568520e-03, 6.73127107e-01, 6.50474210e-02,
  9.49519219e-02,-7.00366351e-02, 1.21796668e-01, 9.99993769e-01,
 -1.30253459e-04,-2.67411929e-04, 3.51754485e-03]

qacc:
[ 4.54600089, 1.59766736,-7.58293844,16.10700286,-1.4971183 ,-0.21086577,
 -0.5242582 , 3.09607873,-0.09097119, 0.17174905,-1.77700689, 5.26157402,
 -1.77861996, 3.8446645 ,-0.44368963,-1.98575254, 0.75032506,-0.40816165,
  0.2295351 , 7.08136737,12.5433226 ,-0.83390904]

qfrc_actuator:
[ 1.25379323e-04, 4.12543275e-05, 1.20492103e-04, 1.19763249e-04,
 -5.15103074e-06,-3.33343830e-04,-2.76140479e-04, 1.23203183e-06,
 -1.62372280e-05, 3.88054229e-04, 7.30253101e-05,-2.76846490e-05,
  4.31362037e-02,-8.21626553e-04, 2.40345546e-02,-4.16808269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002088393147781642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.65807955e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.65807955e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183858, -0.06181845,  0.06199492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66973258e-05, 7.09006918e-06,-8.04459505e-06, 2.43790128e-05,
 -8.83969244e-06,-4.75274310e-05,-1.12423012e-05, 4.28611606e-06,
 -5.63103441e-07,-2.22749048e-05,-5.21015644e-06, 8.68961512e-06,
 -2.69064361e-04,-2.36093889e-05,-1.60997808e-04,-5.61413293e-05,
  2.17897711e-06, 1.72827833e-06,-1.21641295e+00, 9.08895252e-05,
  1.47462502e-03, 5.24558648e-07]


--- Step 487 ---
qpos:
[ 3.03272195e-03,-3.31109912e-03, 1.18846634e-02, 4.17437228e-02,
 -2.20170917e-03,-1.92558997e-03,-1.73980117e-02, 2.86562266e-02,
  5.83118869e-03, 1.64603383e-02,-9.40497849e-03, 2.59731553e-02,
  8.79131691e-01,-1.62219475e-03, 6.73948146e-01, 6.50428672e-02,
  9.49460508e-02,-7.00364325e-02, 1.21797611e-01, 9.99993735e-01,
 -1.32764564e-04,-3.16420229e-04, 3.52302598e-03]

qacc:
[ -0.42995237, -0.06959459, -0.99089046,  5.25137085, -0.87715216,
  -1.12487409,  5.33732896,-10.96798812, -0.08713172,  1.49854026,
  -7.80216207, 17.12973153, -0.97368064,  1.46831511,-13.43747322,
  42.51743394,  0.74292946, -0.40691373,  0.14373563,  6.99238884,
  12.43001789, -0.80383463]

qfrc_actuator:
[ 1.22051807e-04, 3.55110811e-05, 1.29482831e-04, 1.32778707e-04,
 -1.00592598e-05,-2.99559022e-04,-2.54084786e-04,-1.15112015e-05,
 -1.67076732e-05, 3.77086870e-04, 5.98413927e-05,-2.38220248e-06,
  4.30588023e-02,-8.21143226e-04, 2.39677944e-02,-3.98089727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021068314338570926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.26963385e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.26963385e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183879, -0.06181892,  0.06199488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56471990e-06,-2.38757584e-06, 1.03058758e-05, 1.35124542e-05,
 -5.17651779e-06, 5.08740213e-06, 1.10134332e-05,-1.50839231e-05,
 -4.97665325e-07,-2.40902941e-05,-1.81148488e-05, 2.43410959e-05,
 -2.58830768e-04,-5.25258478e-05,-1.51449921e-04, 1.62272608e-04,
  1.12630784e-06, 1.13843261e-06,-1.21642556e+00, 9.02651829e-05,
  1.47088107e-03, 4.31709624e-07]


--- Step 488 ---
qpos:
[ 3.03478786e-03,-3.31111453e-03, 1.18847405e-02, 4.17446450e-02,
 -2.20230976e-03,-1.92604036e-03,-1.73978349e-02, 2.86554733e-02,
  5.83157428e-03, 1.64594051e-02,-9.40549632e-03, 2.59723812e-02,
  8.80069725e-01,-1.61926206e-03, 6.74767139e-01, 6.50389466e-02,
  9.49431271e-02,-7.00378532e-02, 1.21798842e-01, 9.99993715e-01,
 -1.21520811e-04,-3.40706347e-04, 3.52694766e-03]

qacc:
[ -3.5518246 , -0.04962342,  1.69344448, -5.86605561, -3.51041716,
  -3.43542919, 15.85111141,-31.75418299, -0.10267793,  1.91496988,
  -6.07474365,  5.76899554, -0.35918738, -0.60711172, -4.93065891,
  12.8593441 ,  0.73687045, -0.40584341,  0.0718346 ,  6.92068851,
  12.33688985, -0.7802791 ]

qfrc_actuator:
[ 1.01344569e-04, 6.77329082e-05, 1.34730448e-04, 1.22218436e-04,
 -3.06171487e-05,-2.96882447e-04,-2.23048054e-04,-5.45229750e-05,
 -1.71421108e-05, 4.06581204e-04, 3.42816532e-05,-4.97537456e-06,
  4.29679714e-02,-8.57802315e-04, 2.38503645e-02,-3.95757894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002110671210739934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63002361e-13, -5.26004723e-13,  1.00000000e+00, -1.38340484e-25,
        1.00000000e+00,  5.26004723e-13, -1.00000000e+00,  0.00000000e+00,
       -2.63002361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183876, -0.06181918,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07815012e-05, 3.35924481e-05, 6.48871130e-06,-1.00453899e-05,
 -2.07034874e-05, 7.16758950e-06, 3.29317955e-05,-4.27044465e-05,
 -4.61189428e-07, 1.33686512e-05,-3.19101456e-05,-3.77449757e-06,
 -2.70663051e-04,-9.16084905e-05,-1.72638026e-04, 1.19790865e-05,
  3.97520657e-07, 6.59169155e-07,-1.21643394e+00, 9.02798618e-05,
  1.46839579e-03, 3.51207918e-07]


--- Step 489 ---
qpos:
[ 3.03658947e-03,-3.31076827e-03, 1.18845215e-02, 4.17457870e-02,
 -2.20315229e-03,-1.92629487e-03,-1.73973562e-02, 2.86538541e-02,
  5.83195128e-03, 1.64591060e-02,-9.40681712e-03, 2.59712003e-02,
  8.81006162e-01,-1.61671801e-03, 6.75583703e-01, 6.50389765e-02,
  9.49431313e-02,-7.00408938e-02, 1.21800119e-01, 9.99993709e-01,
 -9.66361213e-05,-3.40421797e-04, 3.52934726e-03]

qacc:
[-2.33525009e+00, 1.76388303e+00,-6.51471188e+00, 1.05171645e+01,
 -2.11628876e+00,-2.36056290e+00, 1.24564396e+01,-2.80759519e+01,
 -1.11008133e-01, 2.24528127e+00,-5.07210241e+00,-1.15036577e+00,
 -5.01779404e-01,-1.66043432e-01,-1.54920908e+01, 4.90224732e+01,
  7.31964468e-01,-4.04966526e-01, 1.16906374e-02, 6.86349656e+00,
  1.22612966e+01,-7.61888691e-01]

qfrc_actuator:
[ 8.83362809e-05, 8.69053106e-05, 1.20106359e-04, 1.33404216e-04,
 -4.24702472e-05,-2.77322051e-04,-2.04843230e-04,-9.72615000e-05,
 -1.75515588e-05, 4.60004592e-04, 1.76763680e-06,-2.39362028e-05,
  4.28797833e-02,-8.80636192e-04, 2.37611850e-02,-3.74712064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021028701421643703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63978028e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.63978028e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183853, -0.06181927,  0.06199489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35885408e-05, 3.88511022e-05,-7.23788588e-06, 1.26519735e-05,
 -1.24403048e-05, 2.85493563e-05, 2.22699878e-05,-4.21198197e-05,
 -4.20195496e-07, 5.41886196e-05,-3.37944411e-05,-1.95604455e-05,
 -2.83654142e-04,-8.50051883e-05,-1.70425673e-04, 1.88113178e-04,
 -2.39531674e-08, 2.79549700e-07,-1.21643821e+00, 9.09298789e-05,
  1.46715786e-03, 2.81870796e-07]


--- Step 490 ---
qpos:
[ 3.03787644e-03,-3.31067104e-03, 1.18846923e-02, 4.17467400e-02,
 -2.20344066e-03,-1.92640747e-03,-1.73963651e-02, 2.86517274e-02,
  5.83266517e-03, 1.64595435e-02,-9.40897723e-03, 2.59704809e-02,
  8.81940908e-01,-1.61413824e-03, 6.76398742e-01, 6.50397422e-02,
  9.49460477e-02,-7.00455516e-02, 1.21801243e-01, 9.99993717e-01,
 -5.82000389e-05,-3.15687395e-04, 3.53025398e-03]

qacc:
[ -4.50083159, -1.79993086,  6.75189347,-10.4771669 ,  4.87370494,
  -2.29735382, 10.59067031,-20.27984196,  2.89989112,  4.26346785,
 -15.74696794, 24.54214822, -1.12465394,  1.69365759, -4.42297717,
  12.3161752 ,  0.7280557 , -0.40428954, -0.03852014,  6.8185464 ,
  12.20100959, -0.74758572]

qfrc_actuator:
[ 6.22166096e-05, 4.47953537e-05, 1.29349874e-04, 1.21774364e-04,
 -1.35946729e-05,-2.65601539e-04,-1.76540194e-04,-1.21737401e-04,
 -1.90245568e-07, 5.09550432e-04,-3.44833023e-05, 9.08886298e-07,
  4.27985706e-02,-8.77368325e-04, 2.36943895e-02,-3.71199111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000208589577883056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.32252395e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.32252395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183816, -0.06181922,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64944891e-05,-2.13604219e-05, 1.68093556e-05,-9.97243061e-06,
  2.85317795e-05, 3.04830959e-05, 3.54873665e-05,-2.32979267e-05,
  1.73678239e-05, 7.20594489e-05,-2.98748665e-05, 2.56236429e-05,
 -2.83669417e-04,-6.07440452e-05,-1.26737035e-04, 2.30430699e-05,
 -1.49782401e-07,-8.85904924e-09,-1.21643845e+00, 9.22120786e-05,
  1.46715831e-03, 2.22821618e-07]


--- Step 491 ---
qpos:
[ 3.03849524e-03,-3.31072136e-03, 1.18849807e-02, 4.17475528e-02,
 -2.20303572e-03,-1.92647947e-03,-1.73953080e-02, 2.86504040e-02,
  5.83358147e-03, 1.64606452e-02,-9.41078532e-03, 2.59703357e-02,
  8.82874062e-01,-1.61183924e-03, 6.77212264e-01, 6.50372954e-02,
  9.49518641e-02,-7.00518247e-02, 1.21802045e-01, 9.99993735e-01,
 -6.28143180e-06,-2.66597040e-04, 3.52969054e-03]

qacc:
[ -5.8586712 , -0.80136436,  3.18574487, -5.71367171,  6.08248425,
   1.50978295, -8.71856149, 22.50869841,  1.76538089,  1.07248825,
  -4.98054247, 13.87247484, -0.85477513,  0.78828519,  7.48056388,
 -29.36847803,  0.72501191, -0.40381242, -0.08035195,  6.78397964,
  12.15414648, -0.73651149]

qfrc_actuator:
[ 2.85861731e-05, 3.73925340e-05, 1.34593702e-04, 1.14528584e-04,
  2.12661492e-05,-2.76361969e-04,-1.78014991e-04,-8.20098160e-05,
  9.73884766e-06, 5.74166231e-04,-1.60833194e-06, 3.35794751e-05,
  4.27162836e-02,-8.94213571e-04, 2.35877726e-02,-3.88694007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020618005684888696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.38472557e-13, -2.69236279e-13,  1.00000000e+00, -1.44976347e-25,
        1.00000000e+00,  2.69236279e-13, -1.00000000e+00,  0.00000000e+00,
       -5.38472557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183767, -0.06181908,  0.06199499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43934655e-05,-1.63236886e-05, 2.55154181e-06,-7.77510519e-06,
  3.56843034e-05, 1.26244837e-05, 8.38013558e-06, 4.18100342e-05,
  1.04512455e-05, 9.98582445e-05, 4.49885014e-05, 3.52284863e-05,
 -2.79978586e-04,-7.78348653e-05,-1.68066713e-04,-1.91368984e-04,
  1.23816386e-08,-2.12779543e-07,-1.21643475e+00, 9.41238257e-05,
  1.46839008e-03, 1.73429261e-07]


--- Step 492 ---
qpos:
[ 3.03905071e-03,-3.31072615e-03, 1.18852479e-02, 4.17482571e-02,
 -2.20256088e-03,-1.92632248e-03,-1.73946049e-02, 2.86495721e-02,
  5.83461011e-03, 1.64619749e-02,-9.41145090e-03, 2.59709286e-02,
  8.83805600e-01,-1.60973473e-03, 6.78023194e-01, 6.50332028e-02,
  9.49605715e-02,-7.00597118e-02, 1.21802386e-01, 9.99993757e-01,
  5.90684651e-05,-1.93220903e-04, 3.52767458e-03]

qacc:
[-0.55741576,-0.10301816, 0.91423453,-2.79336854, 0.59842049, 2.30103399,
 -9.84349007,18.74970376, 1.01208846,-1.37425324, 2.21668749, 8.56933342,
 -0.881904  , 0.92478651, 1.1726691 ,-9.59371564, 0.72272089,-0.40353078,
 -0.11512949, 6.75826988,12.11911551,-0.72798111]

qfrc_actuator:
[ 2.63139230e-05, 5.08121303e-05, 1.37554126e-04, 1.09940178e-04,
  2.38520601e-05,-2.65061150e-04,-1.97114866e-04,-5.81259032e-05,
  1.52083432e-05, 5.76591230e-04, 5.41339293e-05, 7.06480733e-05,
  4.26334038e-02,-9.05071866e-04, 2.34466655e-02,-3.97125065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002032285724109656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183708, -0.06181885,  0.06199506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25764612e-06, 4.46802895e-06,-3.69916341e-07,-5.35173230e-06,
  3.60542663e-06, 2.18887693e-05,-1.40233319e-05, 2.55278631e-05,
  5.80224492e-06, 6.90571466e-05, 8.31386874e-05, 4.35918449e-05,
 -2.81994562e-04,-7.31377491e-05,-2.44247322e-04,-1.17720027e-04,
  4.58241789e-07,-3.37821668e-07,-1.21642715e+00, 9.66629867e-05,
  1.47084776e-03, 1.33261129e-07]


--- Step 493 ---
qpos:
[ 3.03991931e-03,-3.31084776e-03, 1.18859256e-02, 4.17482007e-02,
 -2.20274835e-03,-1.92591280e-03,-1.73938826e-02, 2.86490040e-02,
  5.83535193e-03, 1.64632080e-02,-9.41122001e-03, 2.59727111e-02,
  8.84735528e-01,-1.60803699e-03, 6.78831477e-01, 6.50283851e-02,
  9.49709477e-02,-7.00661843e-02, 1.21803247e-01, 9.99993772e-01,
  1.12746098e-04,-1.06005937e-04, 3.52580455e-03]

qacc:
[  2.76299098, -2.87545675, 13.22659728,-26.94543101, -5.81238997,
   0.83374406, -3.58232032,  7.90838027, -2.47118444, -0.17911343,
  -4.56134135, 23.7807819 , -0.63160246,  0.1174694 , -1.70498632,
   0.31687808,  0.4172221 ,  0.35365826,  0.12979223, -5.8116719 ,
   6.93996256,  0.07369891]

qfrc_actuator:
[ 4.25190173e-05, 4.10858574e-05, 1.56988902e-04, 7.14652882e-05,
 -1.03335403e-05,-2.40728224e-04,-1.90890978e-04,-4.37577589e-05,
  2.58549561e-07, 5.41872347e-04, 8.71600085e-05, 1.27714444e-04,
  4.25449020e-02,-9.30064576e-04, 2.33329477e-02,-4.00145978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020006173900585222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38735051e-13, -4.56091758e-07,  1.00000000e+00, -6.32759135e-20,
        1.00000000e+00,  4.56091758e-07, -1.00000000e+00,  0.00000000e+00,
       -1.38735051e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821994, -0.07718633,  0.06199514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61137071e-05,-7.54081622e-06, 2.01218416e-05,-3.84026091e-05,
 -3.40756849e-05, 3.47596762e-05, 9.89262315e-06, 1.53175712e-05,
 -1.47609021e-05, 2.29034270e-05, 5.90311296e-05, 6.37479688e-05,
 -2.88434640e-04,-8.69097898e-05,-2.39321297e-04,-6.82867023e-05,
  1.18635650e-06,-3.88935329e-07,-1.21641569e+00, 9.98279029e-05,
  1.47452735e-03, 1.02046617e-07]


--- Step 494 ---
qpos:
[ 3.04097549e-03,-3.31123122e-03, 1.18868991e-02, 4.17480560e-02,
 -2.20368899e-03,-1.92518423e-03,-1.73934252e-02, 2.86489687e-02,
  5.83556397e-03, 1.64645304e-02,-9.41049253e-03, 2.59741324e-02,
  8.85663841e-01,-1.60691382e-03, 6.79638121e-01, 6.50249331e-02,
  9.49816059e-02,-7.00681837e-02, 1.21803716e-01, 9.99993780e-01,
  1.29061443e-04,-1.62700322e-05, 3.52474839e-03]

qacc:
[  1.66019662, -1.3585123 ,  4.70872712, -6.51255283, -6.61926766,
   2.26974173, -9.70946152, 19.09518502, -4.60693183, -2.00465443,
   8.85964164,-15.98796113, -0.42951507, -0.5366384 , -6.53550111,
  19.35815418,  0.07049869,  1.11829588, -0.09799001,-18.67653976,
   1.32637371,  0.40878452]

qfrc_actuator:
[ 5.17067549e-05, 1.76161957e-05, 1.68132302e-04, 6.66118405e-05,
 -4.81251606e-05,-2.26443950e-04,-2.05209757e-04,-1.73152258e-05,
 -2.65885986e-05, 5.38358283e-04, 1.06345429e-04, 1.07269557e-04,
  4.24584104e-02,-9.63247871e-04, 2.33209744e-02,-3.91070741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002018379251938346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37514174e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.37514174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483742, -0.09311736,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.64455753e-06,-2.51757598e-05, 1.07274199e-05,-5.22970292e-06,
 -3.87518615e-05, 3.63876433e-05,-5.40107430e-06, 2.85727215e-05,
 -2.72628101e-05, 2.41651041e-05, 3.33733747e-05,-1.61866859e-05,
 -2.93181085e-04,-9.82459552e-05,-1.29781540e-04, 5.60731752e-05,
  1.44542735e-06,-3.22468981e-07,-1.21641360e+00, 1.02476072e-04,
  1.47880506e-03,-3.82866149e-08]


--- Step 495 ---
qpos:
[ 3.04178877e-03,-3.31177457e-03, 1.18877066e-02, 4.17478735e-02,
 -2.20438543e-03,-1.92447113e-03,-1.73932883e-02, 2.86496434e-02,
  5.83579740e-03, 1.64660350e-02,-9.40977351e-03, 2.59746309e-02,
  8.86590330e-01,-1.60555137e-03, 6.80443919e-01, 6.50227264e-02,
  9.49925446e-02,-7.00657404e-02, 1.21803533e-01, 9.99993780e-01,
  1.08266660e-04, 7.60100940e-05, 3.52444668e-03]

qacc:
[ -2.13446875,  0.17911046, -0.77832149,  0.49908802,  2.13251406,
   2.33077604,-11.3456803 , 24.16331977,  0.18259026, -1.6356255 ,
  10.07691831,-26.16785954, -1.42699074,  2.52721988, -4.94130497,
  15.6302068 ,  0.07010723,  1.11064359, -0.16289406,-18.55045802,
   1.33755312,  0.37737179]

qfrc_actuator:
[ 3.89317486e-05, 3.84489402e-06, 1.56498856e-04, 6.38107005e-05,
 -3.44667036e-05,-2.53861408e-04,-2.31577742e-04, 1.59973236e-05,
 -2.47112028e-05, 5.35667355e-04, 9.95150952e-05, 5.91456030e-05,
  4.23731834e-02,-9.47757108e-04, 2.33167945e-02,-3.83794189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020208302820799717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37347386e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.37347386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483729, -0.09311738,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25090599e-05,-2.58549894e-05,-1.57013314e-05,-3.61175549e-06,
  1.25655539e-05,-7.00596889e-06,-1.85408974e-05, 3.52401743e-05,
  1.10889774e-06, 1.69540036e-05, 1.68603686e-06,-4.62552136e-05,
 -2.96249803e-04,-5.24620111e-05,-6.28802215e-05, 5.79159561e-05,
  1.27537657e-06, 1.61797620e-08,-1.21641907e+00, 1.03328746e-04,
  1.48317177e-03,-2.69130813e-07]


--- Step 496 ---
qpos:
[ 3.04244238e-03,-3.31208598e-03, 1.18884581e-02, 4.17476004e-02,
 -2.20491290e-03,-1.92404314e-03,-1.73933032e-02, 2.86503907e-02,
  5.83639636e-03, 1.64675329e-02,-9.40879847e-03, 2.59749005e-02,
  8.87514991e-01,-1.60370531e-03, 6.81248562e-01, 6.50217635e-02,
  9.50037631e-02,-7.00588792e-02, 1.21802481e-01, 9.99993772e-01,
  5.05636557e-05, 1.70856904e-04, 3.52484658e-03]

qacc:
[ -1.40737325,  0.27919927, -0.16409571, -1.48842486,  1.48207208,
   0.19389422, -1.54978989,  3.26434772,  3.19612758, -1.20156758,
   5.22735752, -9.58142928, -1.66934045,  3.34336872, -5.37515455,
  16.52573804,  0.06997194,  1.10450112, -0.21728839,-18.44949935,
   1.34841263,  0.34927803]

qfrc_actuator:
[ 3.10871645e-05, 4.91532849e-05, 1.67048070e-04, 6.22257246e-05,
 -2.61395820e-05,-2.88340478e-04,-2.47260948e-04, 1.75363966e-05,
 -5.93833665e-06, 5.33341709e-04, 1.12886997e-04, 4.83781428e-05,
  4.22887922e-02,-9.21398572e-04, 2.32586946e-02,-3.77639447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020126159842906444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.27447735e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.27447735e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483717, -0.09311769,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.20818922e-06, 2.74560712e-05, 3.14686651e-06,-3.30592796e-06,
  8.68214081e-06,-4.07409284e-05,-1.82068429e-05, 1.27919017e-06,
  1.88180254e-05, 5.45830481e-06, 1.54542568e-05,-1.08888482e-05,
 -2.88074305e-04,-3.65164103e-05,-8.95360719e-05, 5.45457833e-05,
  1.25629807e-06, 3.58585821e-07,-1.21641749e+00, 1.02348935e-04,
  1.48770287e-03,-4.07770220e-07]


--- Step 497 ---
qpos:
[ 3.04334161e-03,-3.31206808e-03, 1.18892420e-02, 4.17472907e-02,
 -2.20568137e-03,-1.92377550e-03,-1.73935326e-02, 2.86507941e-02,
  5.83721545e-03, 1.64695699e-02,-9.40818892e-03, 2.59750113e-02,
  8.88438019e-01,-1.60187416e-03, 6.82051603e-01, 6.50245509e-02,
  9.50152618e-02,-7.00476193e-02, 1.21800377e-01, 9.99993747e-01,
 -4.38894371e-05, 2.68292555e-04, 3.52590040e-03]

qacc:
[  2.15132916,  0.26489875, -0.1657107 , -0.75464429, -2.11797742,
  -0.31598582,  2.27861595, -7.77753212,  1.89914138,  1.4029924 ,
  -3.30443804,  0.74884242, -0.93878856,  1.2249102 ,-13.6397734 ,
  44.38338732,  0.07004564,  1.09966143, -0.26283953,-18.37042259,
   1.35919979,  0.3237802 ]

qfrc_actuator:
[ 4.39674111e-05, 7.63237188e-05, 1.73110573e-04, 6.14382912e-05,
 -3.87863310e-05,-2.91275414e-04,-2.56573775e-04, 3.64731564e-07,
  4.86647438e-06, 5.84608933e-04, 1.02613883e-04, 4.19471650e-05,
  4.22102941e-02,-9.24364669e-04, 2.32002557e-02,-3.58005350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000199599820248475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17168346e-13,  5.56224461e-13,  1.00000000e+00,  2.32039238e-25,
        1.00000000e+00, -5.56224461e-13, -1.00000000e+00,  0.00000000e+00,
       -4.17168346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483706, -0.09311823,  0.06199515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26563158e-05, 4.30304435e-05, 1.20019895e-05, 4.33035986e-07,
 -1.24127997e-05,-2.94371059e-05,-1.99333802e-05,-1.95256662e-05,
  1.13517509e-05, 5.69874152e-05,-7.64854023e-06,-5.88103559e-06,
 -2.73878631e-04,-6.21361561e-05,-1.01139728e-04, 1.86039283e-04,
  1.37398520e-06, 7.06709188e-07,-1.21640899e+00, 9.95467244e-05,
  1.49239516e-03,-4.55028326e-07]


--- Step 498 ---
qpos:
[ 3.04438850e-03,-3.31212856e-03, 1.18899969e-02, 4.17470309e-02,
 -2.20590554e-03,-1.92364157e-03,-1.73939131e-02, 2.86509805e-02,
  5.83815849e-03, 1.64714160e-02,-9.40714234e-03, 2.59750821e-02,
  8.89359518e-01,-1.60038833e-03, 6.82852600e-01, 6.50271671e-02,
  9.50241022e-02,-7.00400980e-02, 1.21799247e-01, 9.99993711e-01,
 -1.07264414e-04, 3.42659273e-04, 3.52820502e-03]

qacc:
[  1.29646373,  0.07786981, -0.64290795,  1.61550315,  4.77131123,
  -0.20999317,  1.3921758 , -4.78875107,  1.09805507, -1.55782563,
   5.35311408, -6.59688454, -0.64180898,  0.25131635, -2.48157891,
   4.33767292, -0.66457336, -0.93464653,  0.24334194, 15.49812366,
 -11.58920922,  0.62908044]

qfrc_actuator:
[ 5.11884902e-05, 3.91633329e-05, 1.58662422e-04, 6.11117287e-05,
 -1.04171221e-05,-2.93047220e-04,-2.61941038e-04,-9.89327869e-06,
  1.08896565e-05, 5.43220588e-04, 1.14178113e-04, 3.81396113e-05,
  4.21300544e-02,-9.44620473e-04, 2.30511567e-02,-3.60763512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020664252883782763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.3726744e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.3726744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905105, -0.05165128,  0.06199498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.59528125e-06,-1.06076702e-05,-4.07690568e-06, 1.93859877e-06,
  2.80067245e-05,-2.31993634e-05,-1.45794864e-05,-1.25897324e-05,
  6.37611022e-06,-1.14271504e-05, 2.21593782e-05,-1.75096817e-06,
 -2.71113624e-04,-8.00931573e-05,-1.81043691e-04,-3.17204632e-05,
  1.61703374e-06, 1.06558964e-06,-1.21639366e+00, 9.49299910e-05,
  1.49724600e-03,-4.11620595e-07]


--- Step 499 ---
qpos:
[ 3.04516897e-03,-3.31231231e-03, 1.18909065e-02, 4.17467630e-02,
 -2.20578846e-03,-1.92321827e-03,-1.73942997e-02, 2.86509772e-02,
  5.83916712e-03, 1.64725409e-02,-9.40563419e-03, 2.59748292e-02,
  8.90279405e-01,-1.59910540e-03, 6.83651828e-01, 6.50273853e-02,
  9.50303146e-02,-7.00362713e-02, 1.21798605e-01, 9.99993676e-01,
 -1.39972273e-04, 3.94284019e-04, 3.53176991e-03]

qacc:
[-2.33140656e+00,-6.07550501e-01, 1.97166193e+00,-2.27646273e+00,
  2.98769817e+00, 3.20557955e-03, 1.33481894e+00,-4.81173529e+00,
  5.98444046e-01,-2.91092965e+00, 1.03608424e+01,-1.61685739e+01,
 -9.21060288e-01, 1.00396536e+00, 4.65519941e+00,-2.00123883e+01,
 -6.57011202e-01,-9.23647602e-01, 1.21994038e-01, 1.52931272e+01,
 -1.14250828e+01, 6.34161377e-01]

qfrc_actuator:
[ 3.72611613e-05, 3.46909604e-05, 1.67461604e-04, 6.09897552e-05,
  6.36748653e-06,-2.40825761e-04,-2.47165903e-04,-1.59925379e-05,
  1.40519693e-05, 4.64505737e-04, 1.20435804e-04, 1.80980301e-05,
  4.20434934e-02,-9.57161097e-04, 2.29596007e-02,-3.73164360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021220473489638736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905007, -0.05165255,  0.06199484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37151455e-05,-1.11699756e-05, 6.16414335e-06,-6.81183152e-07,
  1.75759607e-05, 3.57063743e-05, 7.75302712e-06,-7.84398612e-06,
  3.34720955e-06,-8.06767269e-05, 6.53278915e-06,-1.98053180e-05,
 -2.79941624e-04,-7.38481588e-05,-1.81295279e-04,-1.49824264e-04,
  1.17432085e-06, 2.56157639e-07,-1.21641596e+00, 9.18718560e-05,
  1.50097771e-03, 8.23422540e-08]


--- Step 500 ---
qpos:
[ 3.04577650e-03,-3.31251760e-03, 1.18915807e-02, 4.17468551e-02,
 -2.20547082e-03,-1.92264870e-03,-1.73942288e-02, 2.86512312e-02,
  5.83986081e-03, 1.64733796e-02,-9.40420828e-03, 2.59746660e-02,
  8.91197635e-01,-1.59794291e-03, 6.84450203e-01, 6.50242055e-02,
  9.50339242e-02,-7.00361027e-02, 1.21798043e-01, 9.99993646e-01,
 -1.42351551e-04, 4.23436404e-04, 3.53660247e-03]

qacc:
[-1.52487955e+00, 1.37448543e+00,-6.45480166e+00, 1.30685488e+01,
  1.77109114e+00,-5.58997602e-01, 1.18137538e+00, 2.43901844e+00,
 -2.74438236e+00, 4.16475267e-02,-1.06659323e+00, 2.95081631e+00,
 -1.09347652e+00, 1.46534721e+00, 9.03627147e+00,-3.33496680e+01,
 -6.50688830e-01,-9.14530866e-01, 1.99304105e-02, 1.51242618e+01,
 -1.12897558e+01, 6.38226697e-01]

qfrc_actuator:
[ 2.87524179e-05, 3.21549904e-05, 1.54531816e-04, 7.87811929e-05,
  1.61866699e-05,-2.27588452e-04,-2.20389884e-04,-1.78427173e-06,
 -2.24607051e-06, 4.70517548e-04, 1.23310218e-04, 2.41211409e-05,
  4.19585280e-02,-9.65076904e-04, 2.29505515e-02,-3.89346037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002155072754309456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57583653e-13, -5.15167306e-13,  1.00000000e+00, -1.32698676e-25,
        1.00000000e+00,  5.15167306e-13, -1.00000000e+00,  0.00000000e+00,
       -2.57583653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904948, -0.0516533 ,  0.06199476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.90380752e-06,-7.54882566e-06,-1.45094713e-05, 1.75124037e-05,
  1.03326639e-05, 3.44648165e-05, 3.48338044e-05, 1.58532682e-05,
 -1.62246183e-05,-3.86558488e-05,-1.37004372e-05, 2.40111292e-06,
 -2.83070566e-04,-7.01187924e-05,-1.12698802e-04,-1.94391450e-04,
  6.90425816e-07,-2.11827991e-07,-1.21643058e+00, 9.02876203e-05,
  1.50352838e-03, 3.83932929e-07]


--- Step 501 ---
qpos:
[ 3.04662214e-03,-3.31275722e-03, 1.18920943e-02, 4.17471561e-02,
 -2.20503759e-03,-1.92217947e-03,-1.73936521e-02, 2.86509911e-02,
  5.84000876e-03, 1.64741504e-02,-9.40260641e-03, 2.59745291e-02,
  8.92114315e-01,-1.59719269e-03, 6.85247724e-01, 6.50144054e-02,
  9.50349521e-02,-7.00395623e-02, 1.21797217e-01, 9.99993625e-01,
 -1.14678824e-04, 4.30337215e-04, 3.54270845e-03]

qacc:
[ 2.08564960e+00, 8.30607448e-01,-3.91576639e+00, 7.82138928e+00,
  1.03107808e+00,-2.56348752e+00, 1.10309999e+01,-2.03114464e+01,
 -4.75315211e+00,-5.17869657e-01, 1.62079765e+00,-1.41225705e+00,
 -8.26733630e-01, 6.05813920e-01, 1.87375779e+01,-6.73444596e+01,
 -6.45450679e-01,-9.07043012e-01,-6.58224356e-02, 1.49862904e+01,
 -1.11789496e+01, 6.41471543e-01]

qfrc_actuator:
[ 4.12605616e-05, 3.07284574e-05, 1.46645487e-04, 8.92032746e-05,
  2.18307845e-05,-2.55466930e-04,-2.04627149e-04,-2.90205124e-05,
 -2.98660455e-05, 4.91713458e-04, 1.42266474e-04, 2.77464872e-05,
  4.18799076e-02,-9.87971751e-04, 2.28844718e-02,-4.23577651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002169800248700421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55835307e-13,  2.55835307e-13,  1.00000000e+00,  6.54517042e-26,
        1.00000000e+00, -2.55835307e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55835307e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904919, -0.05165362,  0.06199473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22516997e-05,-7.90037021e-06,-1.06326441e-05, 9.93655789e-06,
  5.94861077e-06,-7.49836252e-07, 2.77124703e-05,-2.42478627e-05,
 -2.80939973e-05,-3.19793528e-06, 9.34218355e-06, 1.53758120e-06,
 -2.77600511e-04,-8.54797806e-05,-1.47002806e-04,-3.69441611e-04,
  1.63482630e-07,-3.43228715e-07,-1.21643784e+00, 9.01609796e-05,
  1.50491189e-03, 4.98178253e-07]


--- Step 502 ---
qpos:
[ 3.04726592e-03,-3.31277151e-03, 1.18921420e-02, 4.17468767e-02,
 -2.20523001e-03,-1.92154171e-03,-1.73929605e-02, 2.86504196e-02,
  5.84051391e-03, 1.64752291e-02,-9.40123521e-03, 2.59740703e-02,
  8.93029360e-01,-1.59668044e-03, 6.86042933e-01, 6.50059090e-02,
  9.50334152e-02,-7.00466258e-02, 1.21795841e-01, 9.99993611e-01,
 -5.71774789e-05, 4.15165486e-04, 3.55009222e-03]

qacc:
[ -1.79063621,  0.40748382,  1.43363743,-10.90291529, -5.48687207,
  -0.76884003,  4.48264601,-10.54541656,  3.10272002,  0.38270983,
   0.57498538, -5.99451945, -0.77108184,  0.5989625 , -7.32100666,
  20.71320539, -0.64116076, -0.90096562, -0.13779168, 14.87484091,
 -11.08911119,  0.6440371 ]

qfrc_actuator:
[ 3.05316951e-05, 4.77416112e-05, 1.24052059e-04, 5.97054382e-05,
 -1.05306561e-05,-2.36816232e-04,-1.95703731e-04,-4.49697897e-05,
 -1.06645016e-05, 5.21916059e-04, 1.35141276e-04, 1.22079494e-05,
  4.17944929e-02,-1.00176138e-03, 2.28108335e-02,-4.14923192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002169829156544456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11663797e-13,  2.55831898e-13,  1.00000000e+00,  1.30899920e-25,
        1.00000000e+00, -2.55831898e-13, -1.00000000e+00,  0.00000000e+00,
       -5.11663797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904916, -0.0516536 ,  0.06199473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03824730e-05, 1.08282776e-05,-2.51962846e-05,-3.00127024e-05,
 -3.21922449e-05, 2.28951643e-05, 1.13311881e-05,-1.54964888e-05,
  1.83987330e-05, 3.03542729e-05,-6.60804391e-06,-1.53262008e-05,
 -2.84250646e-04,-7.71595949e-05,-1.88799604e-04, 4.54983906e-05,
 -4.09032555e-07,-1.43603698e-07,-1.21643798e+00, 9.14785921e-05,
  1.50513952e-03, 4.28994246e-07]


--- Step 503 ---
qpos:
[ 3.04777647e-03,-3.31290495e-03, 1.18920671e-02, 4.17455763e-02,
 -2.20580850e-03,-1.92098792e-03,-1.73923713e-02, 2.86503998e-02,
  5.84124525e-03, 1.64765441e-02,-9.40057466e-03, 2.59745074e-02,
  8.93942656e-01,-1.59599583e-03, 6.86835773e-01, 6.50046917e-02,
  9.50293276e-02,-7.00572737e-02, 1.21793671e-01, 9.99993596e-01,
  2.99749461e-05, 3.78064390e-04, 3.55875700e-03]

qacc:
[ -1.17185121, -1.91728129, 10.91842392,-28.30558734, -3.38742399,
   1.31641791, -7.17342345, 16.9349698 ,  1.94711951,  4.13898973,
 -18.09393258, 34.56839105, -1.07530827,  1.65628195,-25.4074393 ,
  83.94066937, -0.63770041, -0.89611043, -0.19812814, 14.78625393,
 -11.01728236,  0.64602343]

qfrc_actuator:
[ 2.39579761e-05, 2.23147531e-05, 1.10756417e-04, 6.96146765e-06,
 -2.94951575e-05,-2.61487308e-04,-2.08447845e-04,-1.86066651e-05,
  4.40047583e-07, 5.21668759e-04, 9.49508099e-05, 5.65194382e-05,
  4.17103907e-02,-9.92344646e-04, 2.27647769e-02,-3.75738877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021581660298150562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.14428922e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.14428922e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904932, -0.05165332,  0.06199476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.86334710e-06,-2.58667549e-05,-1.52009464e-05,-5.37353968e-05,
 -1.98739669e-05,-1.02329886e-05,-7.16845478e-06, 2.74344273e-05,
  1.16481734e-05, 1.46591671e-05,-3.52924484e-05, 4.50802695e-05,
 -2.85355670e-04,-5.43278517e-05,-1.30005372e-04, 3.69544710e-04,
 -1.03046404e-06, 3.80622772e-07,-1.21643117e+00, 9.42296545e-05,
  1.50422040e-03, 1.79389139e-07]


--- Step 504 ---
qpos:
[ 3.04854923e-03,-3.31333746e-03, 1.18921619e-02, 4.17440025e-02,
 -2.20591994e-03,-1.92068507e-03,-1.73926664e-02, 2.86507731e-02,
  5.84175949e-03, 1.64780104e-02,-9.40068021e-03, 2.59758326e-02,
  8.94854321e-01,-1.59523201e-03, 6.87627812e-01, 6.50043594e-02,
  9.50227001e-02,-7.00714908e-02, 1.21790507e-01, 9.99993570e-01,
  1.46640608e-04, 3.19146153e-04, 3.56870494e-03]

qacc:
[  2.31189611, -1.43732039,  5.69599286,-10.46685585,  4.0729711 ,
   2.93846202,-12.63231822, 21.04574654, -1.91940537,  4.17278872,
 -18.3311987 , 34.80615901, -1.14748207,  1.80022882, -3.80158656,
  11.70456768, -0.63496632, -0.89231532, -0.24866396, 14.71746051,
 -10.96099486,  0.64749944]

qfrc_actuator:
[ 3.76420974e-05, 7.18351329e-06, 1.20635115e-04,-5.79942555e-06,
 -4.90556456e-06,-3.11966348e-04,-2.69526409e-04,-3.11192180e-06,
 -1.10781062e-05, 5.20852576e-04, 5.32460734e-05, 1.00146560e-04,
  4.16377968e-02,-9.87071866e-04, 2.27247060e-02,-3.72144234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021373152881194735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59723736e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.59723736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904964, -0.05165282,  0.06199481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34832086e-05,-3.50329489e-05, 8.09214666e-07,-1.54373965e-05,
  2.40186590e-05,-5.65402149e-05,-6.31385552e-05, 1.53404017e-05,
 -1.11746706e-05, 1.97311858e-06,-4.14876761e-05, 4.39057854e-05,
 -2.69215370e-04,-5.61252744e-05,-6.24557094e-05, 3.89036364e-05,
 -1.70509993e-06, 1.22198957e-06,-1.21641755e+00, 9.84055503e-05,
  1.50216172e-03,-2.48375729e-07]


--- Step 505 ---
qpos:
[ 3.04913486e-03,-3.31379393e-03, 1.18919517e-02, 4.17426307e-02,
 -2.20573612e-03,-1.92050103e-03,-1.73937678e-02, 2.86513078e-02,
  5.84247697e-03, 1.64791487e-02,-9.40024121e-03, 2.59772956e-02,
  8.95764302e-01,-1.59408426e-03, 6.88418704e-01, 6.50025470e-02,
  9.50162833e-02,-7.00810420e-02, 1.21788472e-01, 9.99993537e-01,
  2.24592911e-04, 2.63549820e-04, 3.57854120e-03]

qacc:
[ -1.65163687,  1.24029575, -5.31388048,  9.30572667,  2.56652854,
   2.42201596, -9.55451345, 13.73328386,  1.79520123, -1.67498304,
   4.7548612 , -2.99018942, -1.55734962,  3.03240451,  2.84850438,
 -12.25052015,  0.05266545,  1.16650603,  0.28207789,-19.35060893,
   1.73001322, -0.06224465]

qfrc_actuator:
[ 2.76335035e-05, 1.62098411e-05, 1.08670024e-04, 5.09013360e-06,
  9.61254844e-06,-3.06719078e-04,-3.05524964e-04, 5.79981661e-06,
 -3.11804979e-07, 5.01932984e-04, 8.19830039e-05, 1.07507319e-04,
  4.15561827e-02,-9.66508624e-04, 2.26402385e-02,-3.80678845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021593693508262235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.14142254e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.14142254e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484052, -0.09311486,  0.06199475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.63459218e-06,-1.10379274e-05,-1.96296756e-05, 9.11995011e-06,
  1.51849439e-05,-3.87540558e-05,-5.49257171e-05, 4.60073453e-06,
  1.04513095e-05,-2.45615974e-05, 2.55357076e-05, 6.85885084e-06,
 -2.67962426e-04,-3.79841594e-05,-1.17725910e-04,-9.33367508e-05,
 -2.43826803e-06, 2.37182858e-06,-1.21639721e+00, 1.03999556e-04,
  1.49896907e-03,-8.52657853e-07]


--- Step 506 ---
qpos:
[ 3.04925116e-03,-3.31430397e-03, 1.18918805e-02, 4.17410273e-02,
 -2.20572484e-03,-1.92003786e-03,-1.73952750e-02, 2.86518651e-02,
  5.84297320e-03, 1.64798226e-02,-9.39961173e-03, 2.59785325e-02,
  8.96672571e-01,-1.59262797e-03, 6.89207894e-01, 6.50027050e-02,
  9.50100885e-02,-7.00859935e-02, 1.21787048e-01, 9.99993504e-01,
  2.64327530e-04, 2.11119957e-04, 3.58842017e-03]

qacc:
[-4.11435912e+00,-9.28478189e-01, 4.19812126e+00,-8.40167338e+00,
 -1.53082012e+00, 1.55183151e+00,-5.08823827e+00, 5.91604522e+00,
 -1.91588198e+00,-1.60795471e+00, 5.80415114e+00,-9.68800840e+00,
 -1.37489410e+00, 2.51005395e+00,-8.39217033e+00, 2.58678967e+01,
  5.55129618e-02, 1.14988723e+00, 1.52985892e-01,-1.91030587e+01,
  1.65161110e+00, 1.59652362e-02]

qfrc_actuator:
[ 3.75374435e-06, 2.18226051e-05, 1.19510648e-04,-5.70114514e-06,
  3.20091658e-07,-2.50315156e-04,-3.08447156e-04, 1.08360962e-05,
 -1.20135852e-05, 4.54817437e-04, 8.09702082e-05, 9.35031849e-05,
  4.14638944e-02,-9.54860131e-04, 2.25824510e-02,-3.69660930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022160327520620582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50497883e-13,  2.50497883e-13,  1.00000000e+00,  6.27491892e-26,
        1.00000000e+00, -2.50497883e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50497883e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484127, -0.09311349,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41556932e-05,-4.20675774e-06, 6.46916411e-06,-1.17609737e-05,
 -8.87110896e-06, 2.35950729e-05,-1.75246352e-05, 1.56474423e-06,
 -1.14077347e-05,-5.53255552e-05,-2.72514211e-06,-1.40467372e-05,
 -2.74831673e-04,-4.40420108e-05,-1.29006622e-04, 8.82196734e-05,
 -1.48849107e-06, 1.96269400e-06,-1.21641706e+00, 1.07863016e-04,
  1.49646704e-03,-9.08519155e-07]


--- Step 507 ---
qpos:
[ 3.04908016e-03,-3.31473192e-03, 1.18921475e-02, 4.17392752e-02,
 -2.20582500e-03,-1.91926305e-03,-1.73966062e-02, 2.86520869e-02,
  5.84263588e-03, 1.64798143e-02,-9.39856005e-03, 2.59792595e-02,
  8.97579264e-01,-1.59132425e-03, 6.89995883e-01, 6.49998188e-02,
  9.50041243e-02,-7.00864004e-02, 1.21785802e-01, 9.99993477e-01,
  2.66254554e-04, 1.61730441e-04, 3.59846607e-03]

qacc:
[ -2.5126647 , -1.13870749,  4.85258575, -8.03437812, -0.97746139,
  -0.7681039 ,  4.75657796,-11.07731459, -7.2454649 , -3.11729205,
  11.9840752 ,-21.0084662 , -0.9889315 ,  1.22553411,  7.44888341,
 -28.55616039,  0.05762926,  1.13618472,  0.04442315,-18.89823811,
   1.58801985,  0.07905654]

qfrc_actuator:
[-1.03390342e-05, 4.31790510e-05, 1.43712779e-04,-1.13956320e-05,
 -5.15636973e-06,-2.16825550e-04,-2.91601411e-04,-4.13123624e-06,
 -5.46056643e-05, 4.08804527e-04, 9.77490785e-05, 6.69890253e-05,
  4.13812419e-02,-9.66391317e-04, 2.24981564e-02,-3.86253154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022488917846530398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38846265e-13, -2.46837805e-13,  1.00000000e+00, -3.42725074e-26,
        1.00000000e+00,  2.46837805e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38846265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484184, -0.09311275,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47800398e-05, 1.98505488e-05, 2.37342680e-05,-5.87392017e-06,
 -5.72045612e-06, 4.31277114e-05, 1.96262243e-05,-1.45306190e-05,
 -4.29346686e-05,-7.81531072e-05, 4.51188928e-06,-2.92578572e-05,
 -2.70661848e-04,-6.95022683e-05,-1.38991729e-04,-1.78863975e-04,
 -5.79633762e-07, 1.59764166e-06,-1.21642918e+00, 1.09834489e-04,
  1.49411124e-03,-8.77711311e-07]


--- Step 508 ---
qpos:
[ 3.04874133e-03,-3.31500801e-03, 1.18926534e-02, 4.17378113e-02,
 -2.20667973e-03,-1.91854141e-03,-1.73972949e-02, 2.86521418e-02,
  5.84179052e-03, 1.64791665e-02,-9.39700342e-03, 2.59793065e-02,
  8.98484364e-01,-1.59013668e-03, 6.90781922e-01, 6.49946844e-02,
  9.49983967e-02,-7.00823073e-02, 1.21784369e-01, 9.99993455e-01,
  2.30710327e-04, 1.15278737e-04, 3.60877934e-03]

qacc:
[ -1.46794759,  0.12969926, -1.3816741 ,  5.86757174, -6.59701896,
  -2.19512184,  8.45242273,-12.35239562, -4.40468051, -3.64728409,
  14.66393332,-26.78305389, -0.99042757,  1.25459545,  3.94372273,
 -17.89533052,  0.05918098,  1.12497014, -0.0467751 ,-18.7302395 ,
   1.53635092,  0.1302574 ]

qfrc_actuator:
[-1.85539160e-05, 5.61148447e-05, 1.57924283e-04, 3.73030324e-06,
 -4.38405777e-05,-2.32733952e-04,-2.63314494e-04,-1.29990466e-05,
 -7.95258505e-05, 3.81609463e-04, 1.24895033e-04, 3.33430902e-05,
  4.12990946e-02,-9.73739967e-04, 2.23926480e-02,-3.97685648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022624911279815751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66731615e-14,  2.45354117e-13,  1.00000000e+00,  1.88120758e-26,
        1.00000000e+00, -2.45354117e-13, -1.00000000e+00,  0.00000000e+00,
       -7.66731615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484227, -0.09311253,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.62821922e-06, 2.86987007e-05, 2.10383316e-05, 1.66880933e-05,
 -3.88324055e-05, 1.16246854e-05, 3.91161897e-05,-6.62227908e-06,
 -2.61759557e-05,-7.12502551e-05, 1.05333001e-05,-3.74106466e-05,
 -2.72814126e-04,-6.77380709e-05,-1.95224379e-04,-1.43600749e-04,
  3.32191836e-07, 1.26117875e-06,-1.21643386e+00, 1.09935990e-04,
  1.49190699e-03,-7.59371574e-07]


--- Step 509 ---
qpos:
[ 3.04830643e-03,-3.31495429e-03, 1.18932614e-02, 4.17365263e-02,
 -2.20799122e-03,-1.91818880e-03,-1.73974346e-02, 2.86521377e-02,
  5.84065210e-03, 1.64786098e-02,-9.39571161e-03, 2.59785634e-02,
  8.99387883e-01,-1.58930090e-03, 6.91565750e-01, 6.49904609e-02,
  9.49929104e-02,-7.00737508e-02, 1.21782443e-01, 9.99993435e-01,
  1.57967430e-04, 7.16813341e-05, 3.61944178e-03]

qacc:
[ -0.84568396,  0.52086953, -1.97682449,  4.66432632, -3.98254083,
  -2.13417785,  7.16437108, -8.80340797, -2.56629005, -0.76121125,
   6.23365447,-19.56232699, -0.63784899,  0.20169885, -5.99256633,
  16.26552517,  0.06029804,  1.11588118, -0.1232978 ,-18.59408402,
   1.49430235,  0.17210711]

qfrc_actuator:
[-2.32466243e-05, 8.16482729e-05, 1.66105543e-04, 1.32185675e-05,
 -6.62564724e-05,-2.78041016e-04,-2.46452356e-04,-1.82415154e-05,
 -9.38349956e-05, 4.19193054e-04, 1.22504359e-04,-4.20798115e-06,
  4.12119828e-02,-9.96307129e-04, 2.23171282e-02,-3.91778038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022606361903991512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.91110878e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.91110878e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484258, -0.09311272,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.92934825e-06, 4.66475697e-05, 1.72790839e-05, 1.17736147e-05,
 -2.35200611e-05,-3.10425610e-05, 2.38535352e-05,-3.51829070e-06,
 -1.50836632e-05,-1.69405703e-06,-1.71159852e-05,-4.09692659e-05,
 -2.79163968e-04,-8.30323575e-05,-1.84036491e-04, 2.52703948e-05,
  1.27944095e-06, 9.43947061e-07,-1.21643134e+00, 1.08185444e-04,
  1.48985783e-03,-5.52900626e-07]


--- Step 510 ---
qpos:
[ 3.04747362e-03,-3.31450507e-03, 1.18936591e-02, 4.17353783e-02,
 -2.20921666e-03,-1.91812575e-03,-1.73970603e-02, 2.86520636e-02,
  5.83969560e-03, 1.64781737e-02,-9.39479702e-03, 2.59770341e-02,
  9.00289696e-01,-1.58839647e-03, 6.92347875e-01, 6.49855299e-02,
  9.49876684e-02,-7.00607598e-02, 1.21779767e-01, 9.99993408e-01,
  4.82431030e-05, 3.08701067e-05, 3.63052050e-03]

qacc:
[ -3.50590016,  1.40007286, -4.79922867,  7.20144306,  0.77571621,
  -1.96388791,  6.74023117, -8.55630161,  1.57239306, -0.40791478,
   5.00011409,-18.08765202, -1.21439944,  1.88997659, -0.3267272 ,
  -2.38829755,  0.06108156,  1.10861112, -0.18743304,-18.48556536,
   1.46003783,  0.20660269]

qfrc_actuator:
[-4.35832709e-05, 9.67489551e-05, 1.52957161e-04, 1.93181330e-05,
 -6.11547266e-05,-2.87392247e-04,-2.18855921e-04,-2.13500228e-05,
 -8.40366450e-05, 4.24158674e-04, 1.02959489e-04,-4.37199165e-05,
  4.11272744e-02,-9.92218025e-04, 2.22437179e-02,-3.95220237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002246505630708051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23549994e-13,  4.94199974e-13,  1.00000000e+00,  6.10584036e-26,
        1.00000000e+00, -4.94199974e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23549994e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484281, -0.09311324,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04624954e-05, 4.52529051e-05,-9.81724841e-07, 8.92651467e-06,
  4.41965527e-06,-2.19532835e-05, 2.39994693e-05,-3.68144543e-06,
  9.36718860e-06,-1.27511537e-06,-2.34280698e-05,-4.09736686e-05,
 -2.83551075e-04,-5.98597297e-05,-1.57681571e-04,-5.73048018e-05,
  2.28631470e-06, 6.41779970e-07,-1.21642179e+00, 1.04597303e-04,
  1.48796611e-03,-2.57883132e-07]


--- Step 511 ---
qpos:
[ 3.04605884e-03,-3.31400652e-03, 1.18937752e-02, 4.17343626e-02,
 -2.21037221e-03,-1.91756565e-03,-1.73970080e-02, 2.86525997e-02,
  5.83955390e-03, 1.64773872e-02,-9.39369069e-03, 2.59754098e-02,
  9.01189673e-01,-1.58681289e-03, 6.93127988e-01, 6.49851208e-02,
  9.49826728e-02,-7.00433572e-02, 1.21776126e-01, 9.99993363e-01,
 -9.82936121e-05,-7.21059178e-06, 3.64207105e-03]

qacc:
[ -5.11786068,  1.1352369 , -4.49359453,  7.17776409,  0.59482131,
   2.80969964,-11.64366347, 22.35259621,  7.11818348, -1.20819024,
   4.01276692, -5.67808691, -1.74360674,  3.6493829 ,-16.52075909,
  53.70894156,  0.06161017,  1.1029001 , -0.24112974,-18.40112321,
   1.43209116,  0.23531424]

qfrc_actuator:
[-7.29660264e-05, 6.98871126e-05, 1.27282644e-04, 2.33549081e-05,
 -5.76551271e-05,-2.21843941e-04,-2.20508902e-04, 1.23617447e-05,
 -4.23789318e-05, 3.91734878e-04, 1.08845693e-04,-4.85909877e-05,
  4.10440763e-02,-9.54662267e-04, 2.21982361e-02,-3.70416920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022227470338667676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  2.497412e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -2.497412e-13, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484296, -0.09311401,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99517267e-05,-1.39964479e-06,-1.61450438e-05, 6.11668429e-06,
  3.61710521e-06, 5.80665127e-05,-3.36379207e-06, 3.35287164e-05,
  4.19276842e-05,-3.97233884e-05, 1.31587816e-06,-6.53199696e-06,
 -2.80278738e-04,-2.42629405e-05,-1.28736327e-04, 2.23497328e-04,
  3.37108328e-06, 3.55034776e-07,-1.21640534e+00, 9.91830487e-05,
  1.48623337e-03, 1.25969960e-07]


--- Step 512 ---
qpos:
[ 3.04464763e-03,-3.31351815e-03, 1.18939192e-02, 4.17330448e-02,
 -2.21113197e-03,-1.91642438e-03,-1.73970476e-02, 2.86531622e-02,
  5.83956763e-03, 1.64763994e-02,-9.39205322e-03, 2.59743873e-02,
  9.02088032e-01,-1.58510665e-03, 6.93906606e-01, 6.49892467e-02,
  9.49750714e-02,-7.00297243e-02, 1.21773560e-01, 9.99993298e-01,
 -2.13824464e-04,-6.88918427e-05, 3.65426915e-03]

qacc:
[ 3.21975493e-02,-7.14534548e-01, 3.80238028e+00,-9.06690018e+00,
  3.45841662e+00, 1.07225050e+00,-2.83222435e+00, 3.02168795e+00,
  1.37601962e+00,-5.14387297e-01,-1.09769089e+00, 1.08175326e+01,
 -1.04690833e+00, 1.60163280e+00,-1.58405313e+01, 5.23355361e+01,
 -6.51460247e-01,-9.42432854e-01, 2.68662737e-01, 1.54598528e+01,
 -1.18566926e+01, 3.22534843e-01]

qfrc_actuator:
[-7.19279545e-05, 7.12936245e-05, 1.29753103e-04, 8.35124671e-06,
 -3.73824576e-05,-1.83037227e-04,-2.21328371e-04, 1.42557055e-05,
 -3.55691279e-05, 4.08310645e-04, 1.47325104e-04,-1.53017088e-05,
  4.09671832e-02,-9.50922366e-04, 2.21536232e-02,-3.46913558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002250984750948315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23304148e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23304148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904427, -0.05165429,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83374898e-07,-2.47209940e-06, 4.02188036e-07,-1.55007966e-05,
  2.03947791e-05, 7.19985789e-05, 1.19116623e-05, 4.91582221e-06,
  7.99635223e-06,-5.61256215e-06, 3.02081109e-05, 3.15065070e-05,
 -2.64216983e-04,-5.30020187e-05,-8.35141592e-05, 2.29819937e-04,
  4.54778379e-06, 8.81241774e-08,-1.21638208e+00, 9.19516030e-05,
  1.48466067e-03, 5.98863222e-07]


--- Step 513 ---
qpos:
[ 3.04394928e-03,-3.31282129e-03, 1.18936850e-02, 4.17319027e-02,
 -2.21198698e-03,-1.91575890e-03,-1.73963026e-02, 2.86531282e-02,
  5.83897303e-03, 1.64760251e-02,-9.39143253e-03, 2.59737734e-02,
  9.02984891e-01,-1.58339053e-03, 6.94684635e-01, 6.49924286e-02,
  9.49679607e-02,-7.00187078e-02, 1.21772845e-01, 9.99993226e-01,
 -3.07087258e-04,-1.27233938e-04, 3.66570402e-03]

qacc:
[  6.24169537,  1.68341471, -6.36457246,  9.87983769, -0.80293402,
  -4.04513672, 16.03291564,-27.26169854, -5.34758659,  4.50385403,
 -16.58888905, 24.81226287, -1.05574186,  1.57725433,  2.02195979,
  -8.2347711 ,  0.12268361, -0.65410234,  0.46261539, 11.14002814,
   1.62896115, -0.38200567]

qfrc_actuator:
[-3.52375044e-05, 8.97009219e-05, 1.13408327e-04, 1.78101082e-05,
 -4.29050495e-05,-2.67074207e-04,-2.03996410e-04,-2.03540648e-05,
 -6.70872604e-05, 4.54277291e-04, 9.84285539e-05, 4.71978118e-06,
  4.08994453e-02,-9.49434520e-04, 2.21095575e-02,-3.52776574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002300516857528952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47169402e-07,  7.23895820e-13,  1.00000000e+00, -1.78924897e-19,
        1.00000000e+00, -7.23895820e-13, -1.00000000e+00,  0.00000000e+00,
        2.47169402e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09410757, -0.05724009,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66940071e-05, 1.64320938e-05,-1.73452576e-05, 9.06693514e-06,
 -4.91679661e-06,-4.11395741e-05, 3.38259433e-05,-3.10210099e-05,
 -3.12950573e-05, 5.04398891e-05,-4.52505993e-05, 2.14398689e-05,
 -2.49812621e-04,-5.61366144e-05,-6.36091066e-05,-5.81919769e-05,
  4.20003547e-06, 7.21726685e-07,-1.21639664e+00, 8.60634799e-05,
  1.48148240e-03, 1.05977123e-06]


--- Step 514 ---
qpos:
[ 3.04369633e-03,-3.31227888e-03, 1.18933732e-02, 4.17312541e-02,
 -2.21290089e-03,-1.91609146e-03,-1.73947432e-02, 2.86530922e-02,
  5.83800524e-03, 1.64762931e-02,-9.39151141e-03, 2.59737236e-02,
  9.03880237e-01,-1.58164024e-03, 6.95461356e-01, 6.49946406e-02,
  9.49638928e-02,-7.00093238e-02, 1.21773331e-01, 9.99993158e-01,
 -3.86210156e-04,-1.60352440e-04, 3.67544129e-03]

qacc:
[  3.90996628,  1.0220648 , -6.03492302, 14.82460342, -0.47386786,
  -3.5966092 , 10.92046533,-11.52236361, -3.28727645,  3.97202873,
 -15.30149694, 25.69881857, -1.06736394,  1.62083083,  1.0430526 ,
  -6.34688794,  0.76070079, -0.4081149 ,  0.30045552,  7.11602434,
  12.58605612, -0.84582879]

qfrc_actuator:
[-1.33716065e-05, 6.48361930e-05, 1.03922143e-04, 4.15894330e-05,
 -4.58194544e-05,-3.52982366e-04,-1.76613350e-04,-2.29958011e-05,
 -8.53953015e-05, 4.99391574e-04, 6.94524206e-05, 3.44857879e-05,
  4.08212709e-02,-9.49234184e-04, 2.20285120e-02,-3.58140285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023375043348926317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.3748042e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.3748042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183974, -0.06182841,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29153616e-05,-1.88751632e-05,-7.91834058e-06, 2.40596238e-05,
 -3.06898891e-06,-1.03290432e-04, 2.19625561e-05,-3.84096748e-06,
 -1.91872619e-05, 6.48870945e-05,-2.33896677e-05, 3.07811172e-05,
 -2.51686109e-04,-5.49379638e-05,-1.25906625e-04,-6.72597622e-05,
  3.25646643e-06, 8.02575145e-07,-1.21640940e+00, 8.14951533e-05,
  1.47841167e-03, 1.22830733e-06]


--- Step 515 ---
qpos:
[ 3.04370779e-03,-3.31208647e-03, 1.18936152e-02, 4.17308770e-02,
 -2.21384289e-03,-1.91704127e-03,-1.73929814e-02, 2.86537096e-02,
  5.83751492e-03, 1.64771140e-02,-9.39138151e-03, 2.59736332e-02,
  9.04774059e-01,-1.58012770e-03, 6.96236394e-01, 6.49958762e-02,
  9.49623214e-02,-7.00030697e-02, 1.21774448e-01, 9.99993106e-01,
 -4.38874289e-04,-1.72751895e-04, 3.68315921e-03]

qacc:
[ 2.34453673,-1.45587802, 3.36620357, 0.71229393,-0.22910987,-0.03627635,
 -3.8127353 ,15.25105654, 4.16143016, 0.05531397, 1.02035768,-2.44919155,
 -0.79176164, 0.70417836, 0.48981659,-5.26200412, 0.62410781,-0.78247543,
  0.15750869,13.26720866,10.31121969,-1.00781774]

qfrc_actuator:
[-4.18124935e-07, 4.97930732e-05, 1.33906913e-04, 5.58203683e-05,
 -4.71671989e-05,-3.68290160e-04,-1.61296002e-04, 1.09400113e-05,
 -6.02638311e-05, 5.43720095e-04, 8.80232886e-05, 3.42741489e-05,
  4.07315639e-02,-9.67587234e-04, 2.19413417e-02,-3.63164058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023580043084729774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35415818e-13,  9.17936887e-07,  1.00000000e+00,  2.16096863e-19,
        1.00000000e+00, -9.17936887e-07, -1.00000000e+00,  0.00000000e+00,
       -2.35415818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419944, -0.05426425,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35976339e-05,-2.62088397e-05, 2.59413633e-05, 1.36167954e-05,
 -1.47199985e-06,-6.87029900e-05,-3.45948309e-06, 3.01919169e-05,
  2.46045210e-05, 7.70829899e-05, 3.01559965e-05, 2.35909321e-06,
 -2.64641388e-04,-7.35325752e-05,-1.58469986e-04,-7.16253430e-05,
  2.13569218e-06, 3.77771377e-07,-1.21642138e+00, 7.77741183e-05,
  1.47660402e-03, 1.27427283e-06]


--- Step 516 ---
qpos:
[ 3.04456427e-03,-3.31176095e-03, 1.18931818e-02, 4.17310419e-02,
 -2.21479406e-03,-1.91816231e-03,-1.73915167e-02, 2.86547055e-02,
  5.83767465e-03, 1.64781555e-02,-9.39088132e-03, 2.59735722e-02,
  9.05666252e-01,-1.57876424e-03, 6.97010052e-01, 6.49950671e-02,
  9.49626469e-02,-7.00014593e-02, 1.21775160e-01, 9.99993080e-01,
 -4.52501493e-04,-1.69311165e-04, 3.68880847e-03]

qacc:
[  7.3938569 ,  3.16711825,-13.34743498, 23.73281353, -0.08659643,
   1.38183962, -6.8535563 , 14.00380779,  5.67735844, -0.69384217,
   2.75342696, -2.97724369, -0.99726005,  1.20501564,  4.17057486,
 -17.46548063,  0.4742502 , -1.16092684, -0.10119453, 19.54732809,
   7.84860498, -1.0342699 ]

qfrc_actuator:
[ 4.26959878e-05, 5.86528555e-05, 9.82108032e-05, 8.20994528e-05,
 -4.75821851e-05,-3.58971919e-04,-1.70684270e-04, 3.06625274e-05,
 -2.75226731e-05, 5.34151936e-04, 9.89885899e-05, 3.42077239e-05,
  4.06403186e-02,-9.79061432e-04, 2.18825322e-02,-3.73270215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023780601044745553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08675264, -0.0460789 ,  0.06199422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34898674e-05, 1.41101742e-07,-3.74481092e-05, 2.63184478e-05,
 -4.82039957e-07,-2.85091038e-05,-2.29714927e-05, 1.72429793e-05,
  3.34747448e-05, 3.98433426e-05, 3.06714216e-05, 4.32320815e-06,
 -2.78507720e-04,-7.16560327e-05,-1.43875369e-04,-1.26482335e-04,
  1.05840198e-06, 1.26079624e-07,-1.21643257e+00, 7.52956173e-05,
  1.47577806e-03, 1.30733543e-06]


--- Step 517 ---
qpos:
[ 3.04558613e-03,-3.31145761e-03, 1.18920639e-02, 4.17318869e-02,
 -2.21539831e-03,-1.91892262e-03,-1.73906712e-02, 2.86548472e-02,
  5.83857117e-03, 1.64789734e-02,-9.39003296e-03, 2.59742612e-02,
  9.06556817e-01,-1.57752649e-03, 6.97781866e-01, 6.49940308e-02,
  9.49648456e-02,-7.00044575e-02, 1.21775131e-01, 9.99993080e-01,
 -4.27462511e-04,-1.50120630e-04, 3.69249074e-03]

qacc:
[  1.43083247,  3.28311836,-14.62113816, 27.50271729,  3.01657606,
   0.44356539,  2.7070182 ,-16.75552685,  6.4410877 ,  0.26296327,
  -4.55493165, 17.16764552, -0.9478416 ,  1.11333782, -1.99954668,
   3.12484727,  0.46827378, -1.15214302, -0.1851681 , 19.36184746,
   7.80397844, -0.98324319]

qfrc_actuator:
[ 4.99622230e-05, 4.60060313e-05, 5.96191742e-05, 1.15228400e-04,
 -2.96925727e-05,-3.17324568e-04,-1.94477558e-04,-1.13872905e-05,
  9.42072702e-06, 4.92356833e-04, 1.05145509e-04, 6.96798655e-05,
  4.05588662e-02,-9.86401884e-04, 2.18034919e-02,-3.73853077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023769300751136369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08675227, -0.04607898,  0.06199422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50479129e-06,-1.91702382e-05,-4.22659426e-05, 3.23493911e-05,
  1.78661316e-05, 2.17203505e-05,-3.19212250e-05,-4.37338217e-05,
  3.79192431e-05,-1.30248297e-05, 1.82954552e-05, 3.83203297e-05,
 -2.77349638e-04,-7.00868310e-05,-1.64628460e-04,-3.26841635e-05,
  1.99966832e-07,-4.26428992e-08,-1.21643949e+00, 7.46853501e-05,
  1.47575177e-03, 1.30905620e-06]


--- Step 518 ---
qpos:
[ 3.04634243e-03,-3.31116272e-03, 1.18913080e-02, 4.17327023e-02,
 -2.21578334e-03,-1.91953133e-03,-1.73901446e-02, 2.86551803e-02,
  5.84024901e-03, 1.64794184e-02,-9.38926705e-03, 2.59757656e-02,
  9.07445583e-01,-1.57520568e-03, 6.98552484e-01, 6.49901344e-02,
  9.49688982e-02,-7.00120356e-02, 1.21774079e-01, 9.99993103e-01,
 -3.64056350e-04,-1.15253680e-04, 3.69428789e-03]

qacc:
[ -2.31946706, -1.07950112,  3.96529586, -5.05872367,  1.91029237,
   1.48080346, -5.80408691,  9.52119212,  6.81864995,  1.4025092 ,
  -9.18140536, 23.72301002, -2.38653037,  5.52569213,  6.99367824,
 -26.73139022,  0.463501  , -1.14499398, -0.25552313, 19.21226306,
   7.76772316, -0.94213089]

qfrc_actuator:
[ 3.60613624e-05, 7.38151690e-05, 9.05798649e-05, 1.16607100e-04,
 -1.89252589e-05,-3.10001092e-04,-2.08720190e-04,-6.56096389e-07,
  4.85387218e-05, 4.49334075e-04, 9.05387891e-05, 1.07990151e-04,
  4.04939997e-02,-9.20215302e-04, 2.17496852e-02,-3.88349818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002362061449650149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35011461e-13,  4.70022922e-13,  1.00000000e+00, -1.10460774e-25,
        1.00000000e+00, -4.70022922e-13, -1.00000000e+00,  0.00000000e+00,
        2.35011461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08675182, -0.04607862,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36649383e-05, 9.74455466e-06, 2.29208145e-05,-2.75892183e-07,
  1.12872774e-05, 1.10254023e-05,-1.52035403e-05, 9.70513169e-06,
  4.02016759e-05,-4.49099601e-05,-1.37394186e-05, 3.91242737e-05,
 -2.59680759e-04, 3.84089432e-06,-1.36917540e-04,-1.68893526e-04,
 -1.69789812e-07,-2.55153847e-07,-1.21643751e+00, 7.59515960e-05,
  1.47659390e-03, 1.27129563e-06]


--- Step 519 ---
qpos:
[ 3.04658124e-03,-3.31065715e-03, 1.18905410e-02, 4.17335245e-02,
 -2.21638104e-03,-1.92005769e-03,-1.73898049e-02, 2.86559841e-02,
  5.84169342e-03, 1.64793757e-02,-9.38832820e-03, 2.59780604e-02,
  9.08332638e-01,-1.57180498e-03, 6.99321229e-01, 6.49868410e-02,
  9.49705428e-02,-7.00242555e-02, 1.21771725e-01, 9.99993126e-01,
 -2.62071201e-04,-1.01573820e-04, 3.69712238e-03]

qacc:
[ -4.54613678,  0.3324174 , -0.79502383,  0.76070082, -1.87234925,
   1.60270573, -7.5383177 , 15.91600295, -2.02168608,  0.50337893,
  -6.06081767, 19.8170629 , -2.19001162,  5.11461946, -4.46433632,
  11.88686781, -0.60201556, -1.16044599, -0.32578642, 19.25028488,
 -10.66492183,  0.51259395]

qfrc_actuator:
[ 9.82503514e-06, 9.03877641e-05, 9.14889083e-05, 1.17125960e-04,
 -3.01950318e-05,-3.05454491e-04,-2.17285099e-04, 2.32871681e-05,
  3.53643272e-05, 4.23566217e-04, 9.92704944e-05, 1.47638048e-04,
  4.04178556e-02,-8.64328879e-04, 2.16790720e-02,-3.84293553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002342271656229078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18498533e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.18498533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10855025, -0.04576796,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66233785e-05, 2.67335054e-05, 5.73874469e-06, 1.72366564e-06,
 -1.09439719e-05, 8.00668413e-06,-7.82477302e-06, 2.40775477e-05,
 -1.20362547e-05,-5.20522874e-05,-9.01048806e-07, 3.80019334e-05,
 -2.44841769e-04, 6.96907537e-06,-1.58462012e-04, 1.20786923e-05,
 -8.35612007e-08,-5.20890041e-07,-1.21642684e+00, 7.90821120e-05,
  1.47829306e-03, 1.19350103e-06]


--- Step 520 ---
qpos:
[ 3.04615892e-03,-3.31020944e-03, 1.18896149e-02, 4.17347371e-02,
 -2.21745413e-03,-1.92034950e-03,-1.73896281e-02, 2.86567017e-02,
  5.84262397e-03, 1.64791597e-02,-9.38734757e-03, 2.59797448e-02,
  9.09218305e-01,-1.56862401e-03, 7.00087845e-01, 6.49843877e-02,
  9.49726212e-02,-7.00390328e-02, 1.21770062e-01, 9.99993144e-01,
 -1.38548791e-04,-8.44057218e-05, 3.69940212e-03]

qacc:
[ -5.80687552,  1.18426239, -5.96005913, 12.98909159, -4.17863506,
   0.59553407, -1.29552305, -0.124415  , -4.47775885, -1.5936332 ,
   7.94226282,-18.4620529 , -0.64620372,  0.46226446, -5.65326832,
  15.26482148,  0.10844232, -0.63933895,  0.17270848, 10.77497617,
   1.70436688, -0.27800155]

qfrc_actuator:
[-2.34544288e-05, 6.44974170e-05, 7.45951047e-05, 1.34856863e-04,
 -5.43428364e-05,-2.84812767e-04,-2.22447731e-04, 1.92965322e-05,
  9.26935364e-06, 4.26167799e-04, 1.04030220e-04, 1.16776684e-04,
  4.03350018e-02,-8.86063136e-04, 2.15771756e-02,-3.79988977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023317842413701198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.32110092e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.32110092e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09410595, -0.05724094,  0.06199433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40297248e-05,-9.70297280e-06,-1.06033616e-05, 1.91079867e-05,
 -2.44576552e-05, 2.45441808e-05,-3.63873472e-06,-3.45059083e-06,
 -2.64584246e-05,-2.50781326e-05,-4.80210763e-06,-3.23899600e-05,
 -2.41102168e-04,-6.73698201e-05,-1.77365661e-04, 2.23754037e-05,
 -6.86894354e-07,-3.94140706e-07,-1.21641341e+00, 8.41085154e-05,
  1.47883534e-03, 8.18599831e-07]


--- Step 521 ---
qpos:
[ 3.04603075e-03,-3.31006410e-03, 1.18891818e-02, 4.17361394e-02,
 -2.21846370e-03,-1.92012590e-03,-1.73896879e-02, 2.86576797e-02,
  5.84357917e-03, 1.64789544e-02,-9.38665707e-03, 2.59803549e-02,
  9.10102547e-01,-1.56566822e-03, 7.00852859e-01, 6.49816814e-02,
  9.49776495e-02,-7.00554470e-02, 1.21768661e-01, 9.99993153e-01,
 -1.37538962e-06,-4.24456390e-05, 3.70024325e-03]

qacc:
[  2.60273854, -1.39230495,  3.57519377, -0.8495947 ,  0.54099077,
   1.87637861, -6.80364452, 11.31060989,  0.20503973, -1.38695881,
   9.50101582,-27.63735097, -0.7171092 ,  0.59862973, -1.57656312,
   2.13562687,  0.73749047, -0.40920619,  0.06566303,  6.87124513,
  12.37075614, -0.71814866]

qfrc_actuator:
[-7.35123422e-06, 4.88188491e-05, 1.00429995e-04, 1.44776160e-04,
 -5.03644190e-05,-2.36946469e-04,-2.25518339e-04, 3.44194611e-05,
  1.13010936e-05, 4.27919124e-04, 8.87161017e-05, 6.24470774e-05,
  4.02588063e-02,-9.00244240e-04, 2.15151835e-02,-3.80909029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023261961583810609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38634868e-13, -2.38634868e-13,  1.00000000e+00, -5.69466000e-26,
        1.00000000e+00,  2.38634868e-13, -1.00000000e+00,  0.00000000e+00,
       -2.38634868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183846, -0.06182938,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51294708e-05,-2.24947741e-05, 2.31905939e-05, 9.50858502e-06,
  3.29010811e-06, 6.06902802e-05, 1.43221390e-06, 1.59813846e-05,
  1.26674479e-06,-1.46661995e-05,-2.22172419e-05,-5.62050130e-05,
 -2.46734559e-04,-6.91358897e-05,-1.43632137e-04,-3.14196987e-05,
 -6.45303636e-07,-5.52976569e-07,-1.21640092e+00, 9.02091298e-05,
  1.47966245e-03, 4.88067714e-07]


--- Step 522 ---
qpos:
[ 3.04644113e-03,-3.31011269e-03, 1.18890703e-02, 4.17373021e-02,
 -2.21907298e-03,-1.91945544e-03,-1.73900271e-02, 2.86581520e-02,
  5.84420618e-03, 1.64787984e-02,-9.38649402e-03, 2.59803208e-02,
  9.10985420e-01,-1.56345385e-03, 7.01616605e-01, 6.49774556e-02,
  9.49843800e-02,-7.00704144e-02, 1.21768743e-01, 9.99993143e-01,
  1.23801329e-04, 1.37968260e-05, 3.70120781e-03]

qacc:
[  4.74038528, -1.65840977,  6.53545802,-11.03468417,  3.49409781,
   0.32383194,  1.82621032,-10.44916876, -2.88004516,  0.21886202,
   2.04427716,-12.39799826, -0.21270524, -1.03614494,  2.70316081,
 -12.20595113,  0.42553461,  0.36167043,  0.37057927, -5.97187366,
   7.16333711,  0.06202385]

qfrc_actuator:
[ 1.99380887e-05, 3.95349938e-05, 1.15808324e-04, 1.32300364e-04,
 -2.98590178e-05,-2.26378007e-04,-2.44947408e-04, 7.44050766e-06,
 -5.62936160e-06, 4.29045660e-04, 6.16728754e-05, 3.02498276e-05,
  4.01760074e-02,-9.45305380e-04, 2.14611858e-02,-3.88438685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023087691585419294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20218063e-13, -5.73659679e-07,  1.00000000e+00, -6.89642554e-20,
        1.00000000e+00,  5.73659679e-07, -1.00000000e+00, -1.20370622e-35,
       -1.20218063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08822438, -0.07718883,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77107801e-05,-1.66631793e-05, 1.39170761e-05,-1.24548925e-05,
  2.06196426e-05, 4.54786183e-05,-6.16808037e-06,-2.40201750e-05,
 -1.68958452e-05,-1.40713271e-05,-3.47601157e-05,-3.46906503e-05,
 -2.57167386e-04,-1.01505722e-04,-1.28178698e-04,-9.66550533e-05,
  3.17598812e-08,-1.13443125e-06,-1.21638825e+00, 9.69838640e-05,
  1.48181804e-03, 3.17337177e-07]


--- Step 523 ---
qpos:
[ 3.04683041e-03,-3.31012036e-03, 1.18890760e-02, 4.17379449e-02,
 -2.21943125e-03,-1.91895704e-03,-1.73903057e-02, 2.86580091e-02,
  5.84462531e-03, 1.64787052e-02,-9.38644003e-03, 2.59798700e-02,
  9.11866760e-01,-1.56172148e-03, 7.02378826e-01, 6.49726559e-02,
  9.49913872e-02,-7.00807866e-02, 1.21769582e-01, 9.99993120e-01,
  2.10467599e-04, 7.27582341e-05, 3.70284572e-03]

qacc:
[ -0.18245977, -1.34510204,  7.06807201,-16.28250631,  2.20600548,
  -1.66636558,  8.2022254 ,-18.81131542, -1.81778034, -0.46664995,
   3.54978747,-10.64062711, -0.54774876, -0.10625465, -0.50780023,
  -1.47092679,  0.06919043,  1.14880047,  0.18958911,-19.25006424,
   1.43077151,  0.33625798]

qfrc_actuator:
[ 1.80717704e-05, 5.18530956e-05, 1.24887005e-04, 1.06740915e-04,
 -1.75522430e-05,-2.73831130e-04,-2.56301515e-04,-2.63849544e-05,
 -1.58415252e-05, 4.47506944e-04, 6.34508193e-05, 1.13316349e-05,
  4.00892928e-02,-9.72782959e-04, 2.13960351e-02,-3.90921010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023679926211141178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34422822e-13,  4.68845644e-13,  1.00000000e+00,  1.09908119e-25,
        1.00000000e+00, -4.68845644e-13, -1.00000000e+00,  0.00000000e+00,
       -2.34422822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484518, -0.09311058,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08285506e-06, 5.34999566e-06, 6.91774091e-06,-2.60375712e-05,
  1.29116591e-05,-2.43392340e-05,-3.55698589e-06,-3.25600207e-05,
 -1.06988837e-05, 1.92559533e-06,-6.60914441e-06,-2.13981948e-05,
 -2.74229903e-04,-9.04588539e-05,-1.40558655e-04,-4.80782817e-05,
  2.48677063e-07,-1.35804075e-06,-1.21639264e+00, 1.03179146e-04,
  1.48457597e-03, 5.19421233e-08]


--- Step 524 ---
qpos:
[ 3.04719456e-03,-3.31013593e-03, 1.18894600e-02, 4.17386094e-02,
 -2.21963873e-03,-1.91902082e-03,-1.73902475e-02, 2.86578395e-02,
  5.84526374e-03, 1.64782769e-02,-9.38599848e-03, 2.59802482e-02,
  9.12746210e-01,-1.55907271e-03, 7.03139153e-01, 6.49682593e-02,
  9.49986704e-02,-7.00866186e-02, 1.21770715e-01, 9.99993093e-01,
  2.59102822e-04, 1.34419924e-04, 3.70512898e-03]

qacc:
[ -0.2086145 , -1.02273612,  3.53983091, -3.76208949,  1.34261228,
  -1.74044388,  5.23583285, -5.81595723,  1.93103202,  0.17687468,
  -4.77998713, 18.76205418, -2.15443677,  4.74107722, -3.89649152,
   9.84361833,  0.06899917,  1.13506383,  0.07321718,-19.01041679,
   1.42061102,  0.32101066]

qfrc_actuator:
[ 1.68089213e-05, 5.92224871e-05, 1.48014221e-04, 1.09212776e-04,
 -1.01754790e-05,-3.20151757e-04,-2.45286367e-04,-2.85013136e-05,
 -4.25911488e-06, 4.23078128e-04, 8.23140541e-05, 5.36689670e-05,
  4.00056185e-02,-9.18662718e-04, 2.13082838e-02,-3.88633456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023993605213558367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484523, -0.09310975,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29112762e-06, 1.06718382e-05, 2.41815784e-05, 2.43208458e-06,
  7.73781631e-06,-6.20711852e-05, 4.42023046e-06,-3.91687903e-06,
  1.12772256e-05,-2.56328799e-05, 1.77088627e-05, 4.17763459e-05,
 -2.80129130e-04,-1.07920103e-05,-1.62689187e-04, 9.20406160e-07,
  2.26386419e-07,-1.09615734e-06,-1.21641238e+00, 1.07487157e-04,
  1.48745900e-03,-2.94510818e-07]


--- Step 525 ---
qpos:
[ 3.04788589e-03,-3.31036479e-03, 1.18899180e-02, 4.17400366e-02,
 -2.21975595e-03,-1.91982756e-03,-1.73896542e-02, 2.86576557e-02,
  5.84638099e-03, 1.64773602e-02,-9.38546893e-03, 2.59808263e-02,
  9.13623991e-01,-1.55583634e-03, 7.03897900e-01, 6.49640644e-02,
  9.50062294e-02,-7.00879556e-02, 1.21771750e-01, 9.99993069e-01,
  2.70101723e-04, 1.98768961e-04, 3.70803119e-03]

qacc:
[  2.87823214,  1.07747922, -7.47703225, 20.72015034,  0.82130344,
  -2.50705215,  7.57173746, -8.12182036,  4.18720052, -0.48820425,
  -0.05405572,  3.74770159, -1.68861415,  3.47479457, -2.85191327,
   6.79784077,  0.0689472 ,  1.12373145, -0.02445149,-18.81309404,
   1.41346853,  0.30659102]

qfrc_actuator:
[ 3.36732694e-05, 2.81498178e-05, 1.43757340e-04, 1.45922248e-04,
 -5.75689279e-06,-3.65333946e-04,-2.21149892e-04,-2.96872949e-05,
  2.00560043e-05, 3.73287890e-04, 7.54702169e-05, 6.06700641e-05,
  3.99345074e-02,-8.87799934e-04, 2.12496668e-02,-3.87109245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024101997436379308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02291900e-13, -2.30317638e-13,  1.00000000e+00, -6.96231564e-26,
        1.00000000e+00,  2.30317638e-13, -1.00000000e+00,  0.00000000e+00,
       -3.02291900e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484525, -0.09310949,  0.06199414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68297462e-05,-2.00129992e-05, 1.00388350e-06, 3.80483855e-05,
  4.61747474e-06,-7.91424223e-05, 1.17244925e-05,-3.76926754e-06,
  2.46261589e-05,-5.86605407e-05,-8.51273664e-06, 7.32718152e-06,
 -2.55732285e-04,-2.43697076e-05,-1.37208911e-04,-6.56695995e-06,
  3.33118979e-07,-8.35433497e-07,-1.21642450e+00, 1.09919142e-04,
  1.49050970e-03,-5.47719920e-07]


--- Step 526 ---
qpos:
[ 3.04842892e-03,-3.31067722e-03, 1.18903068e-02, 4.17418862e-02,
 -2.21981966e-03,-1.92083264e-03,-1.73887043e-02, 2.86574010e-02,
  5.84743596e-03, 1.64762249e-02,-9.38479200e-03, 2.59807549e-02,
  9.14500463e-01,-1.55318227e-03, 7.04655348e-01, 6.49603045e-02,
  9.50140645e-02,-7.00848348e-02, 1.21772360e-01, 9.99993047e-01,
  2.43786356e-04, 2.65797412e-04, 3.71152718e-03]

qacc:
[ -1.30211163,  0.95632871, -5.34734667, 12.82348171,  0.48378664,
  -1.40499631,  4.92735509, -6.57679773, -0.53526471, -2.03687809,
   9.58746994,-20.90490048, -0.26754174, -0.71515689, -3.23385775,
   8.5168586 ,  0.06901544,  1.11446958, -0.10630024,-18.65209681,
   1.40895823,  0.29281165]

qfrc_actuator:
[ 2.55664080e-05, 2.74783699e-05, 1.40975647e-04, 1.66919492e-04,
 -3.11302195e-06,-3.38416894e-04,-1.89473790e-04,-3.03168532e-05,
  1.61582560e-05, 3.79578741e-04, 8.88519213e-05, 2.90143022e-05,
  3.98656566e-02,-9.24187258e-04, 2.12085701e-02,-3.84263766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024046115505964305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29854747e-13,  4.61705769e-13,  1.00000000e+00,  5.99546860e-26,
        1.00000000e+00, -4.61705769e-13, -1.00000000e+00,  0.00000000e+00,
       -1.29854747e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484523, -0.0931097 ,  0.06199416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.63613652e-06,-1.00221298e-05,-5.48246573e-06, 2.09108570e-05,
  2.74755522e-06,-1.50546698e-05, 1.66454268e-05,-3.68820056e-06,
 -3.21450358e-06,-2.79190613e-05, 4.72953301e-07,-3.43227991e-05,
 -2.40041209e-04,-8.87456367e-05,-1.09966852e-04, 9.22667205e-06,
  5.60945975e-07,-5.79394964e-07,-1.21642928e+00, 1.10494508e-04,
  1.49372499e-03,-7.08511713e-07]


--- Step 527 ---
qpos:
[ 3.04887069e-03,-3.31108007e-03, 1.18909818e-02, 4.17432584e-02,
 -2.22019651e-03,-1.92149352e-03,-1.73876465e-02, 2.86570866e-02,
  5.84809100e-03, 1.64752175e-02,-9.38388290e-03, 2.59805986e-02,
  9.15375487e-01,-1.55090986e-03, 7.05411596e-01, 6.49529296e-02,
  9.50221763e-02,-7.00772860e-02, 1.21772271e-01, 9.99993025e-01,
  1.80416169e-04, 3.35501714e-04, 3.71559271e-03]

qacc:
[ -0.87862601, -1.9021612 ,  8.6250265 ,-17.27875231, -2.74901313,
   0.03616594,  0.79211355, -2.25946277, -3.48304941, -0.64764737,
   2.92434153, -4.87019885, -0.70235659,  0.39492663,  9.15707112,
 -34.56933367,  0.06918774,  1.10699214, -0.17478479,-18.52239089,
   1.40675118,  0.27952148]

qfrc_actuator:
[ 2.05740507e-05, 2.72506135e-05, 1.56945295e-04, 1.43019257e-04,
 -1.92859468e-05,-2.86240359e-04,-1.71062094e-04,-3.05501328e-05,
 -4.31764421e-06, 4.19443833e-04, 1.14274371e-04, 2.81917459e-05,
  3.97822121e-02,-9.46731906e-04, 2.11194337e-02,-4.03735333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023860204640462068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32651614e-13,  4.65303228e-13,  1.00000000e+00,  1.08253547e-25,
        1.00000000e+00, -4.65303228e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32651614e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948452 , -0.09311027,  0.0619942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21377460e-06,-6.07058508e-06, 1.39425862e-05,-2.41162688e-05,
 -1.61003781e-05, 4.70650269e-05, 1.72259695e-05,-3.73700277e-07,
 -2.05792895e-05, 2.29149731e-05, 1.85327627e-05,-2.66909814e-06,
 -2.56891694e-04,-8.07284147e-05,-1.44713640e-04,-2.09803816e-04,
  9.03262514e-07,-3.28293742e-07,-1.21642694e+00, 1.09229074e-04,
  1.49710231e-03,-7.77632942e-07]


--- Step 528 ---
qpos:
[ 3.04993880e-03,-3.31125930e-03, 1.18914667e-02, 4.17436354e-02,
 -2.22110929e-03,-1.92163579e-03,-1.73867621e-02, 2.86567681e-02,
  5.84884018e-03, 1.64745372e-02,-9.38308661e-03, 2.59807762e-02,
  9.16248870e-01,-1.54828386e-03, 7.06166026e-01, 6.49465537e-02,
  9.50305659e-02,-7.00653330e-02, 1.21771253e-01, 9.99992994e-01,
  8.01964776e-05, 4.07882149e-04, 3.72020426e-03]

qacc:
[  5.48737826, -1.2351103 ,  9.01191184,-26.07151484, -4.71476672,
   1.17045339, -3.14532145,  2.95094398,  0.8122694 ,  1.43336184,
  -5.89572591, 11.61620098, -1.40052107,  2.5946366 , -5.6282096 ,
  15.95535782,  0.06945038,  1.10105393, -0.23199867,-18.41974268,
   1.40656639,  0.26659852]

qfrc_actuator:
[ 5.29679574e-05, 4.50819824e-05, 1.48332682e-04, 9.29113948e-05,
 -4.64037054e-05,-2.54876603e-04,-1.78255582e-04,-3.05286079e-05,
  1.12739455e-06, 4.43689138e-04, 1.11272270e-04, 4.55642399e-05,
  3.97060486e-02,-9.25433391e-04, 2.10654205e-02,-3.97153757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002357277444313688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484514, -0.09311114,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22440431e-05, 1.62839739e-05,-8.99021540e-06,-5.03584376e-05,
 -2.75609541e-05, 6.12312203e-05, 4.63366410e-06, 2.62775390e-06,
  4.86019556e-06, 4.07944018e-05, 3.92465118e-06, 1.89453582e-05,
 -2.59551801e-04,-3.89392943e-05,-1.49359813e-04, 3.41989505e-05,
  1.35450724e-06,-7.92978366e-08,-1.21641763e+00, 1.06135571e-04,
  1.50063950e-03,-7.55755341e-07]


--- Step 529 ---
qpos:
[ 3.05138643e-03,-3.31069641e-03, 1.18913054e-02, 4.17430281e-02,
 -2.22199476e-03,-1.92184184e-03,-1.73857538e-02, 2.86571978e-02,
  5.84964885e-03, 1.64738467e-02,-9.38218193e-03, 2.59811888e-02,
  9.17120714e-01,-1.54543225e-03, 7.06918717e-01, 6.49399765e-02,
  9.50363003e-02,-7.00554266e-02, 1.21771624e-01, 9.99992955e-01,
 -3.25354562e-06, 4.57224202e-04, 3.72568501e-03]

qacc:
[  3.29755053,  0.75293426,  2.87886233,-19.40687306,  0.24504307,
   1.10723959, -7.23053373, 20.02795337,  0.52245992,  0.16629843,
  -1.60652803,  5.50991314, -1.24551686,  2.17152834, -1.89979407,
   3.05589149, -0.66380183, -0.51165811,  0.34704455,  8.3417445 ,
 -11.55026664,  0.43896049]

qfrc_actuator:
[ 7.16012458e-05, 1.08976223e-04, 1.25332525e-04, 4.55404186e-05,
 -4.42350586e-05,-2.89570505e-04,-1.82821276e-04, 5.11948071e-06,
  4.03825218e-06, 4.22806882e-04, 1.09220185e-04, 5.57163802e-05,
  3.96343231e-02,-9.13916838e-04, 2.09793225e-02,-3.98335494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023516799726411796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72097835e-13, -6.67718655e-08,  1.00000000e+00, -3.15228532e-20,
        1.00000000e+00,  6.67718655e-08, -1.00000000e+00, -6.01853108e-36,
       -4.72097835e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895576, -0.06022116,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95598289e-05, 6.89940137e-05,-2.24933182e-05,-4.79679146e-05,
  1.40409386e-06, 6.02102717e-07, 8.73669760e-06, 3.84838327e-05,
  3.06215863e-06, 3.57179514e-06, 7.51231063e-06, 1.24041473e-05,
 -2.48214854e-04,-4.37057896e-05,-1.55112730e-04,-3.01185916e-05,
  1.90994891e-06, 1.73388138e-07,-1.21640148e+00, 1.01224054e-04,
  1.50433472e-03,-6.43481023e-07]


--- Step 530 ---
qpos:
[ 3.05270185e-03,-3.30995283e-03, 1.18910332e-02, 4.17418927e-02,
 -2.22284744e-03,-1.92225035e-03,-1.73849039e-02, 2.86570538e-02,
  5.85048597e-03, 1.64733900e-02,-9.38138714e-03, 2.59817039e-02,
  9.17991138e-01,-1.54275236e-03, 7.07669606e-01, 6.49309809e-02,
  9.50394379e-02,-7.00492243e-02, 1.21772462e-01, 9.99992916e-01,
 -5.60690589e-05, 4.83732557e-04, 3.73228656e-03]

qacc:
[ -1.16729762, -0.53728686,  4.49387691,-13.59153887,  0.28571333,
  -1.00476328,  5.61573198,-15.13951868,  0.24084262,  0.82680457,
  -2.93319894,  4.71175529, -0.83678773,  0.92092636,  4.66879078,
 -20.13164573, -0.64920314, -0.92601999,  0.11669765, 15.2743553 ,
 -11.47383835,  0.56735438]

qfrc_actuator:
[ 6.42218269e-05, 9.33844351e-05, 1.11984708e-04, 1.79512546e-05,
 -4.25960737e-05,-3.28018792e-04,-2.03791139e-04,-2.73702954e-05,
  5.42561313e-06, 4.46065109e-04, 1.07562017e-04, 6.15016250e-05,
  3.95599845e-02,-9.26035551e-04, 2.08740317e-02,-4.11196217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023923346832206704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.96112692e-13, -2.32037564e-13,  1.00000000e+00, -1.61524293e-25,
        1.00000000e+00,  2.32037564e-13, -1.00000000e+00,  0.00000000e+00,
       -6.96112692e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903705, -0.05165603,  0.06199419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.79681883e-06, 1.62740167e-05,-3.53274650e-06,-2.63465277e-05,
  1.67726339e-06,-3.46625756e-05,-1.84481629e-05,-3.14155335e-05,
  1.47438658e-06, 2.73560698e-05, 4.31410395e-07, 6.43828165e-06,
 -2.44496512e-04,-6.57172535e-05,-1.84032600e-04,-1.51218816e-04,
  1.49928078e-06,-1.12098708e-07,-1.21641628e+00, 9.70948378e-05,
  1.50679861e-03,-1.83756795e-07]


--- Step 531 ---
qpos:
[ 3.05357424e-03,-3.30953745e-03, 1.18908023e-02, 4.17411819e-02,
 -2.22436388e-03,-1.92250092e-03,-1.73850224e-02, 2.86565326e-02,
  5.85098813e-03, 1.64734545e-02,-9.38080733e-03, 2.59829448e-02,
  9.18860066e-01,-1.53990963e-03, 7.08418300e-01, 6.49237630e-02,
  9.50399988e-02,-7.00466863e-02, 1.21773348e-01, 9.99992884e-01,
 -7.85914398e-05, 4.87704875e-04, 3.74004479e-03]

qacc:
[-3.88158304e+00, 3.33266185e-01,-3.59545583e+00, 1.11029124e+01,
 -5.85497007e+00, 2.14860332e+00,-5.74552126e+00, 6.25261839e-01,
 -2.93659280e+00, 2.78913116e+00,-1.19997309e+01, 2.45087444e+01,
 -1.07251738e+00, 1.73793965e+00,-8.55172217e+00, 2.53334095e+01,
 -6.44181092e-01,-9.16066461e-01, 1.21423002e-02, 1.51041239e+01,
 -1.13245033e+01, 5.85024244e-01]

qfrc_actuator:
[ 4.15946952e-05, 4.81182558e-05, 1.04151490e-04, 3.76740929e-05,
 -7.67965496e-05,-3.15297620e-04,-2.52123100e-04,-4.64624076e-05,
 -1.18465256e-05, 4.95567649e-04, 1.06315146e-04, 1.00210479e-04,
  3.94894486e-02,-9.16523072e-04, 2.08052257e-02,-4.00655087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024108691461079135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903651, -0.05165638,  0.06199414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28156650e-05,-3.80517496e-05,-5.82260145e-06, 1.97863297e-05,
 -3.41627094e-05,-1.18131710e-05,-5.88560538e-05,-2.18280428e-05,
 -1.72211465e-05, 6.51744986e-05, 4.67550307e-06, 4.00196023e-05,
 -2.43001529e-04,-4.62397478e-05,-1.73290725e-04, 7.25721745e-05,
  9.83319496e-07,-2.48561325e-07,-1.21643116e+00, 9.44518526e-05,
  1.50806742e-03, 1.59790473e-07]


--- Step 532 ---
qpos:
[ 3.05382346e-03,-3.30913796e-03, 1.18900758e-02, 4.17410559e-02,
 -2.22593356e-03,-1.92261753e-03,-1.73855362e-02, 2.86560949e-02,
  5.85127934e-03, 1.64741135e-02,-9.38058435e-03, 2.59846394e-02,
  9.19727412e-01,-1.53662283e-03, 7.09164877e-01, 6.49191303e-02,
  9.50379996e-02,-7.00477798e-02, 1.21773932e-01, 9.99992860e-01,
 -7.11004328e-05, 4.69382929e-04, 3.74898618e-03]

qacc:
[ -5.48483549,  2.58074461,-11.6795829 , 22.5806398 , -0.48163095,
   1.45411764, -5.27938006,  7.25691784, -1.86076488,  2.72106797,
 -10.47182267, 18.45234271, -1.38927512,  2.67921646,-10.85351399,
  33.60248111, -0.64002393, -0.90788933, -0.07555083, 14.96460822,
 -11.2032275 ,  0.59800272]

qfrc_actuator:
[ 1.01826529e-05, 5.64945812e-05, 8.17664534e-05, 6.72899624e-05,
 -7.85593714e-05,-2.89906822e-04,-2.62741329e-04,-3.97302143e-05,
 -2.22096902e-05, 5.24930753e-04, 8.77114479e-05, 1.22504039e-04,
  3.94106006e-02,-8.94297746e-04, 2.07211302e-02,-3.87047313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024114117487772369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30201878e-13, -4.60403755e-13,  1.00000000e+00, -1.05985809e-25,
        1.00000000e+00,  4.60403755e-13, -1.00000000e+00,  0.00000000e+00,
       -2.30201878e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903631, -0.05165633,  0.06199414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20767115e-05,-1.32788572e-05,-3.02778137e-05, 2.81715533e-05,
 -2.73746807e-06, 5.69221193e-06,-2.10565962e-05, 3.76806551e-06,
 -1.08348884e-05, 6.84735786e-05,-3.18949709e-06, 2.60237971e-05,
 -2.46037883e-04,-3.07685066e-05,-1.58215158e-04, 1.17215758e-04,
  4.51261667e-07,-6.72701875e-08,-1.21643866e+00, 9.32681082e-05,
  1.50817164e-03, 3.15971302e-07]


--- Step 533 ---
qpos:
[ 3.05403891e-03,-3.30865537e-03, 1.18887488e-02, 4.17409349e-02,
 -2.22716785e-03,-1.92238569e-03,-1.73857371e-02, 2.86549725e-02,
  5.85144427e-03, 1.64749376e-02,-9.38038032e-03, 2.59862750e-02,
  9.20593367e-01,-1.53366599e-03, 7.09910080e-01, 6.49137307e-02,
  9.50334538e-02,-7.00524783e-02, 1.21773920e-01, 9.99992842e-01,
 -3.38227497e-05, 4.28961064e-04, 3.75912967e-03]

qacc:
[ -0.31671718,  1.79973708, -6.27728322,  7.26206191,  2.94498259,
  -1.82758781, 10.06681102,-22.66412092, -1.10474773,  0.15162071,
   0.02897555, -1.14649062, -0.61875385,  0.28514433,  0.30291921,
  -3.96826405, -0.63664348, -0.90124247, -0.14898731, 14.85152367,
 -11.10575938,  0.60723998]

qfrc_actuator:
[ 9.36227431e-06, 6.13701217e-05, 5.11707867e-05, 6.70064001e-05,
 -6.12046150e-05,-2.39200812e-04,-2.33164251e-04,-7.10712615e-05,
 -2.84175063e-05, 5.06422974e-04, 7.66741375e-05, 1.17177356e-04,
  3.93321528e-02,-9.18048979e-04, 2.06545620e-02,-3.91279284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023976468893339986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31523464e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.31523464e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903639, -0.05165596,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73910023e-06,-7.61494738e-06,-3.60877687e-05,-1.34937542e-06,
  1.72794043e-05, 4.97115294e-05, 2.82979392e-05,-3.17498465e-05,
 -6.49281839e-06, 2.02063479e-05, 3.60108399e-06,-2.00143437e-06,
 -2.44332338e-04,-7.53458553e-05,-1.29425091e-04,-5.69054396e-05,
 -1.07537420e-07, 4.31485778e-07,-1.21643903e+00, 9.35291147e-05,
  1.50712199e-03, 2.88851312e-07]


--- Step 534 ---
qpos:
[ 3.05389775e-03,-3.30836877e-03, 1.18874450e-02, 4.17404590e-02,
 -2.22852931e-03,-1.92205898e-03,-1.73855318e-02, 2.86541993e-02,
  5.85118917e-03, 1.64750718e-02,-9.37907209e-03, 2.59882125e-02,
  9.21458037e-01,-1.53185545e-03, 7.10654070e-01, 6.49084247e-02,
  9.50263722e-02,-7.00607604e-02, 1.21773066e-01, 9.99992824e-01,
  3.30607005e-05, 3.66593216e-04, 3.77048816e-03]

qacc:
[ -3.12620664, -1.04951503,  4.87394558,-10.91981232, -1.10395223,
  -0.28895974, -0.25881183,  5.58037457, -3.61698752, -3.36930555,
   9.42822093, -5.47399577,  0.29397587, -2.51530642, -2.11193037,
   4.68841125, -0.63395837, -0.89591485, -0.21038863, 14.76126811,
 -11.02857976,  0.6134745 ]

qfrc_actuator:
[-8.94850310e-06, 4.62999048e-05, 5.14570911e-05, 4.91290035e-05,
 -6.82519074e-05,-2.44584275e-04,-2.15525349e-04,-5.35107595e-05,
 -4.98850381e-05, 4.41631774e-04, 1.23239402e-04, 1.31115172e-04,
  3.92486591e-02,-9.86542371e-04, 2.06198229e-02,-3.90005951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023726457337044926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.33963084e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.33963084e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903667, -0.05165534,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83616059e-05,-2.68433548e-05,-5.76816608e-06,-1.94764213e-05,
 -6.53721377e-06, 2.69020410e-05, 3.02956648e-05, 2.00538573e-05,
 -2.16435230e-05,-5.28712210e-05, 5.10982200e-05, 1.48837519e-05,
 -2.57143524e-04,-1.25944801e-04,-1.05936873e-04,-8.37351029e-06,
 -7.01951121e-07, 1.24494489e-06,-1.21643245e+00, 9.52232678e-05,
  1.50492727e-03, 8.15441804e-08]


--- Step 535 ---
qpos:
[ 3.05353827e-03,-3.30843779e-03, 1.18867583e-02, 4.17400970e-02,
 -2.22996418e-03,-1.92199029e-03,-1.73849237e-02, 2.86540340e-02,
  5.85067833e-03, 1.64750314e-02,-9.37702114e-03, 2.59895699e-02,
  9.22321198e-01,-1.53079882e-03, 7.11396924e-01, 6.49048788e-02,
  9.50167630e-02,-7.00726095e-02, 1.21771166e-01, 9.99992796e-01,
  1.29408723e-04, 2.82398724e-04, 3.78306966e-03]

qacc:
[ -1.89071341, -1.95675293,  5.82023188, -4.58070358, -0.62641923,
  -0.21425023, -2.29601781, 12.36191232, -2.2045969 , -3.49644199,
  14.58817304,-25.69331292, -0.20065896, -1.14099031, -6.99921153,
  22.02551832, -0.63189434, -0.89172561, -0.26165008, 14.69080774,
 -10.96876924,  0.617279  ]

qfrc_actuator:
[-1.96645432e-05, 3.72607431e-05, 8.76417275e-05, 5.65585632e-05,
 -7.18594013e-05,-2.83507226e-04,-2.05267890e-04,-2.51220918e-05,
 -6.24114923e-05, 4.56375137e-04, 1.67745384e-04, 1.03016534e-04,
  3.91621783e-02,-1.02767485e-03, 2.05935643e-02,-3.80159005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023389599672800354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37332626e-13, -4.74665253e-13,  1.00000000e+00, -1.12653551e-25,
        1.00000000e+00,  4.74665253e-13, -1.00000000e+00,  0.00000000e+00,
       -2.37332626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903712, -0.05165452,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12468368e-05,-2.60757387e-05, 2.92694730e-05, 5.70510216e-06,
 -3.78650700e-06,-1.67770921e-05, 2.02356591e-05, 3.09809143e-05,
 -1.31658579e-05,-3.66251539e-06, 4.03729437e-05,-2.83133735e-05,
 -2.78253466e-04,-1.08316578e-04,-8.21141423e-05, 8.28856490e-05,
 -1.33989309e-06, 2.36814042e-06,-1.21641908e+00, 9.83414066e-05,
  1.50159461e-03,-3.03616786e-07]


--- Step 536 ---
qpos:
[ 3.05339785e-03,-3.30871229e-03, 1.18864756e-02, 4.17398218e-02,
 -2.23108596e-03,-1.92251240e-03,-1.73839680e-02, 2.86542581e-02,
  5.85002061e-03, 1.64755835e-02,-9.37502116e-03, 2.59898447e-02,
  9.23182687e-01,-1.52965652e-03, 7.12138423e-01, 6.49012578e-02,
  9.50073426e-02,-7.00798142e-02, 1.21770151e-01, 9.99992760e-01,
  1.87308639e-04, 2.01591952e-04, 3.79540737e-03]

qacc:
[  1.93901857, -1.22598699,  3.60434989, -2.59052929,  2.767267  ,
  -0.95651773,  0.62429927,  6.00322417, -1.29341471, -1.30041773,
  10.34834311,-29.44398189, -1.2060508 ,  1.85551409, -1.71762582,
   3.23253517,  0.04721332,  1.16107916,  0.221196  ,-19.21747154,
   1.76655906, -0.12752727]

qfrc_actuator:
[-8.06675314e-06, 3.20782167e-05, 1.09256969e-04, 6.10927271e-05,
 -5.56532704e-05,-3.42238915e-04,-1.99598268e-04,-8.38754329e-06,
 -6.95695890e-05, 5.18600072e-04, 1.75430333e-04, 5.04571724e-05,
  3.90899491e-02,-1.01681937e-03, 2.05085215e-02,-3.81315664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023450428952576097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18358499e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.18358499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484919, -0.09311289,  0.0619943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12679219e-05,-1.34654451e-05, 2.00421482e-05, 4.54410705e-06,
  1.60902343e-05,-6.26165405e-05, 5.76142727e-06, 1.73176894e-05,
 -7.53499341e-06, 6.72713130e-05, 1.08949866e-05,-5.18774639e-05,
 -2.73879497e-04,-5.83113862e-05,-1.20782648e-04,-1.92265510e-05,
 -2.02891948e-06, 3.79404931e-06,-1.21639901e+00, 1.02876454e-04,
  1.49712962e-03,-8.64942385e-07]


--- Step 537 ---
qpos:
[ 3.05339747e-03,-3.30916315e-03, 1.18862126e-02, 4.17392809e-02,
 -2.23200479e-03,-1.92367521e-03,-1.73825809e-02, 2.86546824e-02,
  5.84962721e-03, 1.64765780e-02,-9.37348185e-03, 2.59895350e-02,
  9.24042531e-01,-1.52839666e-03, 7.12877708e-01, 6.48996126e-02,
  9.49981252e-02,-7.00824384e-02, 1.21769534e-01, 9.99992722e-01,
  2.07213151e-04, 1.23993086e-04, 3.80769338e-03]

qacc:
[  1.23274149, -0.83857265,  3.76822713, -8.26264297,  1.80467794,
  -1.64259197,  3.77625588, -0.51975553,  2.28300411,  0.6645344 ,
   0.93938682,-10.63694968, -1.12466848,  1.71542949, -9.17697322,
  27.48266522,  0.05073591,  1.14514423,  0.09970517,-18.99147171,
   1.67604054, -0.02997419]

qfrc_actuator:
[-1.18334199e-06, 1.14491540e-05, 1.04344210e-04, 4.61186065e-05,
 -4.56687316e-05,-3.76914615e-04,-1.79034819e-04, 1.32998482e-06,
 -5.57605964e-05, 5.19853397e-04, 1.43766622e-04, 1.94611653e-05,
  3.90103624e-02,-1.01081441e-03, 2.03989202e-02,-3.71208726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023823598490228803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33009095e-13,  2.33009095e-13,  1.00000000e+00,  5.42932383e-26,
        1.00000000e+00, -2.33009095e-13, -1.00000000e+00,  0.00000000e+00,
       -2.33009095e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485003, -0.0931121 ,  0.06199421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.19986950e-06,-2.38062795e-05,-5.06148172e-06,-1.47675230e-05,
  1.04203851e-05,-6.77456979e-05, 8.93239203e-06, 7.56832345e-06,
  1.36220386e-05, 3.88504869e-05,-1.82517856e-05,-2.87519122e-05,
 -2.68845897e-04,-5.51886925e-05,-1.73145041e-04, 8.30622500e-05,
 -8.35574238e-07, 3.17633463e-06,-1.21641526e+00, 1.05758942e-04,
  1.49344981e-03,-8.13008018e-07]


--- Step 538 ---
qpos:
[ 3.05313471e-03,-3.30972389e-03, 1.18861504e-02, 4.17385439e-02,
 -2.23279714e-03,-1.92484192e-03,-1.73811933e-02, 2.86548221e-02,
  5.84974770e-03, 1.64775406e-02,-9.37243224e-03, 2.59892657e-02,
  9.24900651e-01,-1.52673051e-03, 7.13615478e-01, 6.49000281e-02,
  9.49891212e-02,-7.00805343e-02, 1.21768909e-01, 9.99992684e-01,
  1.89495547e-04, 4.94558122e-05, 3.82008324e-03]

qacc:
[-2.29497490e+00,-1.10597542e+00, 4.56697219e+00,-8.20665853e+00,
  1.10918403e+00,-5.94260251e-01, 3.30995174e+00,-8.23093793e+00,
  4.46718669e+00, 1.40086629e+00,-5.24156095e+00, 6.76263621e+00,
 -1.48608023e+00, 2.76317267e+00,-8.37770047e+00, 2.62431317e+01,
  5.33398642e-02, 1.13207315e+00,-2.33187073e-03,-1.88050985e+01,
  1.60242285e+00, 4.92726956e-02]

qfrc_actuator:
[-1.48898036e-05, 1.71105111e-05, 1.19242481e-04, 3.75099168e-05,
 -3.94322488e-05,-3.43612591e-04,-1.67510338e-04,-1.08820591e-05,
 -2.97238018e-05, 4.84436841e-04, 1.06676439e-04, 1.90907701e-05,
  3.89264191e-02,-9.90033283e-04, 2.03599227e-02,-3.59871521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002398099686022892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15739874e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15739874e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485068, -0.09311188,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35070752e-05,-9.30605632e-06, 8.85583433e-06,-1.00885574e-05,
  6.50919773e-06,-2.38322478e-06,-1.11052608e-06,-1.46608232e-05,
  2.64474279e-05,-1.87432427e-05,-3.23379130e-05, 9.78159865e-08,
 -2.69515054e-04,-3.88961087e-05,-1.11931825e-04, 9.50972286e-05,
  2.97471521e-07, 2.62509656e-06,-1.21642390e+00, 1.06755797e-04,
  1.48991374e-03,-6.75533967e-07]


--- Step 539 ---
qpos:
[ 3.05201965e-03,-3.31007293e-03, 1.18863912e-02, 4.17376603e-02,
 -2.23350866e-03,-1.92571578e-03,-1.73804071e-02, 2.86548172e-02,
  5.85052459e-03, 1.64783306e-02,-9.37208731e-03, 2.59897187e-02,
  9.25757188e-01,-1.52484941e-03, 7.14352589e-01, 6.48999846e-02,
  9.49803380e-02,-7.00741444e-02, 1.21767931e-01, 9.99992646e-01,
  1.34460437e-04,-2.21393150e-05, 3.83270375e-03]

qacc:
[ -7.47522053, -0.85537276,  4.09976989, -7.30615883,  0.68494578,
   1.76794083, -5.13430565,  3.38019529,  5.70617516,  3.21698039,
 -14.87052213, 28.64568043, -1.30714063,  2.25411844,  0.47513956,
  -2.92755056,  0.05523083,  1.12144008, -0.0879149 ,-18.65300275,
   1.54236215,  0.11412513]

qfrc_actuator:
[-5.83564099e-05, 5.63028219e-05, 1.45838541e-04, 3.27570784e-05,
 -3.54493042e-05,-3.23162349e-04,-1.96656259e-04,-1.80943332e-05,
  3.29437607e-06, 4.62821000e-04, 6.65436795e-05, 5.44572886e-05,
  3.88559056e-02,-9.78474836e-04, 2.03420010e-02,-3.62085778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023965243003606918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15815957e-13,  2.31631915e-13,  1.00000000e+00,  2.68266720e-26,
        1.00000000e+00, -2.31631915e-13, -1.00000000e+00,  0.00000000e+00,
       -1.15815957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485116, -0.0931121 ,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38525264e-05, 3.54042118e-05, 2.54252616e-05,-5.03776884e-06,
  4.16831316e-06, 1.82879502e-05,-3.02854283e-05,-7.63923570e-06,
  3.37751370e-05,-3.88097465e-05,-4.80080243e-05, 3.34413030e-05,
 -2.52764437e-04,-4.62603451e-05,-6.45920427e-05,-3.26266226e-05,
  1.42240691e-06, 2.12141176e-06,-1.21642521e+00, 1.05888188e-04,
  1.48652802e-03,-4.51369117e-07]


--- Step 540 ---
qpos:
[ 3.05073689e-03,-3.30985763e-03, 1.18865151e-02, 4.17363640e-02,
 -2.23416683e-03,-1.92631256e-03,-1.73803175e-02, 2.86550800e-02,
  5.85169150e-03, 1.64790507e-02,-9.37281513e-03, 2.59899141e-02,
  9.26612244e-01,-1.52312306e-03, 7.15088179e-01, 6.49020741e-02,
  9.49717812e-02,-7.00633029e-02, 1.21766315e-01, 9.99992600e-01,
  4.23528367e-05,-9.08901568e-05, 3.84565912e-03]

qacc:
[ -1.48552886,  0.22543113,  2.02353786, -9.39476066,  0.44147981,
   2.86115613,-10.80227012, 16.34381185,  3.36904256,  2.36895528,
  -7.50376313,  4.82230719, -0.75682284,  0.71138734, -8.65199631,
  27.07826873,  0.05656948,  1.11288563, -0.15959688,-18.53065401,
   1.49319858,  0.16766093]

qfrc_actuator:
[-6.57263371e-05, 9.75834286e-05, 1.43765373e-04, 1.25942698e-05,
 -3.28234279e-05,-3.10718376e-04,-2.31850119e-04,-4.58040527e-06,
  2.24006874e-05, 4.49639148e-04, 7.24359517e-06, 3.95573345e-05,
  3.87775217e-02,-9.90173808e-04, 2.02727928e-02,-3.50958203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023811951762527095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.66246125e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.66246125e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485152, -0.09311269,  0.06199421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.60639555e-06, 6.61145915e-05, 8.20312736e-06,-1.78602721e-05,
  2.75261708e-06, 1.61115979e-05,-3.54104276e-05, 1.31011162e-05,
  2.00644424e-05,-4.33875169e-05,-7.20877257e-05,-1.75782177e-05,
 -2.51032979e-04,-6.73096059e-05,-1.11327222e-04, 9.90563397e-05,
  2.57803406e-06, 1.65355494e-06,-1.21641939e+00, 1.03173218e-04,
  1.48329717e-03,-1.39673792e-07]


--- Step 541 ---
qpos:
[ 3.05006538e-03,-3.30928080e-03, 1.18866984e-02, 4.17345048e-02,
 -2.23444362e-03,-1.92650170e-03,-1.73804827e-02, 2.86554547e-02,
  5.85238888e-03, 1.64796766e-02,-9.37401583e-03, 2.59895458e-02,
  9.27465761e-01,-1.52149628e-03, 7.15821486e-01, 6.49072602e-02,
  9.49634543e-02,-7.00480371e-02, 1.21763821e-01, 9.99992538e-01,
 -8.66341193e-05,-1.56877190e-04, 3.85903580e-03]

qacc:
[  5.36053062, -0.85896042,  6.11216918,-16.19339322,  3.32998519,
   1.47400017, -4.95812411,  7.01455698, -4.10845501,  0.04474699,
   2.05360066,-10.99895378, -0.7947756 ,  0.81744389,-12.67854552,
  39.54174751,  0.05748124,  1.1061062 , -0.21955302,-18.43420767,
   1.45281477,  0.21230129]

qfrc_actuator:
[-3.40293103e-05, 1.04174438e-04, 1.42542056e-04,-1.64899984e-05,
 -1.32640149e-05,-2.67674262e-04,-2.34831699e-04, 3.26227677e-06,
 -2.34156092e-06, 4.59236457e-04,-9.64904983e-06, 1.29411555e-05,
  3.86944636e-02,-9.97790885e-04, 2.01516109e-02,-3.35616908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023550800296985586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.35708131e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.35708131e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485177, -0.09311356,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14748284e-05, 4.44863927e-05, 1.28258468e-05,-2.63133042e-05,
  1.96443829e-05, 4.53219780e-05,-3.55696323e-06, 7.56331305e-06,
 -2.41770088e-05,-3.03165728e-05,-3.53422520e-05,-3.13129536e-05,
 -2.58909074e-04,-6.57820740e-05,-1.66909924e-04, 1.43267282e-04,
  3.79348366e-06, 1.21579872e-06,-1.21640659e+00, 9.86245503e-05,
  1.48022430e-03, 2.60170753e-07]


--- Step 542 ---
qpos:
[ 3.05012407e-03,-3.30865233e-03, 1.18869750e-02, 4.17330402e-02,
 -2.23448409e-03,-1.92602690e-03,-1.73805509e-02, 2.86555165e-02,
  5.85243935e-03, 1.64803801e-02,-9.37502654e-03, 2.59891374e-02,
  9.28317860e-01,-1.52028329e-03, 7.16553105e-01, 6.49141507e-02,
  9.49582501e-02,-7.00344282e-02, 1.21763113e-01, 9.99992470e-01,
 -2.01195774e-04,-1.97500854e-04, 3.87051523e-03]

qacc:
[ 6.41161653, 0.60834464,-3.75658773,10.42184722, 2.0641676 ,-0.0413237 ,
  2.73511236,-8.78713239,-5.63749563,-0.50006111, 2.12027031,-3.19615209,
 -0.46466581,-0.15975124,-7.62576866,23.0805397 , 0.78069116,-0.41425364,
  0.44642785, 7.2613869 ,12.6538383 ,-0.9486364 ]

qfrc_actuator:
[ 2.64339540e-06, 8.99287610e-05, 1.41699119e-04, 2.64619045e-06,
 -1.64647533e-06,-2.06511452e-04,-2.18649044e-04,-1.00018027e-05,
 -3.49367817e-05, 5.00306291e-04, 1.64846396e-05, 1.52095753e-05,
  3.86246368e-02,-1.02070473e-03, 2.00845807e-02,-3.26805367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023990474879356793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62776594e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.62776594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183658, -0.06183707,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75836528e-05, 1.21474732e-05, 9.00979753e-06, 2.09746384e-05,
  1.21931496e-05, 8.61110406e-05, 2.53701853e-05,-1.12985416e-05,
 -3.32954326e-05, 1.54602723e-05, 1.44440080e-05,-8.59805656e-07,
 -2.50804073e-04,-8.23277013e-05,-1.30299072e-04, 7.40025651e-05,
  5.09093336e-06, 8.07557663e-07,-1.21638694e+00, 9.22529173e-05,
  1.47731155e-03, 7.48628466e-07]


--- Step 543 ---
qpos:
[ 3.05062207e-03,-3.30797610e-03, 1.18875296e-02, 4.17321496e-02,
 -2.23472967e-03,-1.92503041e-03,-1.73803692e-02, 2.86550805e-02,
  5.85278811e-03, 1.64813845e-02,-9.37613180e-03, 2.59887490e-02,
  9.29168353e-01,-1.51872789e-03, 7.17284285e-01, 6.49198290e-02,
  9.49561167e-02,-7.00224633e-02, 1.21763687e-01, 9.99992404e-01,
 -3.01600659e-04,-2.13010700e-04, 3.88022838e-03]

qacc:
[  3.86422339,  0.46116963, -3.9863461 , 13.44915053, -1.80025593,
  -1.02861122,  6.77621111,-16.18027312,  2.59352703,  0.69789546,
  -2.00450766,  2.28901329, -1.48374255,  2.75073167,  3.08598158,
 -11.5606972 ,  0.76769231, -0.41098263,  0.32076402,  7.12675909,
  12.52959504, -0.88200834]

qfrc_actuator:
[ 2.41854202e-05, 9.88516145e-05, 1.58779337e-04, 3.22295157e-05,
 -1.25541881e-05,-1.88154690e-04,-2.08970371e-04,-3.55498408e-05,
 -1.86206869e-05, 5.24620233e-04, 1.47025066e-05, 1.67580682e-05,
  3.85521417e-02,-9.99184699e-04, 2.00873508e-02,-3.32547912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002435771898898209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27899629e-13, -2.27899629e-13,  1.00000000e+00, -5.19382409e-26,
        1.00000000e+00,  2.27899629e-13, -1.00000000e+00,  0.00000000e+00,
       -2.27899629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183673, -0.06183781,  0.06199408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26135277e-05, 1.84654037e-05, 2.14159453e-05, 3.08234090e-05,
 -1.05306470e-05, 7.12537030e-05, 3.01940496e-05,-2.12013450e-05,
  1.53676227e-05, 3.58819832e-05, 3.16663297e-06, 2.69706854e-06,
 -2.51323920e-04,-3.87099348e-05,-5.35241123e-05,-7.12005009e-05,
  3.60948991e-06, 3.76191363e-07,-1.21640264e+00, 8.68201063e-05,
  1.47506863e-03, 8.33124034e-07]


--- Step 544 ---
qpos:
[ 3.05206476e-03,-3.30750076e-03, 1.18884468e-02, 4.17313012e-02,
 -2.23510383e-03,-1.92363174e-03,-1.73800007e-02, 2.86543618e-02,
  5.85401920e-03, 1.64826781e-02,-9.37724206e-03, 2.59880319e-02,
  9.30017062e-01,-1.51598939e-03, 7.18014757e-01, 6.49227955e-02,
  9.49570119e-02,-7.00121306e-02, 1.21765123e-01, 9.99992345e-01,
 -3.88070944e-04,-2.03614523e-04, 3.88828268e-03]

qacc:
[  8.3069031 , -1.20827273,  3.71605204, -3.38550121, -1.12905453,
  -0.56984835,  4.00082789, -9.49223422,  7.68993019, -0.29531167,
   2.96933482, -8.83419908, -2.4863968 ,  5.70355813,  7.27392268,
 -26.64332611,  0.75712544, -0.4080604 ,  0.21531927,  7.0153919 ,
  12.42613321, -0.82716145]

qfrc_actuator:
[ 7.21531194e-05, 6.84009195e-05, 1.68638848e-04, 3.22388428e-05,
 -1.88775274e-05,-1.77852240e-04,-2.03385692e-04,-5.04056273e-05,
  2.63557508e-05, 5.38626364e-04, 1.41320699e-05, 7.79327106e-08,
  3.84727878e-02,-9.33842387e-04, 2.00360850e-02,-3.46799411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002450697096281623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.26511678e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.26511678e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818366 , -0.06183824,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.86135556e-05,-1.44036124e-05, 1.73641428e-05, 2.13958659e-06,
 -6.59898465e-06, 5.54344845e-05, 2.32757434e-05,-1.11712887e-05,
  4.54312152e-05, 3.48251409e-05, 7.32662532e-06,-1.49798618e-05,
 -2.49408034e-04, 1.08980853e-05,-9.33747696e-05,-1.55656212e-04,
  2.51154671e-06, 7.48768008e-08,-1.21641389e+00, 8.20327949e-05,
  1.47410802e-03, 9.31977513e-07]


--- Step 545 ---
qpos:
[ 3.05407144e-03,-3.30725494e-03, 1.18889882e-02, 4.17305157e-02,
 -2.23520594e-03,-1.92188218e-03,-1.73798218e-02, 2.86538492e-02,
  5.85543520e-03, 1.64842674e-02,-9.37863920e-03, 2.59871395e-02,
  9.30864232e-01,-1.51277598e-03, 7.18743393e-01, 6.49251323e-02,
  9.49603964e-02,-7.00049197e-02, 1.21766962e-01, 9.99992302e-01,
 -4.48300199e-04,-1.73669718e-04, 3.89432458e-03]

qacc:
[ 4.9426007 , 0.86717178,-3.81335772, 5.68776499, 2.37430382, 1.41214906,
 -5.2406251 , 8.8599713 , 1.59855413, 0.82857909,-1.65234751,-1.13552528,
 -1.50670916, 2.96140929,-0.72903191,-1.200973  , 0.62234958,-0.78043926,
  0.10066791,13.16016252,10.22361117,-1.00491217]

qfrc_actuator:
[ 9.97898468e-05, 3.23082674e-05, 1.38464882e-04, 3.25583886e-05,
 -4.69207577e-06,-1.72471545e-04,-2.18047053e-04,-4.11093779e-05,
  3.45671480e-05, 5.46339040e-04,-3.51573176e-06,-9.44612545e-06,
  3.83947184e-02,-9.14194893e-04, 1.99364606e-02,-3.49980474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024499627542391386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26579572e-13,  4.63870693e-07,  1.00000000e+00, -1.05103623e-19,
        1.00000000e+00, -4.63870693e-07, -1.00000000e+00, -1.20370622e-35,
        2.26579572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419241, -0.05427347,  0.06199405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90132790e-05,-4.04825302e-05,-3.09541672e-05, 3.41546430e-07,
  1.40162193e-05, 4.06526741e-05,-7.49413702e-07, 1.22577828e-05,
  9.52901630e-06, 2.80460677e-05,-1.00711933e-05,-8.07013767e-06,
 -2.37341238e-04,-2.72905712e-05,-1.67978232e-04,-5.44275156e-05,
  1.76508558e-06,-1.16393640e-07,-1.21642086e+00, 7.78862813e-05,
  1.47441363e-03, 1.04355296e-06]


--- Step 546 ---
qpos:
[ 3.05535933e-03,-3.30718699e-03, 1.18891239e-02, 4.17300816e-02,
 -2.23513719e-03,-1.91991542e-03,-1.73797537e-02, 2.86534642e-02,
  5.85693934e-03, 1.64858622e-02,-9.38014044e-03, 2.59865104e-02,
  9.31710034e-01,-1.50989420e-03, 7.19470044e-01, 6.49231185e-02,
  9.49656763e-02,-7.00023439e-02, 1.21768273e-01, 9.99992283e-01,
 -4.69664755e-04,-1.27943048e-04, 3.89830741e-03]

qacc:
[ -6.31870823,  1.63585159, -7.63455353, 14.47205118,  1.49137559,
   0.85600882, -3.17937273,  5.40926908,  0.76555504,  0.83866613,
  -4.09418804,  8.81633792, -0.70959791,  0.49819418, 10.21712246,
 -39.96448277,  0.47386194, -1.1587833 , -0.13187258, 19.46275621,
   7.81565929, -1.0294085 ]

qfrc_actuator:
[ 6.19729164e-05, 2.84446865e-05, 1.20369445e-04, 5.07792644e-05,
  3.69680199e-06,-1.70153482e-04,-2.26801717e-04,-3.54502319e-05,
  3.88166433e-05, 5.32400863e-04,-1.33734238e-05, 3.05422843e-06,
  3.83121359e-02,-9.39481970e-04, 1.98026220e-02,-3.73247959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002457601247300434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.51750676e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.51750676e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08674163, -0.04608768,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70046297e-05,-3.28902373e-05,-3.02687006e-05, 1.54207237e-05,
  8.80211812e-06, 2.53618361e-05,-4.79090423e-08, 7.61019424e-06,
  4.53661320e-06,-7.12234334e-07,-5.58329721e-06, 1.31981578e-05,
 -2.42054855e-04,-7.50028039e-05,-2.20544320e-04,-2.58158034e-04,
  1.04037898e-06,-2.03844350e-07,-1.21642856e+00, 7.49719684e-05,
  1.47570290e-03, 1.17616486e-06]


--- Step 547 ---
qpos:
[ 3.05583914e-03,-3.30713095e-03, 1.18889140e-02, 4.17301887e-02,
 -2.23531313e-03,-1.91791084e-03,-1.73794469e-02, 2.86534942e-02,
  5.85813824e-03, 1.64870089e-02,-9.38069696e-03, 2.59860217e-02,
  9.32554381e-01,-1.50726791e-03, 7.20193843e-01, 6.49216425e-02,
  9.49709076e-02,-7.00044419e-02, 1.21769125e-01, 9.99992283e-01,
 -4.51808470e-04,-8.31703685e-05, 3.90165221e-03]

qacc:
[-7.10324514e+00, 2.07954579e+00,-9.69537016e+00, 1.95920758e+01,
 -2.13898937e+00, 2.41027553e-01,-2.53262412e+00, 9.29982723e+00,
 -2.62489878e+00,-2.93825530e+00, 9.03300319e+00,-7.79154383e+00,
 -6.52051905e-01, 3.92247454e-01,-5.80881913e+00, 1.42553774e+01,
 -1.21775470e-02,-1.16844266e+00,-1.14690755e-01, 1.96083735e+01,
 -5.53287691e-01,-3.21779798e-01]

qfrc_actuator:
[ 2.14462471e-05, 4.39587100e-05, 1.09701280e-04, 7.94271288e-05,
 -9.15251420e-06,-1.69679672e-04,-2.14262591e-04,-1.42246180e-05,
  2.29591667e-05, 5.05644155e-04, 3.46328117e-05, 1.06481005e-05,
  3.82322114e-02,-9.55607954e-04, 1.96909409e-02,-3.69114234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002447669165071224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01804838e-07, -2.26791888e-13,  1.00000000e+00,  2.30885114e-20,
        1.00000000e+00,  2.26791888e-13, -1.00000000e+00,  3.00926554e-36,
        1.01804838e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09650495, -0.04594456,  0.06199405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15918403e-05,-8.48987191e-06,-2.06575567e-05, 2.64935966e-05,
 -1.25898755e-05, 1.49039979e-05, 1.80117679e-05, 2.24548867e-05,
 -1.57246065e-05,-2.77751390e-05, 4.76297481e-05, 7.62832000e-06,
 -2.52684967e-04,-7.32380546e-05,-2.43313675e-04,-1.81159712e-06,
  5.24629491e-07,-3.09455907e-07,-1.21643358e+00, 7.39236575e-05,
  1.47780226e-03, 1.31286638e-06]


--- Step 548 ---
qpos:
[ 3.05582895e-03,-3.30686543e-03, 1.18884597e-02, 4.17302566e-02,
 -2.23564137e-03,-1.91617703e-03,-1.73788211e-02, 2.86538127e-02,
  5.85844828e-03, 1.64876017e-02,-9.38082647e-03, 2.59856777e-02,
  9.33397289e-01,-1.50485212e-03, 7.20915273e-01, 6.49234703e-02,
  9.49737254e-02,-7.00112130e-02, 1.21768888e-01, 9.99992292e-01,
 -3.95219233e-04,-5.97150739e-05, 3.90595907e-03]

qacc:
[ -4.31226525,  0.88826506, -2.58565483,  2.12986854, -1.3209085 ,
  -0.65286584,  0.5949893 ,  4.08231356, -7.72929915, -1.61247029,
   4.10223908, -1.90049718, -0.60775754,  0.3430125 ,-13.44300179,
  42.00362849, -0.60335345, -1.1682815 , -0.27251924, 19.32478212,
 -10.7343885 ,  0.47458268]

qfrc_actuator:
[-2.57683140e-06, 7.10044896e-05, 1.03591654e-04, 7.84957335e-05,
 -1.66449120e-05,-2.05725181e-04,-2.07005088e-04,-1.75033667e-06,
 -2.23570007e-05, 4.53895026e-04, 4.53396993e-05, 1.53156368e-05,
  3.81645903e-02,-9.66180765e-04, 1.96299841e-02,-3.50629858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002443214099236979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81616293e-13, -2.27205431e-13,  1.00000000e+00, -1.54866924e-25,
        1.00000000e+00,  2.27205431e-13, -1.00000000e+00,  0.00000000e+00,
       -6.81616293e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10853689, -0.04576823,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52109512e-05, 1.91503467e-05,-9.48809219e-06,-1.49239824e-06,
 -7.84773251e-06,-2.31094245e-05, 1.33049582e-05, 1.41685084e-05,
 -4.57758819e-05,-5.71512803e-05, 1.10961599e-05, 5.27441261e-06,
 -2.46675199e-04,-6.97141043e-05,-1.72077614e-04, 1.53631266e-04,
  1.62311969e-07,-4.96979101e-07,-1.21643416e+00, 7.47984393e-05,
  1.47992812e-03, 1.38214084e-06]


--- Step 549 ---
qpos:
[ 3.05587527e-03,-3.30611964e-03, 1.18875329e-02, 4.17296027e-02,
 -2.23605679e-03,-1.91496445e-03,-1.73776623e-02, 2.86542964e-02,
  5.85855763e-03, 1.64875794e-02,-9.38102805e-03, 2.59857814e-02,
  9.34238708e-01,-1.50254951e-03, 7.21635724e-01, 6.49246200e-02,
  9.49741421e-02,-7.00226249e-02, 1.21767278e-01, 9.99992304e-01,
 -3.00170087e-04,-5.73757451e-05, 3.91129106e-03]

qacc:
[  0.4724425 ,  0.46700244,  2.29911089,-14.38382214, -0.73883453,
  -1.83621644,  4.853058  , -2.46546504, -1.74185145,  0.31341554,
  -4.18147582, 12.49126872, -0.91693226,  1.09973116,  0.63860567,
  -4.24634793, -0.60029301, -1.16019871, -0.34306721, 19.18859812,
 -10.63321542,  0.50722961]

qfrc_actuator:
[ 1.06002896e-06, 1.04752694e-04, 8.25016723e-05, 4.24279337e-05,
 -2.09176764e-05,-2.45636167e-04,-1.85339659e-04, 5.43376138e-06,
 -3.13847688e-05, 4.05188120e-04, 3.38067993e-05, 3.59195591e-05,
  3.80884249e-02,-9.73364472e-04, 1.95995213e-02,-3.54012671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024245612498709213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28953388e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.28953388e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10853695, -0.04576758,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92551950e-06, 4.24201444e-05,-1.83515915e-05,-3.56035356e-05,
 -4.50565556e-06,-4.95521669e-05, 1.89931385e-05, 6.92417426e-06,
 -1.03588961e-05,-7.81823278e-05,-2.17915454e-05, 1.86430346e-05,
 -2.49823516e-04,-6.50148581e-05,-9.44434747e-05,-4.79009660e-05,
 -5.14842890e-07,-4.79826773e-07,-1.21643060e+00, 7.75756434e-05,
  1.48096352e-03, 1.23918259e-06]


--- Step 550 ---
qpos:
[ 3.05665451e-03,-3.30502373e-03, 1.18863206e-02, 4.17292161e-02,
 -2.23686521e-03,-1.91420821e-03,-1.73762413e-02, 2.86552184e-02,
  5.85855734e-03, 1.64870640e-02,-9.38112041e-03, 2.59861033e-02,
  9.35078664e-01,-1.50060914e-03, 7.22355333e-01, 6.49239611e-02,
  9.49719948e-02,-7.00376303e-02, 1.21764988e-01, 9.99992307e-01,
 -1.75469894e-04,-7.71836998e-05, 3.91767746e-03]

qacc:
[  6.41840246,  1.79946807, -6.89323921, 11.73916234, -3.43053695,
  -0.42699603, -1.19236402,  8.68449568, -0.94419075, -0.50603534,
  -0.05919618,  4.0197263 , -0.69710316,  0.38436107,  4.23533918,
 -16.57791919, -0.64097647, -0.89836714, -0.17000372, 14.78212672,
 -11.13170201,  0.52304408]

qfrc_actuator:
[ 3.86949812e-05, 1.24415140e-04, 7.05018397e-05, 5.69871898e-05,
 -4.10154932e-05,-2.69755061e-04,-1.73123700e-04, 2.72043382e-05,
 -3.67247504e-05, 3.94094608e-04, 4.47635621e-05, 4.79718176e-05,
  3.80071892e-02,-9.96280461e-04, 1.95606860e-02,-3.63148725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002399481158839034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31346477e-13, -2.31346477e-13,  1.00000000e+00, -5.35211923e-26,
        1.00000000e+00,  2.31346477e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31346477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090296 , -0.05165343,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77340205e-05, 3.80543080e-05,-6.72670345e-06, 1.50499700e-05,
 -2.02445983e-05,-4.76688671e-05, 4.53117181e-06, 2.04327391e-05,
 -5.66435917e-06,-5.85162909e-05,-7.22898134e-06, 8.31134930e-06,
 -2.55678847e-04,-8.09140643e-05,-9.46888760e-05,-1.07878130e-04,
 -1.26871278e-06,-1.40593671e-07,-1.21641733e+00, 8.22209185e-05,
  1.48089315e-03, 8.66795291e-07]


--- Step 551 ---
qpos:
[ 3.05753425e-03,-3.30421982e-03, 1.18855070e-02, 4.17293874e-02,
 -2.23756355e-03,-1.91349725e-03,-1.73753962e-02, 2.86563994e-02,
  5.85849232e-03, 1.64867550e-02,-9.38115253e-03, 2.59868245e-02,
  9.35917249e-01,-1.49927052e-03, 7.23074020e-01, 6.49214890e-02,
  9.49728100e-02,-7.00542636e-02, 1.21763329e-01, 9.99992304e-01,
 -3.68865443e-05,-7.18689943e-05, 3.92254790e-03]

qacc:
[  0.89998058, -0.35239823, -1.66020229, 10.8945162 ,  0.94825298,
   2.07947225, -8.59844455, 14.03695942, -0.56597503,  0.92775328,
  -4.59625484, 11.25754689, -0.39330109, -0.46866677,  4.11233209,
 -16.36407661,  0.74060386, -0.40697109,  0.15797868,  6.99067659,
  12.5341714 , -0.75628826]

qfrc_actuator:
[ 4.27718686e-05, 8.23062799e-05, 8.17108281e-05, 8.34697135e-05,
 -3.47623871e-05,-2.66502457e-04,-2.02025126e-04, 3.96348315e-05,
 -3.98628471e-05, 4.58951044e-04, 6.90616639e-05, 7.26961771e-05,
  3.79389400e-02,-1.02834149e-03, 1.95221759e-02,-3.72046002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023811461638492681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33127861e-13, -4.66255722e-13,  1.00000000e+00, -1.08697199e-25,
        1.00000000e+00,  4.66255722e-13, -1.00000000e+00,  0.00000000e+00,
       -2.33127861e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183436, -0.06183868,  0.06199421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.16242690e-06,-2.15875570e-05, 1.87614229e-05, 2.81721986e-05,
  5.65836753e-06,-2.16454683e-05,-3.75092990e-05, 1.09359733e-05,
 -3.32260542e-06, 3.10137475e-05, 1.16145517e-05, 2.21291842e-05,
 -2.49741977e-04,-9.35022253e-05,-1.01410657e-04,-1.08921733e-04,
 -1.96520212e-06, 5.52730088e-07,-1.21640001e+00, 8.82934200e-05,
  1.47970178e-03, 3.00727748e-07]


--- Step 552 ---
qpos:
[ 3.05811172e-03,-3.30413998e-03, 1.18853610e-02, 4.17302578e-02,
 -2.23852664e-03,-1.91292746e-03,-1.73746394e-02, 2.86580438e-02,
  5.85873462e-03, 1.64871220e-02,-9.38139624e-03, 2.59871023e-02,
  9.36754362e-01,-1.49803367e-03, 7.23791571e-01, 6.49202118e-02,
  9.49765672e-02,-7.00725234e-02, 1.21761989e-01, 9.99992286e-01,
  1.15467752e-04,-4.16435260e-05, 3.92591671e-03]

qacc:
[-2.6192515 ,-1.37750459, 0.58257506,10.96906881,-2.32207646, 1.01749261,
 -5.8479723 ,14.10480651, 2.66189517, 0.56673771, 1.13859764,-8.96219153,
 -0.84844879, 0.96389914,-5.24538174,16.00098604, 0.73550571,-0.40664136,
  0.07943388, 6.93422341,12.42830416,-0.7508212 ]

qfrc_actuator:
[ 2.70531759e-05, 2.13893297e-05, 1.06275077e-04, 1.16708543e-04,
 -4.85498606e-05,-2.64808106e-04,-2.01605830e-04, 6.42179731e-05,
 -2.39282235e-05, 5.15617211e-04, 6.58646002e-05, 5.14974392e-05,
  3.78732012e-02,-1.02999987e-03, 1.94998759e-02,-3.64749858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023733724376734378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183426, -0.0618388 ,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55828675e-05,-6.79276806e-05, 2.33895377e-05, 3.35109906e-05,
 -1.36326786e-05,-1.77252395e-05,-8.31482066e-06, 2.25641261e-05,
  1.58479383e-05, 7.73653055e-05, 5.40796988e-06,-1.90378442e-05,
 -2.45947302e-04,-6.37006390e-05,-8.79619433e-05, 5.21951221e-05,
 -1.68549183e-06,-3.58283418e-07,-1.21639171e+00, 9.52212000e-05,
  1.48001735e-03, 8.54941301e-08]


--- Step 553 ---
qpos:
[ 3.05849622e-03,-3.30459348e-03, 1.18858106e-02, 4.17311554e-02,
 -2.23964750e-03,-1.91249748e-03,-1.73735962e-02, 2.86595978e-02,
  5.85916649e-03, 1.64875946e-02,-9.38169431e-03, 2.59864961e-02,
  9.37589916e-01,-1.49650985e-03, 7.24507842e-01, 6.49185080e-02,
  9.49805777e-02,-7.00861154e-02, 1.21762001e-01, 9.99992252e-01,
  2.28761161e-04,-8.54115498e-06, 3.92979055e-03]

qacc:
[ -1.66600788, -2.31134023,  7.10939589, -7.2071987 , -1.37241496,
  -1.16762624,  4.28182853, -6.20625355,  1.64924927, -1.53156892,
   9.39049142,-24.67540104, -1.34620523,  2.39028341, -0.5354253 ,
  -0.7152825 ,  0.06332727,  1.16695243,  0.33800482,-19.52463456,
   1.51514399,  0.2531945 ]

qfrc_actuator:
[ 1.75723248e-05, 2.99429976e-06, 1.38424119e-04, 1.18131519e-04,
 -5.62782615e-05,-2.63934717e-04,-1.83851441e-04, 6.02793916e-05,
 -1.46487626e-05, 4.78054043e-04, 4.64181720e-05, 3.42783655e-06,
  3.77983755e-02,-1.01367594e-03, 1.94234448e-02,-3.67493825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024319216564497315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28260442e-13,  2.28260442e-13,  1.00000000e+00,  5.21028294e-26,
        1.00000000e+00, -2.28260442e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28260442e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485447, -0.09311193,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.95101771e-06,-5.01239845e-05, 2.21576139e-05,-2.62952926e-08,
 -8.12378701e-06,-9.82704606e-06, 1.38309778e-05,-4.55285420e-06,
  9.76229000e-06, 5.99645835e-06,-3.46063333e-06,-4.49390650e-05,
 -2.46213704e-04,-4.09115618e-05,-1.17961768e-04,-3.74898364e-05,
 -1.10510795e-06,-1.18648961e-06,-1.21637938e+00, 1.02788604e-04,
  1.48158661e-03,-1.20581983e-07]


--- Step 554 ---
qpos:
[ 3.05910860e-03,-3.30511638e-03, 1.18862486e-02, 4.17310093e-02,
 -2.23981755e-03,-1.91220939e-03,-1.73726113e-02, 2.86611166e-02,
  5.85970664e-03, 1.64879174e-02,-9.38212076e-03, 2.59860487e-02,
  9.38423845e-01,-1.49445740e-03, 7.25222804e-01, 6.49164446e-02,
  9.49848440e-02,-7.00951080e-02, 1.21762798e-01, 9.99992215e-01,
  3.03573103e-04, 2.73772740e-05, 3.93418748e-03]

qacc:
[  2.00048066, -2.21410687, 12.15640266,-30.13566884,  8.33987276,
  -0.11357675,  0.25329322, -0.63450596,  0.94302339,  0.485818  ,
  -2.69322341,  5.76050474, -1.6277555 ,  3.20615709, -0.76149261,
   0.05828187,  0.06393664,  1.14985328,  0.196483  ,-19.2350491 ,
   1.4836899 ,  0.26139007]

qfrc_actuator:
[ 2.95984386e-05, 1.02113127e-05, 1.39423676e-04, 6.53521365e-05,
 -7.11440222e-06,-2.81251419e-04,-1.91540472e-04, 5.73489091e-05,
 -9.36757308e-06, 4.55263735e-04, 3.49021553e-05, 1.08642377e-05,
  3.77181585e-02,-9.86910672e-04, 1.93678469e-02,-3.69046459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002484001748093573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35212030e-13,  4.46949373e-13,  1.00000000e+00,  1.49822807e-25,
        1.00000000e+00, -4.46949373e-13, -1.00000000e+00,  0.00000000e+00,
       -3.35212030e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485473, -0.09311055,  0.06199396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17250942e-05,-1.62322764e-05,-6.62749493e-06,-5.41619049e-05,
  4.89284948e-05,-2.01844251e-05,-8.19312387e-06,-2.96810595e-06,
  5.56621162e-06,-2.20852223e-05,-1.22591926e-05, 6.69968624e-06,
 -2.47523120e-04,-2.71568796e-05,-1.19874606e-04,-3.41899827e-05,
 -8.95341126e-07,-1.02838909e-06,-1.21640502e+00, 1.08399656e-04,
  1.48325083e-03,-4.74960066e-07]


--- Step 555 ---
qpos:
[ 3.06020509e-03,-3.30553396e-03, 1.18865468e-02, 4.17309088e-02,
 -2.23905180e-03,-1.91253795e-03,-1.73714745e-02, 2.86622904e-02,
  5.86030606e-03, 1.64880242e-02,-9.38266402e-03, 2.59860472e-02,
  9.39256153e-01,-1.49176658e-03, 7.25936826e-01, 6.49101609e-02,
  9.49893681e-02,-7.00995579e-02, 1.21763906e-01, 9.99992182e-01,
  3.40383602e-04, 6.60639964e-05, 3.93911880e-03]

qacc:
[  4.24307393,  0.61555772, -2.19924924,  3.14909048,  8.22277567,
  -1.96430639,  7.25055344,-12.97918724,  0.51720243,  0.95787506,
  -5.71406131, 13.77889236, -1.87849006,  3.86673419, 11.44685141,
 -41.83360534,  0.06445894,  1.13567243,  0.07757332,-18.99513555,
   1.4589694 ,  0.26624429]

qfrc_actuator:
[ 5.41850556e-05, 3.25449561e-05, 1.39855236e-04, 6.98743964e-05,
  3.96340805e-05,-3.44929431e-04,-1.96512952e-04, 3.72515863e-05,
 -6.47988925e-06, 4.41550346e-04, 2.82401490e-05, 3.31623904e-05,
  3.76400947e-02,-9.54237027e-04, 1.93034945e-02,-3.91177084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025104120306446154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.14606874e-14,  2.21123666e-13,  1.00000000e+00, -9.16793922e-27,
        1.00000000e+00, -2.21123666e-13, -1.00000000e+00,  0.00000000e+00,
        4.14606874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485491, -0.09310988,  0.0619939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49186742e-05, 9.58384893e-06,-5.61153443e-06, 2.54317494e-06,
  4.81365849e-05,-7.67929930e-05,-1.02739119e-05,-2.13118771e-05,
  3.04025427e-06,-2.83108236e-05,-1.24996378e-05, 2.10590172e-05,
 -2.43424208e-04,-1.95942777e-05,-1.29081672e-04,-2.40014338e-04,
 -5.98418340e-07,-8.68208107e-07,-1.21642272e+00, 1.12113296e-04,
  1.48507881e-03,-7.36991362e-07]


--- Step 556 ---
qpos:
[ 3.06089797e-03,-3.30590713e-03, 1.18870840e-02, 4.17315345e-02,
 -2.23807627e-03,-1.91333001e-03,-1.73704171e-02, 2.86628660e-02,
  5.86093586e-03, 1.64873212e-02,-9.38244861e-03, 2.59863288e-02,
  9.40087116e-01,-1.48930578e-03, 7.26649134e-01, 6.49003138e-02,
  9.49941518e-02,-7.00995119e-02, 1.21764925e-01, 9.99992157e-01,
  3.39587581e-04, 1.07482097e-04, 3.94459050e-03]

qacc:
[-3.53547920e+00, 8.94148550e-01,-6.15434186e+00, 1.82917018e+01,
  1.84497009e+00,-1.62423023e+00, 7.42258399e+00,-1.73006201e+01,
  3.02623112e-01,-2.60812536e+00, 6.54999494e+00,-2.26432637e+00,
 -7.81325836e-01, 7.61636141e-01, 8.24907777e+00,-3.24795725e+01,
  6.49244185e-02, 1.12399783e+00,-2.21882005e-02,-1.87977525e+01,
  1.43983841e+00, 2.68466601e-01]

qfrc_actuator:
[ 3.27027013e-05, 4.60489825e-05, 1.57831364e-04, 1.08105886e-04,
  4.90627590e-05,-3.64882203e-04,-2.00042280e-04, 7.17801432e-06,
 -5.02260615e-06, 3.80151326e-04, 6.00355989e-05, 4.62743435e-05,
  3.75687067e-02,-9.71597457e-04, 1.92072742e-02,-4.09276682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025161507328314014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99872553e-13,  6.61858018e-13,  1.00000000e+00,  2.64658855e-25,
        1.00000000e+00, -6.61858018e-13, -1.00000000e+00,  0.00000000e+00,
       -3.99872553e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485503, -0.09310979,  0.06199389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07681003e-05, 1.78302576e-05, 1.93520424e-05, 3.84965856e-05,
  1.07752976e-05,-6.59179717e-05,-2.14082740e-05,-3.41412472e-05,
  1.53396805e-06,-7.89046578e-05, 2.51421256e-05, 1.18770250e-05,
 -2.32922064e-04,-6.75920389e-05,-1.88644091e-04,-2.12480932e-04,
 -2.08549552e-07,-7.12933497e-07,-1.21643285e+00, 1.13953144e-04,
  1.48706938e-03,-9.07142623e-07]


--- Step 557 ---
qpos:
[ 3.06098320e-03,-3.30611886e-03, 1.18878553e-02, 4.17315622e-02,
 -2.23699521e-03,-1.91411141e-03,-1.73699285e-02, 2.86630493e-02,
  5.86157839e-03, 1.64857672e-02,-9.38230433e-03, 2.59868294e-02,
  9.40916840e-01,-1.48763803e-03, 7.27359377e-01, 6.48879915e-02,
  9.49991971e-02,-7.00950079e-02, 1.21765522e-01, 9.99992139e-01,
  3.01506843e-04, 1.51603695e-04, 3.95060438e-03]

qacc:
[ -5.32937925, -1.66301651,  8.77917854,-19.63782135,  0.90735202,
   0.79383347, -1.1564919 , -4.72953792,  0.12350228, -0.47578401,
  -0.86037665,  5.38929556, -0.10320135, -1.21516214,  4.40497552,
 -19.88677562,  0.06535558,  1.11447718, -0.1057491 ,-18.6369111 ,
   1.42536627,  0.26861176]

qfrc_actuator:
[ 2.02566945e-06, 5.42740196e-05, 1.68258706e-04, 7.71008350e-05,
  5.42038889e-05,-3.40753674e-04,-2.20287758e-04,-1.07374454e-05,
 -4.41838394e-06, 3.08573624e-04, 4.30662424e-05, 5.38589691e-05,
  3.74960318e-02,-1.01836529e-03, 1.91133400e-02,-4.21304021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002505400131905533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38478757e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.38478757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948551 , -0.09311016,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12642199e-05, 2.38383833e-05, 1.78227322e-05,-2.88232795e-05,
  5.42755628e-06,-1.85989496e-05,-3.76843626e-05,-2.21479123e-05,
  6.17207946e-07,-1.09974399e-04,-2.97548022e-05, 5.30483343e-06,
 -2.37483313e-04,-1.01564710e-04,-2.07118363e-04,-1.57054042e-04,
  2.77890046e-07,-5.65831396e-07,-1.21643568e+00, 1.13938616e-04,
  1.48922131e-03,-9.85892759e-07]


--- Step 558 ---
qpos:
[ 3.06069990e-03,-3.30609407e-03, 1.18884630e-02, 4.17308912e-02,
 -2.23586104e-03,-1.91467545e-03,-1.73698588e-02, 2.86629786e-02,
  5.86187781e-03, 1.64840184e-02,-9.38318868e-03, 2.59873997e-02,
  9.41745114e-01,-1.48645349e-03, 7.28067462e-01, 6.48765232e-02,
  9.50045053e-02,-7.00860767e-02, 1.21765415e-01, 9.99992125e-01,
  2.26400145e-04, 1.98408465e-04, 3.95715893e-03]

qacc:
[ -3.24435675, -0.66398237,  5.779075  ,-17.7920682 ,  0.44875316,
   0.93408642, -1.84235751, -2.04422405, -3.02124432,  2.7671926 ,
 -10.52436908, 13.50887903, -0.43844148, -0.29772627, -5.75417842,
  15.5187827 ,  0.06576897,  1.1068091 , -0.1756214 ,-18.50757582,
   1.41479411,  0.26711309]

qfrc_actuator:
[-1.60500514e-05, 5.91968669e-05, 1.56313580e-04, 4.10929062e-05,
  5.67928184e-05,-3.08217754e-04,-2.32289297e-04,-2.13246524e-05,
 -2.20731398e-05, 3.20017213e-04,-2.63566526e-06, 5.80782065e-05,
  3.74119721e-02,-1.04661726e-03, 1.90474996e-02,-4.15452169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024816503891361696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05431652e-13,  2.23686428e-13,  1.00000000e+00,  9.06895582e-26,
        1.00000000e+00, -2.23686428e-13, -1.00000000e+00,  0.00000000e+00,
       -4.05431652e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485513, -0.09311089,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89575378e-05, 2.06873986e-05,-5.82882144e-06,-3.49311929e-05,
  2.73959216e-06, 1.34265434e-05,-2.12487395e-05,-1.31192015e-05,
 -1.76791285e-05,-5.59179756e-05,-7.18840145e-05,-1.41780937e-06,
 -2.58704519e-04,-8.88468082e-05,-1.79960554e-04, 2.27788929e-05,
  8.63029916e-07,-4.26788368e-07,-1.21643142e+00, 1.12085518e-04,
  1.49153339e-03,-9.73712388e-07]


--- Step 559 ---
qpos:
[ 3.06054701e-03,-3.30604169e-03, 1.18886874e-02, 4.17305273e-02,
 -2.23470451e-03,-1.91523799e-03,-1.73696191e-02, 2.86627676e-02,
  5.86196269e-03, 1.64825964e-02,-9.38495446e-03, 2.59879380e-02,
  9.42571808e-01,-1.48529113e-03, 7.28773051e-01, 6.48717478e-02,
  9.50100783e-02,-7.00727425e-02, 1.21764373e-01, 9.99992105e-01,
  1.14471693e-04, 2.47882427e-04, 3.96424999e-03]

qacc:
[ 1.13234508e+00, 1.73928809e+00,-7.44749669e+00, 1.33581450e+01,
  2.01300649e-01,-7.61705382e-01, 3.31026876e+00,-6.00870535e+00,
 -1.90426361e+00, 2.83279341e+00,-9.33162217e+00, 9.93607907e+00,
 -7.70045604e-01, 7.97898989e-01,-2.38440719e+01, 7.81555776e+01,
  6.61766119e-02, 1.10073583e+00,-2.33948004e-01,-1.84055034e+01,
  1.40750170e+00, 2.64308697e-01]

qfrc_actuator:
[-8.80841437e-06, 4.42461170e-05, 1.31248891e-04, 5.56810588e-05,
  5.78606421e-05,-3.06353645e-04,-2.21514038e-04,-2.74962173e-05,
 -3.25798920e-05, 3.80957546e-04,-2.90858999e-05, 6.03396867e-05,
  3.73371225e-02,-1.04599970e-03, 1.89826207e-02,-3.79578839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002447804978287643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26779305e-13,  4.53558610e-13,  1.00000000e+00,  1.02857707e-25,
        1.00000000e+00, -4.53558610e-13, -1.00000000e+00,  0.00000000e+00,
       -2.26779305e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485512, -0.09311191,  0.06199405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71001388e-06,-6.09482179e-06,-2.27231256e-05, 1.45935512e-05,
  1.15200471e-06, 4.44176305e-06, 1.04830564e-05,-6.58556516e-06,
 -1.10364221e-05, 1.48284349e-05,-4.68734225e-05,-2.64429677e-06,
 -2.60131414e-04,-6.27352327e-05,-1.47185019e-04, 3.36357982e-04,
  1.54798508e-06,-2.92540279e-07,-1.21642022e+00, 1.08406544e-04,
  1.49400445e-03,-8.71050721e-07]


--- Step 560 ---
qpos:
[ 3.06082680e-03,-3.30589366e-03, 1.18885896e-02, 4.17299829e-02,
 -2.23319922e-03,-1.91578159e-03,-1.73692562e-02, 2.86624850e-02,
  5.86226529e-03, 1.64817308e-02,-9.38723319e-03, 2.59880970e-02,
  9.43396918e-01,-1.48385006e-03, 7.29476483e-01, 6.48716436e-02,
  9.50159177e-02,-7.00550242e-02, 1.21762201e-01, 9.99992067e-01,
 -3.41216916e-05, 3.00016958e-04, 3.97187130e-03]

qacc:
[  3.7858863 ,  0.64740607, -1.37610317, -1.28865482,  3.06239096,
  -0.47227429,  2.01216741, -3.45020681,  1.87313146,  1.38464962,
  -2.27520206, -3.87095373, -1.15122998,  1.92071024,-17.21818047,
  55.75938131,  0.0665871 ,  1.096037  , -0.28255772,-18.3271127 ,
   1.40298111,  0.26046206]

qfrc_actuator:
[ 1.32721052e-05, 5.29907928e-05, 1.16350387e-04, 4.66425851e-05,
  7.57779437e-05,-3.05011056e-04,-2.15246784e-04,-3.10306354e-05,
 -2.10365350e-05, 4.35647150e-04,-4.37208641e-05, 4.37479301e-05,
  3.72678628e-02,-1.02832817e-03, 1.88758208e-02,-3.56490128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024062705321258038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15346862e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15346862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485509, -0.09311314,  0.06199415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22694979e-05, 1.26713085e-06,-1.84537407e-05,-9.80180955e-06,
  1.79515406e-05, 5.72802108e-06, 8.25237466e-06,-3.10835925e-06,
  1.12279577e-05, 5.32534414e-05,-1.74002875e-05,-1.76232360e-05,
 -2.49434458e-04,-4.25981267e-05,-1.39377207e-04, 2.30140702e-04,
  2.33320095e-06,-1.56818547e-07,-1.21640220e+00, 1.02911700e-04,
  1.49663341e-03,-6.78327607e-07]


--- Step 561 ---
qpos:
[ 3.06102419e-03,-3.30569590e-03, 1.18882831e-02, 4.17296778e-02,
 -2.23149097e-03,-1.91616998e-03,-1.73689154e-02, 2.86628454e-02,
  5.86270356e-03, 1.64814086e-02,-9.38917275e-03, 2.59876520e-02,
  9.44220451e-01,-1.48191337e-03, 7.30178441e-01, 6.48709641e-02,
  9.50191160e-02,-7.00411132e-02, 1.21761538e-01, 9.99992013e-01,
 -1.51314682e-04, 3.28518485e-04, 3.98038859e-03]

qacc:
[ -0.73053936,  1.14409025, -4.99037659,  9.42433094,  1.77715978,
   1.58528846, -8.07593165, 19.12979477,  1.18430626, -1.47556677,
   8.84975909,-20.24214407, -1.56347272,  3.03897727, -0.3576085 ,
  -1.71733832, -0.66024399, -0.95183076,  0.37749698, 15.65300426,
 -11.87878094,  0.45232621]

qfrc_actuator:
[ 8.39626725e-06, 5.81209994e-05, 1.07643601e-04, 5.92982005e-05,
  8.57169526e-05,-2.86246799e-04,-2.11705525e-04, 2.50993564e-06,
 -1.43621929e-05, 4.86225961e-04,-1.57773241e-05, 1.62041459e-05,
  3.71966887e-02,-1.00071627e-03, 1.87812079e-02,-3.60665640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024535202774209064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.26251039e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.26251039e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902546, -0.05165372,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24020766e-06, 1.61111121e-06,-1.10577050e-05, 1.18806481e-05,
  1.04525076e-05, 2.35611092e-05, 5.63541339e-06, 3.40113832e-05,
  7.01117265e-06, 7.60714727e-05, 3.62270498e-05,-2.62004390e-05,
 -2.40443548e-04,-2.75873383e-05,-1.36383240e-04,-4.76542933e-05,
  3.21870017e-06,-1.04350725e-08,-1.21637744e+00, 9.56086522e-05,
  1.49941929e-03,-3.95929150e-07]


--- Step 562 ---
qpos:
[ 3.06116193e-03,-3.30556138e-03, 1.18876144e-02, 4.17298973e-02,
 -2.22967674e-03,-1.91637371e-03,-1.73685482e-02, 2.86635973e-02,
  5.86321824e-03, 1.64819402e-02,-9.39094727e-03, 2.59871967e-02,
  9.45042538e-01,-1.47967326e-03, 7.30878758e-01, 6.48678149e-02,
  9.50196990e-02,-7.00309497e-02, 1.21761793e-01, 9.99991956e-01,
 -2.37592790e-04, 3.33823568e-04, 3.98986894e-03]

qacc:
[ -0.53356115,  2.01129693, -9.50311459, 19.20286822,  0.92741848,
   0.97387018, -4.77501918, 11.37678435,  0.65690445,  0.64488041,
  -0.62061351, -0.44740208, -1.34454895,  2.44500388,  5.09694396,
 -21.19801757, -0.65384191, -0.93688065,  0.22935033, 15.41099412,
 -11.65972777,  0.48485449]

qfrc_actuator:
[ 5.44124873e-06, 4.33375456e-05, 8.49147817e-05, 8.46227036e-05,
  9.08752827e-05,-2.74926016e-04,-2.09703896e-04, 2.21043951e-05,
 -1.06143071e-05, 5.51881379e-04, 1.56112681e-06, 1.79709650e-05,
  3.71297479e-02,-9.85221181e-04, 1.86832719e-02,-3.73760829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002511303769527212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21045148e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.21045148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902409, -0.05165488,  0.0619939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07553225e-06,-1.56626218e-05,-2.33449686e-05, 2.52432201e-05,
  5.46285498e-06, 2.71306581e-05, 8.73860854e-06, 2.14599478e-05,
  3.97194540e-06, 1.14594624e-04, 3.66352398e-05, 5.77622772e-06,
 -2.27738643e-04,-3.55811660e-05,-1.70811640e-04,-1.52315941e-04,
  2.62894290e-06,-2.09534554e-07,-1.21640325e+00, 8.97595220e-05,
  1.50079570e-03, 2.59583970e-07]


--- Step 563 ---
qpos:
[ 3.06126317e-03,-3.30553605e-03, 1.18867145e-02, 4.17300704e-02,
 -2.22815966e-03,-1.91636043e-03,-1.73681068e-02, 2.86635347e-02,
  5.86377455e-03, 1.64826111e-02,-9.39277314e-03, 2.59875642e-02,
  9.45863219e-01,-1.47749772e-03, 7.31577376e-01, 6.48640188e-02,
  9.50176882e-02,-7.00244840e-02, 1.21762468e-01, 9.99991905e-01,
 -2.93359705e-04, 3.16289229e-04, 4.00036145e-03]

qacc:
[ -0.32581519,  0.40750221, -1.46546731,  1.11217555, -2.60808168,
  -1.59052025,  9.53587356,-23.92001933,  0.35964746,  2.0206157 ,
 -10.41307311, 24.63459458, -0.88962918,  1.11571575, -0.5159359 ,
  -1.7501211 , -0.64844627, -0.92443555,  0.10480146, 15.20974208,
 -11.48060863,  0.50844227]

qfrc_actuator:
[ 3.64892964e-06, 3.44516145e-05, 7.17622565e-05, 8.16622210e-05,
  7.54283713e-05,-2.68162845e-04,-2.08665585e-04,-1.99325151e-05,
 -8.61728323e-06, 5.01786444e-04,-2.29302822e-05, 5.47246233e-05,
  3.70494148e-02,-9.94754854e-04, 1.86260165e-02,-3.76018005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025419692766064095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36757059e-13, -4.36757059e-13,  1.00000000e+00, -1.90756728e-25,
        1.00000000e+00,  4.36757059e-13, -1.00000000e+00,  0.00000000e+00,
       -4.36757059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902326, -0.05165546,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88528031e-06,-2.13842289e-05,-1.83838302e-05,-3.94700623e-06,
 -1.52829718e-05, 2.46625784e-05, 8.45740520e-06,-4.01564882e-05,
  2.14892610e-06, 2.18076586e-05, 3.90787645e-06, 4.30482807e-05,
 -2.34943608e-04,-5.90141398e-05,-1.56196524e-04,-5.38672808e-05,
  2.07850632e-06,-1.09572446e-07,-1.21642108e+00, 8.54054140e-05,
  1.50098548e-03, 7.18023369e-07]


--- Step 564 ---
qpos:
[ 3.06099708e-03,-3.30549450e-03, 1.18855697e-02, 4.17305368e-02,
 -2.22718434e-03,-1.91617600e-03,-1.73676195e-02, 2.86626317e-02,
  5.86435128e-03, 1.64823829e-02,-9.39376541e-03, 2.59884438e-02,
  9.46682589e-01,-1.47599616e-03, 7.32275147e-01, 6.48590903e-02,
  9.50131016e-02,-7.00216748e-02, 1.21763143e-01, 9.99991863e-01,
 -3.18949041e-04, 2.76205533e-04, 4.01190095e-03]

qacc:
[-3.23201037e+00, 1.31663832e+00,-5.88949622e+00, 1.13321151e+01,
 -4.75368106e+00,-1.62108400e+00, 9.67324659e+00,-2.44333948e+01,
  2.19834329e-01,-2.46427972e+00, 4.89899159e+00, 3.29544455e+00,
 -2.66329058e-01,-7.75704339e-01, 2.16107994e+00,-9.39341121e+00,
 -6.43968582e-01,-9.14138512e-01, 2.47226928e-04, 1.50434006e+01,
 -1.13351024e+01, 5.24939530e-01]

qfrc_actuator:
[-1.51976894e-05, 4.69280645e-05, 6.43695318e-05, 9.75971378e-05,
  4.79790473e-05,-2.64240462e-04,-2.08263679e-04,-6.23935504e-05,
 -7.66657207e-06, 4.00367084e-04,-1.35870424e-06, 7.61361312e-05,
  3.69717464e-02,-1.03681179e-03, 1.86198626e-02,-3.80732173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002550768029515593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17625243e-13, -2.17625243e-13,  1.00000000e+00,  4.73607464e-26,
        1.00000000e+00,  2.17625243e-13, -1.00000000e+00,  0.00000000e+00,
        2.17625243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902285, -0.05165555,  0.0619938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89060680e-05,-3.43971406e-06,-1.42007953e-05, 1.43075653e-05,
 -2.78750221e-05, 1.77288034e-05, 5.14382148e-06,-4.18932350e-05,
  1.01829971e-06,-8.65736036e-05, 2.80602715e-05, 2.33208422e-05,
 -2.41383765e-04,-9.65490767e-05,-8.76177685e-05,-7.11148710e-05,
  1.54550186e-06, 2.95315692e-07,-1.21643132e+00, 8.25247172e-05,
  1.50000288e-03, 9.85733717e-07]


--- Step 565 ---
qpos:
[ 3.06085206e-03,-3.30533495e-03, 1.18839928e-02, 4.17311902e-02,
 -2.22620081e-03,-1.91590305e-03,-1.73665871e-02, 2.86618934e-02,
  5.86493450e-03, 1.64818348e-02,-9.39431483e-03, 2.59888360e-02,
  9.47500569e-01,-1.47524139e-03, 7.32971969e-01, 6.48561892e-02,
  9.50059536e-02,-7.00224884e-02, 1.21763468e-01, 9.99991829e-01,
 -3.14634187e-04, 2.13805970e-04, 4.02451093e-03]

qacc:
[  1.04717198,  1.7474181 , -6.79565177, 10.63715461,  0.0877487 ,
  -1.06688484,  3.27859703, -1.36523405,  0.07547329, -2.66392034,
  10.94274218,-19.85043123, -0.13804709, -1.17119473, -7.53054968,
  24.28222942, -0.64032303, -0.90568473, -0.08737904, 14.90706222,
 -11.21800115,  0.53579315]

qfrc_actuator:
[-8.42619812e-06, 5.43875866e-05, 4.27860048e-05, 1.06795505e-04,
  4.91970157e-05,-2.44310861e-04,-1.72739762e-04,-5.14995306e-05,
 -7.33909685e-06, 4.11156786e-04, 2.92336205e-05, 5.28186518e-05,
  3.68903930e-02,-1.07999482e-03, 1.86123994e-02,-3.69093490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002542096108539005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18367634e-13, -2.18367634e-13,  1.00000000e+00, -4.76844235e-26,
        1.00000000e+00,  2.18367634e-13, -1.00000000e+00,  0.00000000e+00,
       -2.18367634e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902278, -0.05165526,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23271833e-06, 3.22075524e-06,-2.35351212e-05, 8.84041165e-06,
  4.31123378e-07, 2.90905289e-05, 3.83652118e-05, 1.10181394e-05,
  3.22793147e-07,-3.08070629e-05, 1.69853572e-05,-2.56019199e-05,
 -2.56304695e-04,-1.04696251e-04,-6.28827644e-05, 9.94400558e-05,
  1.01359056e-06, 1.00695065e-06,-1.21643427e+00, 8.10999522e-05,
  1.49786000e-03, 1.06766303e-06]


--- Step 566 ---
qpos:
[ 3.06113427e-03,-3.30533690e-03, 1.18825455e-02, 4.17319457e-02,
 -2.22521041e-03,-1.91574566e-03,-1.73649975e-02, 2.86609709e-02,
  5.86586127e-03, 1.64819329e-02,-9.39551856e-03, 2.59892419e-02,
  9.48317013e-01,-1.47495955e-03, 7.33667327e-01, 6.48567514e-02,
  9.49962560e-02,-7.00268972e-02, 1.21763151e-01, 9.99991799e-01,
 -2.80636603e-04, 1.29276024e-04, 4.03820582e-03]

qacc:
[  3.75680946, -0.37225478,  0.57366267,  1.12025601,  0.07961324,
  -2.08821544,  8.00173136,-11.99356704,  2.96498077,  2.70523285,
  -8.47421769,  9.29209255, -0.44115649, -0.32720608,-12.60352054,
  40.97645916, -0.63742811, -0.89881376, -0.16069178, 14.79659678,
 -11.12500132,  0.54213352]

qfrc_actuator:
[ 1.33746934e-05, 4.09760465e-05, 4.84785603e-05, 1.11941047e-04,
  4.95294558e-05,-2.68020662e-04,-1.52165331e-04,-6.25191665e-05,
  1.03728475e-05, 4.89052260e-04, 1.20378049e-05, 5.67163723e-05,
  3.68068830e-02,-1.10575848e-03, 1.85456066e-02,-3.51464292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025196240932066905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.2031521e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.2031521e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902297, -0.05165467,  0.06199388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19811033e-05,-1.60792431e-05, 3.77995158e-06, 4.64267894e-06,
  3.52874780e-07, 9.34032023e-07, 3.16766030e-05,-8.23233771e-06,
  1.77086106e-05, 6.31067415e-05,-2.23406400e-05, 2.66863605e-06,
 -2.69261011e-04,-9.17507359e-05,-9.23565541e-05, 1.71916685e-04,
  4.70191218e-07, 2.02390941e-06,-1.21643017e+00, 8.11170822e-05,
  1.49456704e-03, 9.67628176e-07]


--- Step 567 ---
qpos:
[ 3.06133086e-03,-3.30578956e-03, 1.18818800e-02, 4.17327490e-02,
 -2.22456856e-03,-1.91554549e-03,-1.73642546e-02, 2.86593112e-02,
  5.86733791e-03, 1.64827766e-02,-9.39733850e-03, 2.59896748e-02,
  9.49131844e-01,-1.47469957e-03, 7.34361216e-01, 6.48581436e-02,
  9.49840175e-02,-7.00348792e-02, 1.21761947e-01, 9.99991763e-01,
 -2.17132809e-04, 2.27602790e-05, 4.05299275e-03]

qacc:
[ -0.71910151, -2.68233617,  8.50034877, -8.59669122, -3.08486399,
   0.91156213, -0.04495808,-11.403135  ,  4.76371392,  2.75374457,
  -8.5188334 ,  9.43887636, -1.03299052,  1.35100226, -4.62504795,
  13.14102825, -0.63520764, -0.89330306, -0.22192231, 14.70852068,
 -11.05253815,  0.54484275]

qfrc_actuator:
[ 8.33338382e-06, 1.52741711e-05, 8.79005930e-05, 1.14664810e-04,
  3.15760069e-05,-2.99992785e-04,-2.11801457e-04,-1.04156709e-04,
  3.81757966e-05, 5.35362552e-04,-1.51582283e-05, 5.88844061e-05,
  3.67327937e-02,-1.10329302e-03, 1.84539482e-02,-3.48218125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024864074260047553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23258468e-13, -2.23258468e-13,  1.00000000e+00, -4.98443435e-26,
        1.00000000e+00,  2.23258468e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23258468e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902337, -0.05165385,  0.06199396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41984434e-06,-3.36916799e-05, 3.67411091e-05, 2.25675416e-06,
 -1.79439999e-05,-2.52818597e-05,-5.58445634e-05,-4.06635491e-05,
  2.83325422e-05, 7.71182938e-05,-1.68075952e-05, 4.15235839e-06,
 -2.65656195e-04,-6.42765326e-05,-1.20934390e-04, 2.87468096e-05,
 -9.48402261e-08, 3.34204339e-06,-1.21641920e+00, 8.25649611e-05,
  1.49013237e-03, 6.88524048e-07]


--- Step 568 ---
qpos:
[ 3.06112060e-03,-3.30638867e-03, 1.18816307e-02, 4.17332193e-02,
 -2.22414668e-03,-1.91550295e-03,-1.73645085e-02, 2.86582394e-02,
  5.86844721e-03, 1.64836989e-02,-9.39890251e-03, 2.59894651e-02,
  9.49944886e-01,-1.47378192e-03, 7.35053082e-01, 6.48603328e-02,
  9.49692446e-02,-7.00464171e-02, 1.21759650e-01, 9.99991709e-01,
 -1.24260298e-04,-1.05631682e-04, 4.06887290e-03]

qacc:
[ -3.55568358, -2.03620276,  8.39510537,-14.72541173, -1.95749885,
   3.78859346,-16.28716373, 28.16190478, -3.19754453, -1.92800829,
   9.74906538,-21.34898368, -1.80588114,  3.583973  , -5.29107604,
  14.40611426, -0.63359144, -0.88896249, -0.27297586, 14.63989091,
 -10.99765247,  0.54460822]

qfrc_actuator:
[-1.24713024e-05, 1.80571661e-05, 1.11350826e-04, 9.81965179e-05,
  2.07563302e-05,-3.19281804e-04,-2.65124878e-04,-7.47751919e-05,
  1.84317320e-05, 5.09106029e-04,-1.26255263e-05, 2.44906080e-05,
  3.66484418e-02,-1.06639935e-03, 1.83420977e-02,-3.44600645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024449804647644346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902393, -0.05165284,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09419535e-05,-8.35151470e-06, 2.11057749e-05,-1.65953498e-05,
 -1.13360410e-05,-4.67227188e-05,-6.68380782e-05, 2.55767531e-05,
 -1.89035917e-05, 1.35789345e-05, 1.65468308e-05,-3.15893782e-05,
 -2.68428243e-04,-2.49673474e-05,-1.69515193e-04, 2.09639900e-05,
 -6.90187940e-07, 4.95480098e-06,-1.21640147e+00, 8.54348899e-05,
  1.48456283e-03, 2.32489172e-07]


--- Step 569 ---
qpos:
[ 3.06031733e-03,-3.30661242e-03, 1.18812002e-02, 4.17327720e-02,
 -2.22351276e-03,-1.91612360e-03,-1.73644281e-02, 2.86581913e-02,
  5.86896683e-03, 1.64843949e-02,-9.39971477e-03, 2.59891957e-02,
  9.50756257e-01,-1.47242463e-03, 7.35742588e-01, 6.48639605e-02,
  9.49574589e-02,-7.00595499e-02, 1.21758708e-01, 9.99991643e-01,
 -1.68964688e-05,-2.08284365e-04, 4.08293886e-03]

qacc:
[ -5.21781826, -0.87843313,  7.74005835,-23.62204056,  1.88224416,
   0.29173666, -6.64111501, 24.31815372, -5.1155547 , -2.51280312,
   8.79489776,-10.88098163, -1.47583658,  2.71886313, -7.7474612 ,
  22.22532786,  0.74678538, -0.39872553,  0.33858204,  7.29786779,
  12.84016309, -0.90622996]

qfrc_actuator:
[-4.23785341e-05, 5.55597431e-05, 1.07518413e-04, 5.28218902e-05,
  3.19803818e-05,-3.48530280e-04,-2.43161404e-04,-2.15650258e-05,
 -1.13906516e-05, 4.92936082e-04, 2.48714097e-05, 2.20763964e-05,
  3.65686577e-02,-1.04502482e-03, 1.82288863e-02,-3.37239746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024335213059656358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.56220795e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.56220795e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183342, -0.06184584,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05047309e-05, 3.64979351e-05,-3.52220641e-06,-4.53233383e-05,
  1.08862474e-05,-6.80854717e-05, 4.96987593e-06, 4.93963031e-05,
 -3.03575925e-05,-6.53000456e-06, 4.12567913e-05,-1.87163717e-06,
 -2.58015140e-04,-3.52036763e-05,-1.91738726e-04, 5.22668803e-05,
 -1.32380294e-06, 6.85341430e-06,-1.21637707e+00, 8.97202573e-05,
  1.47786380e-03,-3.98962622e-07]


--- Step 570 ---
qpos:
[ 3.05881688e-03,-3.30664637e-03, 1.18807448e-02, 4.17321426e-02,
 -2.22240455e-03,-1.91728960e-03,-1.73638094e-02, 2.86584057e-02,
  5.86912517e-03, 1.64845123e-02,-9.40016508e-03, 2.59896631e-02,
  9.51566081e-01,-1.47082606e-03, 7.36431197e-01, 6.48635653e-02,
  9.49486333e-02,-7.00742839e-02, 1.21758686e-01, 9.99991568e-01,
  1.04721934e-04,-2.85551511e-04, 4.09525546e-03]

qacc:
[ -6.1236145 , -0.04283089,  1.30512677, -4.57658367,  4.1863207 ,
  -1.69235272,  3.86543848,  0.23660436, -3.12936284, -0.25355835,
  -3.30604165, 15.89393557, -1.43556715,  2.51147352, 10.88619696,
 -39.84813499,  0.74002726, -0.40030646,  0.23009422,  7.1788687 ,
  12.66357573, -0.87592624]

qfrc_actuator:
[-7.73983891e-05, 6.01729447e-05, 1.05499903e-04, 4.40792844e-05,
  5.60866523e-05,-3.65433191e-04,-2.12463377e-04,-7.98646983e-06,
 -2.91381295e-05, 4.29833515e-04, 2.94907930e-05, 5.62766936e-05,
  3.64969939e-02,-1.03300679e-03, 1.81895227e-02,-3.57908317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024521290647942784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26379402e-13, -2.26379402e-13,  1.00000000e+00, -5.12476338e-26,
        1.00000000e+00,  2.26379402e-13, -1.00000000e+00,  0.00000000e+00,
       -2.26379402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183394, -0.06184664,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58727088e-05, 2.23599452e-05, 3.52883115e-06,-8.17948551e-06,
  2.43905595e-05,-5.18072420e-05, 1.89620354e-05, 1.17949025e-05,
 -1.86202311e-05,-5.83362842e-05, 8.29112549e-06, 3.53137861e-05,
 -2.45357498e-04,-4.39003736e-05,-1.23167479e-04,-2.28808731e-04,
 -2.31498814e-06, 5.17776280e-06,-1.21638473e+00, 9.53407972e-05,
  1.47275121e-03,-7.04814939e-07]


--- Step 571 ---
qpos:
[ 3.05759807e-03,-3.30658592e-03, 1.18802694e-02, 4.17321160e-02,
 -2.22170608e-03,-1.91855535e-03,-1.73632541e-02, 2.86584201e-02,
  5.86872441e-03, 1.64840682e-02,-9.40046315e-03, 2.59902048e-02,
  9.52374491e-01,-1.46912719e-03, 7.37119359e-01, 6.48581926e-02,
  9.49414399e-02,-7.00875348e-02, 1.21760301e-01, 9.99991481e-01,
  2.14506235e-04,-3.48157310e-04, 4.10742393e-03]

qacc:
[  2.47016157,  1.41819119, -7.42597509, 17.82521778, -3.59419797,
  -0.35882072,  1.94529932, -5.24656915, -4.86183412, -1.00511095,
   2.20981176, -0.77173651, -1.25205774,  2.05046307, 14.41877668,
 -51.27098265,  0.40805652,  0.37078955,  0.4093745 , -5.88700042,
   7.3548344 , -0.07311618]

qfrc_actuator:
[-6.18865512e-05, 6.28405626e-05, 1.04485868e-04, 7.46999506e-05,
  3.43172892e-05,-3.57028699e-04,-2.12367739e-04,-1.78353140e-05,
 -5.73858117e-05, 3.92272230e-04, 3.22253785e-05, 5.84152143e-05,
  3.64355771e-02,-1.02658018e-03, 1.81837693e-02,-3.82479118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002456625941143579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25965013e-13, -1.02271742e-06,  1.00000000e+00, -2.31098355e-19,
        1.00000000e+00,  1.02271742e-06, -1.00000000e+00,  0.00000000e+00,
       -2.25965013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08823126, -0.0771985 ,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44987856e-05, 1.55500350e-05, 3.76621515e-06, 3.15456281e-05,
 -2.10934559e-05,-1.61007214e-05,-7.85655218e-06,-1.11836692e-05,
 -2.88035940e-05,-6.69633198e-05,-7.06869322e-06, 6.13214886e-07,
 -2.28597824e-04,-4.82760851e-05,-9.42057912e-05,-2.75816850e-04,
 -2.96606500e-06, 3.64934192e-06,-1.21638800e+00, 1.01610678e-04,
  1.46892023e-03,-9.98633875e-07]


--- Step 572 ---
qpos:
[ 3.05726409e-03,-3.30631023e-03, 1.18797204e-02, 4.17327898e-02,
 -2.22127355e-03,-1.92015641e-03,-1.73626090e-02, 2.86583361e-02,
  5.86867732e-03, 1.64835388e-02,-9.40064496e-03, 2.59907090e-02,
  9.53181526e-01,-1.46735873e-03, 7.37806458e-01, 6.48518405e-02,
  9.49344231e-02,-7.00962188e-02, 1.21762375e-01, 9.99991390e-01,
  2.86141580e-04,-4.07684116e-04, 4.11969025e-03]

qacc:
[  7.76106698,  1.9185851 , -9.40850392, 21.51466383, -2.32396318,
  -0.8917707 ,  2.95974085, -4.56618547,  3.08953759, -0.52087948,
   1.84150369, -2.60206723, -1.03383792,  1.56373057,  1.43354725,
  -7.18443447,  0.04415886,  1.14171371,  0.11456815,-19.06797517,
   1.6178403 ,  0.05524034]

qfrc_actuator:
[-1.67556421e-05, 8.21129411e-05, 1.04079617e-04, 1.10474014e-04,
  2.12221325e-05,-3.86925111e-04,-2.12494320e-04,-2.36302997e-05,
 -3.83333964e-05, 4.23507867e-04, 5.16466505e-05, 5.94370802e-05,
  3.63697006e-02,-1.02346393e-03, 1.81608933e-02,-3.86056462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002495745478039574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.44846253e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.44846253e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486439, -0.09311322,  0.06199393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55481410e-05, 3.01095194e-05, 4.36670270e-06, 3.71851806e-05,
 -1.37012553e-05,-4.09698974e-05,-4.79783557e-06,-6.97204429e-06,
  1.82020369e-05,-7.63747756e-06, 4.74785701e-06,-2.07887806e-06,
 -2.22979007e-04,-4.89058086e-05,-1.04859757e-04,-6.51472949e-05,
 -2.84197534e-06, 2.81068187e-06,-1.21640003e+00, 1.07128632e-04,
  1.46591598e-03,-1.17089273e-06]


--- Step 573 ---
qpos:
[ 3.05712879e-03,-3.30575909e-03, 1.18788468e-02, 4.17342420e-02,
 -2.22100151e-03,-1.92214980e-03,-1.73616480e-02, 2.86581753e-02,
  5.86920365e-03, 1.64826283e-02,-9.39994869e-03, 2.59915510e-02,
  9.53987188e-01,-1.46579904e-03, 7.38492007e-01, 6.48483909e-02,
  9.49275947e-02,-7.01003874e-02, 1.21764485e-01, 9.99991303e-01,
  3.20051105e-04,-4.64276159e-04, 4.13220237e-03]

qacc:
[ 1.72930535e+00, 2.87309161e+00,-1.30044414e+01, 2.67943544e+01,
 -1.39102546e+00,-1.55606189e+00, 5.12551779e+00,-6.67709916e+00,
  5.03536474e+00,-2.27220321e+00, 5.92734074e+00,-1.18491024e+00,
 -6.05374515e-01, 3.69170878e-01,-1.10231070e+01, 3.52960880e+01,
  4.70846077e-02, 1.12883995e+00, 8.96008162e-03,-1.88566526e+01,
  1.54511376e+00, 1.30161644e-01]

qfrc_actuator:
[-7.82704383e-06, 9.34369555e-05, 8.63469026e-05, 1.49001296e-04,
  1.33515893e-05,-4.04021357e-04,-1.95129651e-04,-2.70147281e-05,
 -9.34267299e-06, 4.07006911e-04, 9.88076408e-05, 7.76236499e-05,
  3.62905441e-02,-1.04009596e-03, 1.81171638e-02,-3.70137395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025082922513249006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21310540e-13,  2.21310540e-13,  1.00000000e+00,  4.89783551e-26,
        1.00000000e+00, -2.21310540e-13, -1.00000000e+00,  0.00000000e+00,
       -2.21310540e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486504, -0.09311296,  0.0619939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02342788e-05, 3.06679746e-05,-9.68871028e-06, 4.06892784e-05,
 -8.27490810e-06,-4.12503218e-05, 8.08187788e-06,-5.43899802e-06,
  2.95079580e-05,-1.98538628e-05, 4.61026421e-05, 1.79827881e-05,
 -2.32504782e-04,-6.77337777e-05,-1.05483818e-04, 1.40584319e-04,
 -1.71695142e-06, 2.41186769e-06,-1.21641831e+00, 1.10672799e-04,
  1.46325384e-03,-1.20548446e-06]


--- Step 574 ---
qpos:
[ 3.05675728e-03,-3.30530610e-03, 1.18779572e-02, 4.17358263e-02,
 -2.22117144e-03,-1.92393564e-03,-1.73607274e-02, 2.86575766e-02,
  5.86972846e-03, 1.64815796e-02,-9.39846004e-03, 2.59925784e-02,
  9.54791493e-01,-1.46469912e-03, 7.39175991e-01, 6.48485158e-02,
  9.49209634e-02,-7.01000829e-02, 1.21766276e-01, 9.99991225e-01,
  3.16581860e-04,-5.18050466e-04, 4.14507979e-03]

qacc:
[-2.07199036e+00, 1.91360310e-01,-1.42110801e+00, 3.79849262e+00,
 -3.88146469e+00,-5.05423475e-01, 4.06190647e+00,-1.17403156e+01,
  1.38727003e-02,-2.01548406e+00, 6.13819223e+00,-4.09321706e+00,
 -3.24185773e-01,-4.69146219e-01,-1.30909446e+01, 4.24552079e+01,
  4.92679425e-02, 1.11829167e+00,-7.95014580e-02,-1.86833174e+01,
  1.48614487e+00, 1.90860130e-01]

qfrc_actuator:
[-2.02875954e-05, 6.43403635e-05, 7.62515896e-05, 1.53317131e-04,
 -9.13588977e-06,-3.59988456e-04,-1.85284802e-04,-4.66875288e-05,
 -1.02554647e-05, 4.15451831e-04, 1.44051507e-04, 8.79961209e-05,
  3.62141205e-02,-1.06832642e-03, 1.80556784e-02,-3.51745802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025030353597858823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35636296e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.35636296e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486553, -0.0931132 ,  0.06199392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21607862e-05,-1.22143134e-05,-3.54582597e-06, 6.08340873e-06,
 -2.27378491e-05, 2.24606918e-05, 2.14455878e-06,-2.12637837e-05,
 -7.84750746e-08, 7.67120261e-06, 4.74434941e-05, 1.14642938e-05,
 -2.39400627e-04,-8.42150762e-05,-9.95304213e-05, 1.76947868e-04,
 -5.95931148e-07, 2.05050599e-06,-1.21642912e+00, 1.12349818e-04,
  1.46073895e-03,-1.15301888e-06]


--- Step 575 ---
qpos:
[ 3.05658443e-03,-3.30503895e-03, 1.18770215e-02, 4.17374643e-02,
 -2.22126497e-03,-1.92516242e-03,-1.73601627e-02, 2.86563773e-02,
  5.86989324e-03, 1.64810799e-02,-9.39755875e-03, 2.59940744e-02,
  9.55594273e-01,-1.46333406e-03, 7.39858613e-01, 6.48472390e-02,
  9.49145355e-02,-7.00953394e-02, 1.21767454e-01, 9.99991154e-01,
  2.76015327e-04,-5.69102202e-04, 4.15841966e-03]

qacc:
[ 1.74541255e+00,-9.82579480e-03,-5.53185991e-01, 1.69692909e+00,
  6.48902458e-01, 4.95857519e-01, 1.83859215e+00,-1.20758132e+01,
 -3.16740467e+00, 3.33786672e+00,-1.28161931e+01, 2.14484151e+01,
 -1.33629848e+00, 2.31788830e+00, 2.28650612e+00,-1.07640420e+01,
  5.08750105e-02, 1.10973902e+00,-1.53469365e-01,-1.85427202e+01,
  1.43823405e+00, 2.40383898e-01]

qfrc_actuator:
[-9.72097199e-06, 4.67601089e-05, 7.05598105e-05, 1.55193552e-04,
 -4.54259404e-06,-3.15226268e-04,-1.97474457e-04,-7.57417438e-05,
 -2.87647755e-05, 4.56526441e-04, 1.16869050e-04, 1.11450024e-04,
  3.61447105e-02,-1.04992353e-03, 1.79516420e-02,-3.60458197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024836842498425493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.98447669e-14,  6.70509763e-13,  1.00000000e+00,  4.68315981e-26,
        1.00000000e+00, -6.70509763e-13, -1.00000000e+00,  0.00000000e+00,
       -6.98447669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486589, -0.09311383,  0.06199396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02150440e-05,-2.48949311e-05,-8.43848111e-06, 1.34696096e-06,
  3.95379651e-06, 5.69013902e-05,-8.00946670e-06,-2.84270560e-05,
 -1.85128712e-05, 5.56756986e-05,-1.93644126e-05, 2.56441841e-05,
 -2.40056095e-04,-4.14960618e-05,-1.35400840e-04,-9.13323927e-05,
  5.62048970e-07, 1.71244284e-06,-1.21643269e+00, 1.12178495e-04,
  1.45837625e-03,-1.01267754e-06]


--- Step 576 ---
qpos:
[ 3.05619425e-03,-3.30463548e-03, 1.18758997e-02, 4.17387349e-02,
 -2.22164780e-03,-1.92599651e-03,-1.73594890e-02, 2.86555185e-02,
  5.86949024e-03, 1.64808768e-02,-9.39748517e-03, 2.59962347e-02,
  9.56395577e-01,-1.46175598e-03, 7.40539831e-01, 6.48461834e-02,
  9.49083158e-02,-7.00861843e-02, 1.21767771e-01, 9.99991086e-01,
  1.98576288e-04,-6.17508934e-04, 4.17230155e-03]

qacc:
[ -1.91598304, -0.05297468,  2.00653656, -8.17282273, -2.54044397,
   0.91952894, -3.95502717,  9.37548741, -4.98238585,  4.08262808,
 -16.77627809, 29.36056333, -1.19177278,  1.97944214, -2.68018725,
   6.50509027,  0.05203566,  1.10290059, -0.21520574,-18.43043661,
   1.39923202,  0.28112968]

qfrc_actuator:
[-2.11836775e-05, 7.17218629e-05, 6.75466492e-05, 1.37879427e-04,
 -1.95476719e-05,-2.88213685e-04,-1.87047994e-04,-5.68288630e-05,
 -5.74728894e-05, 4.45536439e-04, 6.50462121e-05, 1.42395467e-04,
  3.60742467e-02,-1.03958691e-03, 1.79073256e-02,-3.58449420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002453328044557529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26268767e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.26268767e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486615, -0.09311476,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11803647e-05, 9.35690753e-06,-9.14412660e-06,-1.86488414e-05,
 -1.48710100e-05, 5.60011441e-05, 2.02197796e-05, 2.05250321e-05,
 -2.92200223e-05, 1.72414407e-05,-4.18271998e-05, 3.31570027e-05,
 -2.33484181e-04,-4.31561124e-05,-1.21689670e-04,-3.60000865e-06,
  1.78750802e-06, 1.38928913e-06,-1.21642923e+00, 1.10173983e-04,
  1.45616914e-03,-7.83877477e-07]


--- Step 577 ---
qpos:
[ 3.05532497e-03,-3.30431077e-03, 1.18750676e-02, 4.17401276e-02,
 -2.22186261e-03,-1.92633834e-03,-1.73587783e-02, 2.86555753e-02,
  5.86909074e-03, 1.64811610e-02,-9.39784716e-03, 2.59983522e-02,
  9.57195434e-01,-1.46003916e-03, 7.41219992e-01, 6.48478730e-02,
  9.49051477e-02,-7.00786661e-02, 1.21769085e-01, 9.99991031e-01,
  1.35328919e-04,-6.41187404e-04, 4.18421724e-03]

qacc:
[-4.19470987e+00,-6.53998193e-01, 1.67956126e+00, 1.32702691e-02,
  1.46704116e+00, 2.42718038e+00,-1.15817341e+01, 2.70103821e+01,
  8.57405244e-03, 1.77309522e+00,-5.20663656e+00, 4.80210451e+00,
 -1.01962009e+00, 1.54997718e+00,-9.79234678e+00, 3.21163609e+01,
  7.62888500e-01,-4.09229170e-01, 2.49158606e-01, 7.14675025e+00,
  1.23342234e+01,-9.89960868e-01]

qfrc_actuator:
[-4.55274640e-05, 6.87031034e-05, 8.40517664e-05, 1.44955805e-04,
 -1.04713737e-05,-2.54155483e-04,-1.81127022e-04,-9.83665323e-06,
 -5.64432626e-05, 4.92103632e-04, 5.21723302e-05, 1.41947335e-04,
  3.60032012e-02,-1.03414398e-03, 1.79042199e-02,-3.43013087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024330046568091235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28158837e-13, -2.28158837e-13,  1.00000000e+00, -5.20564548e-26,
        1.00000000e+00,  2.28158837e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28158837e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818318 , -0.06184947,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46582006e-05,-4.80947194e-07, 1.66726635e-05, 6.79705085e-06,
  8.67027564e-06, 7.04491883e-05, 2.06935279e-05, 5.04941276e-05,
  1.98198499e-07, 4.89798487e-05,-1.33196072e-05,-5.14629965e-07,
 -2.29909749e-04,-4.70940775e-05,-6.46226391e-05, 1.37278220e-04,
  3.10342258e-06, 1.07758603e-06,-1.21641886e+00, 1.06348332e-04,
  1.45411994e-03,-4.66200257e-07]


--- Step 578 ---
qpos:
[ 3.05451562e-03,-3.30412503e-03, 1.18741907e-02, 4.17419705e-02,
 -2.22127737e-03,-1.92597148e-03,-1.73583481e-02, 2.86558432e-02,
  5.86905117e-03, 1.64819978e-02,-9.39815471e-03, 2.60000591e-02,
  9.57993764e-01,-1.45792291e-03, 7.41899195e-01, 6.48500730e-02,
  9.49049888e-02,-7.00727781e-02, 1.21771021e-01, 9.99990995e-01,
  8.60670478e-05,-6.40295629e-04, 4.19428355e-03]

qacc:
[  0.52723308,  0.86837016, -5.26321537, 13.22790232,  6.99606737,
   2.14038722, -7.1884695 , 10.79541697,  3.13114402, -0.27306799,
   3.75689976,-11.34645879, -1.41395697,  2.60319095, -2.87884674,
   8.19544778,  0.75232072, -0.40751964,  0.15564837,  7.04349593,
  12.25563408, -0.93086217]

qfrc_actuator:
[-4.17459364e-05, 4.90565950e-05, 7.63612733e-05, 1.66323890e-04,
  3.04647724e-05,-2.16126551e-04,-1.95633484e-04, 3.40301034e-08,
 -3.79151536e-05, 5.37390563e-04, 6.26067727e-05, 1.23104538e-04,
  3.59265314e-02,-1.01389557e-03, 1.78459729e-02,-3.41084641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024365806939055656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27823980e-13,  2.27823980e-13,  1.00000000e+00,  5.19037661e-26,
        1.00000000e+00, -2.27823980e-13, -1.00000000e+00,  0.00000000e+00,
       -2.27823980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183136, -0.06184985,  0.06199408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07762294e-06,-1.61914796e-05,-5.49637842e-06, 2.20559472e-05,
  4.12049394e-05, 8.38692671e-05, 4.33650533e-06, 1.45871981e-05,
  1.85523799e-05, 6.98913804e-05, 1.88892736e-05,-1.72193271e-05,
 -2.33353124e-04,-3.24832738e-05,-8.00873286e-05, 1.68619989e-05,
  2.00632135e-06, 4.52724031e-07,-1.21642841e+00, 1.03435670e-04,
  1.45276153e-03,-4.28729345e-07]


--- Step 579 ---
qpos:
[ 3.05375751e-03,-3.30390127e-03, 1.18732249e-02, 4.17429997e-02,
 -2.22055081e-03,-1.92502989e-03,-1.73580475e-02, 2.86562344e-02,
  5.86923443e-03, 1.64828272e-02,-9.39780200e-03, 2.60012112e-02,
  9.58790770e-01,-1.45615656e-03, 7.42576947e-01, 6.48522283e-02,
  9.49078053e-02,-7.00685139e-02, 1.21773267e-01, 9.99990979e-01,
  5.06225088e-05,-6.14963728e-04, 4.20259523e-03]

qacc:
[  0.44583007, -1.37939089,  8.42174699,-22.38434516,  1.22565291,
   1.37210283, -4.31486832,  6.23575267,  1.96387568, -3.00088905,
  13.02046734,-23.66204454, -0.54365494,  0.12949606, -1.98982603,
   3.88631076,  0.74383459, -0.40599354,  0.07745431,  6.95929556,
  12.19090657, -0.88282713]

qfrc_actuator:
[-3.91892353e-05, 5.50303954e-05, 7.21245943e-05, 1.24879550e-04,
  3.65597114e-05,-1.93881148e-04,-2.04341137e-04, 5.72253443e-06,
 -2.69984133e-05, 5.10638422e-04, 8.67104222e-05, 9.36098737e-05,
  3.58518721e-02,-1.03833794e-03, 1.77599963e-02,-3.41821459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024251696398454314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28895952e-13, -2.28895952e-13,  1.00000000e+00, -5.23933566e-26,
        1.00000000e+00,  2.28895952e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28895952e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183076, -0.06185   ,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63796436e-06,-3.26795853e-06,-7.49019379e-06,-4.19012868e-05,
  7.29796875e-06, 7.06612258e-05, 9.64320037e-06, 9.71257346e-06,
  1.14755605e-05, 1.54712945e-05, 4.02606971e-05,-2.61868212e-05,
 -2.30849218e-04,-7.56303381e-05,-1.28214946e-04,-1.84637406e-05,
  1.25866010e-06,-3.52123982e-08,-1.21643382e+00, 1.01161326e-04,
  1.45265437e-03,-3.79922361e-07]


--- Step 580 ---
qpos:
[ 3.05269128e-03,-3.30403515e-03, 1.18726520e-02, 4.17435421e-02,
 -2.22010115e-03,-1.92382987e-03,-1.73577256e-02, 2.86570667e-02,
  5.86954745e-03, 1.64835932e-02,-9.39705239e-03, 2.60016818e-02,
  9.59586541e-01,-1.45499903e-03, 7.43252706e-01, 6.48559785e-02,
  9.49135701e-02,-7.00658685e-02, 1.21775562e-01, 9.99990981e-01,
  2.88589499e-05,-5.65296379e-04, 4.20922954e-03]

qacc:
[-2.68622617e+00,-2.56921378e+00, 1.05369842e+01,-1.93350274e+01,
 -2.43202965e+00, 1.19400926e+00,-5.61639334e+00, 1.30172229e+01,
  1.14479568e+00,-2.59832762e+00, 1.20173056e+01,-2.43978902e+01,
 -1.51031212e-01,-9.12069510e-01,-7.76418584e+00, 2.28640823e+01,
  7.37094696e-01,-4.04669394e-01, 1.22189686e-02, 6.89104811e+00,
  1.21388296e+01,-8.43537833e-01]

qfrc_actuator:
[-5.51353447e-05, 2.29971017e-05, 8.77748309e-05, 1.00089503e-04,
  2.20886275e-05,-1.99008020e-04,-2.09608279e-04, 2.66578523e-05,
 -2.06553744e-05, 4.94259953e-04, 1.00635381e-04, 5.80323578e-05,
  3.57891074e-02,-1.07125260e-03, 1.76681121e-02,-3.33470770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024019660920109043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183003, -0.06184997,  0.06199416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58699851e-05,-3.71985095e-05, 1.26098039e-05,-2.60054904e-05,
 -1.42391888e-05, 3.67587730e-05, 1.08364121e-05, 2.44822414e-05,
  6.68006847e-06,-5.64783345e-07, 2.11569666e-05,-3.40367347e-05,
 -2.26567706e-04,-8.97764904e-05,-1.57621848e-04, 6.48422708e-05,
  8.37948811e-07,-4.04407379e-07,-1.21643518e+00, 9.95220384e-05,
  1.45378761e-03,-3.20754775e-07]


--- Step 581 ---
qpos:
[ 3.05144241e-03,-3.30460026e-03, 1.18720396e-02, 4.17441684e-02,
 -2.21913840e-03,-1.92241869e-03,-1.73576948e-02, 2.86581717e-02,
  5.86993427e-03, 1.64843618e-02,-9.39639633e-03, 2.60014032e-02,
  9.60380922e-01,-1.45392533e-03, 7.43927244e-01, 6.48605371e-02,
  9.49222623e-02,-7.00648373e-02, 1.21777688e-01, 9.99990999e-01,
  2.06667688e-05,-4.91375078e-04, 4.21424996e-03]

qacc:
[ -1.59701435, -0.28363746, -0.16418395,  1.99077891,  4.48758701,
   1.64395025, -6.6238095 , 11.66972459,  0.64016214, -1.27867078,
   7.72524482,-20.54175549, -0.82732112,  0.95325865, -4.20441263,
  12.17745241,  0.73182427, -0.40355489, -0.04206831,  6.83621659,
  12.09828588, -0.81115562]

qfrc_actuator:
[-6.40916544e-05,-1.37073664e-05, 7.94058537e-05, 1.03043285e-04,
  4.88975118e-05,-2.02719198e-04,-2.30662680e-04, 3.86214717e-05,
 -1.70526197e-05, 4.84164403e-04, 9.06997289e-05, 1.91539758e-05,
  3.57228674e-02,-1.07334648e-03, 1.76366941e-02,-3.28706046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023696286283975132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.34260975e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.34260975e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182919, -0.0618498 ,  0.06199424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.41983172e-06,-5.60070805e-05,-1.53904356e-05, 1.29170828e-06,
  2.64143700e-05, 2.00775414e-05,-1.12989239e-05, 1.43856582e-05,
  3.79789545e-06,-7.53396946e-06,-8.64281570e-06,-3.88375938e-05,
 -2.30264615e-04,-6.01421251e-05,-9.93341444e-05, 3.03204743e-05,
  7.28147592e-07,-6.68947791e-07,-1.21643258e+00, 9.85148955e-05,
  1.45615271e-03,-2.51948272e-07]


--- Step 582 ---
qpos:
[ 3.05078532e-03,-3.30512831e-03, 1.18711086e-02, 4.17451296e-02,
 -2.21820694e-03,-1.92067283e-03,-1.73582304e-02, 2.86590699e-02,
  5.87036133e-03, 1.64852256e-02,-9.39591677e-03, 2.60006549e-02,
  9.61173761e-01,-1.45227126e-03, 7.44601201e-01, 6.48644947e-02,
  9.49338656e-02,-7.00654167e-02, 1.21779466e-01, 9.99991028e-01,
  2.59589618e-05,-3.93260196e-04, 4.21770909e-03]

qacc:
[  5.18388087,  1.61988476, -7.13458893, 13.43027176, -0.29815263,
   1.59955584, -4.18721262,  1.26457016,  0.34348536, -0.34848724,
   3.40698445,-11.32247655, -1.65373873,  3.27144153,  1.04554894,
  -4.69081658,  0.72779467, -0.40265022, -0.08712296,  6.79272153,
  12.06825446, -0.78422113]

qfrc_actuator:
[-3.33510363e-05, 1.80126212e-05, 7.46530813e-05, 1.22267294e-04,
  4.65372540e-05,-1.87884444e-04,-2.60885685e-04, 2.74413531e-05,
 -1.50899707e-05, 4.95550733e-04, 8.45320520e-05,-3.61208336e-06,
  3.56546008e-02,-1.03947672e-03, 1.76255806e-02,-3.31403857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023303617794886988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.76416595e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.76416595e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182828, -0.06184952,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04556336e-05,-2.69595338e-06,-1.81581493e-05, 1.63193768e-05,
 -1.60045635e-06, 2.42998282e-05,-2.69904132e-05,-1.04374837e-05,
  2.07390768e-06, 3.69130923e-06,-1.01480843e-05,-2.41464555e-05,
 -2.28176828e-04,-2.07972273e-05,-5.94571434e-05,-3.95181105e-05,
  9.18393271e-07,-8.40047861e-07,-1.21642607e+00, 9.81373886e-05,
  1.45974307e-03,-1.74016786e-07]


--- Step 583 ---
qpos:
[ 3.05084646e-03,-3.30552279e-03, 1.18705677e-02, 4.17465961e-02,
 -2.21800029e-03,-1.91910312e-03,-1.73586524e-02, 2.86598460e-02,
  5.87046392e-03, 1.64861443e-02,-9.39610117e-03, 2.60000239e-02,
  9.61965241e-01,-1.45052567e-03, 7.45273876e-01, 6.48658880e-02,
  9.49483682e-02,-7.00676038e-02, 1.21780747e-01, 9.99991060e-01,
  4.46677149e-05,-2.70992852e-04, 4.21965098e-03]

qacc:
[  6.31457287,  0.11503979, -2.30682385, 10.34987933, -6.3506135 ,
  -0.78857977,  3.01089779, -5.19806202, -2.85139641,  2.17549857,
  -8.13724488, 11.17867585, -1.09660129,  1.71319216,  5.89967838,
 -23.26892407,  0.72481683, -0.40195057, -0.12440851,  6.75885556,
  12.04781049, -0.76157537]

qfrc_actuator:
[ 2.75373494e-06, 5.49862351e-05, 1.07870203e-04, 1.50968878e-04,
  9.26203077e-06,-2.15388013e-04,-2.60712721e-04, 2.04981093e-05,
 -3.18599757e-05, 4.84227308e-04, 4.52402608e-05, 1.06203685e-06,
  3.55851820e-02,-1.03791736e-03, 1.75254461e-02,-3.45571634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002285985953354719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42832425e-13, -2.42832425e-13,  1.00000000e+00, -5.89675866e-26,
        1.00000000e+00,  2.42832425e-13, -1.00000000e+00,  0.00000000e+00,
       -2.42832425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182733, -0.06184916,  0.06199444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69737852e-05, 3.24550161e-05, 3.10028145e-05, 2.82754232e-05,
 -3.73108392e-05,-1.99971732e-05, 1.49021384e-06,-7.04355357e-06,
 -1.67047707e-05,-1.24233645e-05,-4.06284304e-05, 4.00991401e-06,
 -2.19703722e-04,-4.69989378e-05,-1.40520454e-04,-1.53582436e-04,
  1.40204581e-06,-9.26967675e-07,-1.21641571e+00, 9.83874354e-05,
  1.46455371e-03,-8.73029892e-08]


--- Step 584 ---
qpos:
[ 3.05134000e-03,-3.30559452e-03, 1.18704028e-02, 4.17473346e-02,
 -2.21789680e-03,-1.91811739e-03,-1.73585416e-02, 2.86598661e-02,
  5.87070983e-03, 1.64869076e-02,-9.39696737e-03, 2.59994830e-02,
  9.62755551e-01,-1.44962352e-03, 7.45944728e-01, 6.48652644e-02,
  9.49657618e-02,-7.00713968e-02, 1.21781407e-01, 9.99991085e-01,
  7.67416021e-05,-1.24596582e-04, 4.22011293e-03]

qacc:
[ 3.80121740e+00,-2.13243251e+00, 1.12794586e+01,-2.46991027e+01,
 -8.78436499e-01,-3.81299629e+00, 1.56716685e+01,-2.91801397e+01,
  1.23139783e+00, 1.88276927e+00,-7.39499031e+00, 1.01596939e+01,
 -1.50073626e-02,-1.38320788e+00, 3.37174182e+00,-1.57672545e+01,
  7.22734309e-01,-4.01447978e-01,-1.55173138e-01, 6.73321478e+00,
  1.20361224e+01,-7.42297284e-01]

qfrc_actuator:
[ 2.39611995e-05, 7.72480584e-05, 1.27782788e-04, 1.14042169e-04,
  5.00175685e-06,-2.67917608e-04,-2.42755649e-04,-1.94103240e-05,
 -2.40157074e-05, 4.59280115e-04, 4.38467972e-06, 4.04844377e-06,
  3.55097850e-02,-1.09099277e-03, 1.74305667e-02,-3.55749435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002237997080502263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.48039426e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.48039426e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182633, -0.06184874,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22709970e-05, 4.80556921e-05, 3.14193974e-05,-3.39160020e-05,
 -5.33055670e-06,-6.37728891e-05, 1.37527148e-05,-4.08536880e-05,
  7.36515323e-06,-4.01501396e-05,-4.82937062e-05, 1.12675311e-06,
 -2.26394557e-04,-1.03415604e-04,-1.81368130e-04,-1.29566266e-04,
  2.17597359e-06,-9.37702953e-07,-1.21640151e+00, 9.92633837e-05,
  1.47058107e-03, 7.99273218e-09]


--- Step 585 ---
qpos:
[ 3.05242931e-03,-3.30550937e-03, 1.18705665e-02, 4.17476497e-02,
 -2.21715575e-03,-1.91758383e-03,-1.73579324e-02, 2.86590483e-02,
  5.87104792e-03, 1.64872530e-02,-9.39822837e-03, 2.59989965e-02,
  9.63544387e-01,-1.44869774e-03, 7.46614052e-01, 6.48632823e-02,
  9.49834246e-02,-7.00707193e-02, 1.21781712e-01, 9.99991087e-01,
  7.13656904e-05, 2.43294751e-05, 4.22135114e-03]

qacc:
[  5.23681668, -1.59411081,  7.75210379,-15.69754708,  5.61463169,
  -3.72325193, 15.92831566,-30.87201642,  0.79867482,  0.66173497,
  -3.39370879,  5.27872267, -1.06023805,  1.50626678,  1.89455032,
  -9.7905106 ,  0.06732237,  1.1176222 , -0.08851181,-18.71934537,
   1.34393254,  0.39040955]

qfrc_actuator:
[ 5.39814583e-05, 7.26875523e-05, 1.39570734e-04, 9.20275541e-05,
  3.79713476e-05,-2.81726634e-04,-2.14592852e-04,-6.06624366e-05,
 -1.94935063e-05, 4.26347125e-04,-1.93731032e-05, 6.00272008e-06,
  3.54361588e-02,-1.08718757e-03, 1.73815417e-02,-3.61710150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000222018286903089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25014817e-13,  2.50029635e-13,  1.00000000e+00,  3.12574092e-26,
        1.00000000e+00, -2.50029635e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25014817e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486682, -0.09312139,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06717660e-05, 2.73583675e-05, 2.44100356e-05,-1.95312905e-05,
  3.27965345e-05,-4.84198711e-05, 1.52580086e-05,-4.43066138e-05,
  4.72264649e-06,-6.53255880e-05,-3.79583897e-05,-1.41423168e-06,
 -2.40738488e-04,-5.61796397e-05,-1.49133678e-04,-9.07310563e-05,
  3.24001830e-06,-8.79504073e-07,-1.21638350e+00, 1.00764003e-04,
  1.47782274e-03, 1.11789278e-07]


--- Step 586 ---
qpos:
[ 3.05352518e-03,-3.30518749e-03, 1.18708430e-02, 4.17480489e-02,
 -2.21602556e-03,-1.91722969e-03,-1.73571449e-02, 2.86584197e-02,
  5.87143764e-03, 1.64871670e-02,-9.39977898e-03, 2.59985320e-02,
  9.64331600e-01,-1.44711410e-03, 7.47281917e-01, 6.48621408e-02,
  9.50013586e-02,-7.00656018e-02, 1.21781387e-01, 9.99991066e-01,
  2.88115157e-05, 1.75813681e-04, 4.22329749e-03]

qacc:
[  0.0570758 ,  0.17035812, -0.50789163,  1.60627066,  3.42195282,
  -0.35259959,  0.10241321,  3.03270719,  0.44870108,  0.28339049,
  -1.93172029,  3.09268616, -1.70509526,  3.39752608, -4.59608727,
  13.1739771 ,  0.06780645,  1.11001188, -0.15781704,-18.58357422,
   1.35755939,  0.3535722 ]

qfrc_actuator:
[ 5.34477914e-05, 8.75757002e-05, 1.46380880e-04, 9.66993481e-05,
  5.70741566e-05,-2.72201550e-04,-1.98237802e-04,-4.90785642e-05,
 -1.69707212e-05, 4.06699918e-04,-3.28864928e-05, 7.33715166e-06,
  3.53636646e-02,-1.04978366e-03, 1.73440908e-02,-3.56249478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022140182158157662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.01451622e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.01451622e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486672, -0.0931216 ,  0.06199462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48825152e-07, 3.43938872e-05, 1.47858638e-05, 6.30541016e-06,
  2.00219951e-05,-1.63116593e-05, 6.68724056e-06, 9.17239848e-06,
  2.63667042e-06,-6.40730613e-05,-3.17196553e-05,-2.80297093e-06,
 -2.38784893e-04,-1.87162716e-05,-1.20198641e-04, 2.93935498e-05,
  3.36953744e-06,-3.32764126e-07,-1.21638413e+00, 1.00583938e-04,
  1.48516756e-03,-1.94283583e-07]


--- Step 587 ---
qpos:
[ 3.05426145e-03,-3.30463312e-03, 1.18712283e-02, 4.17481562e-02,
 -2.21536487e-03,-1.91685222e-03,-1.73565412e-02, 2.86579332e-02,
  5.87185441e-03, 1.64867921e-02,-9.40129683e-03, 2.59980459e-02,
  9.65117477e-01,-1.44570683e-03, 7.47948422e-01, 6.48655226e-02,
  9.50180862e-02,-7.00600533e-02, 1.21782518e-01, 9.99991022e-01,
 -1.73971907e-05, 3.16934668e-04, 4.22549546e-03]

qacc:
[ -3.15702676, -0.59220699,  3.79851308, -9.20290587, -4.12404294,
   0.84413295, -3.55110159,  6.27066894,  0.24178685, -0.51804521,
   1.38333165, -1.59468686, -0.56048661,  0.31745537,-15.63237441,
  51.8336484 , -0.30161513,  0.10772399,  0.36409061, -1.84915482,
  -5.17384025,  0.12568551]

qfrc_actuator:
[ 3.49326796e-05, 9.62378005e-05, 1.50288655e-04, 8.15397718e-05,
  3.23450087e-05,-2.66520496e-04,-2.06599385e-04,-4.19903625e-05,
 -1.56439251e-05, 4.12957503e-04,-2.24478855e-05, 8.31049230e-06,
  3.52972418e-02,-1.06387475e-03, 1.73296108e-02,-3.31674686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022001651554617207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.68362999e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.68362999e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1019837 , -0.07226523,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84954162e-05, 3.12002392e-05, 1.30422867e-05,-1.30543722e-05,
 -2.41647723e-05,-1.67975673e-06,-1.06025164e-05, 6.79707476e-06,
  1.37947055e-06,-3.62202705e-05,-6.78003044e-06,-2.91988936e-06,
 -2.23332210e-04,-6.44708428e-05,-7.16028350e-05, 2.30712087e-04,
  3.64122828e-06, 2.33148224e-07,-1.21637770e+00, 9.85652267e-05,
  1.49267571e-03,-4.07040103e-07]


--- Step 588 ---
qpos:
[ 3.05442544e-03,-3.30428368e-03, 1.18721464e-02, 4.17481083e-02,
 -2.21500554e-03,-1.91650574e-03,-1.73557335e-02, 2.86571700e-02,
  5.87159396e-03, 1.64862538e-02,-9.40278035e-03, 2.59979036e-02,
  9.65902164e-01,-1.44480165e-03, 7.48614310e-01, 6.48687725e-02,
  9.50322054e-02,-7.00582019e-02, 1.21784062e-01, 9.99990963e-01,
 -3.29772444e-05, 4.35311282e-04, 4.22888200e-03]

qacc:
[ -5.00312618, -2.07055978,  7.6609088 ,-11.06608099, -2.63630101,
  -1.17434363,  5.30520722,-10.40602966, -5.90238789,  0.40726013,
  -3.19723516,  9.19127601, -0.33467768, -0.38798233, -0.5092629 ,
   0.46413987, -0.65210291, -0.92425392,  0.10329425, 15.26594731,
 -11.43680303,  0.59897028]

qfrc_actuator:
[ 5.99222406e-06, 6.55685516e-05, 1.70166501e-04, 7.25761545e-05,
  1.75249521e-05,-2.63276853e-04,-1.93994975e-04,-5.53806990e-05,
 -5.05360449e-05, 4.17035281e-04,-1.55972364e-05, 2.68544749e-05,
  3.52398203e-02,-1.09053913e-03, 1.72863504e-02,-3.33313858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022489449526871819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901944, -0.05164503,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.94585241e-05,-1.11209060e-05, 2.74658201e-05,-7.43167117e-06,
 -1.55093066e-05, 3.77469636e-07, 1.11771616e-05,-1.36970001e-05,
 -3.48676523e-05,-1.76682454e-05,-1.54369175e-06, 1.67057006e-05,
 -2.13094959e-04,-8.10252553e-05,-5.68593716e-05,-1.42627704e-05,
  3.24224770e-06, 2.06488600e-07,-1.21638451e+00, 9.63332410e-05,
  1.49966120e-03,-2.58843485e-07]


--- Step 589 ---
qpos:
[ 3.05424114e-03,-3.30416519e-03, 1.18733468e-02, 4.17483199e-02,
 -2.21482659e-03,-1.91649678e-03,-1.73546722e-02, 2.86569791e-02,
  5.87091691e-03, 1.64859547e-02,-9.40436479e-03, 2.59979415e-02,
  9.66685493e-01,-1.44389117e-03, 7.49279362e-01, 6.48714817e-02,
  9.50437415e-02,-7.00600116e-02, 1.21785616e-01, 9.99990897e-01,
 -1.82555997e-05, 5.31237852e-04, 4.23349933e-03]

qacc:
[-3.04398297e+00,-5.53835373e-01, 4.47470872e-01, 3.74933526e+00,
 -1.56799915e+00, 2.56660485e-02,-3.15011856e+00, 1.28919690e+01,
 -3.64040868e+00, 9.76081967e-01,-3.77007515e+00, 6.86005060e+00,
 -9.54102027e-01, 1.31904150e+00, 4.40709019e-01,-3.23300267e+00,
 -6.45764098e-01,-9.15291054e-01, 2.68675268e-03, 1.51029750e+01,
 -1.12890108e+01, 6.21628970e-01]

qfrc_actuator:
[-1.10942644e-05, 4.71501867e-05, 1.81406346e-04, 8.50629240e-05,
  8.66999353e-06,-2.96955921e-04,-1.86877744e-04,-2.74383515e-05,
 -7.09607974e-05, 4.55300612e-04,-1.09140392e-05, 3.78315021e-05,
  3.51718571e-02,-1.08884594e-03, 1.72417812e-02,-3.36194698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022726386504968998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.88517180e-13, -2.44258590e-13,  1.00000000e+00, -1.19324518e-25,
        1.00000000e+00,  2.44258590e-13, -1.00000000e+00,  0.00000000e+00,
       -4.88517180e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901892, -0.05164554,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79322672e-05,-1.93164312e-05, 1.20548441e-05, 1.28146113e-05,
 -9.29679477e-06,-3.17720592e-05, 8.08686476e-06, 2.80784689e-05,
 -2.14343028e-05, 2.88063476e-05, 1.44657515e-06, 1.04978057e-05,
 -2.20718336e-04,-5.29384059e-05,-8.05336132e-05,-3.88835200e-05,
  2.27195380e-06,-7.19037331e-07,-1.21640413e+00, 9.56654349e-05,
  1.50549680e-03, 9.82038226e-08]


--- Step 590 ---
qpos:
[ 3.05488800e-03,-3.30417681e-03, 1.18743666e-02, 4.17490442e-02,
 -2.21441023e-03,-1.91690403e-03,-1.73537440e-02, 2.86575074e-02,
  5.87034457e-03, 1.64861451e-02,-9.40599229e-03, 2.59973828e-02,
  9.67467397e-01,-1.44265219e-03, 7.49942791e-01, 6.48722929e-02,
  9.50527160e-02,-7.00654533e-02, 1.21786844e-01, 9.99990830e-01,
  2.65014176e-05, 6.04957462e-04, 4.23938432e-03]

qacc:
[  7.29221768,  1.37546987, -7.34085413, 16.62283247,  2.08558674,
   1.29684144, -8.46662242, 21.44071527,  0.90312265, -0.46219545,
   5.10265048,-15.71505897, -1.34035067,  2.40718059,  3.40099212,
 -15.21989059, -0.64041004, -0.90798983, -0.0817078 , 14.97020635,
 -11.16696718,  0.64159711]

qfrc_actuator:
[ 3.21944203e-05, 3.61903385e-05, 1.69748074e-04, 1.10067285e-04,
  2.11463001e-05,-3.34717071e-04,-2.00936733e-04, 6.81269833e-06,
 -6.49422453e-05, 4.95988637e-04,-7.40979273e-06, 8.78920731e-06,
  3.51029527e-02,-1.07044477e-03, 1.71272336e-02,-3.46875450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022787113885841537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.30822931e-13, -2.43607644e-13,  1.00000000e+00, -1.78034052e-25,
        1.00000000e+00,  2.43607644e-13, -1.00000000e+00,  0.00000000e+00,
       -7.30822931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901872, -0.05164565,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27685176e-05,-1.87471930e-05,-1.37349392e-05, 2.48408947e-05,
  1.21987206e-05,-5.26699502e-05,-1.86657210e-05, 3.37141371e-05,
  5.41111834e-06, 5.75650508e-05, 1.00181205e-05,-2.75485833e-05,
 -2.20975808e-04,-3.35413329e-05,-1.63190776e-04,-1.21071043e-04,
  1.26811761e-06,-1.32629100e-06,-1.21641631e+00, 9.64568920e-05,
  1.51016732e-03, 2.67214838e-07]


--- Step 591 ---
qpos:
[ 3.05535841e-03,-3.30412877e-03, 1.18751950e-02, 4.17493483e-02,
 -2.21350276e-03,-1.91770263e-03,-1.73529560e-02, 2.86580946e-02,
  5.87019337e-03, 1.64868730e-02,-9.40734527e-03, 2.59964518e-02,
  9.68247842e-01,-1.44113613e-03, 7.50604232e-01, 6.48711621e-02,
  9.50591468e-02,-7.00745034e-02, 1.21787463e-01, 9.99990763e-01,
  1.01079620e-04, 6.56669585e-04, 4.24656956e-03]

qacc:
[-1.55597180e+00,-2.49195384e-01, 2.78113448e+00,-9.79667024e+00,
  4.30986599e+00,-1.26269968e-02,-9.68736851e-01, 2.51586974e+00,
  3.67220158e+00,-8.30789056e-01, 5.55259465e+00,-1.28184282e+01,
 -1.30415966e+00, 2.26191039e+00, 2.99445814e+00,-1.45843530e+01,
 -6.35925490e-01,-9.02124244e-01,-1.52401204e-01, 1.48634136e+01,
 -1.10668373e+01, 6.59436970e-01]

qfrc_actuator:
[ 2.19049374e-05, 4.74497792e-05, 1.62453529e-04, 8.89672521e-05,
  4.60757345e-05,-3.56961134e-04,-2.09663578e-04, 8.96783601e-06,
 -4.34123672e-05, 5.37784084e-04, 1.31222276e-05,-8.05480487e-06,
  3.50228868e-02,-1.06009676e-03, 1.70240577e-02,-3.56752990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002270717606977085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.88930469e-13,  2.44465235e-13,  1.00000000e+00,  1.19526502e-25,
        1.00000000e+00, -2.44465235e-13, -1.00000000e+00,  0.00000000e+00,
       -4.88930469e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901876, -0.05164543,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.07948843e-06,-9.97187638e-07,-1.20147824e-05,-2.19005540e-05,
  2.52581216e-05,-5.41006978e-05,-2.07465529e-05,-9.46210201e-08,
  2.17046459e-05, 7.48884373e-05, 3.27208576e-05,-1.45624924e-05,
 -2.29068177e-04,-3.84084575e-05,-1.95115780e-04,-1.27344543e-04,
  2.22131306e-07,-1.61426888e-06,-1.21642133e+00, 9.86933292e-05,
  1.51368326e-03, 2.52319561e-07]


--- Step 592 ---
qpos:
[ 3.05535727e-03,-3.30401608e-03, 1.18758979e-02, 4.17493917e-02,
 -2.21264855e-03,-1.91866548e-03,-1.73523690e-02, 2.86583327e-02,
  5.87030174e-03, 1.64878585e-02,-9.40861491e-03, 2.59957207e-02,
  9.69026824e-01,-1.43944707e-03, 7.51264260e-01, 6.48702925e-02,
  9.50629688e-02,-7.00855424e-02, 1.21788249e-01, 9.99990694e-01,
  1.91942450e-04, 6.86372599e-04, 4.25479154e-03]

qacc:
[ -4.14428106, -0.09260122,  1.56722457, -5.93733045, -0.47095282,
  -0.37268011,  2.48963329, -8.09105421,  2.2622586 ,  0.51478085,
  -2.19322197,  5.33900157, -1.14302725,  1.81747319, -2.81691826,
   6.95809578, -0.65218714, -0.49720046,  0.04200895,  8.0951662 ,
 -11.03897673,  0.52482248]

qfrc_actuator:
[-2.10368720e-06, 5.41504240e-05, 1.57860305e-04, 7.64378194e-05,
  4.26230987e-05,-3.52000696e-04,-2.15130738e-04,-7.76192746e-06,
 -3.06866443e-05, 5.26742534e-04, 8.06528749e-06, 1.87268030e-07,
  3.49468302e-02,-1.05466062e-03, 1.70076827e-02,-3.53641449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002254979309845246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46171444e-13, -8.02396067e-07,  1.00000000e+00, -1.97526998e-19,
        1.00000000e+00,  8.02396067e-07, -1.00000000e+00,  0.00000000e+00,
       -2.46171444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894571, -0.06021227,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42672459e-05, 2.70643206e-06,-7.04790927e-06,-1.34165718e-05,
 -2.75070330e-06,-2.95546594e-05,-1.92029493e-05,-1.97702955e-05,
  1.33740508e-05, 3.69700370e-05, 1.39470470e-05, 1.23026645e-05,
 -2.31477044e-04,-4.56350660e-05,-1.22056451e-04,-1.52114696e-06,
 -8.74220219e-07,-1.58384821e-06,-1.21641936e+00, 1.02363178e-04,
  1.51605310e-03, 5.67120959e-08]


--- Step 593 ---
qpos:
[ 3.05541310e-03,-3.30363670e-03, 1.18761295e-02, 4.17496277e-02,
 -2.21184247e-03,-1.91939518e-03,-1.73520541e-02, 2.86579762e-02,
  5.87056257e-03, 1.64884720e-02,-9.40962532e-03, 2.59955096e-02,
  9.69804446e-01,-1.43771475e-03, 7.51923079e-01, 6.48680724e-02,
  9.50641495e-02,-7.00969599e-02, 1.21789591e-01, 9.99990629e-01,
  2.85678682e-04, 6.94226895e-04, 4.26363255e-03]

qacc:
[  0.48080862,  2.06609404, -7.6686638 , 11.55910462, -0.43496206,
  -0.15382257,  3.50807697,-13.53744647,  1.34439172, -0.14838071,
  -2.38430973, 11.24789061, -1.01215913,  1.47151355,  2.33839793,
 -10.66442756, -0.66033025, -0.09461255,  0.13901751,  1.38999437,
 -10.93031224,  0.31258939]

qfrc_actuator:
[ 1.52716037e-06, 7.58395855e-05, 1.37145895e-04, 8.68117538e-05,
  4.02417984e-05,-3.13035471e-04,-2.18525252e-04,-3.54382035e-05,
 -2.32503070e-05, 4.66310903e-04, 5.48896906e-06, 2.30576186e-05,
  3.48838833e-02,-1.05217836e-03, 1.69475442e-02,-3.60631726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002255532461004489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92222144e-13, -4.92222144e-13,  1.00000000e+00, -2.42282639e-25,
        1.00000000e+00,  4.92222144e-13, -1.00000000e+00,  0.00000000e+00,
       -4.92222144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887616, -0.06836911,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94035073e-06, 2.11512602e-05,-2.14963748e-05, 9.98390615e-06,
 -2.46842440e-06, 1.76512055e-05,-1.25446675e-05,-2.99916274e-05,
  7.83321447e-06,-3.63637819e-05, 7.20843662e-06, 2.51784155e-05,
 -2.20596296e-04,-5.05797131e-05,-1.21395051e-04,-8.68680711e-05,
 -1.68734496e-06,-1.12000348e-06,-1.21641712e+00, 1.06791290e-04,
  1.51736513e-03,-2.96056847e-07]


--- Step 594 ---
qpos:
[ 3.05516670e-03,-3.30292629e-03, 1.18763561e-02, 4.17492543e-02,
 -2.21072638e-03,-1.91975806e-03,-1.73521654e-02, 2.86569382e-02,
  5.87022076e-03, 1.64889405e-02,-9.41069143e-03, 2.59955678e-02,
  9.70580702e-01,-1.43593908e-03, 7.52580432e-01, 6.48617436e-02,
  9.50627097e-02,-7.01087558e-02, 1.21791238e-01, 9.99990566e-01,
  3.82298161e-04, 6.80349761e-04, 4.27310542e-03]

qacc:
[ -2.65911443, -0.79909524,  6.06319772,-16.85144852,  2.6988728 ,
   0.26790219,  2.61687005,-13.99074938, -5.25501365,  0.52867342,
  -3.2827274 ,  8.1210217 , -1.10818563,  1.6740761 , 10.28399166,
 -39.01135859, -0.65514041, -0.09463164,  0.07594753,  1.39506281,
 -10.87167009,  0.32003046]

qfrc_actuator:
[-1.41034818e-05, 1.06293942e-04, 1.42659989e-04, 5.73209216e-05,
  5.62720878e-05,-2.89504355e-04,-2.38277242e-04,-6.92972340e-05,
 -5.44895724e-05, 4.65534974e-04, 4.19180949e-06, 3.65523135e-05,
  3.48128685e-02,-1.05140789e-03, 1.68452025e-02,-3.82408688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022411565933820599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47689748e-13, -2.47689748e-13,  1.00000000e+00, -6.13502114e-26,
        1.00000000e+00,  2.47689748e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47689748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887654, -0.06836905,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55405443e-05, 3.82535383e-05, 7.57292591e-06,-2.91363234e-05,
  1.59678437e-05, 2.95479555e-05,-1.86832854e-05,-3.41184992e-05,
 -3.10278801e-05,-1.85491397e-05,-7.04446483e-06, 1.26768663e-05,
 -2.22819786e-04,-5.07559353e-05,-1.73152461e-04,-2.39491887e-04,
 -2.03907396e-06,-3.90741198e-07,-1.21641787e+00, 1.11326337e-04,
  1.51767637e-03,-7.03461071e-07]


--- Step 595 ---
qpos:
[ 3.05473522e-03,-3.30236943e-03, 1.18768441e-02, 4.17485743e-02,
 -2.20942681e-03,-1.91978653e-03,-1.73528475e-02, 2.86558621e-02,
  5.86916203e-03, 1.64897341e-02,-9.41222708e-03, 2.59950645e-02,
  9.71355541e-01,-1.43410864e-03, 7.53236159e-01, 6.48540688e-02,
  9.50615031e-02,-7.01160121e-02, 1.21792983e-01, 9.99990508e-01,
  4.41256558e-04, 6.69646657e-04, 4.28253133e-03]

qacc:
[ -1.61371521, -1.56289307,  6.57644672,-12.19190566,  1.58556148,
   1.95498318, -6.17399609,  6.18582058, -6.27327815,  0.59849253,
   0.88160288,-10.11098589, -1.04909723,  1.52851358,  1.71375895,
  -9.36572066,  0.05832214,  1.13491572,  0.02472664,-18.82356723,
   1.66745378, -0.03691254]

qfrc_actuator:
[-2.32019574e-05, 7.08258785e-05, 1.45880871e-04, 4.01414319e-05,
  6.52578235e-05,-2.75460616e-04,-2.67580933e-04,-7.10359458e-05,
 -9.04874605e-05, 5.00474345e-04,-1.38792513e-05, 8.95897279e-06,
  3.47370624e-02,-1.05168188e-03, 1.67974926e-02,-3.87874141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022590174899210502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.5358212e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.5358212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486986, -0.09312156,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.52926447e-06,-1.37926805e-05, 1.10375964e-05,-1.58465828e-05,
  9.45338071e-06, 2.52680337e-05,-2.66751312e-05,-1.78016952e-06,
 -3.68936280e-05, 2.36381737e-05,-2.23239229e-05,-2.83828537e-05,
 -2.29693341e-04,-5.20161128e-05,-1.57353233e-04,-9.10756158e-05,
 -2.25863068e-06, 4.20919981e-07,-1.21641617e+00, 1.15981328e-04,
  1.51691093e-03,-1.12798953e-06]


--- Step 596 ---
qpos:
[ 3.05488797e-03,-3.30214322e-03, 1.18771947e-02, 4.17480905e-02,
 -2.20837408e-03,-1.91994757e-03,-1.73537412e-02, 2.86554998e-02,
  5.86802464e-03, 1.64906919e-02,-9.41338548e-03, 2.59938507e-02,
  9.72129062e-01,-1.43257499e-03, 7.53889868e-01, 6.48500354e-02,
  9.50605395e-02,-7.01187751e-02, 1.21794476e-01, 9.99990463e-01,
  4.62883818e-04, 6.62012468e-04, 4.29201564e-03]

qacc:
[ 5.12943978e+00, 3.41661091e-01,-2.69707040e+00, 6.57355494e+00,
 -2.16888650e+00, 1.88757470e+00,-9.99135135e+00, 2.27706727e+01,
 -6.77513612e-01,-2.29901518e+00, 1.15146340e+01,-2.45396461e+01,
 -4.42037013e-01,-3.79048488e-02,-1.39541427e+01, 4.45221628e+01,
  6.07439025e-02, 1.12331439e+00,-6.30017300e-02,-1.86588420e+01,
  1.61438800e+00, 1.59971643e-02]

qfrc_actuator:
[ 7.12784939e-06, 3.16617951e-05, 1.29708651e-04, 4.80423266e-05,
  5.22667187e-05,-3.02728903e-04,-2.84547727e-04,-3.61206180e-05,
 -9.34799116e-05, 5.20925387e-04, 1.16793508e-05,-2.48114956e-05,
  3.46690868e-02,-1.07036395e-03, 1.67453481e-02,-3.67687247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002268837333207624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64586976e-14,  2.44667832e-13,  1.00000000e+00,  1.87069838e-26,
        1.00000000e+00, -2.44667832e-13, -1.00000000e+00,  0.00000000e+00,
       -7.64586976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487036, -0.09312149,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00516578e-05,-4.53022107e-05,-1.82198890e-05, 7.38320507e-06,
 -1.27116701e-05,-1.87098466e-05,-1.50846476e-05, 3.50441713e-05,
 -4.03885226e-06, 2.78161323e-05, 2.67198569e-05,-3.40781705e-05,
 -2.26137400e-04,-7.22424095e-05,-1.38102833e-04, 1.75737003e-04,
 -1.36880270e-06, 3.03628498e-07,-1.21643105e+00, 1.18907155e-04,
  1.51659761e-03,-1.24098841e-06]


--- Step 597 ---
qpos:
[ 3.05540261e-03,-3.30189572e-03, 1.18774802e-02, 4.17476550e-02,
 -2.20782979e-03,-1.92055597e-03,-1.73549454e-02, 2.86556069e-02,
  5.86686005e-03, 1.64915263e-02,-9.41356649e-03, 2.59925815e-02,
  9.72901315e-01,-1.43130168e-03, 7.54541734e-01, 6.48471257e-02,
  9.50598264e-02,-7.01170827e-02, 1.21795423e-01, 9.99990432e-01,
  4.47449566e-04, 6.57363370e-04, 4.30164148e-03]

qacc:
[  3.1741628 ,  0.30328985, -1.25467579,  2.18912159, -4.46113732,
   1.25070997, -7.28520921, 16.22009244, -0.20459186, -3.0077725 ,
  10.72177676,-13.14926517, -0.54103688,  0.23389496, -6.0915025 ,
  17.40245362,  0.06262761,  1.11388091, -0.13647807,-18.52422326,
   1.57209342,  0.05777533]

qfrc_actuator:
[ 2.49141014e-05, 6.15291469e-05, 1.37700187e-04, 5.28586300e-05,
  2.64464358e-05,-3.54451175e-04,-3.11996076e-04,-1.54546980e-05,
 -9.47732266e-05, 5.14961847e-04, 6.27567949e-05,-2.64092140e-05,
  3.46111775e-02,-1.08200858e-03, 1.66427049e-02,-3.62733303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022639312818145685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83121937e-13,  4.90396079e-13,  1.00000000e+00,  1.87881496e-25,
        1.00000000e+00, -4.90396079e-13, -1.00000000e+00,  0.00000000e+00,
       -3.83121937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487072, -0.0931218 ,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86258445e-05, 1.08597749e-06,-3.36148520e-06, 2.38753676e-06,
 -2.61900054e-05,-6.37860478e-05,-3.19448134e-05, 2.00278840e-05,
 -1.39743501e-06, 1.36269356e-05, 5.89392829e-05,-1.41259527e-07,
 -2.17373958e-04,-6.78093939e-05,-1.49586509e-04, 4.08540763e-05,
 -4.95062206e-07, 1.98881604e-07,-1.21643871e+00, 1.19989440e-04,
  1.51643312e-03,-1.26665387e-06]


--- Step 598 ---
qpos:
[ 3.05543646e-03,-3.30115665e-03, 1.18772882e-02, 4.17479382e-02,
 -2.20725468e-03,-1.92127649e-03,-1.73563318e-02, 2.86559093e-02,
  5.86603437e-03, 1.64917500e-02,-9.41315242e-03, 2.59920836e-02,
  9.73672089e-01,-1.42954921e-03, 7.55191991e-01, 6.48467346e-02,
  9.50593698e-02,-7.01109650e-02, 1.21795578e-01, 9.99990413e-01,
  3.95170948e-04, 6.55632728e-04, 4.31147443e-03]

qacc:
[ -4.24321265,  3.47454621,-14.46258728, 27.28378954,  0.26658386,
   0.76182997, -3.75683316,  7.5102304 ,  2.98530101, -0.88867595,
  -1.26922455, 14.12653877, -1.36213085,  2.54471065, -9.8986116 ,
  31.36144894,  0.06409611,  1.10629686, -0.19792978,-18.41580025,
   1.53850198,  0.09076647]

qfrc_actuator:
[-3.42408276e-07, 1.14843053e-04, 1.24667313e-04, 9.13989504e-05,
  2.87942396e-05,-3.31714870e-04,-3.10044420e-04,-3.37971605e-06,
 -7.73144303e-05, 4.40113337e-04, 7.51365984e-05, 8.67820702e-06,
  3.45433734e-02,-1.05384321e-03, 1.65950318e-02,-3.49060397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002247369311423053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47696607e-13,  4.94010049e-13,  1.00000000e+00,  2.21166623e-25,
        1.00000000e+00, -4.94010049e-13, -1.00000000e+00,  0.00000000e+00,
       -4.47696607e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487099, -0.09312241,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47265700e-05, 5.33226690e-05,-1.31465127e-05, 3.85159041e-05,
  1.57945999e-06,-1.86459308e-05,-1.44435293e-05, 8.63078392e-06,
  1.74233294e-05,-5.50890234e-05, 2.24434260e-05, 3.77092069e-05,
 -2.21030034e-04,-2.54042374e-05,-1.14937749e-04, 1.19035885e-04,
  3.91991152e-07, 9.95585999e-08,-1.21643932e+00, 1.19242185e-04,
  1.51642072e-03,-1.20460515e-06]


--- Step 599 ---
qpos:
[ 3.05516768e-03,-3.30017741e-03, 1.18767108e-02, 4.17490518e-02,
 -2.20596663e-03,-1.92181281e-03,-1.73573114e-02, 2.86562736e-02,
  5.86576956e-03, 1.64911084e-02,-9.41263814e-03, 2.59920790e-02,
  9.74441349e-01,-1.42713781e-03, 7.55840593e-01, 6.48479949e-02,
  9.50591740e-02,-7.01004461e-02, 1.21794737e-01, 9.99990399e-01,
  3.06219288e-04, 6.56767826e-04, 4.32156622e-03]

qacc:
[ -2.67215936,  3.11199893,-14.12853486, 28.92580172,  6.26261752,
  -0.77804196,  2.84499118, -2.53646967,  4.90985771, -0.41769796,
  -2.26953283, 11.30234561, -1.59181213,  3.17637577, -7.33329272,
  22.32507541,  0.06524525,  1.10029353, -0.24925393,-18.33025418,
   1.51196323,  0.11681709]

qfrc_actuator:
[-1.52213760e-05, 1.10735558e-04, 9.94582506e-05, 1.31731270e-04,
  6.54596529e-05,-2.82212339e-04,-2.72704243e-04, 3.62717953e-06,
 -4.89595959e-05, 3.59975989e-04, 6.42891662e-05, 2.94670996e-05,
  3.44696972e-02,-1.02017984e-03, 1.65111508e-02,-3.40992118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022217061192909837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03009795e-13,  4.99716418e-13,  1.00000000e+00,  1.01447328e-25,
        1.00000000e+00, -4.99716418e-13, -1.00000000e+00,  0.00000000e+00,
       -2.03009795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487117, -0.09312327,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55679155e-05, 2.46110822e-05,-1.44875788e-05, 4.29104478e-05,
  3.67041512e-05, 3.65045897e-05, 3.20322420e-05, 5.88000656e-06,
  2.88336181e-05,-1.04699833e-04,-1.81655614e-05, 1.99373430e-05,
 -2.20062721e-04,-1.44906324e-05,-1.28141617e-04, 7.14265848e-05,
  1.31392064e-06, 2.92550973e-09,-1.21643304e+00, 1.16676606e-04,
  1.51656248e-03,-1.05461110e-06]


--- Step 600 ---
qpos:
[ 3.05506764e-03,-3.29945005e-03, 1.18763860e-02, 4.17499691e-02,
 -2.20459407e-03,-1.92223792e-03,-1.73575586e-02, 2.86570498e-02,
  5.86550160e-03, 1.64899637e-02,-9.41179013e-03, 2.59919161e-02,
  9.75209405e-01,-1.42520983e-03, 7.56487845e-01, 6.48488380e-02,
  9.50592429e-02,-7.00855447e-02, 1.21792727e-01, 9.99990382e-01,
  1.80725735e-04, 6.60727257e-04, 4.33195763e-03]

qacc:
[ 1.49333276e+00,-1.44673038e+00, 5.49793507e+00,-9.10692842e+00,
  7.62689589e-01,-1.05295166e+00, 2.22559482e+00, 3.65510951e+00,
 -8.59441589e-03,-1.92356596e+00, 6.56220979e+00,-9.46521632e+00,
 -3.54168603e-01,-3.32789237e-01,-7.31827072e-01,-3.31778622e-01,
  6.61497659e-02, 1.09564407e+00,-2.92066967e-01,-1.82647656e+01,
  1.49115874e+00, 1.37381255e-01]

qfrc_actuator:
[-6.10702689e-06, 7.22300011e-05, 1.02547681e-04, 1.19481694e-04,
  6.87632909e-05,-2.70159445e-04,-2.32399810e-04, 2.54011089e-05,
 -4.99299297e-05, 3.65927270e-04, 9.30201322e-05, 2.38936485e-05,
  3.43978799e-02,-1.05459963e-03, 1.64428877e-02,-3.43401702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021890602900831446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58490242e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.58490242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948713 , -0.0931243 ,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67558902e-06,-2.59331720e-05, 7.86709512e-06,-1.08640292e-05,
  4.36108187e-06, 3.93775794e-05, 5.20093074e-05, 2.45621741e-05,
 -1.81939942e-07,-5.54689995e-05, 5.55621838e-06,-1.03017757e-05,
 -2.15483418e-04,-8.06746005e-05,-1.23474458e-04,-3.76091407e-05,
  2.28659663e-06,-8.98407012e-08,-1.21641996e+00, 1.12301520e-04,
  1.51685972e-03,-8.16542136e-07]


--- Step 601 ---
qpos:
[ 3.05542228e-03,-3.29878097e-03, 1.18757945e-02, 4.17503991e-02,
 -2.20353707e-03,-1.92263269e-03,-1.73572258e-02, 2.86581018e-02,
  5.86487934e-03, 1.64884889e-02,-9.41097133e-03, 2.59916899e-02,
  9.75976274e-01,-1.42423027e-03, 7.57134121e-01, 6.48486093e-02,
  9.50567063e-02,-7.00710427e-02, 1.21791776e-01, 9.99990362e-01,
  5.80483807e-05, 6.42136001e-04, 4.34286420e-03]

qacc:
[  3.98331524, -0.34366617,  3.15576014,-11.10337308, -2.74988118,
  -1.00721111,  2.4942728 ,  1.32005198, -3.08540574, -0.47895543,
   1.35259955, -2.17022381,  0.07075603, -1.64915515,  1.76722339,
  -8.34378965, -0.65138657, -0.09985283,  0.26460483,  1.35907132,
 -11.28128711,  0.26055827]

qfrc_actuator:
[ 1.70529817e-05, 6.67394827e-05, 8.66270584e-05, 9.41301423e-05,
  5.23931012e-05,-2.80577028e-04,-2.08557712e-04, 3.79078142e-05,
 -6.81556883e-05, 3.52505175e-04, 9.19666430e-05, 2.07097432e-05,
  3.43218787e-02,-1.11123792e-03, 1.64106565e-02,-3.48406673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022040109202782487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51864230e-13, -2.51864230e-13,  1.00000000e+00, -6.34355901e-26,
        1.00000000e+00,  2.51864230e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51864230e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887603, -0.06836819,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33960479e-05,-1.88539980e-05,-2.06911777e-05,-2.64049537e-05,
 -1.62352569e-05, 2.34158038e-05, 3.92380848e-05, 1.64714196e-05,
 -1.82529135e-05,-4.37034751e-05,-1.21798924e-05,-5.56824576e-06,
 -2.30528095e-04,-1.11930504e-04,-9.78955279e-05,-6.91599222e-05,
  3.32177617e-06,-1.73979108e-07,-1.21640014e+00, 1.06123660e-04,
  1.51731320e-03,-4.90335494e-07]


--- Step 602 ---
qpos:
[ 3.05570691e-03,-3.29830451e-03, 1.18752925e-02, 4.17512053e-02,
 -2.20268443e-03,-1.92290721e-03,-1.73568420e-02, 2.86589759e-02,
  5.86404367e-03, 1.64864244e-02,-9.41062670e-03, 2.59918375e-02,
  9.76741727e-01,-1.42359194e-03, 7.57779311e-01, 6.48474093e-02,
  9.50516187e-02,-7.00602575e-02, 1.21791284e-01, 9.99990337e-01,
 -3.40141014e-05, 6.00575193e-04, 4.35469858e-03]

qacc:
[ -0.60820813,  0.27174909, -2.9228867 ,  9.42747529, -1.79302089,
  -0.34591191,  2.22107362, -5.47541126, -1.86582006,  1.31919438,
  -7.40688652, 15.06305821, -0.67162034,  0.35789897,  1.35146443,
  -7.00537891, -0.63771891, -0.92920837,  0.11500555, 15.25711409,
 -11.55111509,  0.47440298]

qfrc_actuator:
[ 1.27816850e-05, 6.32125094e-05, 9.52239123e-05, 1.14544865e-04,
  4.23375280e-05,-2.86687870e-04,-2.12486165e-04, 2.70729398e-05,
 -7.86296577e-05, 2.91981977e-04, 5.55192868e-05, 3.66805261e-05,
  3.42487348e-02,-1.12729102e-03, 1.63627787e-02,-3.53111457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022202265968837565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.50074132e-13, -5.00049421e-13,  1.00000000e+00, -3.75074135e-25,
        1.00000000e+00,  5.00049421e-13, -1.00000000e+00,  0.00000000e+00,
       -7.50074132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901526, -0.05164323,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61115499e-06,-1.94862874e-05, 1.23711697e-06, 1.83749353e-05,
 -1.05124524e-05, 1.57963462e-05, 6.31049921e-06,-8.15468904e-06,
 -1.10156036e-05,-8.76810034e-05,-4.71595132e-05, 1.35707068e-05,
 -2.43569929e-04,-7.93232677e-05,-1.06755483e-04,-6.49654556e-05,
  3.48327289e-06, 3.18741706e-08,-1.21640107e+00, 9.99366248e-05,
  1.51645521e-03, 5.28725176e-08]


--- Step 603 ---
qpos:
[ 3.05524868e-03,-3.29835386e-03, 1.18753145e-02, 4.17526076e-02,
 -2.20195928e-03,-1.92281423e-03,-1.73566049e-02, 2.86596957e-02,
  5.86274348e-03, 1.64841018e-02,-9.41061252e-03, 2.59924685e-02,
  9.77505620e-01,-1.42256984e-03, 7.58423434e-01, 6.48449330e-02,
  9.50439898e-02,-7.00531473e-02, 1.21790844e-01, 9.99990314e-01,
 -9.57967723e-05, 5.36363534e-04, 4.36752676e-03]

qacc:
[-6.49464314e+00,-9.18789394e-01,-2.24700568e-01, 1.00621331e+01,
 -1.12908691e+00, 5.79845367e-01,-7.06976361e-01,-2.00567202e+00,
 -4.05702481e+00, 1.58521062e+00,-8.17397190e+00, 1.72416273e+01,
 -1.48606630e+00, 2.66727940e+00, 2.35406929e+00,-1.03415211e+01,
 -6.35337232e-01,-9.18731188e-01, 1.28660465e-02, 1.50901421e+01,
 -1.13912629e+01, 5.05602673e-01]

qfrc_actuator:
[-2.53582013e-05, 2.55160486e-05, 1.18281774e-04, 1.43998144e-04,
  3.60857522e-05,-2.54811457e-04,-2.15027387e-04, 2.03290520e-05,
 -1.02204356e-04, 3.10105579e-04, 5.15501658e-05, 6.37322178e-05,
  3.41826944e-02,-1.10146822e-03, 1.63162096e-02,-3.59378581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022473378798924804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901433, -0.05164371,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82515127e-05,-4.75659248e-05, 1.98194498e-05, 2.90174351e-05,
 -6.54583286e-06, 4.16635420e-05, 1.21393485e-06,-6.00905207e-06,
 -2.39258829e-05,-4.00041274e-05,-2.74006002e-05, 2.19303338e-05,
 -2.38092657e-04,-3.52205304e-05,-1.08793793e-04,-8.14218981e-05,
  3.07419225e-06, 5.88048184e-07,-1.21641417e+00, 9.52259621e-05,
  1.51429123e-03, 4.41024011e-07]


--- Step 604 ---
qpos:
[ 3.05433680e-03,-3.29875686e-03, 1.18753190e-02, 4.17543676e-02,
 -2.20131465e-03,-1.92254816e-03,-1.73563561e-02, 2.86606882e-02,
  5.86151487e-03, 1.64821735e-02,-9.41098190e-03, 2.59929915e-02,
  9.78267862e-01,-1.42063982e-03, 7.59066491e-01, 6.48419789e-02,
  9.50338274e-02,-7.00496773e-02, 1.21790113e-01, 9.99990292e-01,
 -1.27576058e-04, 4.49756172e-04, 4.38139463e-03]

qacc:
[-3.97613241e+00, 3.26240161e-01,-3.33667250e+00, 9.79904634e+00,
 -7.08676172e-01, 7.58448223e-01,-3.52161441e+00, 8.09250770e+00,
  6.05651686e-01, 1.36964909e+00,-3.67369988e+00, 2.13029674e+00,
 -2.02807091e+00, 4.24008539e+00,-1.24730018e-02,-1.96201828e+00,
 -6.33389602e-01,-9.10060112e-01,-7.29181342e-02, 1.49523616e+01,
 -1.12633137e+01, 5.26805326e-01]

qfrc_actuator:
[-4.76131182e-05, 3.23339662e-06, 1.14040708e-04, 1.60751581e-04,
  3.21211138e-05,-2.53695924e-04,-2.16558971e-04, 3.38400849e-05,
 -9.77977486e-05, 3.75321536e-04, 4.93612849e-05, 6.16682366e-05,
  3.41103284e-02,-1.05110837e-03, 1.62811147e-02,-3.61187962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022563894417515495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46017599e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.46017599e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090138 , -0.0516438 ,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33631780e-05,-4.35582964e-05,-1.06215692e-05, 1.59652327e-05,
 -4.13648386e-06, 2.43968878e-05, 7.01059515e-06, 1.52195093e-05,
  3.69977115e-06, 3.81953031e-05,-1.30432147e-05,-4.29512987e-06,
 -2.31808805e-04,-2.86168423e-06,-1.00211363e-04,-3.80437058e-05,
  2.68856002e-06, 1.44445869e-06,-1.21641991e+00, 9.19763082e-05,
  1.51096578e-03, 6.41902393e-07]


--- Step 605 ---
qpos:
[ 3.05385464e-03,-3.29922816e-03, 1.18748790e-02, 4.17563078e-02,
 -2.20072233e-03,-1.92246728e-03,-1.73559270e-02, 2.86615243e-02,
  5.86069304e-03, 1.64806635e-02,-9.41118864e-03, 2.59934433e-02,
  9.79028932e-01,-1.41933444e-03, 7.59708150e-01, 6.48420995e-02,
  9.50211375e-02,-7.00498190e-02, 1.21788802e-01, 9.99990270e-01,
 -1.29577822e-04, 3.40954814e-04, 4.39633204e-03]

qacc:
[  3.7591342 ,  1.51686862, -6.31201044, 10.20530244, -0.4499871 ,
  -1.06916408,  4.11883289, -6.97771636,  3.54562899, -0.05506058,
   1.2873432 , -3.07478171, -0.06433   , -1.05610486,-11.35308942,
  36.6936299 , -0.63187568, -0.9029408 , -0.14487612, 14.83975539,
 -11.16219218,  0.54004938]

qfrc_actuator:
[-2.48238646e-05, 7.98982172e-06, 9.37520495e-05, 1.69885006e-04,
  2.95327934e-05,-2.88742162e-04,-2.17584396e-04, 2.36334673e-05,
 -7.69526675e-05, 4.14985885e-04, 6.61784691e-05, 6.02854014e-05,
  3.40448831e-02,-1.09321976e-03, 1.62476169e-02,-3.44374129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002250989380218199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901359, -0.05164357,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21092954e-05,-2.11061166e-05,-3.00389852e-05, 7.20895133e-06,
 -2.69863213e-06,-1.93194902e-05, 5.39593793e-06,-8.62551846e-06,
  2.09587795e-05, 5.82154476e-05, 2.29760820e-05,-2.77336214e-07,
 -2.14009637e-04,-8.92056481e-05,-9.01608977e-05, 1.51640712e-04,
  2.30426638e-06, 2.60406703e-06,-1.21641853e+00, 9.01728949e-05,
  1.50648805e-03, 6.59586813e-07]


--- Step 606 ---
qpos:
[ 3.05330392e-03,-3.29942151e-03, 1.18740204e-02, 4.17579502e-02,
 -2.20016586e-03,-1.92234967e-03,-1.73552426e-02, 2.86611623e-02,
  5.85978264e-03, 1.64793610e-02,-9.41082908e-03, 2.59938736e-02,
  9.79788946e-01,-1.41913221e-03, 7.60348466e-01, 6.48419456e-02,
  9.50059244e-02,-7.00535494e-02, 1.21786670e-01, 9.99990238e-01,
 -1.01984158e-04, 2.10116022e-04, 4.41235605e-03]

qacc:
[ -0.6198333 ,  0.92520469, -1.50723627, -3.18302525, -0.30790346,
  -3.12775683, 16.2838551 ,-37.45578807, -0.75838166, -1.35159038,
   5.31035289, -6.74391303,  0.35053579, -2.3052903 , -1.2000629 ,
   1.20633281, -0.63078414, -0.89715617, -0.20516255, 14.74894267,
 -11.08373395,  0.54693439]

qfrc_actuator:
[-2.89679121e-05, 4.65784458e-05, 8.20215948e-05, 1.56728174e-04,
  2.77742519e-05,-2.74185872e-04,-2.00726926e-04,-3.59890532e-05,
 -8.21135814e-05, 4.21384804e-04, 9.40065338e-05, 5.93177077e-05,
  3.39836065e-02,-1.15413921e-03, 1.61565618e-02,-3.46901973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000223414903691585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96933287e-13, -4.96933287e-13,  1.00000000e+00, -2.46942692e-25,
        1.00000000e+00,  4.96933287e-13, -1.00000000e+00,  0.00000000e+00,
       -4.96933287e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901362, -0.0516431 ,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51919888e-06, 2.09173163e-05,-1.95344794e-05,-1.49631533e-05,
 -1.84206648e-06, 4.48697527e-06, 1.32254153e-05,-6.04345262e-05,
 -4.54563732e-06, 4.37482830e-05, 4.26910439e-05, 2.31847316e-06,
 -2.15965935e-04,-1.17653529e-04,-1.21037170e-04,-2.97143950e-05,
  1.90478553e-06, 4.06566488e-06,-1.21641022e+00, 8.98040849e-05,
  1.50086592e-03, 4.97183049e-07]


--- Step 607 ---
qpos:
[ 3.05236322e-03,-3.29963972e-03, 1.18736386e-02, 4.17597435e-02,
 -2.19997988e-03,-1.92195960e-03,-1.73548240e-02, 2.86611301e-02,
  5.85881767e-03, 1.64782823e-02,-9.41061507e-03, 2.59936460e-02,
  9.80547441e-01,-1.41869673e-03, 7.60987511e-01, 6.48411143e-02,
  9.49881909e-02,-7.00608498e-02, 1.21783516e-01, 9.99990187e-01,
 -4.49391134e-05, 5.73580465e-05, 4.42947347e-03]

qacc:
[ -3.40753015, -1.04848175,  3.06556654, -1.21203144, -3.26223083,
   1.78703271, -7.23132008, 13.1514169 , -0.48462899, -0.65049226,
   5.52792462,-16.84695309, -1.28247683,  2.113728  ,  0.23461151,
  -3.39180932, -0.63009662, -0.892521  , -0.25561445, 14.67707286,
 -11.02451409,  0.54871474]

qfrc_actuator:
[-4.89455544e-05, 5.18895603e-05, 1.11083216e-04, 1.66108449e-04,
  8.76542678e-06,-2.47768551e-04,-2.08791951e-04,-1.76409558e-05,
 -8.47928216e-05, 4.07868145e-04, 7.47144968e-05, 2.30726809e-05,
  3.39088855e-02,-1.13685200e-03, 1.61002531e-02,-3.50171317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022083742579415144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.51366593e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.51366593e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901385, -0.05164244,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00679954e-05, 1.23461141e-05, 3.04677174e-05, 9.30797742e-06,
 -1.90577836e-05, 2.90561269e-05,-7.60873253e-06, 1.78209351e-05,
 -2.79977250e-06, 1.99029558e-05,-4.90737707e-06,-3.28467966e-05,
 -2.37070486e-04,-4.39696146e-05,-1.19849859e-04,-5.10222755e-05,
  1.47736853e-06, 5.82461848e-06,-1.21639510e+00, 9.08608477e-05,
  1.49410600e-03, 1.57003396e-07]


--- Step 608 ---
qpos:
[ 3.05119061e-03,-3.30019981e-03, 1.18740601e-02, 4.17616529e-02,
 -2.19898827e-03,-1.92142444e-03,-1.73547897e-02, 2.86620329e-02,
  5.85782807e-03, 1.64772321e-02,-9.41003899e-03, 2.59940126e-02,
  9.81304349e-01,-1.41747774e-03, 7.61624822e-01, 6.48396033e-02,
  9.49679383e-02,-7.00717058e-02, 1.21779170e-01, 9.99990101e-01,
  4.14464729e-05,-1.17233554e-04, 4.44768278e-03]

qacc:
[ -2.00442789, -2.4547216 ,  7.61286945, -6.64305446,  7.05202256,
   3.17417956,-15.01226747, 31.72703132, -0.20365666,  0.24935223,
  -3.3424926 , 13.02563221, -1.84697736,  3.76504209, -0.40023329,
  -2.06720187, -0.62979057, -0.88887724, -0.29779866, 14.62173924,
 -10.98171044,  0.54637343]

qfrc_actuator:
[-6.03218722e-05, 1.96731620e-05, 1.46139433e-04, 1.70928795e-04,
  5.07659265e-05,-2.49990285e-04,-2.31391535e-04, 2.86881526e-05,
 -8.59816425e-05, 4.17807909e-04, 9.86462672e-05, 5.50692836e-05,
  3.38421548e-02,-1.09128855e-03, 1.60062504e-02,-3.53834294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002175743068628111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55136519e-13, -7.65409556e-13,  1.00000000e+00, -1.95283930e-25,
        1.00000000e+00,  7.65409556e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55136519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901422, -0.05164162,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19444851e-05,-1.86161571e-05, 4.16858909e-05, 6.58302824e-06,
  4.14669678e-05, 1.31928399e-05,-1.69271860e-05, 4.76569234e-05,
 -1.26381213e-06, 1.86813352e-05, 2.63117654e-05, 3.20428418e-05,
 -2.27263850e-04,-8.87904266e-06,-1.60006501e-04,-5.61218379e-05,
  1.01170403e-06, 7.87335573e-06,-1.21637328e+00, 9.33363449e-05,
  1.48621369e-03,-3.59291448e-07]


--- Step 609 ---
qpos:
[ 3.04954561e-03,-3.30092878e-03, 1.18746613e-02, 4.17629362e-02,
 -2.19784583e-03,-1.92103893e-03,-1.73551265e-02, 2.86628309e-02,
  5.85717670e-03, 1.64761772e-02,-9.40890043e-03, 2.59954400e-02,
  9.82059887e-01,-1.41602740e-03, 7.62260196e-01, 6.48373209e-02,
  9.49478119e-02,-7.00778634e-02, 1.21775989e-01, 9.99989984e-01,
  8.91869905e-05,-2.88285416e-04, 4.46540851e-03]

qacc:
[ -4.13816477, -2.00806684,  9.49100199,-20.5033315 ,  1.31370864,
   0.62034334, -2.06066343,  0.95373748,  2.9682857 ,  0.5996183 ,
  -6.63659953, 24.11258585, -1.15721794,  1.92288391, -0.47197815,
  -2.36604605,  0.03155469,  1.17458099,  0.29106609,-19.31449911,
   1.8557805 , -0.23953184]

qfrc_actuator:
[-8.42920997e-05, 7.72490172e-07, 1.48769880e-04, 1.37482248e-04,
  5.73335697e-05,-2.87129714e-04,-2.62487053e-04, 2.00582072e-05,
 -6.85316821e-05, 4.24174702e-04, 1.30310292e-04, 1.09269379e-04,
  3.37749534e-02,-1.08266081e-03, 1.59110217e-02,-3.57706116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002226186081345921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24677698e-13,  2.49355396e-13,  1.00000000e+00,  3.10890568e-26,
        1.00000000e+00, -2.49355396e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24677698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487863, -0.0931258 ,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43179196e-05,-2.04078300e-05, 4.14642455e-06,-3.26765886e-05,
  7.75295113e-06,-3.12234575e-05,-2.88169767e-05,-7.72780409e-06,
  1.74151872e-05, 2.36486318e-05, 3.98762433e-05, 5.65347893e-05,
 -2.14502103e-04,-3.82797467e-05,-1.78248887e-04,-6.31848002e-05,
  4.98922425e-07, 1.02016736e-05,-1.21634481e+00, 9.72256004e-05,
  1.47719328e-03,-1.05058005e-06]


--- Step 610 ---
qpos:
[ 3.04797111e-03,-3.30192458e-03, 1.18750586e-02, 4.17641941e-02,
 -2.19766783e-03,-1.92102324e-03,-1.73554693e-02, 2.86638686e-02,
  5.85708399e-03, 1.64758534e-02,-9.40874437e-03, 2.59968275e-02,
  9.82814048e-01,-1.41442725e-03, 7.62893960e-01, 6.48347943e-02,
  9.49307286e-02,-7.00856358e-02, 1.21774564e-01, 9.99989854e-01,
  1.51612429e-04,-4.33574998e-04, 4.48114953e-03]

qacc:
[  0.6169532 ,  0.16417818, -0.99208128,  1.07826187, -8.45251756,
   0.03793815, -1.82833214,  6.22864549,  4.82927777,  3.62071763,
 -11.35513259, 11.71313082, -1.0759179 ,  1.67160071, -1.58494475,
   2.21844847,  0.7607929 , -0.40368333,  0.43881598,  7.3996212 ,
  12.84813358, -0.99558161]

qfrc_actuator:
[-7.99801723e-05,-2.79276276e-05, 1.32247271e-04, 1.35029388e-04,
  7.46878780e-06,-3.09477784e-04,-2.63034436e-04, 3.23765809e-05,
 -4.02514673e-05, 4.63924931e-04, 7.75052652e-05, 1.05076700e-04,
  3.37021814e-02,-1.07820312e-03, 1.58577447e-02,-3.58116367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022827385206393436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43177879e-13,  2.43177879e-13,  1.00000000e+00,  5.91354810e-26,
        1.00000000e+00, -2.43177879e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43177879e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182456, -0.06186057,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61480306e-06,-4.06422194e-05,-2.13566379e-05,-3.82090098e-06,
 -4.96531986e-05,-4.61007722e-05,-1.08164731e-05, 9.83057447e-06,
  2.87818101e-05, 6.36601416e-05,-4.10578420e-05,-7.03440997e-07,
 -2.18169765e-04,-4.42381368e-05,-1.44304883e-04,-3.10434454e-05,
  2.18501466e-06, 8.83616071e-06,-1.21636081e+00, 9.96347704e-05,
  1.46920699e-03,-7.63431434e-07]


--- Step 611 ---
qpos:
[ 3.04680507e-03,-3.30284562e-03, 1.18748000e-02, 4.17657457e-02,
 -2.19774398e-03,-1.92125903e-03,-1.73556087e-02, 2.86653610e-02,
  5.85733098e-03, 1.64763278e-02,-9.40902431e-03, 2.59977622e-02,
  9.83566799e-01,-1.41246526e-03, 7.63526267e-01, 6.48328053e-02,
  9.49166493e-02,-7.00950259e-02, 1.21774401e-01, 9.99989718e-01,
  2.28450990e-04,-5.53465927e-04, 4.49499688e-03]

qacc:
[  3.56345945,  2.5306126 ,-10.12988711, 16.21778421, -2.21815194,
   0.03907287, -2.53409977, 10.25513908,  2.93528665,  1.33568129,
  -1.33014095, -6.38561351, -1.27778378,  2.27027061, -3.7029396 ,
   9.99360006,  0.75098622, -0.40442007,  0.31594812,  7.2629852 ,
  12.66675914, -0.9518577 ]

qfrc_actuator:
[-5.90528844e-05,-9.08401875e-06, 1.04544577e-04, 1.50822339e-04,
 -4.18998967e-06,-3.04918377e-04,-2.45469462e-04, 5.69613011e-05,
 -2.35814491e-05, 5.22971079e-04, 6.41019585e-05, 8.42774129e-05,
  3.36367686e-02,-1.05850581e-03, 1.58083757e-02,-3.54696281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023247493433373179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38783383e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.38783383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182529, -0.06186164,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10195923e-05,-8.42366897e-06,-3.88545271e-05, 1.32373261e-05,
 -1.30901898e-05,-2.30491728e-05, 7.05394596e-06, 2.24265977e-05,
  1.75183491e-05, 8.61506263e-05,-5.33730496e-06,-1.95094507e-05,
 -2.14036972e-04,-3.08697011e-05,-1.22815166e-04, 1.30450917e-05,
  5.90189746e-07, 7.06980739e-06,-1.21637726e+00, 1.03113259e-04,
  1.46193032e-03,-1.06332181e-06]


--- Step 612 ---
qpos:
[ 3.04589882e-03,-3.30352917e-03, 1.18740763e-02, 4.17674397e-02,
 -2.19795959e-03,-1.92193104e-03,-1.73554632e-02, 2.86674994e-02,
  5.85777699e-03, 1.64763441e-02,-9.40809184e-03, 2.59981424e-02,
  9.84318270e-01,-1.41056163e-03, 7.64156787e-01, 6.48345339e-02,
  9.49027292e-02,-7.00998524e-02, 1.21774618e-01, 9.99989574e-01,
  2.67249170e-04,-6.70314517e-04, 4.50895042e-03]

qacc:
[ 2.26170496e+00, 1.90381881e+00,-6.94041115e+00, 9.98088726e+00,
 -1.20634043e+00,-4.12346446e-02,-3.41366759e+00, 1.44563960e+01,
  1.78110851e+00,-5.13920597e+00, 1.97812265e+01,-3.09739675e+01,
 -6.51331966e-01, 6.38346796e-01,-1.38264722e+01, 4.46116222e+01,
  3.97977622e-02, 1.14088983e+00, 9.46649030e-02,-1.90131269e+01,
  1.60665989e+00, 6.32917744e-02]

qfrc_actuator:
[-4.62751681e-05, 2.02983371e-05, 8.84197993e-05, 1.59501232e-04,
 -1.10023019e-05,-3.37442798e-04,-2.34996742e-04, 8.85950085e-05,
 -1.38820561e-05, 4.51214327e-04, 1.09691442e-04, 5.39429345e-05,
  3.35704980e-02,-1.06544196e-03, 1.57507441e-02,-3.34844288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023617562230794642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.70083666e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.70083666e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488179, -0.09312275,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33773750e-05, 1.72572427e-05,-2.21816398e-05, 7.22977874e-06,
 -7.19470707e-06,-4.29930691e-05, 7.35829068e-06, 3.13245058e-05,
  1.02340409e-05,-2.55284509e-05, 6.20478170e-05,-2.72101212e-05,
 -2.09215945e-04,-5.47397290e-05,-1.17213724e-04, 1.82370528e-04,
 -6.36218115e-07, 5.48393227e-06,-1.21638916e+00, 1.07240827e-04,
  1.45594037e-03,-1.34900778e-06]


--- Step 613 ---
qpos:
[ 3.04549792e-03,-3.30405274e-03, 1.18734244e-02, 4.17691964e-02,
 -2.19825535e-03,-1.92295267e-03,-1.73551657e-02, 2.86696533e-02,
  5.85833600e-03, 1.64760753e-02,-9.40687134e-03, 2.59985443e-02,
  9.85068446e-01,-1.40897693e-03, 7.64785911e-01, 6.48379245e-02,
  9.48889791e-02,-7.01001648e-02, 1.21774810e-01, 9.99989427e-01,
  2.68396776e-04,-7.84283118e-04, 4.52318619e-03]

qacc:
[ 4.43525989e+00, 1.30961871e-01,-4.39963796e-01, 1.30944770e+00,
 -6.92157839e-01,-8.53103998e-01, 2.30859420e+00,-2.02912964e+00,
  9.99349113e-01,-1.13884409e+00, 3.41831438e+00,-3.28741472e+00,
 -5.01456125e-01, 8.08164079e-02,-7.05870582e+00, 2.17395715e+01,
  4.24853672e-02, 1.12852216e+00,-6.19506931e-03,-1.88185028e+01,
  1.52489819e+00, 1.53350156e-01]

qfrc_actuator:
[-2.06492838e-05, 3.80586794e-05, 9.70662441e-05, 1.63945560e-04,
 -1.49197681e-05,-3.56426913e-04,-2.28942303e-04, 8.85795952e-05,
 -8.36023639e-06, 4.26181286e-04, 1.18192065e-04, 5.36756307e-05,
  3.34931002e-02,-1.08808272e-03, 1.56829114e-02,-3.26775825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023778196933324502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488249, -0.09312243,  0.06199422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60161059e-05, 2.31755683e-05, 9.74215982e-06, 4.55571272e-06,
 -4.13915525e-06,-4.01480521e-05,-8.34035176e-07,-9.96969551e-07,
  5.80598408e-06,-2.76653040e-05, 9.91647968e-06, 2.52751629e-07,
 -2.21897116e-04,-7.32754168e-05,-1.05280068e-04, 7.48472090e-05,
  6.18298955e-07, 4.75636256e-06,-1.21640196e+00, 1.09151840e-04,
  1.45049912e-03,-1.17108843e-06]


--- Step 614 ---
qpos:
[ 3.04575242e-03,-3.30443575e-03, 1.18726646e-02, 4.17699716e-02,
 -2.19825138e-03,-1.92359937e-03,-1.73556342e-02, 2.86710699e-02,
  5.85895634e-03, 1.64763267e-02,-9.40591370e-03, 2.59992194e-02,
  9.85817293e-01,-1.40790286e-03, 7.65414259e-01, 6.48401709e-02,
  9.48782488e-02,-7.01021108e-02, 1.21776061e-01, 9.99989293e-01,
  2.83800670e-04,-8.73336166e-04, 4.53547113e-03]

qacc:
[  5.74632614, -1.54669749,  9.90503835,-26.79742634,  2.59789434,
   1.11336646, -0.14632955,-11.65657837,  0.51808279,  1.98370424,
  -7.23040707, 11.99743344, -0.46943729, -0.17726631,  2.31590456,
  -9.74861537,  0.75496147, -0.40841315,  0.26494698,  7.18365054,
  12.4251464 , -0.98436447]

qfrc_actuator:
[ 1.23360263e-05, 3.10756885e-05, 8.47190212e-05, 1.12613905e-04,
  6.48773626e-07,-3.13941065e-04,-2.61025036e-04, 5.21942736e-05,
 -5.33854139e-06, 5.00203232e-04, 1.22631426e-04, 7.10940245e-05,
  3.34143993e-02,-1.11986232e-03, 1.56462676e-02,-3.32821664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023946770850943877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31810592e-13, -2.31810592e-13,  1.00000000e+00, -5.37361505e-26,
        1.00000000e+00,  2.31810592e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31810592e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182593, -0.06186383,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37358139e-05, 8.21724784e-06,-6.19346151e-06,-4.99154303e-05,
  1.54366199e-05, 1.98474926e-05,-4.05088815e-05,-3.81571654e-05,
  3.17853828e-06, 6.06089180e-05,-5.68058167e-08, 1.65777036e-05,
 -2.35184388e-04,-8.79203346e-05,-8.17464212e-05,-7.10323662e-05,
  1.88351545e-06, 4.09930501e-06,-1.21640733e+00, 1.09192592e-04,
  1.44520668e-03,-9.06981643e-07]


--- Step 615 ---
qpos:
[ 3.04640064e-03,-3.30478539e-03, 1.18718014e-02, 4.17701397e-02,
 -2.19771596e-03,-1.92397877e-03,-1.73562502e-02, 2.86720099e-02,
  5.85926343e-03, 1.64768095e-02,-9.40455965e-03, 2.60000882e-02,
  9.86564705e-01,-1.40691186e-03, 7.66041224e-01, 6.48397713e-02,
  9.48704998e-02,-7.01056876e-02, 1.21777991e-01, 9.99989179e-01,
  3.13263345e-04,-9.37693304e-04, 4.54588993e-03]

qacc:
[  3.45173785, -0.92445755,  5.90855495,-16.2562108 ,  4.65162455,
  -0.22424248,  3.30942562,-11.50329176, -2.72348228, -0.39825341,
   1.05505786,  1.48278093, -0.99170935,  1.2487264 ,  5.98884012,
 -23.81702393,  0.74534403, -0.40768003,  0.16947975,  7.08450176,
  12.31568486, -0.94274894]

qfrc_actuator:
[ 3.16321766e-05, 2.69547644e-05, 7.76793998e-05, 8.20938138e-05,
  2.75611042e-05,-2.88415825e-04,-2.61875073e-04, 3.02387875e-05,
 -2.15630970e-05, 5.08698352e-04, 1.42822334e-04, 8.11110948e-05,
  3.33456179e-02,-1.12130071e-03, 1.55484448e-02,-3.47121951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024028641443191168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31020765e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.31020765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182578, -0.06186429,  0.06199416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02640791e-05,-2.91126854e-06,-7.82237333e-06,-3.13547308e-05,
  2.73624980e-05, 2.66526260e-05,-3.05132967e-06,-2.32504863e-05,
 -1.61110750e-05, 4.30679479e-05, 3.32619814e-05, 1.29308680e-05,
 -2.36792218e-04,-6.26376498e-05,-1.50341722e-04,-1.59144181e-04,
  6.84070662e-07, 2.95054428e-06,-1.21641949e+00, 1.10234741e-04,
  1.44069513e-03,-1.06553612e-06]


--- Step 616 ---
qpos:
[ 3.04658552e-03,-3.30502676e-03, 1.18707688e-02, 4.17706264e-02,
 -2.19755175e-03,-1.92426860e-03,-1.73568294e-02, 2.86726889e-02,
  5.85902916e-03, 1.64772043e-02,-9.40276834e-03, 2.60007634e-02,
  9.87310736e-01,-1.40597517e-03, 7.66666798e-01, 6.48362659e-02,
  9.48657008e-02,-7.01108926e-02, 1.21780279e-01, 9.99989087e-01,
  3.56627055e-04,-9.77536824e-04, 4.55450778e-03]

qacc:
[ -4.07405568,  1.28106928, -5.68930195, 11.37526351, -3.2562725 ,
  -0.51463393,  3.11942085, -7.77082878, -4.70663671, -1.72754166,
   6.82401607,-10.82484894, -0.99870076,  1.31667325,  7.36264677,
 -28.64333154,  0.73748292, -0.40705908,  0.0896034 ,  7.0053121 ,
  12.22480819, -0.91087622]

qfrc_actuator:
[ 7.20907823e-06, 4.23546763e-05, 7.38629829e-05, 9.95839279e-05,
  7.67020715e-06,-2.90861942e-04,-2.62050194e-04, 1.69755181e-05,
 -4.89853514e-05, 4.77958273e-04, 1.54157408e-04, 6.89050171e-05,
  3.32828455e-02,-1.12251029e-03, 1.54832324e-02,-3.62628435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023954675462536934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31734098e-13, -6.95202295e-13,  1.00000000e+00, -1.61102077e-25,
        1.00000000e+00,  6.95202295e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31734098e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182541, -0.06186451,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38433577e-05, 1.08404933e-05,-6.45386600e-06, 1.64857217e-05,
 -1.91005427e-05, 1.08597848e-05, 4.15821520e-06,-1.26801538e-05,
 -2.78678470e-05, 7.28738320e-07, 2.47532360e-05,-8.96318601e-06,
 -2.27213891e-04,-5.85476204e-05,-1.56028274e-04,-1.84217974e-04,
 -1.78807617e-07, 1.95500109e-06,-1.21642745e+00, 1.11915667e-04,
  1.43743580e-03,-1.21230029e-06]


--- Step 617 ---
qpos:
[ 3.04578654e-03,-3.30507488e-03, 1.18693611e-02, 4.17713218e-02,
 -2.19797186e-03,-1.92450243e-03,-1.73573690e-02, 2.86728627e-02,
  5.85881299e-03, 1.64773672e-02,-9.40100241e-03, 2.60013389e-02,
  9.88055471e-01,-1.40535885e-03, 7.67290822e-01, 6.48347691e-02,
  9.48638263e-02,-7.01177240e-02, 1.21782659e-01, 9.99989018e-01,
  4.13767321e-04,-9.93016112e-04, 4.56137438e-03]

qacc:
[-8.65069286e+00, 1.75137441e+00,-6.72496923e+00, 1.07628389e+01,
 -5.12493403e+00,-1.06580294e+00, 6.05894591e+00,-1.49274289e+01,
  1.61067877e-01,-4.41196624e-01, 1.54893209e+00,-3.06310717e+00,
 -4.83249002e-01, 4.05637182e-02,-8.33388671e+00, 2.58677775e+01,
  7.31113303e-01,-4.06584095e-01, 2.29234048e-02, 6.94282646e+00,
  1.21503101e+01,-8.86742839e-01]

qfrc_actuator:
[-4.27459821e-05, 5.16262058e-05, 5.43351859e-05, 1.09692268e-04,
 -2.18599242e-05,-2.92267418e-04,-2.61945684e-04,-8.85018567e-06,
 -4.72675374e-05, 4.41656447e-04, 1.42226944e-04, 6.14274190e-05,
  3.32183995e-02,-1.14133077e-03, 1.54642658e-02,-3.50302598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002375764547711684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33655946e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.33655946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182487, -0.06186453,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06291051e-05, 1.47174654e-05,-1.74985187e-05, 1.06730056e-05,
 -3.00704374e-05, 4.99193192e-06, 2.43056001e-06,-2.54619832e-05,
  9.21824991e-07,-3.12125173e-05,-9.06737140e-06,-6.76959075e-06,
 -2.22000356e-04,-7.35130748e-05,-1.14944274e-04, 9.20389734e-05,
 -7.23785773e-07, 1.09498050e-06,-1.21643133e+00, 1.14232271e-04,
  1.43541711e-03,-1.34846927e-06]


--- Step 618 ---
qpos:
[ 3.04473986e-03,-3.30508369e-03, 1.18680354e-02, 4.17724663e-02,
 -2.19839808e-03,-1.92441561e-03,-1.73580502e-02, 2.86730494e-02,
  5.85896383e-03, 1.64774682e-02,-9.40063042e-03, 2.60032759e-02,
  9.88798766e-01,-1.40463707e-03, 7.67913420e-01, 6.48370041e-02,
  9.48621475e-02,-7.01200950e-02, 1.21784736e-01, 9.99988962e-01,
  4.33472440e-04,-1.00595772e-03, 4.56894849e-03]

qacc:
[-2.17201977e+00, 7.52546955e-01,-4.49502323e+00, 1.20980564e+01,
 -6.35093536e-02, 8.45769846e-01,-2.45501827e+00, 2.66770169e+00,
  3.15921092e+00, 6.61072069e+00,-2.94491585e+01, 5.52988671e+01,
 -9.34022800e-01, 1.28969466e+00,-1.33166767e+01, 4.36478126e+01,
  4.89516159e-02, 1.11509491e+00,-7.56682722e-02,-1.87112319e+01,
  1.35435800e+00, 3.71783458e-01]

qfrc_actuator:
[-5.40564863e-05, 5.70924237e-05, 6.11592816e-05, 1.33106485e-04,
 -2.13067354e-05,-2.57545509e-04,-2.61690902e-04,-6.35929327e-06,
 -2.84086189e-05, 4.19949337e-04, 6.33669914e-05, 1.27781034e-04,
  3.31476656e-02,-1.13492472e-03, 1.54251788e-02,-3.30540906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002365723304082329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49313172e-13,  2.34647692e-13,  1.00000000e+00,  5.85007604e-26,
        1.00000000e+00, -2.34647692e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49313172e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488449, -0.09312296,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27457089e-05, 1.05405447e-05, 8.09643592e-06, 2.36508680e-05,
 -3.01257817e-07, 3.69282031e-05, 7.14176327e-07, 2.29598567e-06,
  1.88775347e-05,-4.13526324e-05,-8.66825008e-05, 6.45648691e-05,
 -2.27294356e-04,-4.98999979e-05,-8.60674960e-05, 1.86924690e-04,
 -9.63896569e-07, 3.57111554e-07,-1.21643124e+00, 1.17181797e-04,
  1.43462992e-03,-1.47492364e-06]


--- Step 619 ---
qpos:
[ 3.04425530e-03,-3.30519263e-03, 1.18668746e-02, 4.17738947e-02,
 -2.19846961e-03,-1.92415648e-03,-1.73586859e-02, 2.86732700e-02,
  5.85899448e-03, 1.64777517e-02,-9.40163198e-03, 2.60056152e-02,
  9.89540576e-01,-1.40353513e-03, 7.68535474e-01, 6.48388324e-02,
  9.48606680e-02,-7.01180372e-02, 1.21786220e-01, 9.99988921e-01,
  4.16038998e-04,-1.01641687e-03, 4.57727215e-03]

qacc:
[ 4.94102945e+00,-1.80692105e-02,-1.34126403e+00, 6.07895077e+00,
  3.10937693e+00, 1.64377992e-01,-4.09790524e-01, 8.10159667e-01,
 -1.09390468e+00, 4.91003597e+00,-1.88511731e+01, 2.78677868e+01,
 -1.41685393e+00, 2.52231689e+00, 5.00534921e-01,-2.73643978e+00,
  4.98142533e-02, 1.10719534e+00,-1.48216725e-01,-1.85630305e+01,
  1.32622392e+00, 3.92874559e-01]

qfrc_actuator:
[-2.47702335e-05, 4.25994655e-05, 6.57347642e-05, 1.46427689e-04,
 -3.04803785e-06,-2.54692108e-04,-2.61180580e-04,-4.94714402e-06,
 -3.51264342e-05, 4.42427096e-04,-1.01404450e-06, 1.48248769e-04,
  3.30785444e-02,-1.11368046e-03, 1.53953675e-02,-3.33199297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023540646766041784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50547909e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.50547909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488468, -0.09312329,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89267500e-05,-5.90109587e-06, 8.58293109e-06, 1.45144339e-05,
  1.82628736e-05, 2.37538236e-05, 8.31199160e-06, 3.06503501e-06,
 -6.18923062e-06,-1.57907341e-05,-8.13762330e-05, 1.69467014e-05,
 -2.23718494e-04,-3.27397721e-05,-5.41326252e-05,-2.85509197e-05,
 -3.47331224e-07, 2.77794835e-07,-1.21643863e+00, 1.18156210e-04,
  1.43413656e-03,-1.48602423e-06]


--- Step 620 ---
qpos:
[ 3.04412555e-03,-3.30556249e-03, 1.18658818e-02, 4.17754926e-02,
 -2.19797655e-03,-1.92406238e-03,-1.73591052e-02, 2.86728473e-02,
  5.85859940e-03, 1.64783599e-02,-9.40294437e-03, 2.60067072e-02,
  9.90281059e-01,-1.40248492e-03, 7.69157120e-01, 6.48360079e-02,
  9.48593904e-02,-7.01115760e-02, 1.21786868e-01, 9.99988892e-01,
  3.61704947e-04,-1.02443778e-03, 4.58637886e-03]

qacc:
[  3.12420647, -0.47120647,  0.45409902,  2.41344361,  4.96105164,
  -2.15510797, 10.06815216,-21.40884288, -3.72919372, -1.26240347,
  10.40297858,-31.74582935, -1.05588215,  1.46350818, 13.48620492,
 -47.9492493 ,  0.05046827,  1.10084027, -0.20882952,-18.44412421,
   1.30372946,  0.40974102]

qfrc_actuator:
[-7.34192759e-06, 1.62547020e-05, 6.88454440e-05, 1.53678808e-04,
  2.54756105e-05,-2.88692379e-04,-2.60647432e-04,-3.97137875e-05,
 -5.68499118e-05, 4.91196125e-04,-2.91264208e-06, 8.83418659e-05,
  3.30104468e-02,-1.11935540e-03, 1.53444646e-02,-3.57921491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023311940300362044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.44135174e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.44135174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488481, -0.09312395,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82504677e-05,-2.72241290e-05, 3.46216598e-06, 7.57642118e-06,
  2.90520547e-05,-1.88650167e-05, 6.57272003e-06,-3.34018265e-05,
 -2.19034968e-05, 2.38497787e-05,-1.45937702e-05,-6.30728450e-05,
 -2.16900578e-04,-5.62592786e-05,-8.73468739e-05,-2.57749616e-04,
  3.91595824e-07, 1.89438734e-07,-1.21643894e+00, 1.17299293e-04,
  1.43380288e-03,-1.40680537e-06]


--- Step 621 ---
qpos:
[ 3.04386085e-03,-3.30596022e-03, 1.18651135e-02, 4.17774763e-02,
 -2.19714518e-03,-1.92416386e-03,-1.73597857e-02, 2.86727400e-02,
  5.85794730e-03, 1.64788184e-02,-9.40417744e-03, 2.60077968e-02,
  9.91020360e-01,-1.40208370e-03, 7.69777785e-01, 6.48312038e-02,
  9.48610964e-02,-7.01067557e-02, 1.21788047e-01, 9.99988890e-01,
  3.21321403e-04,-1.00800242e-03, 4.59361632e-03]

qacc:
[ -1.1767823 ,  0.13286468, -2.1509425 ,  8.48437124,  2.96253993,
   1.11409689, -5.68980162, 11.72145714, -2.23658356, -0.42013817,
   1.22841062, -1.29416707, -0.26018155, -0.65932129,  4.52186038,
 -17.93859391,  0.74591208, -0.41021703,  0.13234951,  7.03029633,
  12.19568333, -0.94623828]

qfrc_actuator:
[-1.47985634e-05, 3.62576085e-05, 8.87608462e-05, 1.75041252e-04,
  4.20538232e-05,-3.09031155e-04,-2.78042238e-04,-2.45133821e-05,
 -6.94705183e-05, 4.66761498e-04,-3.34034979e-06, 8.82145472e-05,
  3.29430024e-02,-1.15865468e-03, 1.53128688e-02,-3.67036866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023212654721145587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39141761e-13,  2.39141761e-13,  1.00000000e+00,  5.71887818e-26,
        1.00000000e+00, -2.39141761e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39141761e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182269, -0.06186486,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.94489109e-06, 5.84703096e-06, 1.49925134e-05, 2.04623182e-05,
  1.74008777e-05,-3.09492939e-05,-2.16339730e-05, 1.39697751e-05,
 -1.32361419e-05,-1.68331759e-05, 5.25153308e-07,-8.37745295e-07,
 -2.17430397e-04,-9.18288851e-05,-1.08073113e-04,-1.18550296e-04,
  1.26294588e-06, 9.12940986e-08,-1.21643234e+00, 1.14622981e-04,
  1.43362925e-03,-1.23726479e-06]


--- Step 622 ---
qpos:
[ 3.04350881e-03,-3.30616493e-03, 1.18647850e-02, 4.17793109e-02,
 -2.19612117e-03,-1.92458594e-03,-1.73609100e-02, 2.86731904e-02,
  5.85714910e-03, 1.64787506e-02,-9.40523260e-03, 2.60092638e-02,
  9.91758307e-01,-1.40156966e-03, 7.70396809e-01, 6.48286488e-02,
  9.48657559e-02,-7.01035696e-02, 1.21789463e-01, 9.99988913e-01,
  2.94739384e-04,-9.67231292e-04, 4.59906613e-03]

qacc:
[-0.75615412,-1.28026607, 5.56621402,-8.99446014, 1.68151463, 1.95935291,
 -9.96172035,20.56304244,-1.25941287,-0.41346512,-1.12393774, 7.7532533 ,
 -0.92908288, 1.32722587,-9.16298871,28.6486018 , 0.73835297,-0.4085402 ,
  0.05959147, 6.95567544,12.13577564,-0.9047454 ]

qfrc_actuator:
[-1.90856920e-05, 6.61877981e-05, 1.18635256e-04, 1.69081052e-04,
  5.14652197e-05,-3.38829118e-04,-3.05802834e-04, 2.21311616e-06,
 -7.66278307e-05, 4.16501922e-04,-3.15133938e-06, 1.05456363e-04,
  3.28866364e-02,-1.14650008e-03, 1.52609687e-02,-3.54442510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002311925348373045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.40107888e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.40107888e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182217, -0.06186497,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.48269551e-06, 3.71905047e-05, 3.36465621e-05,-4.79410496e-06,
  9.89689485e-06,-5.09566871e-05,-3.63261045e-05, 2.49247459e-05,
 -7.54218705e-06,-5.96115093e-05,-3.24592308e-06, 1.65220301e-05,
 -2.14039547e-04,-4.60512926e-05,-1.20447492e-04, 1.04099989e-04,
  7.72803919e-07,-2.15363346e-07,-1.21643517e+00, 1.12734732e-04,
  1.43432310e-03,-1.18166403e-06]


--- Step 623 ---
qpos:
[ 3.04310835e-03,-3.30647007e-03, 1.18647073e-02, 4.17807653e-02,
 -2.19533709e-03,-1.92541475e-03,-1.73620300e-02, 2.86735925e-02,
  5.85592591e-03, 1.64787270e-02,-9.40675635e-03, 2.60105524e-02,
  9.92494734e-01,-1.40004066e-03, 7.71014400e-01, 6.48239821e-02,
  9.48733448e-02,-7.01020119e-02, 1.21790875e-01, 9.99988960e-01,
  2.81838401e-04,-9.02220059e-04, 4.60279520e-03]

qacc:
[-4.15586800e-01,-1.61653565e+00, 7.17577064e+00,-1.40812610e+01,
 -2.09722357e+00,-6.44392025e-01, 1.72853893e+00,-2.27847741e+00,
 -3.72213791e+00, 1.00786936e+00,-2.74303719e+00, 3.57690431e-01,
 -2.08413417e+00, 4.45558096e+00, 4.38411594e+00,-1.81167783e+01,
  7.32382615e-01,-4.07117829e-01,-1.14595582e-03, 6.89534770e+00,
  1.20882158e+01,-8.70602591e-01]

qfrc_actuator:
[-2.14647514e-05, 3.08540958e-05, 1.18674839e-04, 1.47107964e-04,
  3.88342364e-05,-3.56346703e-04,-3.03990588e-04,-1.83264576e-08,
 -9.82679162e-05, 4.39946907e-04,-2.04752469e-05, 9.72356275e-05,
  3.28263238e-02,-1.08622272e-03, 1.51597004e-02,-3.66446548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002291550615746707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42242745e-13, -4.84485491e-13,  1.00000000e+00, -1.17363095e-25,
        1.00000000e+00,  4.84485491e-13, -1.00000000e+00,  0.00000000e+00,
       -2.42242745e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182153, -0.06186493,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49428944e-06,-7.78554952e-06, 1.17024173e-05,-1.93117135e-05,
 -1.23662306e-05,-5.24166670e-05,-1.23085798e-05,-5.18500034e-06,
 -2.18786504e-05,-9.84622446e-06,-2.94562645e-05,-1.05667175e-05,
 -2.05994268e-04, 9.75102019e-06,-1.49117203e-04,-1.30687020e-04,
  6.01674697e-07,-4.03967339e-07,-1.21643402e+00, 1.11481473e-04,
  1.43625132e-03,-1.11624461e-06]


--- Step 624 ---
qpos:
[ 3.04233761e-03,-3.30688041e-03, 1.18644220e-02, 4.17816334e-02,
 -2.19471055e-03,-1.92649664e-03,-1.73629404e-02, 2.86742756e-02,
  5.85445293e-03, 1.64784049e-02,-9.40809769e-03, 2.60117311e-02,
  9.93229915e-01,-1.39838013e-03, 7.71630250e-01, 6.48182227e-02,
  9.48838448e-02,-7.01020780e-02, 1.21792080e-01, 9.99989027e-01,
  2.82522031e-04,-8.13041812e-04, 4.60485888e-03]

qacc:
[ -3.25523613, -0.76096122,  4.99575255,-14.74312067, -1.37074954,
  -0.33935269, -0.45754484,  5.16813025, -2.1679055 , -1.12616494,
   3.91423016, -5.89519858, -0.99407483,  1.53506324,  0.77587484,
  -6.33665631,  0.72775274, -0.40594429, -0.05173271,  6.84709476,
  12.05188396, -0.84226738]

qfrc_actuator:
[-4.04555861e-05, 9.83618041e-06, 1.00826615e-04, 1.15817792e-04,
  3.10859657e-05,-3.48529063e-04,-2.84705161e-04, 1.62635470e-05,
 -1.10507696e-04, 4.18491635e-04,-1.22263059e-05, 9.18948153e-05,
  3.27583812e-02,-1.08678216e-03, 1.50821092e-02,-3.71560336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022626113748869248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45341077e-13, -4.90682155e-13,  1.00000000e+00, -1.20384488e-25,
        1.00000000e+00,  4.90682155e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45341077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182079, -0.06186475,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90635004e-05,-2.37725321e-05,-1.86814955e-05,-3.15968693e-05,
 -8.11834873e-06,-2.42202194e-05, 6.78542455e-06, 1.35127299e-05,
 -1.28701296e-05,-3.34944720e-05, 2.23613652e-06,-6.98637656e-06,
 -1.97435428e-04,-4.04654504e-05,-1.64617062e-04,-7.85167145e-05,
  7.36999097e-07,-4.86401824e-07,-1.21642894e+00, 1.10860419e-04,
  1.43940639e-03,-1.04161575e-06]


--- Step 625 ---
qpos:
[ 3.04169001e-03,-3.30727069e-03, 1.18644502e-02, 4.17813769e-02,
 -2.19349214e-03,-1.92767490e-03,-1.73636884e-02, 2.86751309e-02,
  5.85353441e-03, 1.64774477e-02,-9.40886280e-03, 2.60125074e-02,
  9.93963992e-01,-1.39702067e-03, 7.72243822e-01, 6.48155218e-02,
  9.48972418e-02,-7.01037642e-02, 1.21792910e-01, 9.99989107e-01,
  2.96714273e-04,-6.99749112e-04, 4.60530336e-03]

qacc:
[  1.08972072, -3.17024628, 16.08131625,-36.05016098,  5.19807378,
  -0.23689962, -0.08458778,  2.89434901,  4.8644297 , -3.28755394,
  12.18622537,-19.58475606, -0.30202395, -0.21950496,-12.58249077,
  39.15368919,  0.72425806, -0.40500971, -0.09376336,  6.80909405,
  12.02576838, -0.81851417]

qfrc_actuator:
[-3.35669867e-05, 3.29579505e-05, 1.25861603e-04, 6.15430045e-05,
  6.17861854e-05,-3.43253872e-04,-2.72895587e-04, 2.55907777e-05,
 -8.16072297e-05, 3.70421113e-04, 1.09027768e-05, 7.05321340e-05,
  3.27018679e-02,-1.10561357e-03, 1.50028264e-02,-3.54804773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022271562412677637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49246776e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.49246776e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181998, -0.06186448,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.34081459e-06, 4.62799468e-06, 1.67381109e-05,-5.65540526e-05,
  3.04595180e-05,-6.24242377e-06, 8.13234599e-06, 8.79030238e-06,
  2.85178880e-05,-6.66227627e-05, 1.62598661e-05,-2.28553255e-05,
 -1.91084834e-04,-6.47597191e-05,-1.66237708e-04, 1.41408298e-04,
  1.17072344e-06,-4.72351983e-07,-1.21641999e+00, 1.10869213e-04,
  1.44378254e-03,-9.58199026e-07]


--- Step 626 ---
qpos:
[ 3.04181965e-03,-3.30754369e-03, 1.18647063e-02, 4.17804646e-02,
 -2.19157045e-03,-1.92886779e-03,-1.73643212e-02, 2.86760838e-02,
  5.85296898e-03, 1.64763149e-02,-9.40980463e-03, 2.60133604e-02,
  9.94696945e-01,-1.39588440e-03, 7.72855976e-01, 6.48146912e-02,
  9.49108845e-02,-7.01010063e-02, 1.21793190e-01, 9.99989181e-01,
  2.73720316e-04,-5.84110200e-04, 4.60669776e-03]

qacc:
[  6.82704417, -1.84719664,  9.55369798,-21.3250181 ,  6.17209472,
  -0.15227495,  0.08174152,  1.45740811,  3.07698247,  0.4135926 ,
  -2.14531988,  3.89455244, -0.46649246,  0.18153131, -7.72024007,
  24.00721064,  0.06140098,  1.11098897, -0.13749758,-18.5871615 ,
   1.25885907,  0.48762316]

qfrc_actuator:
[ 6.25659509e-06, 4.69750878e-05, 1.40683167e-04, 2.97555046e-05,
  9.71164528e-05,-3.39559627e-04,-2.65608052e-04, 3.07417214e-05,
 -6.42322240e-05, 3.77848023e-04, 6.98791031e-06, 7.53980171e-05,
  3.26469186e-02,-1.11727556e-03, 1.49599200e-02,-3.44826914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022085479760780569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25673410e-13,  5.02693642e-13,  1.00000000e+00,  6.31752243e-26,
        1.00000000e+00, -5.02693642e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25673410e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948847 , -0.09312754,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00087414e-05, 1.76585665e-05, 1.58873643e-05,-3.21097363e-05,
  3.61956387e-05, 2.32029443e-06, 7.32349584e-06, 5.33701534e-06,
  1.81658602e-05,-2.74007781e-05,-1.64484641e-05, 2.12936357e-06,
 -1.90210442e-04,-6.02206269e-05,-1.04754237e-04, 8.59904776e-05,
  1.89851570e-06,-3.70049659e-07,-1.21640720e+00, 1.11505938e-04,
  1.44937550e-03,-8.66260540e-07]


--- Step 627 ---
qpos:
[ 3.04173576e-03,-3.30761915e-03, 1.18647980e-02, 4.17795405e-02,
 -2.18958533e-03,-1.92942138e-03,-1.73657151e-02, 2.86770674e-02,
  5.85192645e-03, 1.64751109e-02,-9.41030758e-03, 2.60142081e-02,
  9.95428686e-01,-1.39510560e-03, 7.73467424e-01, 6.48142626e-02,
  9.49247730e-02,-7.00938311e-02, 1.21792677e-01, 9.99989247e-01,
  2.13771137e-04,-4.66096906e-04, 4.60897887e-03]

qacc:
[ -1.88283562,  0.70043393, -2.06228304,  1.96876216,  0.52149817,
   3.03234666, -9.71759646, 10.99452219, -4.14619288, -1.32349052,
   4.61883322, -5.37473729, -0.48050888,  0.04596948, -2.24196092,
   6.36111116,  0.06147273,  1.10436529, -0.19835613,-18.47168176,
   1.27241812,  0.45384464]

qfrc_actuator:
[-5.87272434e-06, 5.54242063e-05, 1.31584263e-04, 2.91940286e-05,
  9.93713430e-05,-2.83599252e-04,-2.96556778e-04, 3.33925359e-05,
 -8.92981602e-05, 4.00615248e-04, 4.06270095e-05, 7.79303636e-05,
  3.25716461e-02,-1.14234599e-03, 1.49441699e-02,-3.42469713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021948323114057144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52917505e-13,  5.05835010e-13,  1.00000000e+00,  1.27934529e-25,
        1.00000000e+00, -5.05835010e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52917505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488457, -0.09312798,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09821173e-05, 2.02524500e-05,-4.60524938e-06, 1.20003276e-07,
  3.28693503e-06, 5.90605813e-05,-2.93648499e-05, 3.10796641e-06,
 -2.45585823e-05, 4.19281303e-06, 2.60478394e-05, 8.32273328e-07,
 -2.08597218e-04,-7.29724498e-05,-5.90157095e-05, 1.37775575e-05,
  2.03810709e-06,-1.25559066e-08,-1.21640502e+00, 1.10451650e-04,
  1.45509475e-03,-1.05140863e-06]


--- Step 628 ---
qpos:
[ 3.04116264e-03,-3.30762566e-03, 1.18651058e-02, 4.17786069e-02,
 -2.18827791e-03,-1.92976272e-03,-1.73670335e-02, 2.86773811e-02,
  5.85059165e-03, 1.64737841e-02,-9.41008086e-03, 2.60147197e-02,
  9.96158985e-01,-1.39423786e-03, 7.74078032e-01, 6.48108442e-02,
  9.49389085e-02,-7.00822593e-02, 1.21791166e-01, 9.99989298e-01,
  1.17048625e-04,-3.45681520e-04, 4.61208942e-03]

qacc:
[ -4.28857785, -0.52450209,  2.05657897, -2.63241591, -5.94553636,
  -1.29623953,  7.87802222,-19.76998433, -2.5243701 , -2.88852185,
  11.490925  ,-18.39168221, -1.19825002,  1.81352477,  7.84227854,
 -29.10166693,  0.06175294,  1.09912717, -0.24925099,-18.38073827,
   1.28586141,  0.42305888]

qfrc_actuator:
[-3.07412736e-05, 6.04053348e-05, 1.43939607e-04, 2.92338841e-05,
  6.43869068e-05,-2.85690437e-04,-2.96359171e-04,-9.34061250e-07,
 -1.03634449e-04, 3.97047251e-04, 7.85009586e-05, 6.13612589e-05,
  3.24895537e-02,-1.13973264e-03, 1.48701396e-02,-3.58815008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021719422768205765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27791498e-13,  5.11165990e-13,  1.00000000e+00,  6.53226674e-26,
        1.00000000e+00, -5.11165990e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27791498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488444, -0.09312868,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51737760e-05, 1.53603797e-05, 1.59779016e-05, 7.52855183e-07,
 -3.48690738e-05, 2.50385801e-05, 8.90771826e-06,-3.27490898e-05,
 -1.50440508e-05, 4.22857044e-06, 4.19951685e-05,-1.54692093e-05,
 -2.29480045e-04,-5.13147009e-05,-1.07146694e-04,-1.72050556e-04,
  2.34483990e-06, 3.51420645e-07,-1.21639590e+00, 1.07571791e-04,
  1.46097695e-03,-1.14379910e-06]


--- Step 629 ---
qpos:
[ 3.04098583e-03,-3.30771012e-03, 1.18656407e-02, 4.17776992e-02,
 -2.18739954e-03,-1.93039603e-03,-1.73678464e-02, 2.86776619e-02,
  5.84978481e-03, 1.64724559e-02,-9.40974693e-03, 2.60160924e-02,
  9.96887812e-01,-1.39303937e-03, 7.74687477e-01, 6.47999085e-02,
  9.49560096e-02,-7.00723209e-02, 1.21789893e-01, 9.99989337e-01,
  3.40421778e-05,-2.00685030e-04, 4.61357669e-03]

qacc:
[ 3.48703413e+00,-6.91030191e-01, 2.19303175e+00,-2.03698734e+00,
 -3.74224271e+00,-1.85819652e+00, 6.21712439e+00,-7.39149688e+00,
  4.60865552e+00, 1.46218836e+00,-8.86764042e+00, 2.36175866e+01,
 -1.61295665e+00, 2.87386494e+00, 2.10504537e+01,-7.59531955e+01,
  7.41405766e-01,-4.08345777e-01, 5.92152963e-02, 6.91436375e+00,
  1.22586946e+01,-8.15409528e-01]

qfrc_actuator:
[-9.63435514e-06, 4.56026221e-05, 1.51099956e-04, 2.96369211e-05,
  4.32798947e-05,-3.22441230e-04,-2.78005825e-04,-3.50092969e-06,
 -7.60216800e-05, 3.95510892e-04, 8.29442026e-05, 1.04674681e-04,
  3.24194112e-02,-1.12081247e-03, 1.47611786e-02,-3.98485528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000214142211522092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.18451274e-13, -2.59225637e-13,  1.00000000e+00, -1.34395862e-25,
        1.00000000e+00,  2.59225637e-13, -1.00000000e+00,  0.00000000e+00,
       -5.18451274e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181763, -0.06186404,  0.0619948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03944729e-05,-2.88887729e-06, 1.23272816e-05, 1.63111636e-06,
 -2.20912104e-05,-2.22977865e-05, 2.35094662e-05,-1.81850310e-06,
  2.71780816e-05, 8.87481400e-06, 9.96502487e-06, 4.46483323e-05,
 -2.26915508e-04,-3.57233355e-05,-1.83542941e-04,-4.21520597e-04,
  2.80515516e-06, 7.27049796e-07,-1.21637994e+00, 1.02875518e-04,
  1.46701896e-03,-1.14434456e-06]


--- Step 630 ---
qpos:
[ 3.04071818e-03,-3.30779582e-03, 1.18659943e-02, 4.17764771e-02,
 -2.18609178e-03,-1.93078164e-03,-1.73689056e-02, 2.86778927e-02,
  5.84897008e-03, 1.64712553e-02,-9.40962943e-03, 2.60172889e-02,
  9.97615370e-01,-1.39195191e-03, 7.75295097e-01, 6.47881637e-02,
  9.49760586e-02,-7.00640069e-02, 1.21788619e-01, 9.99989357e-01,
 -3.53716458e-05,-3.11861066e-05, 4.61351531e-03]

qacc:
[-8.03140088e-01,-1.41620974e-01, 1.83173905e+00,-6.98466569e+00,
  3.75406177e+00, 9.05007046e-01,-2.55307026e+00, 1.91081658e+00,
 -7.79406109e-02, 4.10698541e-01,-4.75051425e-01,-2.32464493e+00,
 -7.66192783e-01, 8.27336315e-01,-2.17839160e-01,-3.07621083e+00,
  7.36942684e-01,-4.06102946e-01,-5.36328159e-05, 6.85260642e+00,
  1.22197019e+01,-7.76057073e-01]

qfrc_actuator:
[-1.48898920e-05, 3.68015345e-05, 1.37293397e-04, 1.24736028e-05,
  6.60270392e-05,-2.90805293e-04,-2.84724679e-04,-5.13368785e-06,
 -7.72006950e-05, 3.95121189e-04, 6.76596161e-05, 9.40917159e-05,
  3.23618190e-02,-1.12789084e-03, 1.47271827e-02,-4.00096222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021298558073704066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60633377e-13, -2.60633377e-13,  1.00000000e+00, -6.79297574e-26,
        1.00000000e+00,  2.60633377e-13, -1.00000000e+00,  0.00000000e+00,
       -2.60633377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181721, -0.06186403,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67632003e-06,-7.79392515e-06,-1.28323793e-05,-1.68285442e-05,
  2.21087798e-05, 2.39693238e-05,-8.47434219e-06,-1.80674294e-06,
 -4.02720684e-07, 8.59298064e-06,-1.06724480e-05,-8.99104602e-06,
 -2.10471052e-04,-5.82814108e-05,-1.68743579e-04,-6.39984525e-05,
  3.35014826e-06, 1.22177343e-06,-1.21636975e+00, 9.87012412e-05,
  1.47408993e-03,-8.70713869e-07]


--- Step 631 ---
qpos:
[ 3.04004495e-03,-3.30796704e-03, 1.18661724e-02, 4.17757604e-02,
 -2.18452180e-03,-1.93095708e-03,-1.73697604e-02, 2.86777299e-02,
  5.84780323e-03, 1.64696950e-02,-9.40941689e-03, 2.60173553e-02,
  9.98341616e-01,-1.39092091e-03, 7.75901440e-01, 6.47793909e-02,
  9.49990421e-02,-7.00573096e-02, 1.21787147e-01, 9.99989347e-01,
 -9.12943887e-05, 1.62760946e-04, 4.61197116e-03]

qacc:
[ -3.56376841,  1.42659408, -7.37017097, 16.44548186,  2.30238261,
  -1.10741137,  6.00612528,-13.29107915, -3.06266355, -3.06105295,
  15.00627381,-34.46148309, -0.722254  ,  0.76064347,-10.8189244 ,
  35.19388157,  0.73366641, -0.4041685 , -0.04960879,  6.80184086,
  12.19284029, -0.74108835]

qfrc_actuator:
[-3.56342877e-05, 3.15559118e-05, 1.28976722e-04, 3.83584005e-05,
  7.88945842e-05,-2.71818120e-04,-2.70431855e-04,-2.39282216e-05,
 -9.53301024e-05, 3.42033199e-04, 5.85717270e-05, 3.41112519e-05,
  3.22958143e-02,-1.13250623e-03, 1.47329414e-02,-3.82791664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002109525747933244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63145170e-13, -2.63145170e-13,  1.00000000e+00, -6.92453807e-26,
        1.00000000e+00,  2.63145170e-13, -1.00000000e+00,  0.00000000e+00,
       -2.63145170e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181668, -0.0618639 ,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08789429e-05,-1.29745189e-05,-1.20893502e-05, 2.47816832e-05,
  1.35065385e-05, 3.05965875e-05, 1.81529552e-05,-1.80939079e-05,
 -1.81406008e-05,-5.08358796e-05,-8.92934863e-06,-6.01568713e-05,
 -2.12461976e-04,-5.62383118e-05,-8.11064421e-05, 1.47282683e-04,
  4.21636731e-06, 1.78419891e-06,-1.21635560e+00, 9.51639529e-05,
  1.48239965e-03,-5.87979973e-07]


--- Step 632 ---
qpos:
[ 3.03947311e-03,-3.30807904e-03, 1.18661579e-02, 4.17756871e-02,
 -2.18349920e-03,-1.93136070e-03,-1.73696635e-02, 2.86770021e-02,
  5.84711744e-03, 1.64682806e-02,-9.40956941e-03, 2.60173605e-02,
  9.99066475e-01,-1.38989152e-03, 7.76506265e-01, 6.47734582e-02,
  9.50193527e-02,-7.00543667e-02, 1.21786898e-01, 9.99989304e-01,
 -1.15873845e-04, 3.33520736e-04, 4.61171994e-03]

qacc:
[  0.88326754,  1.94090964, -9.52305234, 20.92113483, -4.76739226,
  -4.11195596, 16.62602108,-27.77168442,  4.18170767,  1.07883011,
  -3.32276326,  2.75496941, -0.8242662 ,  0.98125516,-10.77050471,
  34.52171686, -0.66826197, -0.9385924 ,  0.30581676, 15.61789998,
 -11.66584161,  0.64803338]

qfrc_actuator:
[-2.98156509e-05, 4.62809761e-05, 1.24020835e-04, 7.16253072e-05,
  5.03245264e-05,-2.95987002e-04,-2.26131679e-04,-5.26562657e-05,
 -7.00244750e-05, 3.82030780e-04, 5.29769526e-05, 3.42796547e-05,
  3.22194859e-02,-1.13565399e-03, 1.46560536e-02,-3.68685808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021862898954341792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53905721e-13, -2.53905721e-13,  1.00000000e+00, -6.44681152e-26,
        1.00000000e+00,  2.53905721e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53905721e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900561, -0.0516388 ,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21937528e-06, 6.03469224e-06,-8.26427768e-06, 3.27778067e-05,
 -2.81743540e-05,-4.06367498e-06, 5.22419654e-05,-2.71387384e-05,
  2.47660409e-05, 7.19122661e-06,-1.92618002e-05,-3.48646005e-06,
 -2.22539764e-04,-5.54128572e-05,-1.03494111e-04, 1.37511723e-04,
  5.39877621e-06, 2.40524532e-06,-1.21633752e+00, 9.22609534e-05,
  1.49194279e-03,-2.96442857e-07]


--- Step 633 ---
qpos:
[ 3.03897506e-03,-3.30783686e-03, 1.18656940e-02, 4.17753018e-02,
 -2.18317176e-03,-1.93193766e-03,-1.73689904e-02, 2.86759550e-02,
  5.84708431e-03, 1.64676510e-02,-9.40987601e-03, 2.60172689e-02,
  9.99790094e-01,-1.38921904e-03, 7.77109128e-01, 6.47713273e-02,
  9.50370278e-02,-7.00551335e-02, 1.21787339e-01, 9.99989239e-01,
 -1.09562227e-04, 4.81467629e-04, 4.61278558e-03]

qacc:
[  0.62719858,  1.08050931, -1.85940334, -3.07754078, -6.07609991,
  -2.48300284,  9.8900823 ,-16.2305368 ,  5.67422083,  1.25739927,
  -2.58823642,  0.60033549, -0.32881669, -0.28350882,-14.36151758,
  46.05392116, -0.65883903, -0.92744781,  0.17260052, 15.39254851,
 -11.47763033,  0.66230069]

qfrc_actuator:
[-2.61565694e-05, 7.28779123e-05, 1.03415980e-04, 5.57235051e-05,
  1.53492458e-05,-3.10189971e-04,-2.00161355e-04,-6.92630461e-05,
 -3.71027811e-05, 4.77518162e-04, 6.76527662e-05, 3.44153070e-05,
  3.21583204e-02,-1.15570607e-03, 1.45616002e-02,-3.49503813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022460323149936512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47152059e-13, -7.41456178e-13,  1.00000000e+00, -1.83252422e-25,
        1.00000000e+00,  7.41456178e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47152059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090046 , -0.05164024,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80920436e-06, 2.96765922e-05,-1.92400293e-05,-1.52908637e-05,
 -3.57807881e-05,-6.84226600e-06, 3.06334767e-05,-1.54979793e-05,
  3.36304020e-05, 9.54400154e-05, 1.36847386e-05,-2.88183139e-07,
 -2.13769875e-04,-7.42474542e-05,-1.31387049e-04, 1.85090859e-04,
  4.40527288e-06, 7.70075317e-07,-1.21636513e+00, 9.12631623e-05,
  1.50045044e-03, 2.18192840e-07]


--- Step 634 ---
qpos:
[ 3.03852504e-03,-3.30767894e-03, 1.18654404e-02, 4.17743945e-02,
 -2.18292139e-03,-1.93251607e-03,-1.73686376e-02, 2.86754484e-02,
  5.84710151e-03, 1.64675774e-02,-9.40997380e-03, 2.60171824e-02,
  1.00051230e+00,-1.38793487e-03, 7.77711236e-01, 6.47677207e-02,
  9.50520997e-02,-7.00595734e-02, 1.21788023e-01, 9.99989163e-01,
 -7.27307591e-05, 6.06914299e-04, 4.61519230e-03]

qacc:
[  0.42944929, -1.7760414 ,  8.37101775,-17.67507025, -0.68567028,
   2.00554868, -9.43380869, 19.29692038,  0.43589436,  0.16102561,
   0.46898171, -1.12150593, -1.6236686 ,  3.16085968,  3.43367661,
 -13.41095134, -0.65083518, -0.91824881,  0.06058868, 15.20754224,
 -11.32045137,  0.67666782]

qfrc_actuator:
[-2.38061642e-05, 5.30214273e-05, 1.09260904e-04, 2.87710884e-05,
  1.24028265e-05,-3.18376965e-04,-2.20699358e-04,-4.31114560e-05,
 -3.54807514e-05, 4.99086243e-04, 7.66733423e-05, 3.45914915e-05,
  3.21062894e-02,-1.11453427e-03, 1.45206116e-02,-3.57665389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002281005111924167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43362678e-13,  2.43362678e-13,  1.00000000e+00,  5.92253930e-26,
        1.00000000e+00, -2.43362678e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43362678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.109004  , -0.05164109,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47045681e-06,-7.88998089e-06, 9.07967500e-06,-2.66433429e-05,
 -3.96933146e-06,-6.34693804e-06,-1.87114462e-05, 2.66203169e-05,
  2.61647167e-06, 7.77913524e-05, 3.04203811e-05, 4.73497856e-06,
 -2.03161085e-04,-1.40828105e-05,-8.35865625e-05,-8.88606392e-05,
  3.35912800e-06,-5.17987611e-07,-1.21638484e+00, 9.17490997e-05,
  1.50776886e-03, 5.36677247e-07]


--- Step 635 ---
qpos:
[ 3.03810683e-03,-3.30781520e-03, 1.18659087e-02, 4.17735083e-02,
 -2.18270859e-03,-1.93314207e-03,-1.73685126e-02, 2.86752590e-02,
  5.84679403e-03, 1.64674531e-02,-9.41023128e-03, 2.60175488e-02,
  1.00123309e+00,-1.38586995e-03, 7.78312680e-01, 6.47637324e-02,
  9.50645953e-02,-7.00676562e-02, 1.21788573e-01, 9.99989080e-01,
 -5.68162398e-06, 7.10120996e-04, 4.61896458e-03]

qacc:
[  0.30695328, -2.36451136,  7.77618732, -8.34872704, -0.33563268,
   1.22613818, -5.80175235, 11.68916584, -2.83554   ,  1.31700971,
  -6.69595629, 14.81646136, -1.73903644,  3.55075193,  0.27439687,
  -2.14008208, -0.64406644, -0.91074   , -0.03347654, 15.05693468,
 -11.18964423,  0.69115283]

qfrc_actuator:
[-2.22447395e-05, 4.10949219e-05, 1.48248413e-04, 3.10284009e-05,
  1.05810700e-05,-3.23056932e-04,-2.32971061e-04,-2.75421121e-05,
 -5.22972317e-05, 4.40712350e-04, 4.64942478e-05, 5.24813574e-05,
  3.20438222e-02,-1.07295922e-03, 1.45116638e-02,-3.58778998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002295936081825184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83560075e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.83560075e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900373, -0.05164146,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62971775e-06,-1.56028645e-05, 3.75576909e-05, 1.71709637e-06,
 -1.93747114e-06,-1.09366448e-05,-1.49625393e-05, 1.51697912e-05,
 -1.67161122e-05,-8.38086779e-06,-1.01973616e-05, 2.23687518e-05,
 -1.94266932e-04,-1.99300529e-06,-6.41521660e-05,-2.84492010e-05,
  2.25764027e-06,-1.46455990e-06,-1.21639701e+00, 9.37005545e-05,
  1.51391333e-03, 6.64935714e-07]


--- Step 636 ---
qpos:
[ 3.03736561e-03,-3.30806426e-03, 1.18665090e-02, 4.17730187e-02,
 -2.18251928e-03,-1.93391666e-03,-1.73682389e-02, 2.86755899e-02,
  5.84628737e-03, 1.64672835e-02,-9.41051541e-03, 2.60181182e-02,
  1.00195282e+00,-1.38419188e-03, 7.78912972e-01, 6.47619631e-02,
  9.50745373e-02,-7.00793578e-02, 1.21788673e-01, 9.99988991e-01,
  9.13420945e-05, 7.91303226e-04, 4.62412718e-03]

qacc:
[ -2.82892006,  0.30494597, -2.9671009 ,  9.69131232, -0.19854186,
   0.45897   , -4.11790755, 12.99346637, -1.73716702,  0.43601763,
  -2.49281495,  6.07628684, -0.26784969, -0.34565012, -8.39220462,
  26.89901177, -0.6383727 , -0.90469968, -0.11236448, 14.93576928,
 -11.08134088,  0.70575204]

qfrc_actuator:
[-3.89123163e-05, 3.41700401e-05, 1.53267832e-04, 5.04772917e-05,
  9.42543575e-06,-3.25585955e-04,-2.22494846e-04,-5.62444044e-07,
 -6.20693269e-05, 4.41273505e-04, 4.63382329e-05, 6.27969860e-05,
  3.19804693e-02,-1.10256653e-03, 1.44740275e-02,-3.46837893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022947842926374085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41901391e-13, -2.41901391e-13,  1.00000000e+00, -5.85162829e-26,
        1.00000000e+00,  2.41901391e-13, -1.00000000e+00,  0.00000000e+00,
       -2.41901391e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900373, -0.05164145,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66280631e-05,-7.81544447e-06, 6.48037695e-06, 2.01148274e-05,
 -1.21470682e-06,-1.10642178e-05, 6.90538549e-06, 2.62901139e-05,
 -1.02552893e-05,-5.27339679e-06,-2.36523164e-06, 1.00396374e-05,
 -1.86696600e-04,-6.95457187e-05,-7.78805563e-05, 1.07802891e-04,
  1.09678275e-06,-2.07509115e-06,-1.21640193e+00, 9.71024958e-05,
  1.51889622e-03, 6.07616597e-07]


--- Step 637 ---
qpos:
[ 3.03643039e-03,-3.30846170e-03, 1.18674828e-02, 4.17727539e-02,
 -2.18200020e-03,-1.93500947e-03,-1.73680238e-02, 2.86762779e-02,
  5.84566692e-03, 1.64676485e-02,-9.41132935e-03, 2.60184213e-02,
  1.00267151e+00,-1.38314506e-03, 7.79512171e-01, 6.47603179e-02,
  9.50818620e-02,-7.00930556e-02, 1.21789150e-01, 9.99988897e-01,
  2.04768299e-04, 8.50409861e-04, 4.63037676e-03]

qacc:
[ -1.68831157, -0.77414634,  1.5331744 ,  1.8609384 ,  2.89613716,
   0.47186192, -3.81055431, 10.32915859, -1.01827528,  1.64111056,
  -3.69827794, -0.46148558, -0.09175868, -0.90427383, -1.99886654,
   4.61997212, -0.65434259, -0.49905515,  0.09419687,  8.1496826 ,
 -11.07554767,  0.55098867]

qfrc_actuator:
[-4.84225658e-05, 3.01824061e-05, 1.73712805e-04, 6.21044653e-05,
  2.64230628e-05,-3.62209638e-04,-2.34160376e-04, 1.51808447e-05,
 -6.76104100e-05, 4.94963084e-04, 2.86216325e-05, 5.08841440e-05,
  3.19219308e-02,-1.13852265e-03, 1.44085942e-02,-3.46836643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022822968001783814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86449889e-13, -3.44089599e-07,  1.00000000e+00,  1.67382347e-19,
        1.00000000e+00,  3.44089599e-07, -1.00000000e+00,  0.00000000e+00,
        4.86449889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893713, -0.06020827,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.98741743e-06,-6.15822790e-06, 2.03232908e-05, 1.19093497e-05,
  1.69577667e-05,-4.02339932e-05,-1.21854337e-05, 1.60201439e-05,
 -5.83792910e-06, 5.06853439e-05,-1.87459093e-05,-1.20252108e-05,
 -1.91157333e-04,-8.50199767e-05,-9.50425811e-05,-5.36928453e-06,
 -1.28791500e-07,-2.35518972e-06,-1.21639981e+00, 1.01942614e-04,
  1.52272738e-03, 3.68328245e-07]


--- Step 638 ---
qpos:
[ 3.03607788e-03,-3.30852695e-03, 1.18682425e-02, 4.17722637e-02,
 -2.18197116e-03,-1.93659969e-03,-1.73678376e-02, 2.86771711e-02,
  5.84498513e-03, 1.64679912e-02,-9.41186498e-03, 2.60182493e-02,
  1.00338889e+00,-1.38189165e-03, 7.80110280e-01, 6.47553870e-02,
  9.50865379e-02,-7.01071328e-02, 1.21790433e-01, 9.99988802e-01,
  3.21119476e-04, 8.87560882e-04, 4.63727442e-03]

qacc:
[  5.10202582,  0.56381059, -0.44020687, -3.34051783, -4.29015518,
  -0.14585682, -1.28610866,  5.23528018, -0.52620721, -1.78442545,
   8.32723438,-16.97981276, -1.22898864,  2.02988665,  8.36912306,
 -31.47260985, -0.66222357, -0.09484078,  0.20134703,  1.41136333,
 -10.98439005,  0.32752874]

qfrc_actuator:
[-1.81329731e-05, 6.35430926e-05, 1.67613455e-04, 5.12992211e-05,
  7.10881017e-07,-4.01308428e-04,-2.41210606e-04, 2.41373708e-05,
 -7.06186051e-05, 4.73452148e-04, 3.63877728e-05, 2.60223371e-05,
  3.18556646e-02,-1.12463104e-03, 1.43265189e-02,-3.64530163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022914824632255804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42249950e-13,  2.42249950e-13,  1.00000000e+00,  5.86850383e-26,
        1.00000000e+00, -2.42249950e-13, -1.00000000e+00,  0.00000000e+00,
       -2.42249950e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887359, -0.06836485,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00019755e-05, 3.46280699e-05,-4.46085974e-06,-1.01340466e-05,
 -2.52430162e-05,-6.33864112e-05,-1.62993546e-05, 7.12216014e-06,
 -3.15621590e-06, 2.43668238e-06, 1.55150282e-05,-2.35719346e-05,
 -2.05271001e-04,-3.84293407e-05,-1.31799508e-04,-1.90748129e-04,
 -1.13156499e-06,-2.09704249e-06,-1.21639895e+00, 1.07538055e-04,
  1.52548378e-03,-5.33904876e-08]


--- Step 639 ---
qpos:
[ 3.03643590e-03,-3.30804435e-03, 1.18679575e-02, 4.17716779e-02,
 -2.18225048e-03,-1.93856679e-03,-1.73674981e-02, 2.86781367e-02,
  5.84461788e-03, 1.64676935e-02,-9.41170950e-03, 2.60178325e-02,
  1.00410495e+00,-1.38045828e-03, 7.80707134e-01, 6.47496110e-02,
  9.50885887e-02,-7.01215906e-02, 1.21792226e-01, 9.99988708e-01,
  4.40403463e-04, 9.02908685e-04, 4.64483302e-03]

qacc:
[  6.1944358 ,  3.43551181,-10.81533526, 10.4496076 , -2.69323323,
  -0.77193696,  1.73315558, -0.45744289,  2.77573148, -3.28719842,
  11.51717354,-16.37763557, -1.09733168,  1.73734025,  0.7547794 ,
  -5.20007812, -0.65624664, -0.09515944,  0.12762457,  1.41554122,
 -10.90818167,  0.33526677]

qfrc_actuator:
[ 1.75848043e-05, 8.33862980e-05, 1.10520643e-04, 4.51472992e-05,
 -1.44340252e-05,-4.06080535e-04,-2.27745228e-04, 2.90308404e-05,
 -5.43613710e-05, 4.07164070e-04, 5.88473436e-05, 1.14590960e-05,
  3.17901507e-02,-1.11692139e-03, 1.42930812e-02,-3.67650853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022850329022146287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21466853e-13,  6.07334266e-14,  1.00000000e+00,  7.37709822e-27,
        1.00000000e+00, -6.07334266e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21466853e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887384, -0.06836484,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65845322e-05, 3.78579106e-05,-5.08482280e-05,-5.02188724e-06,
 -1.58862218e-05,-4.32343668e-05,-1.37319270e-06, 1.75386406e-06,
  1.61684701e-05,-6.27398051e-05, 2.40603642e-05,-1.43799194e-05,
 -2.04236693e-04,-3.99730775e-05,-1.20005630e-04,-5.98999551e-05,
 -1.71659985e-06,-1.46422143e-06,-1.21640259e+00, 1.13233341e-04,
  1.52722452e-03,-5.54042854e-07]


--- Step 640 ---
qpos:
[ 3.03687469e-03,-3.30732195e-03, 1.18673203e-02, 4.17713602e-02,
 -2.18236485e-03,-1.94035885e-03,-1.73675172e-02, 2.86787719e-02,
  5.84479307e-03, 1.64671539e-02,-9.41222091e-03, 2.60172885e-02,
  1.00481990e+00,-1.37952893e-03, 7.81302966e-01, 6.47456734e-02,
  9.50908907e-02,-7.01314932e-02, 1.21794306e-01, 9.99988617e-01,
  5.21837619e-04, 9.21416079e-04, 4.65237772e-03]

qacc:
[  0.6939421 ,  1.85287925, -7.27947271, 12.30706583,  1.43226058,
   0.55023368, -0.23572508, -5.03423283,  4.71413403,  1.2729976 ,
  -4.48176656,  3.54148968, -0.20643228, -0.59577469, -7.05655216,
  22.4924272 ,  0.06279358,  1.13881753,  0.0717946 ,-18.91735802,
   1.6676763 , -0.02473524]

qfrc_actuator:
[ 2.06933054e-05, 9.47704637e-05, 9.47583322e-05, 5.95005240e-05,
 -5.47158921e-06,-3.72425573e-04,-2.37646403e-04, 1.37846111e-05,
 -2.68962281e-05, 3.85647095e-04, 1.85883435e-05, 3.03480414e-06,
  3.17304608e-02,-1.14848219e-03, 1.42888802e-02,-3.56814677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022747260820360493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37269374e-13,  2.44034443e-13,  1.00000000e+00,  3.34984553e-26,
        1.00000000e+00, -2.44034443e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37269374e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488625, -0.09312723,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16488073e-06, 2.18351211e-05,-1.43821206e-05, 1.41168857e-05,
  8.49449089e-06, 9.32970263e-06,-1.89223065e-05,-1.71102820e-05,
  2.79054796e-05,-5.22333294e-05,-5.07512191e-05,-1.05598013e-05,
 -1.97751341e-04,-7.94441623e-05,-7.07077864e-05, 8.84998755e-05,
 -2.16826485e-06,-7.46175759e-07,-1.21640375e+00, 1.19050054e-04,
  1.52788463e-03,-1.07161359e-06]


--- Step 641 ---
qpos:
[ 3.03734794e-03,-3.30681183e-03, 1.18669789e-02, 4.17708847e-02,
 -2.18202607e-03,-1.94203956e-03,-1.73679980e-02, 2.86799251e-02,
  5.84529612e-03, 1.64663947e-02,-9.41300089e-03, 2.60169629e-02,
  1.00553368e+00,-1.37896389e-03, 7.81897881e-01, 6.47394331e-02,
  9.50934521e-02,-7.01368903e-02, 1.21796291e-01, 9.99988538e-01,
  5.65792987e-04, 9.42995997e-04, 4.65998531e-03]

qacc:
[ 3.15211973e-01,-1.43314663e+00, 5.36678495e+00,-8.41107313e+00,
  3.95832913e+00, 2.49452163e+00,-1.08823359e+01, 2.05184042e+01,
  2.85510893e+00, 9.04522285e-01,-4.57810195e+00, 8.95989371e+00,
 -5.46780228e-01, 1.97852056e-01, 5.61025250e+00,-2.15611886e+01,
  6.48648266e-02, 1.12637186e+00,-2.37742299e-02,-1.87320657e+01,
  1.62343807e+00, 1.33460805e-02]

qfrc_actuator:
[ 2.23344241e-05, 6.56628691e-05, 1.03519748e-04, 5.03260639e-05,
  1.76052804e-05,-3.69373416e-04,-2.61117007e-04, 4.00863314e-05,
 -1.08126708e-05, 3.90850564e-04, 1.27902681e-05, 1.60267682e-05,
  3.16689686e-02,-1.16748800e-03, 1.42117068e-02,-3.69793656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022913725179678213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96837529e-13,  4.84523148e-13,  1.00000000e+00,  9.53723390e-26,
        1.00000000e+00, -4.84523148e-13, -1.00000000e+00,  0.00000000e+00,
       -1.96837529e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488667, -0.09312695,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76578285e-06,-1.92812936e-05, 1.19877091e-05,-8.46174538e-06,
  2.33237389e-05, 3.69446536e-06,-2.44469106e-05, 2.57161017e-05,
  1.68653836e-05,-3.49045957e-05,-2.31914981e-05, 8.79442132e-06,
 -2.03092248e-04,-7.21085081e-05,-1.06099923e-04,-1.35425089e-04,
 -1.44928748e-06,-6.68919970e-07,-1.21642255e+00, 1.23085853e-04,
  1.52896276e-03,-1.30707139e-06]


--- Step 642 ---
qpos:
[ 3.03783750e-03,-3.30692427e-03, 1.18672502e-02, 4.17703346e-02,
 -2.18141323e-03,-1.94372391e-03,-1.73684302e-02, 2.86810185e-02,
  5.84564327e-03, 1.64654461e-02,-9.41360079e-03, 2.60164144e-02,
  1.00624620e+00,-1.37859099e-03, 7.82490967e-01, 6.47353802e-02,
  9.50962797e-02,-7.01378226e-02, 1.21797861e-01, 9.99988474e-01,
  5.72574337e-04, 9.67580018e-04, 4.66771451e-03]

qacc:
[  0.17312537, -2.69040248,  8.71300731,-10.52709825,  2.40511825,
  -0.26846403,  1.19517883, -2.29827564, -1.35099115, -1.21010957,
   4.8973497 , -8.90961109, -0.57541423,  0.35494484, -9.27651188,
  28.58648443,  0.06652648,  1.11619581, -0.10385467,-18.57985831,
   1.58867648,  0.04238961]

qfrc_actuator:
[ 2.31091299e-05, 1.26163604e-05, 1.26488355e-04, 4.51061969e-05,
  3.10439962e-05,-3.66936653e-04,-2.56977370e-04, 3.73425785e-05,
 -1.93131120e-05, 3.94408051e-04, 2.75371893e-05, 6.06847350e-06,
  3.16011144e-02,-1.17889891e-03, 1.41440355e-02,-3.57665384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002291655602985887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36255302e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36255302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488697, -0.0931271 ,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.16964155e-07,-6.17292801e-05, 2.01682146e-05,-5.79517801e-06,
  1.41047689e-05, 6.27442861e-07, 2.80301521e-06,-2.92954824e-06,
 -8.03187396e-06,-2.03302036e-05, 5.00322881e-06,-1.20818429e-05,
 -2.11924990e-04,-6.41955852e-05,-1.37132958e-04, 9.87750795e-05,
 -7.42340987e-07,-5.86754928e-07,-1.21643402e+00, 1.25272506e-04,
  1.53019120e-03,-1.45440870e-06]


--- Step 643 ---
qpos:
[ 3.03798761e-03,-3.30759076e-03, 1.18678308e-02, 4.17697389e-02,
 -2.18133380e-03,-1.94534666e-03,-1.73687836e-02, 2.86810239e-02,
  5.84554071e-03, 1.64647967e-02,-9.41453270e-03, 2.60157228e-02,
  1.00695722e+00,-1.37771821e-03, 7.83082077e-01, 6.47331636e-02,
  9.50993788e-02,-7.01343230e-02, 1.21798748e-01, 9.99988427e-01,
  5.42429011e-04, 9.95114863e-04, 4.67560978e-03]

qacc:
[ -2.96027442, -1.68512818,  5.14740461, -6.03177088, -4.6774874 ,
  -2.36688776, 13.16777824,-32.18448083, -3.93793668,  1.03669597,
  -2.50497364,  0.32469006, -1.39782829,  2.53808651, -8.37752733,
  25.26071373,  0.06787494,  1.10795916, -0.17085704,-18.45632389,
   1.56161631,  0.06428275]

qfrc_actuator:
[ 5.61570821e-06,-1.87930329e-05, 1.39793384e-04, 4.22391760e-05,
  3.19239859e-06,-3.64798675e-04,-2.54349870e-04,-1.79629557e-05,
 -4.22113327e-05, 4.32540965e-04, 1.87646187e-05, 4.46700713e-07,
  3.15294943e-02,-1.15027408e-03, 1.40448997e-02,-3.48582285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022789309511110634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19704228e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.19704228e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488719, -0.09312759,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74920842e-05,-6.20100150e-05, 2.83698827e-06,-4.92540143e-06,
 -2.74493097e-05, 3.01103938e-06, 3.02283498e-06,-5.52369669e-05,
 -2.31389682e-05, 2.73207550e-05,-1.27538305e-05,-6.54994222e-06,
 -2.19467751e-04,-2.48497971e-05,-1.54068379e-04, 7.80241483e-05,
 -2.40399681e-08,-5.05824048e-07,-1.21643837e+00, 1.25625275e-04,
  1.53157221e-03,-1.51350999e-06]


--- Step 644 ---
qpos:
[ 3.03827180e-03,-3.30863790e-03, 1.18682189e-02, 4.17694717e-02,
 -2.18124371e-03,-1.94686925e-03,-1.73694317e-02, 2.86807332e-02,
  5.84516405e-03, 1.64647042e-02,-9.41545882e-03, 2.60149116e-02,
  1.00766668e+00,-1.37590025e-03, 7.83672202e-01, 6.47285904e-02,
  9.51027538e-02,-7.01264179e-02, 1.21798727e-01, 9.99988392e-01,
  4.75554398e-04, 1.02555958e-03, 4.68370425e-03]

qacc:
[  1.17754536,  0.70960696, -4.64893276, 10.92253455,  0.08234011,
   0.34622746,  0.20772331, -4.93532616, -2.3999596 ,  0.47837618,
  -0.12479006, -2.37262702, -2.07068481,  4.27130899,  5.78316441,
 -22.05272205,  0.06898516,  1.10138241, -0.22683397,-18.35773031,
   1.54083559,  0.08051242]

qfrc_actuator:
[ 1.30159096e-05,-3.70396365e-05, 1.29605941e-04, 5.85371063e-05,
  4.52233994e-06,-3.62903744e-04,-2.70431898e-04,-3.27430464e-05,
 -5.56394070e-05, 4.91006121e-04, 3.18256806e-05,-2.56388709e-06,
  3.14610059e-02,-1.09824294e-03, 1.39961998e-02,-3.60906571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022559943930372528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61363773e-14,  7.38182037e-13,  1.00000000e+00, -3.40570450e-26,
        1.00000000e+00, -7.38182037e-13, -1.00000000e+00,  0.00000000e+00,
        4.61363773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488734, -0.09312835,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.88205932e-06,-5.25355576e-05,-2.28139833e-05, 1.36462166e-05,
  5.50719984e-07, 1.88942981e-06,-1.69746949e-05,-1.56159037e-05,
 -1.40841707e-05, 7.08554712e-05, 1.69278636e-05,-2.40252947e-06,
 -2.12962250e-04, 3.26418903e-06,-1.13167250e-04,-1.39249051e-04,
  7.22414449e-07,-4.28378401e-07,-1.21643577e+00, 1.24156497e-04,
  1.53310712e-03,-1.48437114e-06]


--- Step 645 ---
qpos:
[ 3.03864231e-03,-3.30999701e-03, 1.18684440e-02, 4.17693911e-02,
 -2.18079402e-03,-1.94789449e-03,-1.73705003e-02, 2.86805701e-02,
  5.84462906e-03, 1.64652666e-02,-9.41658334e-03, 2.60140714e-02,
  1.00837507e+00,-1.37467238e-03, 7.84261590e-01, 6.47230881e-02,
  9.51033825e-02,-7.01173514e-02, 1.21799132e-01, 9.99988380e-01,
  3.98551506e-04, 1.03280332e-03, 4.69199750e-03]

qacc:
[  0.75794475,  0.42630571, -2.90725503,  6.62670766,  3.13215045,
   2.08809105, -7.04139223,  9.56755398, -1.39831838,  1.3628052 ,
  -3.47599875,  2.80286552, -0.21757588, -0.62611557,  1.71065017,
  -7.57946422, -0.68656761,  0.29036582,  0.10674529, -5.11852083,
 -11.57660242,  0.09965435]

qfrc_actuator:
[ 1.72619048e-05,-4.73403558e-05, 1.23453726e-04, 6.82256956e-05,
  2.30305031e-05,-3.07959951e-04,-2.79645073e-04,-2.35645200e-05,
 -6.33811338e-05, 5.25788074e-04, 2.22766656e-05,-3.97402852e-06,
  3.13997824e-02,-1.13932909e-03, 1.39937206e-02,-3.64426285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022358481530988564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53413846e-07, -7.67071714e-08,  1.00000000e+00,  1.17679422e-14,
        1.00000000e+00,  7.67071714e-08, -1.00000000e+00,  0.00000000e+00,
        1.53413846e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10967049, -0.07619232,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42700394e-06,-4.37709536e-05,-1.93336713e-05, 6.91614227e-06,
  1.85258565e-05, 5.18887322e-05,-1.14280727e-05, 8.37373672e-06,
 -8.12270445e-06, 7.78083689e-05, 7.10295740e-06, 2.16987696e-06,
 -1.95642235e-04,-8.40412115e-05,-7.56422697e-05,-5.88201758e-05,
  1.50902929e-06,-3.53141712e-07,-1.21642633e+00, 1.20875981e-04,
  1.53479660e-03,-1.36705969e-06]


--- Step 646 ---
qpos:
[ 3.03906088e-03,-3.31157843e-03, 1.18685573e-02, 4.17690665e-02,
 -2.18012605e-03,-1.94847379e-03,-1.73714153e-02, 2.86801387e-02,
  5.84435043e-03, 1.64661660e-02,-9.41772291e-03, 2.60139399e-02,
  1.00908238e+00,-1.37420753e-03, 7.84850168e-01, 6.47132271e-02,
  9.51014303e-02,-7.01086781e-02, 1.21800135e-01, 9.99988380e-01,
  3.24457518e-04, 1.01796851e-03, 4.70090393e-03]

qacc:
[  0.42206471, -0.4847517 ,  2.32931622, -6.20468075,  1.91148752,
  -0.39579879,  3.39329701, -8.60470653,  2.23012947,  1.94220011,
  -9.27885482, 21.32964134, -0.18370357, -0.84423199, 11.94528709,
 -43.56366412, -0.64524206, -0.09832671,  0.14906465,  1.40231905,
 -11.04585463,  0.3124637 ]

qfrc_actuator:
[ 1.96095107e-05,-5.27899605e-05, 1.19770161e-04, 5.62065838e-05,
  3.37397728e-05,-2.74881996e-04,-2.66740565e-04,-3.58214193e-05,
 -4.99645427e-05, 5.28286798e-04, 1.71161012e-05, 3.10386767e-05,
  3.13376043e-02,-1.18187051e-03, 1.39231229e-02,-3.87565441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022355640404905786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72464064e-13,  4.34541408e-13,  1.00000000e+00,  1.61851059e-25,
        1.00000000e+00, -4.34541408e-13, -1.00000000e+00,  0.00000000e+00,
       -3.72464064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887383, -0.06836425,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46300492e-06,-3.35764205e-05,-1.48537243e-05,-1.44259766e-05,
  1.12555781e-05, 6.01490318e-05, 2.25285734e-05,-1.02613696e-05,
  1.32109937e-05, 4.75599738e-05, 1.18700137e-05, 3.86384870e-05,
 -2.03604839e-04,-9.59688169e-05,-1.18576899e-04,-2.45960432e-04,
  1.63569661e-06,-1.24723634e-07,-1.21642485e+00, 1.16983091e-04,
  1.53523485e-03,-1.04827154e-06]


--- Step 647 ---
qpos:
[ 3.03984912e-03,-3.31301148e-03, 1.18684327e-02, 4.17685611e-02,
 -2.17933445e-03,-1.94909539e-03,-1.73713954e-02, 2.86795722e-02,
  5.84492461e-03, 1.64670192e-02,-9.41756449e-03, 2.60134965e-02,
  1.00978841e+00,-1.37366405e-03, 7.85437424e-01, 6.46986859e-02,
  9.50969065e-02,-7.01003914e-02, 1.21801477e-01, 9.99988392e-01,
  2.53245234e-04, 9.81233831e-04, 4.71041904e-03]

qacc:
[  3.23454414,  0.48229726, -0.68302387, -2.16308317,  1.11433116,
  -2.94690955, 10.99341556,-14.7891483 ,  7.4792645 , -4.34541316,
  16.69698583,-24.10862922, -1.13918791,  1.73265593, 12.22770628,
 -45.48979135, -0.64288766, -0.09661545,  0.08489192,  1.38904932,
 -10.95648973,  0.30932059]

qfrc_actuator:
[ 3.85744357e-05,-1.97885098e-05, 1.17581775e-04, 4.92712469e-05,
  3.97671767e-05,-2.90576317e-04,-2.23218840e-04,-4.28419750e-05,
 -6.45168468e-06, 5.29224061e-04, 8.54951498e-05, 1.61683638e-05,
  3.12802174e-02,-1.17161821e-03, 1.38436418e-02,-4.11444549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022239448620434143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.74410033e-13,  1.24803344e-13,  1.00000000e+00,  4.67276242e-26,
        1.00000000e+00, -1.24803344e-13, -1.00000000e+00,  0.00000000e+00,
       -3.74410033e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887384, -0.06836416,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90295160e-05, 1.05956444e-05,-1.14350615e-05,-9.16459032e-06,
  6.36875928e-06, 2.21912372e-05, 5.83838450e-05,-3.85920461e-06,
  4.39077072e-05, 3.16256089e-05, 8.10044741e-05,-1.16692579e-05,
 -2.07006115e-04,-4.64737618e-05,-1.66710369e-04,-2.68995050e-04,
  1.73134479e-06, 1.11005277e-07,-1.21642554e+00, 1.13221815e-04,
  1.53454103e-03,-7.22141423e-07]


--- Step 648 ---
qpos:
[ 3.04085831e-03,-3.31391825e-03, 1.18680558e-02, 4.17679278e-02,
 -2.17882152e-03,-1.94976622e-03,-1.73708098e-02, 2.86796435e-02,
  5.84567115e-03, 1.64680334e-02,-9.41685603e-03, 2.60125582e-02,
  1.01049322e+00,-1.37330507e-03, 7.86022434e-01, 6.46873146e-02,
  9.50898185e-02,-7.00924851e-02, 1.21802944e-01, 9.99988415e-01,
  1.84889328e-04, 9.22739738e-04, 4.72053674e-03]

qacc:
[ 1.92241987e+00, 1.13365927e+00,-2.49979890e+00, 3.10453827e-01,
 -2.42506258e+00,-3.28492142e-01,-1.60823232e+00, 1.17702727e+01,
  1.51732091e+00,-2.34605406e+00, 1.07579971e+01,-2.03143242e+01,
 -4.84351811e-01, 2.06502836e-01,-1.28599991e+01, 4.02214780e+01,
 -6.41054872e-01,-9.51372042e-02, 3.13649185e-02, 1.37662724e+00,
 -1.08862353e+01, 3.05430714e-01]

qfrc_actuator:
[ 4.94163017e-05, 3.60018221e-05, 1.16461365e-04, 4.54207328e-05,
  2.52401665e-05,-2.99718900e-04,-1.97674673e-04,-1.12413820e-05,
  1.16203444e-06, 5.29472819e-04, 1.07927778e-04,-1.01419005e-05,
  3.12204385e-02,-1.18348405e-03, 1.37908607e-02,-3.92954813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022027680103231528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26003172e-13,  6.30015859e-14,  1.00000000e+00,  7.93839966e-27,
        1.00000000e+00, -6.30015859e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26003172e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887404, -0.06836405,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13931843e-05, 5.90195208e-05,-6.39629935e-07,-3.96708241e-06,
 -1.43399164e-05, 1.51866281e-05, 3.71941468e-05, 3.44989876e-05,
  8.88334561e-06, 3.41518812e-05, 3.85269618e-05,-2.23822245e-05,
 -2.01514231e-04,-6.12245881e-05,-1.62521130e-04, 1.47750236e-04,
  1.96559469e-06, 4.31459561e-07,-1.21642375e+00, 1.09580215e-04,
  1.53276305e-03,-4.14739419e-07]


--- Step 649 ---
qpos:
[ 3.04199006e-03,-3.31467564e-03, 1.18680666e-02, 4.17672567e-02,
 -2.17883193e-03,-1.94997324e-03,-1.73700955e-02, 2.86800570e-02,
  5.84615878e-03, 1.64693916e-02,-9.41677288e-03, 2.60117162e-02,
  1.01119669e+00,-1.37274637e-03, 7.86605500e-01, 6.46824364e-02,
  9.50801717e-02,-7.00849543e-02, 1.21804358e-01, 9.99988445e-01,
  1.19366232e-04, 8.42594053e-04, 4.73124980e-03]

qacc:
[ 1.08539988e+00,-9.66608044e-01, 3.88834085e+00,-5.26801453e+00,
 -4.59365477e+00, 9.65741526e-01,-3.98361836e+00, 9.34191615e+00,
 -2.28339774e+00, 2.40486761e+00,-8.31399555e+00, 1.07183711e+01,
 -8.32010629e-01, 1.17735598e+00,-2.24168964e+01, 7.43713300e+01,
 -6.39706790e-01,-9.38539744e-02,-1.31636989e-02, 1.36500965e+00,
 -1.08323050e+01, 3.00965069e-01]

qfrc_actuator:
[ 5.53851700e-05, 3.40177001e-05, 1.33843883e-04, 4.34404969e-05,
 -1.26664181e-06,-2.51648680e-04,-1.82921764e-04, 7.30779258e-06,
 -1.24243878e-05, 5.29119750e-04, 6.75160533e-05,-7.50319574e-06,
  3.11539372e-02,-1.17288380e-03, 1.37489045e-02,-3.58517898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021742099702987128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887439, -0.06836395,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31754556e-06, 3.07570329e-05, 2.93721133e-05, 4.52132790e-07,
 -2.69132123e-05, 6.57359807e-05, 2.36664815e-05, 2.11589915e-05,
 -1.33167346e-05, 2.57065169e-05,-2.94038653e-05, 4.99775963e-06,
 -2.07150246e-04,-4.03053782e-05,-1.01362781e-04, 3.31453754e-04,
  2.33471029e-06, 8.35672159e-07,-1.21641954e+00, 1.06057355e-04,
  1.52990786e-03,-1.25641007e-07]


--- Step 650 ---
qpos:
[ 3.04249514e-03,-3.31563354e-03, 1.18684848e-02, 4.17666112e-02,
 -2.17881533e-03,-1.94951504e-03,-1.73693080e-02, 2.86806668e-02,
  5.84682507e-03, 1.64708650e-02,-9.41768282e-03, 2.60116592e-02,
  1.01189876e+00,-1.37175327e-03, 7.87187525e-01, 6.46786854e-02,
  9.50679696e-02,-7.00777945e-02, 1.21805573e-01, 9.99988478e-01,
  5.66540263e-05, 7.40876554e-04, 4.74255005e-03]

qacc:
[ -5.4843961 , -1.34047049,  4.304852  , -4.38437827,  0.22796717,
   1.0778237 , -3.39731471,  6.18917077,  1.52571085,  4.54067407,
 -19.28847355, 34.38153302, -1.32359236,  2.36778895, -4.8630429 ,
  14.95977792, -0.63880701, -0.09273451, -0.0500996 ,  1.35415059,
 -10.79239833,  0.29605659]

qfrc_actuator:
[ 2.29349892e-05,-2.46471171e-06, 1.44036438e-04, 4.25434887e-05,
  9.00075311e-07,-2.05249398e-04,-1.74433031e-04, 1.80665852e-05,
 -2.86332289e-06, 5.10405662e-04, 8.10568296e-06, 2.98642934e-05,
  3.10887847e-02,-1.14911433e-03, 1.36815422e-02,-3.54027572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021400747792102437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59388839e-13,  5.18777678e-13,  1.00000000e+00,  1.34565140e-25,
        1.00000000e+00, -5.18777678e-13, -1.00000000e+00,  0.00000000e+00,
       -2.59388839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887485, -0.06836384,  0.0619948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22581937e-05,-1.31693399e-05, 2.01877202e-05, 1.44832846e-06,
  1.42064791e-06, 8.89427500e-05, 2.57083614e-05, 1.48056513e-05,
  9.19351750e-06,-1.02498175e-05,-5.75630600e-05, 3.75482967e-05,
 -2.04110039e-04,-2.54091664e-05,-8.06211706e-05, 4.95200297e-05,
  2.83534115e-06, 1.32255641e-06,-1.21641294e+00, 1.02652383e-04,
  1.52598079e-03, 1.45521670e-07]


--- Step 651 ---
qpos:
[ 3.04226257e-03,-3.31666801e-03, 1.18684909e-02, 4.17656568e-02,
 -2.17842795e-03,-1.94867056e-03,-1.73685536e-02, 2.86810989e-02,
  5.84725597e-03, 1.64722660e-02,-9.41922617e-03, 2.60117050e-02,
  1.01259960e+00,-1.37076846e-03, 7.87768086e-01, 6.46762301e-02,
  9.50532921e-02,-7.00742105e-02, 1.21805823e-01, 9.99988504e-01,
  2.35242226e-05, 6.17181352e-04, 4.75495985e-03]

qacc:
[ -6.48650389,  0.4269202 , -0.3436182 , -4.31040177,  3.24412121,
   0.23089726,  0.65707216, -3.95288323, -2.07151945,  1.89023362,
  -7.30541477, 10.1421428 , -0.77450442,  0.93682014, -6.03094448,
  18.05074557, -0.61887155, -0.89397872, -0.24088841, 14.73850462,
 -11.05883864,  0.5663618 ]

qfrc_actuator:
[-1.41137739e-05,-2.38506903e-05, 1.14234986e-04, 2.44954153e-05,
  1.99298867e-05,-2.13497504e-04,-1.87451313e-04, 6.40751020e-06,
 -1.52530251e-05, 4.98518740e-04,-2.65807079e-05, 3.40839680e-05,
  3.10244936e-02,-1.15326316e-03, 1.36042509e-02,-3.47700450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002110435602449695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900168, -0.05163654,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79703055e-05,-2.45000141e-05,-2.99764920e-05,-1.78815455e-05,
  1.90996943e-05, 4.74064472e-05, 9.01624431e-06,-6.67395561e-06,
 -1.21252650e-05,-2.79372805e-05,-4.26006872e-05, 2.51805591e-06,
 -1.98444138e-04,-5.02002709e-05,-1.14957780e-04, 5.42388445e-05,
  3.46434031e-06, 1.89094996e-06,-1.21640398e+00, 9.93645241e-05,
  1.52098580e-03, 3.99068221e-07]


--- Step 652 ---
qpos:
[ 3.04227750e-03,-3.31788636e-03, 1.18681564e-02, 4.17648487e-02,
 -2.17815974e-03,-1.94827504e-03,-1.73675630e-02, 2.86818237e-02,
  5.84753531e-03, 1.64732393e-02,-9.42045578e-03, 2.60110905e-02,
  1.01329928e+00,-1.37011412e-03, 7.88347226e-01, 6.46709379e-02,
  9.50361352e-02,-7.00741869e-02, 1.21804940e-01, 9.99988519e-01,
  1.98303959e-05, 4.71638970e-04, 4.76849959e-03]

qacc:
[  2.1649759 ,  1.00611906, -4.56370687,  7.78106987, -1.02986303,
  -0.64878175,  0.21963802,  4.79641277, -1.30513589, -2.79870192,
  11.95105254,-23.56966716, -0.57501623,  0.29173266,  6.48048812,
 -25.68415866, -0.61984206, -0.89009264, -0.2834218 , 14.66552955,
 -10.99343134,  0.57433746]

qfrc_actuator:
[-3.02153729e-07,-3.62225450e-05, 9.65989625e-05, 3.19863442e-05,
  1.32177244e-05,-2.90026453e-04,-1.95544184e-04, 1.70985119e-05,
 -2.27179708e-05, 4.73116977e-04,-1.08898961e-05, 1.03051292e-06,
  3.09607555e-02,-1.17389405e-03, 1.34997743e-02,-3.63411597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002085345197828381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.32392923e-13, -7.98589384e-13,  1.00000000e+00, -4.25163336e-25,
        1.00000000e+00,  7.98589384e-13, -1.00000000e+00,  0.00000000e+00,
       -5.32392923e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900175, -0.05163594,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27269828e-05,-3.30030103e-05,-2.69915895e-05, 5.06213828e-06,
 -6.15125690e-06,-4.84768574e-05, 2.55833224e-06, 1.28993530e-05,
 -7.81777703e-06,-4.97519553e-05, 4.76242247e-06,-3.56749026e-05,
 -1.99815572e-04,-6.93382944e-05,-1.55409414e-04,-1.69841031e-04,
  3.44475048e-06, 3.23898484e-06,-1.21639870e+00, 9.74718640e-05,
  1.51470773e-03, 3.50627022e-07]


--- Step 653 ---
qpos:
[ 3.04245746e-03,-3.31920995e-03, 1.18678306e-02, 4.17641019e-02,
 -2.17797382e-03,-1.94838811e-03,-1.73663099e-02, 2.86830234e-02,
  5.84806794e-03, 1.64735321e-02,-9.42082684e-03, 2.60104247e-02,
  1.01399775e+00,-1.36968017e-03, 7.88925433e-01, 6.46613319e-02,
  9.50164948e-02,-7.00777113e-02, 1.21802782e-01, 9.99988513e-01,
  4.54577972e-05, 3.04344430e-04, 4.78317715e-03]

qacc:
[ 1.45064633e+00,-3.92414244e-02,-3.25903644e-01, 1.45772993e+00,
 -7.04512766e-01,-4.27158298e-01,-1.45521050e+00, 9.62646520e+00,
  2.24742774e+00,-3.40904812e+00, 1.10589911e+01,-1.28099440e+01,
 -8.00346945e-01, 8.14581859e-01, 1.16741336e+01,-4.27712406e+01,
 -6.20875811e-01,-8.86990395e-01,-3.18917295e-01, 1.46083150e+01,
 -1.09458472e+01, 5.76078506e-01]

qfrc_actuator:
[ 7.83034371e-06,-2.52953616e-05, 1.04108047e-04, 3.67164270e-05,
  9.15464218e-06,-3.18080026e-04,-1.83185228e-04, 4.08001769e-05,
 -9.46511319e-06, 4.39990539e-04, 3.43334567e-05,-4.06974109e-07,
  3.08973863e-02,-1.18633603e-03, 1.34642482e-02,-3.84883222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020545571921259942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.70185476e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.70185476e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900198, -0.05163521,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.48871621e-06,-1.28322876e-05,-2.43773348e-06, 2.48566790e-06,
 -4.25598567e-06,-5.41102919e-05, 3.08967030e-06, 2.19592713e-05,
  1.30144053e-05,-6.15144469e-05, 3.43035780e-05,-4.09675457e-06,
 -2.05044856e-04,-6.42003862e-05,-1.28909811e-04,-2.44882192e-04,
  3.39103652e-06, 4.88872959e-06,-1.21638669e+00, 9.69949772e-05,
  1.50729896e-03, 1.25816336e-07]


--- Step 654 ---
qpos:
[ 3.04238840e-03,-3.32014468e-03, 1.18670901e-02, 4.17630374e-02,
 -2.17749338e-03,-1.94866609e-03,-1.73653207e-02, 2.86844899e-02,
  5.84875513e-03, 1.64732481e-02,-9.42038472e-03, 2.60100815e-02,
  1.01469503e+00,-1.36966989e-03, 7.89502181e-01, 6.46547470e-02,
  9.49943663e-02,-7.00847740e-02, 1.21799229e-01, 9.99988473e-01,
  1.00319373e-04, 1.15362654e-04, 4.79899027e-03]

qacc:
[ -2.20568338,  1.02257646, -1.5522027 , -3.5770831 ,  2.5777843 ,
   1.06295521, -5.24212444, 10.41303405,  1.38354493, -2.37355806,
   5.9900083 , -1.27607474, -0.2808599 , -0.40914406,-11.26701173,
  36.29695541, -0.62201034, -0.88457484, -0.34852325, 14.5648805 ,
 -10.91337905,  0.57279755]

qfrc_actuator:
[-5.21379119e-06, 1.73587989e-05, 9.09860855e-05, 2.20636788e-05,
  2.44444345e-05,-3.16809155e-04,-1.94181238e-04, 5.42563778e-05,
 -1.87841731e-06, 4.20405936e-04, 7.88533987e-05, 1.67803014e-05,
  3.08342856e-02,-1.21159520e-03, 1.34594480e-02,-3.66943659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020195385480883954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74870471e-13, -1.09948188e-12,  1.00000000e+00, -3.02215104e-25,
        1.00000000e+00,  1.09948188e-12, -1.00000000e+00,  0.00000000e+00,
       -2.74870471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900234, -0.05163437,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28021651e-05, 3.51370817e-05,-1.59663342e-05,-1.52334336e-05,
  1.51485498e-05,-2.74230369e-05,-2.10482266e-05, 1.16664996e-05,
  7.93749532e-06,-4.70720883e-05, 3.58991720e-05, 1.56595508e-05,
 -2.06868829e-04,-7.73867859e-05,-9.61664926e-05, 1.48045908e-04,
  3.29238206e-06, 6.83371986e-06,-1.21636802e+00, 9.79287050e-05,
  1.49876355e-03,-2.73991404e-07]


--- Step 655 ---
qpos:
[ 3.04250859e-03,-3.32062359e-03, 1.18658276e-02, 4.17618040e-02,
 -2.17717849e-03,-1.94890199e-03,-1.73651406e-02, 2.86861175e-02,
  5.84918315e-03, 1.64725092e-02,-9.41970441e-03, 2.60103164e-02,
  1.01539099e+00,-1.36965101e-03, 7.90077277e-01, 6.46510516e-02,
  9.49723907e-02,-7.00872146e-02, 1.21796227e-01, 9.99988401e-01,
  1.17113711e-04,-7.02250029e-05, 4.81444901e-03]

qacc:
[  1.6368134 ,  1.71095242, -4.51957421,  2.10466485, -1.47798821,
   2.64957193,-10.04191828, 14.08475122, -2.24496319, -0.07235542,
  -3.04766032, 12.99925283, -0.77731215,  0.91370049,-11.11808476,
  35.44793044,  0.03820339,  1.15550571,  0.13783506,-19.02523338,
   1.78836665, -0.17947305]

qfrc_actuator:
[ 4.88939652e-06, 4.30918674e-05, 6.59052437e-05, 1.38885247e-05,
  1.54967922e-05,-3.15836488e-04,-2.36521467e-04, 6.15833530e-05,
 -1.54466518e-05, 3.91362212e-04, 8.71479721e-05, 4.47890229e-05,
  3.07713875e-02,-1.20874798e-03, 1.33773001e-02,-3.52547258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020518610238838553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70540502e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.70540502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489313, -0.09313691,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.75601577e-06, 4.14719486e-05,-2.02942571e-05,-7.51241412e-06,
 -8.52503334e-06,-1.82093922e-05,-5.02058768e-05, 5.64500590e-06,
 -1.33597431e-05,-4.72693498e-05, 3.53406846e-06, 2.75386069e-05,
 -2.09673854e-04,-5.22482686e-05,-1.14395986e-04, 1.38798874e-04,
  3.14007683e-06, 9.06460992e-06,-1.21634274e+00, 1.00269515e-04,
  1.48910474e-03,-8.47899041e-07]


--- Step 656 ---
qpos:
[ 3.04274911e-03,-3.32108295e-03, 1.18649630e-02, 4.17608199e-02,
 -2.17731847e-03,-1.94872672e-03,-1.73653613e-02, 2.86867079e-02,
  5.84910004e-03, 1.64718685e-02,-9.41969980e-03, 2.60108776e-02,
  1.01608548e+00,-1.36899224e-03, 7.90651210e-01, 6.46421764e-02,
  9.49505822e-02,-7.00850908e-02, 1.21793359e-01, 9.99988300e-01,
  9.62025600e-05,-2.52640167e-04, 4.82981213e-03]

qacc:
[ 1.06849587e+00,-5.75259021e-01, 1.03361113e+00, 2.63110282e+00,
 -4.00965787e+00,-4.62661056e-01, 6.83182714e+00,-2.44599703e+01,
 -4.48049789e+00, 2.69856451e+00,-1.07962857e+01, 1.74347957e+01,
 -1.82236947e+00, 3.50921145e+00, 1.40167811e+01,-5.12952844e+01,
  4.17846280e-02, 1.14111053e+00, 3.31703143e-02,-1.88448906e+01,
  1.67698681e+00,-4.66045213e-02]

qfrc_actuator:
[ 1.07896825e-05, 4.06971476e-05, 8.71802085e-05, 2.73306782e-05,
 -7.65105038e-06,-2.61925890e-04,-2.43759542e-04, 1.19739740e-05,
 -4.13559225e-05, 4.10009680e-04, 5.62044140e-05, 6.11534325e-05,
  3.07033392e-02,-1.17154710e-03, 1.32594649e-02,-3.81215501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020903950270849403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32776701e-13,  2.65553403e-13,  1.00000000e+00,  3.52593048e-26,
        1.00000000e+00, -2.65553403e-13, -1.00000000e+00,  0.00000000e+00,
       -1.32776701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489412, -0.09313616,  0.06199492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.19681849e-06, 1.63206548e-05, 2.71041969e-05, 1.43763391e-05,
 -2.33954163e-05, 3.35994461e-05,-1.69910056e-05,-5.20202247e-05,
 -2.63116029e-05,-5.86071524e-06,-3.93183961e-05, 1.49971923e-05,
 -2.11415378e-04,-1.43898717e-05,-1.58714989e-04,-2.94528095e-04,
  4.51609389e-06, 7.69548339e-06,-1.21635271e+00, 1.01131765e-04,
  1.48033569e-03,-4.57528852e-07]


--- Step 657 ---
qpos:
[ 3.04305865e-03,-3.32159830e-03, 1.18646846e-02, 4.17603463e-02,
 -2.17807984e-03,-1.94819796e-03,-1.73654533e-02, 2.86866687e-02,
  5.84870656e-03, 1.64715793e-02,-9.41994196e-03, 2.60112222e-02,
  1.01677867e+00,-1.36817529e-03, 7.91224002e-01, 6.46314327e-02,
  9.49289506e-02,-7.00784495e-02, 1.21790270e-01, 9.99988167e-01,
  3.78824044e-05,-4.32066592e-04, 4.84529429e-03]

qacc:
[  0.62557684, -0.66173121,  0.09628767,  7.84247424, -5.45238441,
  -1.17627435,  7.54922169,-18.93063117, -2.72081628,  0.71384858,
  -0.94730959, -2.67556406, -1.1195346 ,  1.74315008,  4.0152687 ,
 -16.357218  ,  0.04423411,  1.12938531, -0.0548327 ,-18.69704955,
   1.584693  ,  0.06417589]

qfrc_actuator:
[ 1.41614516e-05, 3.94323258e-05, 1.17804869e-04, 5.33927413e-05,
 -3.89634807e-05,-2.29896328e-04,-2.30021014e-04,-1.74054781e-05,
 -5.65615651e-05, 4.56900867e-04, 5.57944839e-05, 5.27991725e-05,
  3.06375880e-02,-1.16762663e-03, 1.32480519e-02,-3.88874344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021100801788714874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31538014e-13, -5.26152056e-13,  1.00000000e+00, -6.92089965e-26,
        1.00000000e+00,  5.26152056e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31538014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489488, -0.09313588,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55480586e-06, 1.41063391e-05, 3.78487850e-05, 2.79837563e-05,
 -3.19647482e-05, 4.50661488e-05, 1.67858871e-05,-2.95400941e-05,
 -1.59628578e-05, 3.61472288e-05,-5.93735637e-06,-9.67275542e-06,
 -2.03249595e-04,-4.14592948e-05,-1.20936382e-04,-1.14279281e-04,
  5.84098306e-06, 6.48961097e-06,-1.21635516e+00, 1.00103516e-04,
  1.47171162e-03, 1.64818797e-08]


--- Step 658 ---
qpos:
[ 3.04340610e-03,-3.32183439e-03, 1.18644338e-02, 4.17594935e-02,
 -2.17921072e-03,-1.94745979e-03,-1.73651380e-02, 2.86876574e-02,
  5.84847816e-03, 1.64719328e-02,-9.42008478e-03, 2.60110559e-02,
  1.01747071e+00,-1.36787315e-03, 7.91795349e-01, 6.46256942e-02,
  9.49104300e-02,-7.00734552e-02, 1.21789228e-01, 9.99988024e-01,
 -5.81046453e-06,-5.85880381e-04, 4.85878385e-03]

qacc:
[  0.32855355, -0.49032007,  3.88147151,-10.68854339, -3.23094375,
   1.25901841, -8.41742121, 25.39001747,  1.43170815, -0.4830283 ,
   5.10748291,-14.57836179, -0.08228773, -0.86588354,-17.24649221,
  57.22016019,  0.77773738, -0.41175592,  0.51130231,  7.37517697,
  12.77068996, -0.99991067]

qfrc_actuator:
[ 1.60192799e-05, 5.66658006e-05, 1.18186752e-04, 3.34078674e-05,
 -5.70735519e-05,-2.11102199e-04,-2.04065602e-04, 3.63707966e-05,
 -4.75887039e-05, 5.20445543e-04, 7.35460864e-05, 3.00260768e-05,
  3.05732531e-02,-1.20120131e-03, 1.32472741e-02,-3.60973046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002186192660143388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.53917014e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.53917014e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081815  , -0.06187622,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96331814e-06, 3.41614995e-05, 8.93558253e-06,-1.75235704e-05,
 -1.90049595e-05, 4.61670965e-05, 3.63058499e-05, 5.57139427e-05,
  8.52744669e-06, 8.21231819e-05, 2.41579964e-05,-2.16167148e-05,
 -2.01789856e-04,-8.19034546e-05,-7.37315344e-05, 2.56026814e-04,
  7.17615410e-06, 5.41465292e-06,-1.21635034e+00, 9.72054304e-05,
  1.46324084e-03, 5.75924947e-07]


--- Step 659 ---
qpos:
[ 3.04377322e-03,-3.32197243e-03, 1.18648248e-02, 4.17583888e-02,
 -2.18055004e-03,-1.94665743e-03,-1.73644449e-02, 2.86899937e-02,
  5.84835881e-03, 1.64731577e-02,-9.42045664e-03, 2.60109555e-02,
  1.01816159e+00,-1.36797488e-03, 7.92365691e-01, 6.46193767e-02,
  9.48949674e-02,-7.00701004e-02, 1.21789696e-01, 9.99987884e-01,
 -3.51615062e-05,-7.14413284e-04, 4.87039419e-03]

qacc:
[  0.19109595, -2.18422104,  9.03757116,-14.49458644, -1.81644279,
   1.80460238,-11.99627151, 34.66167985,  0.92909059,  1.92592862,
  -5.47770963,  6.34799614, -0.44034766, -0.05228076,  0.27454913,
  -3.09319542,  0.76451036, -0.4098871 ,  0.37792948,  7.2316945 ,
  12.60545594, -0.94372625]

qfrc_actuator:
[ 1.69722573e-05, 6.69327727e-05, 1.54004819e-04, 2.19854952e-05,
 -6.72655350e-05,-2.17999266e-04,-1.88862909e-04, 1.03129617e-04,
 -4.22126833e-05, 5.75797990e-04, 6.64419390e-05, 3.44880153e-05,
  3.05151261e-02,-1.22115809e-03, 1.31624075e-02,-3.65606202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022441710078677235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47357046e-13, -4.94714093e-13,  1.00000000e+00, -1.22371017e-25,
        1.00000000e+00,  4.94714093e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47357046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181569, -0.0618773 ,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02235968e-06, 3.04781340e-05, 4.33756336e-05,-9.98813688e-06,
 -1.07214016e-05, 2.87668859e-05, 3.11248213e-05, 7.10740408e-05,
  5.64997691e-06, 1.05331519e-04, 1.20844650e-05, 8.39596146e-06,
 -2.02218061e-04,-7.50077609e-05,-9.52994033e-05,-4.27155025e-05,
  5.05856601e-06, 4.21914865e-06,-1.21637560e+00, 9.54174808e-05,
  1.45545337e-03, 4.13998022e-07]


--- Step 660 ---
qpos:
[ 3.04449401e-03,-3.32213262e-03, 1.18657136e-02, 4.17575264e-02,
 -2.18131117e-03,-1.94601650e-03,-1.73636548e-02, 2.86928158e-02,
  5.84796057e-03, 1.64745223e-02,-9.42002409e-03, 2.60105864e-02,
  1.01885114e+00,-1.36799418e-03, 7.92934965e-01, 6.46131816e-02,
  9.48825190e-02,-7.00683784e-02, 1.21791229e-01, 9.99987756e-01,
 -5.04036706e-05,-8.17944771e-04, 4.88021413e-03]

qacc:
[  3.12043499, -0.92791551,  2.23288686,  1.19186652,  5.0771009 ,
   0.50468616, -4.17763777, 12.56698943, -2.4098496 , -2.61196822,
  10.72347574,-16.77070148, -0.9874656 ,  1.39425931, -1.89403883,
   4.45627018,  0.75352629, -0.40818274,  0.26588483,  7.11459724,
  12.46623519, -0.8998213 ]

qfrc_actuator:
[ 3.51380187e-05, 5.53367066e-05, 1.74954289e-04, 3.34778000e-05,
 -3.72146760e-05,-2.58002226e-04,-1.97997834e-04, 1.23689187e-04,
 -5.67573878e-05, 5.54738732e-04, 9.79708809e-05, 1.94130850e-05,
  3.04501153e-02,-1.21509650e-03, 1.31229643e-02,-3.64548122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022779846576295726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.4368536e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.4368536e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181601, -0.06187802,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82044357e-05, 1.39809862e-05, 3.22408266e-05, 1.41061327e-05,
  2.97510638e-05,-1.44879775e-05, 3.07784558e-06, 2.42444110e-05,
 -1.43433567e-05, 4.06605935e-05, 5.50554797e-05,-9.98143124e-06,
 -2.08561511e-04,-4.76731910e-05,-9.34545147e-05,-5.32472785e-06,
  3.33513860e-06, 3.19935303e-06,-1.21639623e+00, 9.42742785e-05,
  1.44895261e-03, 2.68500224e-07]


--- Step 661 ---
qpos:
[ 3.04508209e-03,-3.32225947e-03, 1.18660270e-02, 4.17572220e-02,
 -2.18101637e-03,-1.94560834e-03,-1.73628675e-02, 2.86955343e-02,
  5.84773709e-03, 1.64747958e-02,-9.41824266e-03, 2.60094713e-02,
  1.01953942e+00,-1.36820897e-03, 7.93503090e-01, 6.46077871e-02,
  9.48730483e-02,-7.00682831e-02, 1.21793449e-01, 9.99987649e-01,
 -5.17261886e-05,-8.96708888e-04, 4.88831295e-03]

qacc:
[ -1.18308988,  2.80533101,-12.28743774, 22.83215442,  9.26489861,
  -0.53036234,  1.85064941, -3.4326831 ,  1.58449212, -6.75086474,
  25.12248691,-39.38029146, -0.65575775,  0.50860838, -4.08372625,
  11.88699298,  0.74444792, -0.40668186,  0.17191757,  7.0194697 ,
  12.34961946, -0.86567039]

qfrc_actuator:
[ 2.77843354e-05, 3.07037966e-05, 1.33611814e-04, 5.83253537e-05,
  1.62786452e-05,-2.82163516e-04,-2.03853101e-04, 1.16852010e-04,
 -4.74049468e-05, 4.17205118e-04, 1.33985221e-04,-2.48282848e-05,
  3.03810309e-02,-1.22925393e-03, 1.30788621e-02,-3.60122297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022922533385789923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42168482e-13, -2.42168482e-13,  1.00000000e+00,  5.86455739e-26,
        1.00000000e+00,  2.42168482e-13, -1.00000000e+00,  0.00000000e+00,
        2.42168482e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181604, -0.06187847,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.83241775e-06,-9.54961471e-06,-3.40035474e-05, 2.68360662e-05,
  5.43351968e-05,-3.06167135e-05,-7.65413059e-06,-6.89049652e-06,
  8.95836755e-06,-1.03911156e-04, 5.08292063e-05,-4.07908383e-05,
 -2.10731700e-04,-6.48874436e-05,-9.31778954e-05, 3.06641680e-05,
  1.97122814e-06, 2.33050055e-06,-1.21641243e+00, 9.37717412e-05,
  1.44372024e-03, 1.37206481e-07]


--- Step 662 ---
qpos:
[ 3.04523279e-03,-3.32253127e-03, 1.18662634e-02, 4.17561711e-02,
 -2.18077261e-03,-1.94495286e-03,-1.73628809e-02, 2.86974530e-02,
  5.84797268e-03, 1.64735935e-02,-9.41570348e-03, 2.60082735e-02,
  1.02022655e+00,-1.36890706e-03, 7.94070349e-01, 6.46035335e-02,
  9.48665256e-02,-7.00698094e-02, 1.21796042e-01, 9.99987568e-01,
 -3.92817428e-05,-9.50900089e-04, 4.89474442e-03]

qacc:
[ -3.83960366, -1.50763986,  8.25911593,-20.95885255, -0.47746671,
   0.91877703,  0.5776799 ,-13.32634562,  4.0526336 , -4.24625783,
  12.64570225,-14.18639544, -0.29283871, -0.41294806, -4.72050966,
  14.66102118,  0.73699241, -0.40540615,  0.09326391,  6.94271   ,
  12.25271229, -0.83926666]

qfrc_actuator:
[ 5.46387507e-06, 1.59547858e-05, 1.26778869e-04, 1.97629615e-05,
  1.21178979e-05,-2.61178628e-04,-2.43184658e-04, 7.62191550e-05,
 -2.40563171e-05, 2.99725007e-04, 1.54071917e-04,-3.27267993e-05,
  3.03255226e-02,-1.25529781e-03, 1.30586393e-02,-3.53748520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022908482977986033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42317011e-13,  2.42317011e-13,  1.00000000e+00,  5.87175338e-26,
        1.00000000e+00, -2.42317011e-13, -1.00000000e+00,  0.00000000e+00,
       -2.42317011e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181583, -0.06187868,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25180057e-05,-2.59658413e-05,-1.20668333e-05,-3.96252460e-05,
 -2.62199227e-06, 1.97657908e-06,-4.68591446e-05,-4.23549119e-05,
  2.35712841e-05,-1.66862278e-04, 3.44957864e-06,-1.13891791e-05,
 -2.02095131e-04,-8.00804463e-05,-6.49247370e-05, 5.22376847e-05,
  9.40643209e-07, 1.59425963e-06,-1.21642439e+00, 9.39060492e-05,
  1.43974139e-03, 1.84018358e-08]


--- Step 663 ---
qpos:
[ 3.04511455e-03,-3.32274762e-03, 1.18665654e-02, 4.17549759e-02,
 -2.18126984e-03,-1.94420261e-03,-1.73636338e-02, 2.86985400e-02,
  5.84814081e-03, 1.64719839e-02,-9.41390656e-03, 2.60073030e-02,
  1.02091240e+00,-1.36961571e-03, 7.94636734e-01, 6.46026703e-02,
  9.48629265e-02,-7.00729532e-02, 1.21798745e-01, 9.99987516e-01,
 -1.31923329e-05,-9.80678197e-04, 4.89955000e-03]

qacc:
[-2.35948952e+00,-4.02839841e-01, 2.15942692e+00,-4.81097884e+00,
 -6.52436823e+00, 4.93387707e-01, 1.95634580e+00,-1.52612782e+01,
 -6.04488776e-01, 2.00523816e+00,-8.88853918e+00, 1.43063442e+01,
 -7.38808850e-01, 8.33772383e-01,-1.14832785e+01, 3.83911483e+01,
  7.30922210e-01,-4.04364926e-01, 2.75705303e-02, 6.88137273e+00,
  1.21730467e+01,-8.19013913e-01]

qfrc_actuator:
[-7.72624224e-06, 4.28063424e-05, 1.40383321e-04, 1.52464181e-05,
 -2.59507014e-05,-2.66750916e-04,-2.84050521e-04, 3.37992803e-05,
 -2.81694496e-05, 3.19366417e-04, 1.29148350e-04,-1.91845254e-05,
  3.02675430e-02,-1.25260228e-03, 1.30474343e-02,-3.35620472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002277005826510775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181543, -0.06187872,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38375910e-05, 8.14270436e-06, 5.38720369e-06,-6.81438530e-06,
 -3.81389950e-05,-1.59899598e-05,-4.77069671e-05,-4.47864659e-05,
 -3.49679212e-06,-7.34190229e-05,-5.93741236e-05, 6.28797612e-06,
 -2.02064398e-04,-5.21189174e-05,-4.17507710e-05, 1.74320552e-04,
  2.23872093e-07, 9.76980547e-07,-1.21643224e+00, 9.46737492e-05,
  1.43700408e-03,-8.92237067e-08]


--- Step 664 ---
qpos:
[ 3.04483901e-03,-3.32286975e-03, 1.18663708e-02, 4.17548052e-02,
 -2.18256373e-03,-1.94439935e-03,-1.73638572e-02, 2.86984663e-02,
  5.84860288e-03, 1.64705570e-02,-9.41306068e-03, 2.60064396e-02,
  1.02159674e+00,-1.36938809e-03, 7.95201838e-01, 6.46037638e-02,
  9.48622317e-02,-7.00777112e-02, 1.21801340e-01, 9.99987495e-01,
  2.64459179e-05,-9.86172632e-04, 4.90276139e-03]

qacc:
[-1.39747094e+00, 3.62755401e+00,-1.70698916e+01, 3.55165213e+01,
 -6.95494952e+00,-5.10378146e+00, 2.13077614e+01,-4.15703772e+01,
  2.53086790e+00, 3.11492540e+00,-1.12167687e+01, 1.44647335e+01,
 -1.84163721e+00, 3.76190252e+00,-7.67952909e+00, 2.43943427e+01,
  7.26037698e-01,-4.03558858e-01,-2.71683357e-02, 6.83304394e+00,
  1.21085186e+01,-8.03641459e-01]

qfrc_actuator:
[-1.54316629e-05, 4.12179021e-05, 1.12880612e-04, 6.63590979e-05,
 -6.59009983e-05,-3.59214408e-04,-2.72319841e-04,-2.70937574e-05,
 -1.29114724e-05, 3.67544756e-04, 9.61681636e-05,-1.08073556e-05,
  3.02028077e-02,-1.19743728e-03, 1.29617849e-02,-3.26687794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002253423861989512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.46341366e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.46341366e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181489, -0.06187861,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.09603343e-06, 3.78833331e-06,-2.53907227e-05, 5.15183119e-05,
 -4.10392505e-05,-1.13212648e-04, 1.00080452e-06,-6.41014589e-05,
  1.51308097e-05,-4.83435288e-06,-5.52412205e-05, 3.30074902e-06,
 -2.02444584e-04, 4.67816461e-06,-9.26858407e-05, 9.19785940e-05,
 -1.93242951e-07, 4.68380807e-07,-1.21643608e+00, 9.60718105e-05,
  1.43549868e-03,-1.86656617e-07]


--- Step 665 ---
qpos:
[ 3.04447314e-03,-3.32293509e-03, 1.18658949e-02, 4.17545478e-02,
 -2.18398185e-03,-1.94544863e-03,-1.73636301e-02, 2.86973121e-02,
  5.84958888e-03, 1.64693758e-02,-9.41275846e-03, 2.60056457e-02,
  1.02227966e+00,-1.36821122e-03, 7.95765882e-01, 6.46019659e-02,
  9.48644255e-02,-7.00840812e-02, 1.21803644e-01, 9.99987502e-01,
  7.95588151e-05,-9.67486025e-04, 4.90440256e-03]

qacc:
[ -0.80270602,  0.68424925, -1.9618062 ,  0.86525691, -1.06159295,
  -4.60450212, 19.34943127,-38.14344882,  4.5485455 ,  1.97830967,
  -6.89120151,  8.79795484, -1.99349346,  4.12229295,  7.28183871,
 -27.46623983,  0.72217099, -0.40298281, -0.0726631 ,  6.79574122,
  12.05733148, -0.79213678]

qfrc_actuator:
[-1.98503092e-05, 4.02571653e-05, 9.67547725e-05, 6.09749139e-05,
 -7.11230000e-05,-3.96292979e-04,-2.47757188e-04,-8.06562562e-05,
  1.36347600e-05, 3.96912930e-04, 7.66123248e-05,-5.49996844e-06,
  3.01394119e-02,-1.14723845e-03, 1.28741433e-02,-3.42792488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002222344270183113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49786462e-13, -2.49786462e-13,  1.00000000e+00,  6.23932765e-26,
        1.00000000e+00,  2.49786462e-13, -1.00000000e+00,  0.00000000e+00,
        2.49786462e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181424, -0.0618784 ,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64842167e-06,-1.87492141e-06,-1.66832890e-05,-5.09614775e-06,
 -6.42871799e-06,-1.02931654e-04,-9.09861279e-07,-5.96243240e-05,
  2.69765361e-05, 1.54458365e-05,-2.72357767e-05, 3.25573465e-06,
 -1.89813137e-04, 9.10484923e-06,-1.25269935e-04,-1.69067069e-04,
 -3.20501319e-07, 6.05560359e-08,-1.21643599e+00, 9.80976473e-05,
  1.43521759e-03,-2.74623173e-07]


--- Step 666 ---
qpos:
[ 3.04371211e-03,-3.32301495e-03, 1.18657590e-02, 4.17548846e-02,
 -2.18510734e-03,-1.94688112e-03,-1.73633828e-02, 2.86965299e-02,
  5.85054085e-03, 1.64680978e-02,-9.41261433e-03, 2.60052839e-02,
  1.02296152e+00,-1.36705448e-03, 7.96328843e-01, 6.45971855e-02,
  9.48694960e-02,-7.00920617e-02, 1.21805507e-01, 9.99987535e-01,
  1.46090845e-04,-9.24697303e-04, 4.90449134e-03]

qacc:
[ -3.45716903,  0.26143036, -3.4545474 , 13.18853015,  2.57406754,
   0.19719544, -3.01736338,  9.71362295, -0.29987775,  1.20405897,
  -6.30210755, 14.10333901, -0.81746082,  1.09766721,  7.44210982,
 -28.2702738 ,  0.7191809 , -0.40262792, -0.11037247,  6.76783361,
  12.01795108, -0.7836923 ]

qfrc_actuator:
[-4.00535853e-05, 5.74254191e-05, 1.22943671e-04, 9.34047065e-05,
 -5.58617736e-05,-3.82103620e-04,-2.33380763e-04,-5.84259354e-05,
  1.11011041e-05, 3.79353630e-04, 6.50841337e-05, 1.57129703e-05,
  3.00875179e-02,-1.15366472e-03, 1.28279390e-02,-3.57535694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021856229686320616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818135 , -0.0618781 ,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03346991e-05, 1.24635420e-05, 2.35778945e-05, 3.16750272e-05,
  1.50445723e-05,-4.60771954e-05,-9.04720440e-06, 1.66319907e-05,
 -1.75761228e-06,-1.43547524e-05,-1.15676812e-05, 2.09986377e-05,
 -1.70102864e-04,-4.37921610e-05,-1.27389142e-04,-1.74079804e-04,
 -1.64093695e-07,-2.52766505e-07,-1.21643204e+00, 1.00749122e-04,
  1.43615491e-03,-3.53638873e-07]


--- Step 667 ---
qpos:
[ 3.04236993e-03,-3.32315301e-03, 1.18659731e-02, 4.17556115e-02,
 -2.18638661e-03,-1.94810065e-03,-1.73635679e-02, 2.86963186e-02,
  5.85145490e-03, 1.64670779e-02,-9.41249155e-03, 2.60051236e-02,
  1.02364242e+00,-1.36650756e-03, 7.96890697e-01, 6.45938392e-02,
  9.48774344e-02,-7.01016520e-02, 1.21806803e-01, 9.99987587e-01,
  2.26002497e-04,-8.57864320e-04, 4.90304077e-03]

qacc:
[-5.08895864e+00,-2.40937723e-01,-8.81452791e-01, 7.09756879e+00,
 -1.36564699e+00, 2.66619622e+00,-1.15050158e+01, 2.19155184e+01,
 -3.35615608e-01, 8.16246256e-01,-3.26533066e+00, 6.59626903e+00,
 -2.16880529e-02,-9.73232068e-01,-5.97576868e+00, 1.84979290e+01,
  7.16948662e-01,-4.02483171e-01,-1.41540322e-01, 6.74797722e+00,
  1.19890671e+01,-7.77663214e-01]

qfrc_actuator:
[-6.93866825e-05, 5.00143950e-05, 1.38507317e-04, 1.12371391e-04,
 -6.41830615e-05,-3.37281825e-04,-2.42618590e-04,-2.72453777e-05,
  9.22054603e-06, 4.22645177e-04, 7.59570514e-05, 2.83261895e-05,
  3.00265654e-02,-1.19347636e-03, 1.28279404e-02,-3.48258819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002144789694900756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17637243e-13, -5.17637243e-13,  1.00000000e+00, -2.67948315e-25,
        1.00000000e+00,  5.17637243e-13, -1.00000000e+00,  0.00000000e+00,
       -5.17637243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181271, -0.06187774,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99098746e-05, 5.78456436e-06, 2.21415189e-05, 2.09337628e-05,
 -7.90884588e-06, 1.79556942e-05,-1.92791730e-05, 2.92203360e-05,
 -1.94032417e-06, 3.38224965e-05, 7.22462646e-06, 1.20100684e-05,
 -1.78023282e-04,-8.15813415e-05,-8.22096164e-05, 6.56792400e-05,
  2.72832853e-07,-4.76793140e-07,-1.21642426e+00, 1.04024531e-04,
  1.43830618e-03,-4.24047086e-07]


--- Step 668 ---
qpos:
[ 3.04068639e-03,-3.32328931e-03, 1.18664253e-02, 4.17558698e-02,
 -2.18810073e-03,-1.94871637e-03,-1.73646552e-02, 2.86964641e-02,
  5.85199399e-03, 1.64667332e-02,-9.41244527e-03, 2.60047194e-02,
  1.02432204e+00,-1.36577084e-03, 7.97451717e-01, 6.45902435e-02,
  9.48882342e-02,-7.01128526e-02, 1.21807430e-01, 9.99987649e-01,
  3.19268057e-04,-7.67026106e-04, 4.90006003e-03]

qacc:
[ -2.98901005, -1.62391182,  7.78038518,-16.28311959, -3.85234685,
   4.05844192,-14.80649366, 21.96163673, -3.28432769,  0.61023558,
   0.16028943, -4.77021165, -1.07701359,  1.68445954, -0.42146249,
  -0.17958775,  0.71537443, -0.40253647, -0.1672268 ,  6.73506311,
  11.96956098, -0.77353415]

qfrc_actuator:
[-8.61009672e-05, 4.56579224e-05, 1.47549964e-04, 8.77212185e-05,
 -8.63244878e-05,-2.92276074e-04,-2.83332992e-04,-8.79512844e-06,
 -1.00032925e-05, 4.84378503e-04, 8.24444979e-05, 1.80846721e-05,
  2.99602078e-02,-1.18171096e-03, 1.27864710e-02,-3.49745940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021010989400799263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64200558e-13, -5.28401116e-13,  1.00000000e+00, -1.39603870e-25,
        1.00000000e+00,  5.28401116e-13, -1.00000000e+00,  0.00000000e+00,
       -2.64200558e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181187, -0.06187733,  0.06199489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75658618e-05, 4.34307532e-06, 1.36890511e-05,-2.32289969e-05,
 -2.23610429e-05, 5.23608058e-05,-3.83520565e-05, 1.91252910e-05,
 -1.92715824e-05, 8.26921702e-05, 1.47912374e-05,-8.30574557e-06,
 -1.95659035e-04,-3.82520205e-05,-7.72524576e-05,-2.30312598e-05,
  9.89749196e-07,-6.16093502e-07,-1.21641268e+00, 1.07922591e-04,
  1.44166820e-03,-4.86049330e-07]


--- Step 669 ---
qpos:
[ 3.03916032e-03,-3.32357344e-03, 1.18676237e-02, 4.17558147e-02,
 -2.18937671e-03,-1.94931043e-03,-1.73660261e-02, 2.86968618e-02,
  5.85229866e-03, 1.64667397e-02,-9.41220982e-03, 2.60042184e-02,
  1.02500017e+00,-1.36398411e-03, 7.98011589e-01, 6.45878237e-02,
  9.48992897e-02,-7.01195315e-02, 1.21808133e-01, 9.99987707e-01,
  3.74784137e-04,-6.73900031e-04, 4.89815901e-03]

qacc:
[ 1.40803742e+00,-2.93029669e+00, 1.14804531e+01,-1.79794990e+01,
  3.83361440e+00, 1.33208301e+00,-5.78646929e+00, 1.06031173e+01,
 -2.04473436e+00,-2.59430484e-01, 2.01392785e+00,-4.25591485e+00,
 -1.97382077e+00, 4.11945738e+00,-5.11629212e+00, 1.57354884e+01,
  6.39166189e-02, 1.13040807e+00, 1.88470033e-02,-1.88684871e+01,
  1.23657386e+00, 5.53973125e-01]

qfrc_actuator:
[-7.74986819e-05, 4.30975013e-05, 1.88157022e-04, 7.31090745e-05,
 -6.31575192e-05,-3.18646519e-04,-3.06785453e-04, 2.00281788e-06,
 -2.15282607e-05, 4.85646049e-04, 8.63643574e-05, 1.22478749e-05,
  2.98959959e-02,-1.12180239e-03, 1.27414378e-02,-3.43378373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020738120218667666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85164328e-13,  5.35353741e-13,  1.00000000e+00,  2.59734538e-25,
        1.00000000e+00, -5.35353741e-13, -1.00000000e+00,  0.00000000e+00,
       -4.85164328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489711, -0.09313769,  0.06199496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.10381883e-06, 1.69901110e-06, 4.23845599e-05,-1.44048308e-05,
  2.25485839e-05,-4.16552113e-06,-1.66790051e-05, 1.20914893e-05,
 -1.20499034e-05, 5.02167333e-05, 2.25412533e-05,-1.94046193e-06,
 -1.95462124e-04, 1.32033880e-05,-8.94541557e-05, 5.09790082e-05,
  1.98842453e-06,-6.74928865e-07,-1.21639732e+00, 1.12442410e-04,
  1.44623885e-03,-5.39729001e-07]


--- Step 670 ---
qpos:
[ 3.03843898e-03,-3.32396891e-03, 1.18690693e-02, 4.17552695e-02,
 -2.18967545e-03,-1.95000271e-03,-1.73670309e-02, 2.86970112e-02,
  5.85246314e-03, 1.64665650e-02,-9.41194786e-03, 2.60040777e-02,
  1.02567699e+00,-1.36175658e-03, 7.98570401e-01, 6.45864747e-02,
  9.49105974e-02,-7.01217298e-02, 1.21808573e-01, 9.99987764e-01,
  3.92887745e-04,-5.78454027e-04, 4.89725786e-03]

qacc:
[  7.0728434 , -1.86225186,  8.46957409,-17.23704651,  8.58394388,
  -1.6796626 ,  6.82027508,-11.5981819 , -1.21866279,  0.43028149,
  -3.39880879,  9.72035623, -1.26524804,  2.26711194, -4.72350928,
  14.4244086 ,  0.06304585,  1.12014622, -0.06569722,-18.69998709,
   1.25176373,  0.51210001]

qfrc_actuator:
[-3.63161028e-05, 2.40109674e-05, 1.93841499e-04, 4.67991382e-05,
 -1.35045678e-05,-3.16491524e-04,-2.84633125e-04,-9.58148115e-06,
 -2.84244562e-05, 4.32935256e-04, 7.07559599e-05, 2.67568396e-05,
  2.98278114e-02,-1.10495458e-03, 1.26996502e-02,-3.37756330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020921990993963413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49244986e-13,  2.65324420e-13,  1.00000000e+00,  3.95983394e-26,
        1.00000000e+00, -2.65324420e-13, -1.00000000e+00,  0.00000000e+00,
       -1.49244986e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489694, -0.09313727,  0.06199492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14125705e-05,-9.99471979e-06, 1.07480655e-05,-2.50528871e-05,
  5.02944232e-05,-3.05663488e-06, 1.96770366e-05,-1.21020309e-05,
 -7.22474419e-06,-2.00613543e-05,-2.52706345e-06, 1.74042898e-05,
 -1.88310404e-04,-2.14500249e-05,-8.27991686e-05, 4.62691655e-05,
  1.59774112e-06,-3.62509725e-07,-1.21641041e+00, 1.15251664e-04,
  1.45070875e-03,-8.83368582e-07]


--- Step 671 ---
qpos:
[ 3.03856187e-03,-3.32443540e-03, 1.18702857e-02, 4.17547872e-02,
 -2.18972152e-03,-1.95071984e-03,-1.73677850e-02, 2.86970190e-02,
  5.85254408e-03, 1.64655216e-02,-9.41121864e-03, 2.60041716e-02,
  1.02635266e+00,-1.35959239e-03, 7.99127661e-01, 6.45855590e-02,
  9.49221552e-02,-7.01194810e-02, 1.21808467e-01, 9.99987823e-01,
  3.73853683e-04,-4.80658872e-04, 4.89728730e-03]

qacc:
[  7.40436103,  0.66234274, -2.78784483,  4.3216214 ,  2.22416582,
  -1.0286598 ,  4.21089606, -7.0363853 , -0.69895995, -1.96962636,
   4.36857188, -0.41738015, -0.70157795,  0.76768885, -3.56430585,
   9.21888949,  0.06253539,  1.11177649, -0.13662536,-18.56258707,
   1.2656809 ,  0.47556707]

qfrc_actuator:
[ 5.95178494e-06, 1.27840393e-05, 1.78773027e-04, 4.92779735e-05,
 -1.93227919e-06,-3.14862690e-04,-2.71159472e-04,-1.64428575e-05,
 -3.25438417e-05, 3.48229543e-04, 7.90228612e-05, 3.53023593e-05,
  2.97626052e-02,-1.11375401e-03, 1.26065856e-02,-3.36168648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002095916193724373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81407235e-13,  2.64853869e-13,  1.00000000e+00,  7.45317950e-26,
        1.00000000e+00, -2.64853869e-13, -1.00000000e+00,  0.00000000e+00,
       -2.81407235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489678, -0.09313726,  0.06199491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34444313e-05,-1.56537080e-05,-1.66880060e-05, 1.93222143e-06,
  1.30045944e-05, 3.51948858e-06, 1.48649269e-05,-6.54567688e-06,
 -4.33441454e-06,-9.56987192e-05, 4.41365024e-06, 7.93753500e-06,
 -1.88150228e-04,-5.12799949e-05,-1.31688311e-04, 6.47317305e-06,
  1.41046481e-06,-4.82487267e-08,-1.21641625e+00, 1.16212993e-04,
  1.45535002e-03,-1.13268469e-06]


--- Step 672 ---
qpos:
[ 3.03919084e-03,-3.32505170e-03, 1.18712853e-02, 4.17553838e-02,
 -2.18962813e-03,-1.95139375e-03,-1.73683516e-02, 2.86962494e-02,
  5.85257446e-03, 1.64641898e-02,-9.41030567e-03, 2.60043126e-02,
  1.02702716e+00,-1.35751885e-03, 7.99683869e-01, 6.45863515e-02,
  9.49339623e-02,-7.01128121e-02, 1.21807576e-01, 9.99987881e-01,
  3.17902901e-04,-3.80487212e-04, 4.89818636e-03]

qacc:
[  4.43857323,  2.6229386 ,-14.20478606, 33.34406953,  1.2279292 ,
  -2.06758564, 10.73375284,-24.51361463, -0.4303996 , -0.79691403,
   2.09079447, -1.35812194, -0.64262016,  0.624787  , -6.67743478,
  21.17612901,  0.06231607,  1.10503468, -0.19606711,-18.45210663,
   1.2787963 ,  0.44323674]

qfrc_actuator:
[ 3.07568191e-05, 6.27709215e-06, 1.69382991e-04, 1.04178360e-04,
  4.87792912e-06,-3.13583618e-04,-2.62924039e-04,-5.59830568e-05,
 -3.49977362e-05, 3.69355204e-04, 1.01163588e-04, 4.02513361e-05,
  2.97045460e-02,-1.11986135e-03, 1.25946788e-02,-3.26329101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020879305991748642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66166776e-14,  5.31733682e-13,  1.00000000e+00,  8.83564713e-27,
        1.00000000e+00, -5.31733682e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66166776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489664, -0.09313756,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60379031e-05,-1.86062049e-05,-1.46215171e-05, 5.36875798e-05,
  7.18181080e-06, 6.07650342e-06, 1.05837046e-05,-3.89996823e-05,
 -2.61457674e-06,-3.11099993e-05, 3.19484400e-06, 1.15576170e-06,
 -1.87721301e-04,-5.32180950e-05,-7.49141762e-05, 8.10674487e-05,
  1.40495429e-06, 2.66139245e-07,-1.21641503e+00, 1.15340275e-04,
  1.46015794e-03,-1.28877850e-06]


--- Step 673 ---
qpos:
[ 3.03976763e-03,-3.32569599e-03, 1.18718544e-02, 4.17562874e-02,
 -2.18945382e-03,-1.95193175e-03,-1.73685624e-02, 2.86946430e-02,
  5.85257449e-03, 1.64634005e-02,-9.41011569e-03, 2.60048118e-02,
  1.02770046e+00,-1.35524624e-03, 8.00239263e-01, 6.45849891e-02,
  9.49460187e-02,-7.01017444e-02, 1.21805702e-01, 9.99987931e-01,
  2.25209540e-04,-2.77912823e-04, 4.89990060e-03]

qacc:
[ -0.47095746,  1.80007118, -7.76435869, 13.78121042,  0.71794678,
  -2.53680414, 12.83747232,-27.98569902, -0.29620511,  3.47560369,
 -12.86330048, 19.81721152, -1.1052845 ,  1.78487506,  5.36216766,
 -20.36641331,  0.06233274,  1.09969573, -0.24583504,-18.36502627,
   1.2914639 ,  0.41420834]

qfrc_actuator:
[ 2.73319636e-05, 2.70932612e-06, 1.45726496e-04, 1.18479953e-04,
  8.84300972e-06,-2.94819914e-04,-2.40115990e-04,-9.66855730e-05,
 -3.64518793e-05, 4.35994286e-04, 7.84673226e-05, 6.08886777e-05,
  2.96508169e-02,-1.10654814e-03, 1.25302874e-02,-3.38312195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020707152941731866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84832002e-13, -2.68077178e-13,  1.00000000e+00, -7.63569591e-26,
        1.00000000e+00,  2.68077178e-13, -1.00000000e+00,  0.00000000e+00,
       -2.84832002e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489651, -0.09313813,  0.06199497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69055580e-06,-1.46763872e-05,-2.74503379e-05, 1.40403562e-05,
  4.17311918e-06, 2.27118244e-05, 2.40334478e-05,-4.08306942e-05,
 -1.54337723e-06, 4.99880661e-05,-2.86842397e-05, 1.94379185e-05,
 -1.82911743e-04,-3.43466266e-05,-9.55793731e-05,-1.26306193e-04,
  1.56420922e-06, 5.82205784e-07,-1.21640687e+00, 1.12644647e-04,
  1.46512875e-03,-1.35259453e-06]


--- Step 674 ---
qpos:
[ 3.03995396e-03,-3.32612620e-03, 1.18723183e-02, 4.17566107e-02,
 -2.18957809e-03,-1.95240502e-03,-1.73687859e-02, 2.86932867e-02,
  5.85290169e-03, 1.64632760e-02,-9.41004598e-03, 2.60051502e-02,
  1.02837259e+00,-1.35281002e-03, 8.00792811e-01, 6.45813491e-02,
  9.49583253e-02,-7.00862944e-02, 1.21802678e-01, 9.99987964e-01,
  9.59068653e-05,-1.72910059e-04, 4.90238066e-03]

qacc:
[ -3.43462101, -0.61174562,  5.05043507,-15.08984335, -2.62004029,
   0.64050482, -3.20687538,  7.49789918,  2.8383117 ,  0.87810414,
  -1.18659214, -1.88384878, -1.03106359,  1.61054212,  4.20152574,
 -18.53759531,  0.06254132,  1.09556801, -0.28747267,-18.29837844,
   1.30394769,  0.38776846]

qfrc_actuator:
[ 7.32501374e-06, 3.63484459e-05, 1.49315854e-04, 9.10100863e-05,
 -6.64884298e-06,-3.01180669e-04,-2.44313035e-04,-8.44571720e-05,
 -1.95535444e-05, 4.93720554e-04, 8.29599973e-05, 5.51038471e-05,
  2.95890792e-02,-1.09958871e-03, 1.24077929e-02,-3.50644051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020463248799297562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71272425e-13,  8.13817275e-13,  1.00000000e+00,  2.20766186e-25,
        1.00000000e+00, -8.13817275e-13, -1.00000000e+00,  0.00000000e+00,
       -2.71272425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948964 , -0.09313889,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00869029e-05, 2.03754097e-05,-2.33889958e-06,-2.87769349e-05,
 -1.53642390e-05, 9.58115292e-06, 2.05406501e-06, 1.32437709e-05,
  1.68696739e-05, 8.06124765e-05, 1.19638521e-05,-4.25655112e-06,
 -1.84374372e-04,-3.63522071e-05,-1.86273037e-04,-1.44006752e-04,
  1.87471220e-06, 9.04626983e-07,-1.21639189e+00, 1.08134867e-04,
  1.47025947e-03,-1.32494796e-06]


--- Step 675 ---
qpos:
[ 3.04024395e-03,-3.32643099e-03, 1.18733915e-02, 4.17562179e-02,
 -2.18954203e-03,-1.95289338e-03,-1.73690460e-02, 2.86927903e-02,
  5.85308363e-03, 1.64641971e-02,-9.40984694e-03, 2.60050035e-02,
  1.02904381e+00,-1.35144674e-03, 8.01344413e-01, 6.45817499e-02,
  9.49708835e-02,-7.00664745e-02, 1.21798365e-01, 9.99987963e-01,
 -6.99077225e-05,-6.54534390e-05, 4.90558120e-03]

qacc:
[ 9.26465997e-01,-3.01587639e+00, 1.40104826e+01,-2.74635019e+01,
  1.40587581e+00, 1.84825210e+00,-1.02555768e+01, 2.52134995e+01,
 -1.28099631e+00, 2.45007508e-02, 3.96991668e+00,-1.33453440e+01,
  5.96018796e-01,-2.56919178e+00,-1.51233254e+01, 4.86014194e+01,
  6.29066098e-02, 1.09248837e+00,-3.22294700e-01,-1.82496581e+01,
  1.31644270e+00, 3.63351662e-01]

qfrc_actuator:
[ 1.32332227e-05, 5.65755504e-05, 1.86852362e-04, 5.69943104e-05,
  2.03753372e-06,-3.04846661e-04,-2.46734231e-04,-4.12223845e-05,
 -2.74943553e-05, 5.81265150e-04, 1.03452510e-04, 3.38414627e-05,
  2.95279043e-02,-1.16749623e-03, 1.23837034e-02,-3.27581431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020164601883139455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12935139e-13,  2.75290093e-13,  1.00000000e+00,  1.13676953e-25,
        1.00000000e+00, -2.75290093e-13, -1.00000000e+00,  0.00000000e+00,
       -4.12935139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489629, -0.0931398 ,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.34530936e-06, 2.99071042e-05, 4.04607835e-05,-3.37841043e-05,
  8.25112069e-06, 2.70111623e-06, 2.80937588e-07, 4.39794475e-05,
 -7.42968571e-06, 1.34922329e-04, 3.84699899e-05,-1.74779468e-05,
 -1.85938772e-04,-1.11484791e-04,-1.26835509e-04, 1.98389370e-04,
  2.32556710e-06, 1.24111402e-06,-1.21637015e+00, 1.01817622e-04,
  1.47554763e-03,-1.20654649e-06]


--- Step 676 ---
qpos:
[ 3.04094731e-03,-3.32661908e-03, 1.18746473e-02, 4.17554509e-02,
 -2.18940227e-03,-1.95341002e-03,-1.73693290e-02, 2.86931621e-02,
  5.85316932e-03, 1.64660401e-02,-9.40966228e-03, 2.60046283e-02,
  1.02971407e+00,-1.35116665e-03, 8.01894960e-01, 6.45860657e-02,
  9.49864718e-02,-7.00483084e-02, 1.21795028e-01, 9.99987933e-01,
 -2.21793708e-04, 6.71380991e-05, 4.90718691e-03]

qacc:
[  3.63200328, -1.13428107,  5.83386629,-12.67200499,  0.90977189,
   1.80996244,-10.17704169, 25.26175991, -0.85579469,  0.78985552,
  -0.08034967, -4.53413863,  0.51537638, -2.45163743,-13.42393188,
  44.57924744,  0.7575141 , -0.41346223,  0.24385383,  7.0258146 ,
  12.53319873, -0.79691172]

qfrc_actuator:
[ 3.43525917e-05, 5.10058454e-05, 1.90826706e-04, 3.71716549e-05,
  7.13873206e-06,-3.06841851e-04,-2.48060900e-04, 2.15367969e-06,
 -3.22444631e-05, 6.15043518e-04, 9.78381808e-05, 2.14337031e-05,
  2.94724092e-02,-1.22589492e-03, 1.23708003e-02,-3.06901287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020267947679132592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73886395e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.73886395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180938, -0.06187734,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12817734e-05, 1.80648679e-05, 1.39576078e-05,-1.78002789e-05,
  5.33550048e-06, 1.48284173e-06, 7.97161558e-07, 4.43599001e-05,
 -4.91373227e-06, 1.16387887e-04, 2.63770891e-05,-5.63664101e-06,
 -1.96190186e-04,-1.15187881e-04,-5.12388934e-05, 2.01034638e-04,
  2.90785797e-06, 1.60236437e-06,-1.21634170e+00, 9.36977840e-05,
  1.48099120e-03,-9.98007895e-07]


--- Step 677 ---
qpos:
[ 3.04189855e-03,-3.32677226e-03, 1.18754276e-02, 4.17548547e-02,
 -2.18885735e-03,-1.95407879e-03,-1.73695301e-02, 2.86937144e-02,
  5.85285316e-03, 1.64680884e-02,-9.40922291e-03, 2.60045272e-02,
  1.03038326e+00,-1.35161587e-03, 8.02444697e-01, 6.45898756e-02,
  9.49993523e-02,-7.00339668e-02, 1.21793576e-01, 9.99987872e-01,
 -3.41915094e-04, 1.76083222e-04, 4.90992615e-03]

qacc:
[  2.16019109,  1.72304554, -6.80369042, 10.50007554,  3.55867417,
  -0.0652047 , -0.83360496,  3.95222303, -3.50024773,  0.13054415,
  -1.21729492,  5.39020461, -0.07783419, -1.00918924,  0.31684658,
  -2.88229764, -0.6769201 , -0.95611954,  0.47155272, 15.82404847,
 -11.90112736,  0.56527966]

qfrc_actuator:
[ 4.64948367e-05, 2.99166058e-05, 1.57094273e-04, 4.35620085e-05,
  2.78339616e-05,-3.25567974e-04,-2.48730009e-04, 9.75711351e-06,
 -5.28236832e-05, 5.80762266e-04, 9.44043403e-05, 3.20288866e-05,
  2.94203609e-02,-1.26039626e-03, 1.23006894e-02,-3.10878101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000212847592767601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.21604689e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.21604689e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899457, -0.05163577,  0.06199483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27543478e-05,-8.86779332e-06,-2.89102240e-05, 7.29894240e-06,
  2.08459587e-05,-1.58080816e-05, 1.27860756e-06, 8.55861753e-06,
 -2.06743370e-05, 3.59410591e-05, 2.36389539e-05, 1.63824084e-05,
 -1.99305857e-04,-9.44450813e-05,-7.74175876e-05,-3.66100194e-05,
  3.09955514e-06, 2.35483234e-06,-1.21633770e+00, 8.61380890e-05,
  1.48739689e-03,-6.42603013e-07]


--- Step 678 ---
qpos:
[ 3.04298821e-03,-3.32702765e-03, 1.18758563e-02, 4.17543495e-02,
 -2.18772392e-03,-1.95456241e-03,-1.73698329e-02, 2.86936323e-02,
  5.85194822e-03, 1.64700569e-02,-9.40834648e-03, 2.60045791e-02,
  1.03105126e+00,-1.35247532e-03, 8.02993965e-01, 6.45911184e-02,
  9.50096346e-02,-7.00239321e-02, 1.21793165e-01, 9.99987802e-01,
 -4.26261839e-04, 2.62285921e-04, 4.91385635e-03]

qacc:
[  1.20580832,  1.03321693, -4.2677784 ,  6.48474829,  5.1548663 ,
  -0.78609473,  5.81924356,-16.75223722, -5.12003973, -1.00208634,
   2.79131232, -0.80216572, -0.56151263,  0.17098786,  7.07042199,
 -25.70682744, -0.6495933 , -1.07671373,  0.26006804, 17.83116525,
 -11.45910185,  0.5947565 ]

qfrc_actuator:
[ 5.32509706e-05, 1.73033875e-05, 1.36827919e-04, 4.75322671e-05,
  5.75426740e-05,-3.00939600e-04,-2.49100106e-04,-2.15153174e-05,
 -8.25562702e-05, 5.59251016e-04, 1.09768093e-04, 3.82619825e-05,
  2.93597730e-02,-1.28047978e-03, 1.22761566e-02,-3.24037811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022171755015742544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98891452e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98891452e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10875423, -0.04885033,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.11697923e-06,-2.32317770e-05,-2.54137833e-05, 2.73131734e-06,
  3.02970127e-05, 1.64521095e-05,-3.17355803e-06,-3.17392397e-05,
 -3.03073854e-05, 4.08492041e-06, 2.62380024e-05, 8.90555662e-06,
 -2.05971421e-04,-7.70076267e-05,-7.02749161e-05,-1.45036251e-04,
  2.52783716e-06, 1.15061517e-06,-1.21637379e+00, 8.03099176e-05,
  1.49288863e-03, 1.96860371e-07]


--- Step 679 ---
qpos:
[ 3.04380560e-03,-3.32744134e-03, 1.18760278e-02, 4.17542420e-02,
 -2.18693282e-03,-1.95479501e-03,-1.73710541e-02, 2.86935700e-02,
  5.85138355e-03, 1.64720313e-02,-9.40696028e-03, 2.60039987e-02,
  1.03171782e+00,-1.35295656e-03, 8.03542967e-01, 6.45903185e-02,
  9.50174343e-02,-7.00187224e-02, 1.21792926e-01, 9.99987737e-01,
 -4.70513300e-04, 3.26663703e-04, 4.91902273e-03]

qacc:
[ -2.39503693,  1.33460465, -6.73112885, 14.13068401, -3.03564745,
   2.94336943,-10.08664587, 11.69819845,  2.98307218, -2.72415355,
  12.38371074,-24.13357673, -1.46014728,  2.52027447,  5.85547102,
 -20.86095437, -0.62062653, -1.20627533,  0.04308984, 19.99361459,
 -11.01110128,  0.61867868]

qfrc_actuator:
[ 3.90330965e-05, 9.89894219e-06, 1.24707559e-04, 6.78144923e-05,
  3.90561487e-05,-3.03832845e-04,-3.02397970e-04,-2.21127473e-05,
 -6.41753207e-05, 5.63357381e-04, 1.36126165e-04, 6.38405563e-06,
  2.92941109e-02,-1.25643472e-03, 1.22842949e-02,-3.33604588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022849078964916336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42946997e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.42946997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10848752, -0.04575277,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40218947e-05,-2.55236054e-05,-1.99569415e-05, 1.84610864e-05,
 -1.76157000e-05, 4.32293511e-06,-5.13805469e-05,-6.19194748e-07,
  1.75193365e-05, 1.20970559e-05, 3.07086874e-05,-3.06270716e-05,
 -2.11601852e-04,-3.14093287e-05,-4.74385920e-05,-1.14465384e-04,
  1.91554729e-06, 2.20101501e-07,-1.21640336e+00, 7.62118973e-05,
  1.49719386e-03, 8.45957798e-07]


--- Step 680 ---
qpos:
[ 3.04444643e-03,-3.32816876e-03, 1.18760926e-02, 4.17547333e-02,
 -2.18636914e-03,-1.95489577e-03,-1.73726450e-02, 2.86938239e-02,
  5.85104356e-03, 1.64739571e-02,-9.40551437e-03, 2.60034247e-02,
  1.03238311e+00,-1.35320134e-03, 8.04091079e-01, 6.45900440e-02,
  9.50227798e-02,-7.00182804e-02, 1.21792380e-01, 9.99987689e-01,
 -4.75184259e-04, 3.69524781e-04, 4.92545100e-03]

qacc:
[ -1.54735433,  1.12052711, -7.1169831 , 17.8718459 , -2.00819898,
   1.86075043, -7.71059868, 13.66905069,  1.96236939, -0.22197798,
   0.66487153, -0.60784192, -1.08486803,  1.72784666, -2.83940394,
   8.16589156, -0.6135459 , -1.19191197, -0.07673983, 19.73688541,
 -10.85586861,  0.63229803]

qfrc_actuator:
[ 3.03387797e-05,-1.20359098e-05, 1.17521170e-04, 9.75408330e-05,
  2.78532020e-05,-2.87873733e-04,-3.15584470e-04,-4.70545674e-06,
 -5.31250343e-05, 5.47275261e-04, 1.33328046e-04, 5.62141236e-06,
  2.92414464e-02,-1.24204211e-03, 1.22534508e-02,-3.30313785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023263215623761657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.38622004e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.38622004e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10848678, -0.04575398,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.10141589e-06,-3.95333430e-05,-1.42748423e-05, 2.83030321e-05,
 -1.17014843e-05, 7.75385725e-06,-1.86261612e-05, 1.58068122e-05,
  1.15642886e-05,-4.36865606e-06, 2.38410282e-06, 2.15220597e-07,
 -1.92120941e-04,-3.49046909e-05,-7.38187440e-05, 1.84648174e-05,
  1.19413325e-06,-4.06048268e-07,-1.21642461e+00, 7.40570172e-05,
  1.50034176e-03, 1.27897540e-06]


--- Step 681 ---
qpos:
[ 3.04497795e-03,-3.32916159e-03, 1.18760779e-02, 4.17552237e-02,
 -2.18559946e-03,-1.95487131e-03,-1.73738638e-02, 2.86942329e-02,
  5.85083926e-03, 1.64756042e-02,-9.40455662e-03, 2.60032598e-02,
  1.03304709e+00,-1.35296599e-03, 8.04638354e-01, 6.45891419e-02,
  9.50256948e-02,-7.00225587e-02, 1.21791124e-01, 9.99987658e-01,
 -4.40697419e-04, 3.91122828e-04, 4.93316201e-03]

qacc:
[ -0.95746748, -0.12881624, -0.04235975,  0.3447151 ,  1.81639621,
  -0.55837645,  1.57005475,  0.43436553,  1.17325436,  1.83606088,
  -8.81239274, 16.88325172, -1.38984765,  2.5243731 ,  0.73992961,
  -4.1927886 , -0.60762875, -1.18006609, -0.17748887, 19.52606083,
 -10.72812709,  0.64349672]

qfrc_actuator:
[ 2.49717894e-05,-2.47176093e-05, 1.13247381e-04, 9.70682181e-05,
  3.87950429e-05,-2.60584432e-04,-2.87132990e-04, 5.44763277e-06,
 -4.64936797e-05, 5.01379591e-04, 9.55297163e-05, 2.31422795e-05,
  2.91806403e-02,-1.21569788e-03, 1.22099346e-02,-3.33685633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023457223670377003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36648429e-13, -2.36648429e-13,  1.00000000e+00, -5.60024788e-26,
        1.00000000e+00,  2.36648429e-13, -1.00000000e+00,  0.00000000e+00,
       -2.36648429e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10848641, -0.04575452,  0.0619943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63848309e-06,-3.65056563e-05,-1.32120309e-05,-2.10839705e-06,
  1.06110826e-05, 2.84730167e-05, 2.83253874e-05, 1.01522338e-05,
  6.96867976e-06,-4.79193583e-05,-3.84386001e-05, 1.74135413e-05,
 -1.88779316e-04,-1.93561705e-05,-8.15907755e-05,-4.36314250e-05,
  3.64912773e-07,-6.59160454e-07,-1.21643532e+00, 7.38177067e-05,
  1.50235081e-03, 1.46938938e-06]


--- Step 682 ---
qpos:
[ 3.04509601e-03,-3.33042844e-03, 1.18763078e-02, 4.17553378e-02,
 -2.18504950e-03,-1.95486580e-03,-1.73749373e-02, 2.86947943e-02,
  5.85106100e-03, 1.64771047e-02,-9.40381634e-03, 2.60029256e-02,
  1.03370983e+00,-1.35265467e-03, 8.05183718e-01, 6.45906161e-02,
  9.50261989e-02,-7.00315185e-02, 1.21788820e-01, 9.99987643e-01,
 -3.67396579e-04, 3.91665073e-04, 4.94217270e-03]

qacc:
[ -3.61701216, -1.81400623,  7.54119496,-14.25256988, -1.92208486,
  -0.11346188, -0.26905738,  2.68240883,  3.71128566,  0.0580598 ,
   0.21406388, -2.67556985, -0.79501685,  1.02884212, -9.94948808,
  30.80868474, -0.60272508, -1.17038336, -0.26212161, 19.3545735 ,
 -10.62379871,  0.65275176]

qfrc_actuator:
[ 3.85194490e-06,-3.17702529e-05, 1.28489249e-04, 7.88364323e-05,
  2.71760392e-05,-2.79801038e-04,-2.87550469e-04, 1.12828364e-05,
 -2.47619355e-05, 5.08855765e-04, 9.05131450e-05, 1.57226141e-05,
  2.91096729e-02,-1.21802618e-03, 1.21162361e-02,-3.21432894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023474224279017297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36477042e-13, -4.72954084e-13,  1.00000000e+00, -1.11842783e-25,
        1.00000000e+00,  4.72954084e-13, -1.00000000e+00,  0.00000000e+00,
       -2.36477042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10848632, -0.04575453,  0.0619943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12895006e-05,-3.02545754e-05, 6.01158615e-06,-2.02924560e-05,
 -1.13081571e-05, 3.00747213e-06, 9.31682846e-06, 8.23440361e-06,
  2.19217710e-05,-2.65830887e-05,-1.90775637e-05,-1.04701066e-05,
 -1.93668881e-04,-4.46863472e-05,-1.42204585e-04, 1.08169073e-04,
 -5.78627146e-07,-5.43498067e-07,-1.21643587e+00, 7.54727864e-05,
  1.50323290e-03, 1.42321981e-06]


--- Step 683 ---
qpos:
[ 3.04530492e-03,-3.33187298e-03, 1.18766764e-02, 4.17552273e-02,
 -2.18533298e-03,-1.95465617e-03,-1.73761157e-02, 2.86961010e-02,
  5.85154163e-03, 1.64784337e-02,-9.40290936e-03, 2.60028263e-02,
  1.03437139e+00,-1.35261657e-03, 8.05727250e-01, 6.45948479e-02,
  9.50242133e-02,-7.00445934e-02, 1.21785669e-01, 9.99987634e-01,
 -2.60064718e-04, 3.70712411e-04, 4.95249070e-03]

qacc:
[ 8.04747140e-01,-1.08787783e+00, 4.48299731e+00,-8.45890582e+00,
 -7.31602317e+00, 2.10955484e+00,-1.02531253e+01, 2.31418976e+01,
  2.26626452e+00,-2.13426548e-01,-5.66922752e-01, 4.49936078e+00,
 -4.12097810e-01,-2.85544104e-03,-1.10111509e+01, 3.46268375e+01,
 -6.22425937e-01,-1.02876378e+00,-2.11782712e-01, 1.69619297e+01,
 -1.08316553e+01, 6.56342323e-01]

qfrc_actuator:
[ 9.13352572e-06,-3.53306826e-05, 1.37395786e-04, 6.80774230e-05,
 -1.53887775e-05,-2.55816572e-04,-2.87458694e-04, 4.99731813e-05,
 -1.20672007e-05, 5.12829326e-04, 1.05090203e-04, 2.92587174e-05,
  2.90433006e-02,-1.23734591e-03, 1.20404870e-02,-3.07181745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023353662849614354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37697836e-13, -8.06846289e-08,  1.00000000e+00, -1.91785617e-20,
        1.00000000e+00,  8.06846289e-08, -1.00000000e+00,  0.00000000e+00,
       -2.37697836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10875214, -0.04885322,  0.06199433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.66899852e-06,-2.00712058e-05, 2.70819691e-06,-1.22390568e-05,
 -4.28868321e-05, 2.79507550e-05, 2.15728434e-06, 3.93034634e-05,
  1.33204984e-05,-1.53351755e-05, 6.34775675e-06, 1.15279123e-05,
 -1.97804854e-04,-6.67989245e-05,-1.31174679e-04, 1.29756155e-04,
 -1.64329895e-06,-6.63716078e-08,-1.21642658e+00, 7.90050270e-05,
  1.50299772e-03, 1.14512578e-06]


--- Step 684 ---
qpos:
[ 3.04557518e-03,-3.33318093e-03, 1.18767454e-02, 4.17546331e-02,
 -2.18646946e-03,-1.95424900e-03,-1.73773272e-02, 2.86985473e-02,
  5.85217077e-03, 1.64799323e-02,-9.40225007e-03, 2.60025287e-02,
  1.03503155e+00,-1.35191610e-03, 8.06269653e-01, 6.45973697e-02,
  9.50196662e-02,-7.00612689e-02, 1.21781852e-01, 9.99987617e-01,
 -1.23032462e-04, 3.27858692e-04, 4.96409607e-03]

qacc:
[ 5.26522846e-01, 2.07015469e-02, 2.22632220e+00,-1.02128101e+01,
 -7.48484059e+00, 2.71144641e+00,-1.40762619e+01, 3.36779282e+01,
  1.28449449e+00, 5.05713821e-01,-6.45392087e-01,-2.50978831e+00,
 -1.66068808e+00, 3.16769757e+00, 3.59297277e+00,-1.47596467e+01,
 -6.40381954e-01,-9.00163198e-01,-1.66446317e-01, 1.47955423e+01,
 -1.10241047e+01, 6.46353447e-01]

qfrc_actuator:
[ 1.21643996e-05,-1.90298846e-05, 1.24756271e-04, 4.40484147e-05,
 -5.80668368e-05,-2.41632211e-04,-2.86869346e-04, 1.07722794e-04,
 -4.79794902e-06, 5.32537310e-04, 9.56209894e-05, 1.95265916e-05,
  2.89850502e-02,-1.19553116e-03, 1.19702436e-02,-3.16718411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002321824494700142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.39084183e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.39084183e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899136, -0.05163989,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16147476e-06, 5.16129661e-06,-1.68628248e-05,-2.50308946e-05,
 -4.38925450e-05, 3.19326494e-05, 7.99854764e-06, 5.97880317e-05,
  7.65011832e-06, 1.28853593e-05,-1.14821407e-05,-9.95054144e-06,
 -1.96858960e-04,-1.03020502e-05,-1.18578725e-04,-1.05599143e-04,
 -2.71485945e-06, 7.81916803e-07,-1.21641008e+00, 8.41746215e-05,
  1.50165401e-03, 6.56837135e-07]


--- Step 685 ---
qpos:
[ 3.04587994e-03,-3.33460710e-03, 1.18769985e-02, 4.17541001e-02,
 -2.18741894e-03,-1.95404790e-03,-1.73776857e-02, 2.87002756e-02,
  5.85253737e-03, 1.64816909e-02,-9.40148679e-03, 2.60017349e-02,
  1.03569047e+00,-1.35075867e-03, 8.06810717e-01, 6.45980499e-02,
  9.50125727e-02,-7.00815275e-02, 1.21777136e-01, 9.99987579e-01,
  4.35581532e-05, 2.63216688e-04, 4.97698639e-03]

qacc:
[  0.31060382, -0.54549316,  1.45912146, -0.60726321,  1.66992662,
  -4.13439696, 17.37308174,-31.00295704, -2.29123199, -0.9639342 ,
   6.03850665,-14.99238094, -1.34703783,  2.44929878,  3.6602027 ,
 -15.4947557 , -0.63659306, -0.89577399, -0.22460834, 14.7247052 ,
 -10.96744902,  0.64603059]

qfrc_actuator:
[ 1.38380026e-05,-2.65608088e-05, 1.35077430e-04, 4.79114774e-05,
 -4.72020205e-05,-2.68908248e-04,-2.50506051e-04, 6.96998007e-05,
 -1.85297912e-05, 5.61413608e-04, 1.07576997e-04,-3.82734244e-06,
  2.89317360e-02,-1.17111992e-03, 1.19033062e-02,-3.25989217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002297497115812952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.4161576e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.4161576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899181, -0.05163929,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77136243e-06,-9.15188604e-06, 8.45954023e-06, 3.01728132e-06,
  9.62196210e-06,-5.22636684e-06, 4.60188442e-05,-3.52160323e-05,
 -1.35018120e-05, 3.32270067e-05, 1.28348515e-05,-2.33970361e-05,
 -1.79493891e-04,-1.80425125e-05,-1.37781033e-04,-1.14917137e-04,
 -3.74559629e-06, 1.96534320e-06,-1.21638839e+00, 9.07674081e-05,
  1.49919442e-03,-1.00740086e-08]


--- Step 686 ---
qpos:
[ 3.04585747e-03,-3.33606653e-03, 1.18775845e-02, 4.17542865e-02,
 -2.18754132e-03,-1.95410297e-03,-1.73772356e-02, 2.87015449e-02,
  5.85273733e-03, 1.64829987e-02,-9.40057065e-03, 2.60011011e-02,
  1.03634845e+00,-1.35019034e-03, 8.07351113e-01, 6.45957684e-02,
  9.50029446e-02,-7.01053560e-02, 1.21771327e-01, 9.99987500e-01,
  2.39602039e-04, 1.76872444e-04, 4.99116034e-03]

qacc:
[ -2.86081305,  0.51335392, -4.91889209, 16.84671464,  7.28357255,
  -3.55481626, 14.09767341,-23.11673362, -1.4408635 , -0.69070108,
   0.9273713 ,  1.92499984, -0.22025574, -0.53147108,  7.94617656,
 -29.24956072, -0.63363727, -0.89247113, -0.2733041 , 14.6722785 ,
 -10.92424558,  0.64625746]

qfrc_actuator:
[-3.05306531e-06,-1.26853240e-05, 1.58811094e-04, 8.59110832e-05,
 -4.91027323e-06,-2.85230670e-04,-2.11303829e-04, 4.66254711e-05,
 -2.67580157e-05, 4.89116757e-04, 9.66302641e-05, 5.28170050e-07,
  2.88760935e-02,-1.21046822e-03, 1.18916699e-02,-3.40344727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022650665062176611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899237, -0.0516385 ,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68399136e-05, 1.06838657e-05, 2.30041844e-05, 3.79627168e-05,
  4.25638129e-05,-1.12524085e-05, 4.25703858e-05,-2.23952911e-05,
 -8.59700893e-06,-5.21419353e-05,-3.33871517e-06, 5.76496223e-06,
 -1.72763693e-04,-7.92806350e-05,-9.11917169e-05,-1.68486386e-04,
 -4.83773566e-06, 3.44717824e-06,-1.21636000e+00, 9.87792586e-05,
  1.49560062e-03,-8.53174206e-07]


--- Step 687 ---
qpos:
[ 3.04563247e-03,-3.33711383e-03, 1.18782850e-02, 4.17545384e-02,
 -2.18750086e-03,-1.95410624e-03,-1.73767016e-02, 2.87028838e-02,
  5.85318209e-03, 1.64836181e-02,-9.39902110e-03, 2.59998322e-02,
  1.03700543e+00,-1.35007400e-03, 8.07890613e-01, 6.45917217e-02,
  9.49934782e-02,-7.01243397e-02, 1.21768128e-01, 9.99987393e-01,
  3.95601399e-04, 9.40999847e-05, 5.00493971e-03]

qacc:
[-1.78108644e+00, 3.63378699e-01,-7.75839545e-01, 1.41715804e+00,
  1.42994235e+00,-2.59972020e-02,-1.06527086e-01, 1.14317510e+00,
  2.16619351e+00,-3.99183445e+00, 1.55873368e+01,-2.70773689e+01,
 -3.38525058e-01,-2.12347736e-01, 4.00988069e+00,-1.59414892e+01,
  4.03947933e-02, 1.21119317e+00, 6.52321171e-01,-2.00130608e+01,
  1.88575936e+00,-2.01193043e-01]

qfrc_actuator:
[-1.29823793e-05, 3.17489504e-05, 1.72617079e-04, 9.04520275e-05,
  2.26483170e-06,-2.77095765e-04,-2.06200280e-04, 5.03011570e-05,
 -1.39223143e-05, 4.45485972e-04, 1.25109311e-04,-3.22063170e-05,
  2.88243968e-02,-1.23395108e-03, 1.18599441e-02,-3.48689070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023949710840698302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.95346406e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.95346406e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490369, -0.09313131,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04037516e-05, 5.68262275e-05, 2.01702985e-05, 6.53585009e-06,
  8.38370145e-06, 9.68465193e-06, 7.23905227e-06, 4.22508891e-06,
  1.25759257e-05,-7.32904982e-05, 1.74726085e-05,-3.49754695e-05,
 -1.77400219e-04,-7.23079226e-05,-9.81802525e-05,-1.05924041e-04,
 -5.99930844e-06, 5.21414969e-06,-1.21632499e+00, 1.08204996e-04,
  1.49087666e-03,-1.87143240e-06]


--- Step 688 ---
qpos:
[ 3.04563537e-03,-3.33809875e-03, 1.18790221e-02, 4.17548933e-02,
 -2.18737433e-03,-1.95410375e-03,-1.73758049e-02, 2.87042426e-02,
  5.85412205e-03, 1.64836180e-02,-9.39683176e-03, 2.59978264e-02,
  1.03766130e+00,-1.35019912e-03, 8.08428817e-01, 6.45909508e-02,
  9.49841905e-02,-7.01385797e-02, 1.21766767e-01, 9.99987276e-01,
  5.12306140e-04, 1.46689863e-05, 5.01855367e-03]

qacc:
[ 2.00043836e+00, 1.88366185e-01,-9.93244918e-01, 2.67815300e+00,
  7.66191031e-01,-9.65437369e-01, 3.36662868e+00,-3.60160012e+00,
  4.34898138e+00,-4.13235570e+00, 1.66428548e+01,-2.99472431e+01,
 -4.03496499e-01, 3.25978032e-02,-1.17826746e+01, 3.84796524e+01,
  4.46980121e-02, 1.18593223e+00, 4.59590364e-01,-1.96386904e+01,
  1.76901084e+00,-8.51817267e-02]

qfrc_actuator:
[-9.75823518e-07, 5.32326299e-06, 1.62799186e-04, 9.30365177e-05,
  6.45600947e-06,-2.72244590e-04,-1.85649562e-04, 5.19292854e-05,
  1.12069503e-05, 4.19472781e-04, 1.58949506e-04,-6.87109822e-05,
  2.87644554e-02,-1.24781613e-03, 1.18428382e-02,-3.30349477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39376827, -0.38808431,  4.37659573, -0.38808431, 18.52655174,
        1.25319125,  4.37659573,  1.25319125,  4.50489205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024993381248401836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24933166e-13,  4.44206814e-13,  1.00000000e+00,  5.54961637e-26,
        1.00000000e+00, -4.44206814e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24933166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490483, -0.09312868,  0.06199393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17315296e-05, 9.82406520e-06, 4.63444201e-06, 5.84453836e-06,
  4.43307236e-06, 1.19369186e-05, 2.35794577e-05, 2.37133380e-06,
  2.54682407e-05,-6.49192442e-05, 1.96203847e-05,-3.97240307e-05,
 -1.86993508e-04,-6.25687926e-05,-7.91811178e-05, 1.63659017e-04,
 -4.48694529e-06, 4.52463359e-06,-1.21636188e+00, 1.15936511e-04,
  1.48716247e-03,-2.04831054e-06]


--- Step 689 ---
qpos:
[ 3.04543753e-03,-3.33941868e-03, 1.18795451e-02, 4.17560371e-02,
 -2.18685369e-03,-1.95383113e-03,-1.73750650e-02, 2.87059574e-02,
  5.85535596e-03, 1.64833082e-02,-9.39494109e-03, 2.59957693e-02,
  1.03831606e+00,-1.35101289e-03, 8.08966009e-01, 6.45936489e-02,
  9.49750944e-02,-7.01481600e-02, 1.21766595e-01, 9.99987162e-01,
  5.90343248e-04,-6.16076666e-05, 5.03218629e-03]

qacc:
[-1.76241883e+00, 1.78519700e+00,-1.03285704e+01, 2.45588815e+01,
  3.44721238e+00, 1.51996121e+00,-6.41654393e+00, 1.26410335e+01,
  2.55953696e+00, 3.14847045e-01,-1.50859585e+00, 1.33573592e+00,
  2.86987372e-02,-1.19345362e+00,-1.19819664e+01, 3.97049888e+01,
  4.78918472e-02, 1.16491098e+00, 2.97343552e-01,-1.93256567e+01,
  1.67418526e+00, 8.22417423e-03]

qfrc_actuator:
[-1.16624113e-05,-4.56808679e-05, 1.38838975e-04, 1.29888710e-04,
  2.66210927e-05,-2.51585709e-04,-1.91647944e-04, 7.01032847e-05,
  2.56114046e-05, 4.04236607e-04, 1.42488755e-04,-7.16166530e-05,
  2.86942887e-02,-1.29144549e-03, 1.18132692e-02,-3.12410377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41159059, -0.67762185,  4.35923848, -0.67762185, 30.59686581,
        4.07037024,  4.35923848,  4.07037024,  5.04430931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002567112056784254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.75749028e-14,  4.32479378e-13,  1.00000000e+00,  2.92247519e-26,
        1.00000000e+00, -4.32479378e-13, -1.00000000e+00,  0.00000000e+00,
       -6.75749028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949057 , -0.09312704,  0.06199376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03471483e-05,-4.42725503e-05,-2.11563252e-05, 3.75464214e-05,
  2.02945663e-05, 3.22939402e-05,-5.59959192e-07, 1.95423379e-05,
  1.51145765e-05,-4.91981539e-05,-2.88497300e-05,-5.78323311e-06,
 -2.00505101e-04,-9.30963888e-05,-5.26511087e-05, 1.77182335e-04,
 -3.12987140e-06, 3.93853926e-06,-1.21639011e+00, 1.21715463e-04,
  1.48357603e-03,-2.14202985e-06]


--- Step 690 ---
qpos:
[ 3.04545821e-03,-3.34092815e-03, 1.18794704e-02, 4.17576225e-02,
 -2.18678515e-03,-1.95330500e-03,-1.73749372e-02, 2.87075652e-02,
  5.85675317e-03, 1.64826971e-02,-9.39332395e-03, 2.59943812e-02,
  1.03896954e+00,-1.35201589e-03, 8.09502366e-01, 6.45948808e-02,
  9.49661992e-02,-7.01531503e-02, 1.21767067e-01, 9.99987061e-01,
  6.30234505e-04,-1.34882443e-04, 5.04598616e-03]

qacc:
[  1.90272286,  2.32712582,-10.52929087, 19.27117762, -3.98875767,
   1.83229907, -5.58207948,  4.50711943,  1.42131212,  1.74075557,
  -9.61438149, 21.8580885 , -0.77809775,  0.74204584,  3.2258792 ,
 -12.99934196,  0.05022679,  1.14749758,  0.16092717,-19.06512629,
   1.59694735,  0.08388322]

qfrc_actuator:
[-1.22163589e-07,-5.78017431e-05, 1.06629474e-04, 1.51069190e-04,
  2.77015518e-06,-2.57214135e-04,-2.30954151e-04, 6.23555529e-05,
  3.35841510e-05, 3.95404624e-04, 1.32035231e-04,-3.70011863e-05,
  2.86286765e-02,-1.29913179e-03, 1.17336373e-02,-3.21490873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026051075043445615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39489538e-13,  4.26171673e-13,  1.00000000e+00,  1.87297992e-25,
        1.00000000e+00, -4.26171673e-13, -1.00000000e+00,  0.00000000e+00,
       -4.39489538e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490636, -0.09312619,  0.06199367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12327964e-05,-3.96035913e-05,-4.26533527e-05, 1.92825669e-05,
 -2.32619487e-05, 1.31367709e-05,-3.20450886e-05,-6.00977317e-06,
  8.39080789e-06,-4.25481544e-05,-2.43828868e-05, 3.13970101e-05,
 -2.10687272e-04,-6.52943860e-05,-9.02962562e-05,-8.91573737e-05,
 -1.85115806e-06, 3.42242084e-06,-1.21641021e+00, 1.25576342e-04,
  1.48012828e-03,-2.15076935e-06]


--- Step 691 ---
qpos:
[ 3.04561688e-03,-3.34246568e-03, 1.18789241e-02, 4.17590746e-02,
 -2.18769246e-03,-1.95288467e-03,-1.73748037e-02, 2.87080359e-02,
  5.85823530e-03, 1.64816118e-02,-9.39152019e-03, 2.59937541e-02,
  1.03962138e+00,-1.35190644e-03, 8.10037786e-01, 6.45933512e-02,
  9.49575116e-02,-7.01536081e-02, 1.21767724e-01, 9.99986977e-01,
  6.32411351e-04,-2.05279978e-04, 5.06007408e-03]

qacc:
[  1.19671996,  1.00459236, -3.07711229,  1.54978477, -8.55739088,
  -2.47764808, 13.46286379,-33.10632774,  0.75498908,  0.4165618 ,
  -5.61006995, 18.83288293, -2.29633689,  4.67991333,  7.09498448,
 -26.49483794,  0.05189824,  1.13315836,  0.04639628,-18.84968764,
   1.53384702,  0.14561465]

qfrc_actuator:
[ 6.66260319e-06,-4.66041278e-05, 8.76922914e-05, 1.45125732e-04,
 -4.68018282e-05,-2.78706379e-04,-2.36469116e-04, 3.87005720e-06,
  3.77109285e-05, 3.72778048e-04, 1.43033012e-04, 1.67450216e-06,
  2.85605273e-02,-1.23221830e-03, 1.16772460e-02,-3.35776795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026190456695496245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78186772e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.78186772e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490685, -0.09312598,  0.06199364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09635060e-06,-1.88771438e-05,-3.16892570e-05,-8.74094371e-06,
 -5.02289513e-05,-2.10551291e-05,-6.96711364e-06,-5.91523674e-05,
  4.35158762e-06,-5.00972206e-05, 2.84396620e-07, 3.66204604e-05,
 -2.14378680e-04, 1.20886426e-05,-1.13585617e-04,-1.60790414e-04,
 -5.94128851e-07, 2.95226840e-06,-1.21642258e+00, 1.27547546e-04,
  1.47682671e-03,-2.07322524e-06]


--- Step 692 ---
qpos:
[ 3.04585593e-03,-3.34431163e-03, 1.18787872e-02, 4.17604186e-02,
 -2.18884229e-03,-1.95240281e-03,-1.73745475e-02, 2.87077723e-02,
  5.85941033e-03, 1.64802743e-02,-9.38937673e-03, 2.59932103e-02,
  1.04027167e+00,-1.35044208e-03, 8.10572017e-01, 6.45926899e-02,
  9.49490362e-02,-7.01495800e-02, 1.21768183e-01, 9.99986909e-01,
  5.97227405e-04,-2.72902503e-04, 5.07454900e-03]

qacc:
[  0.7237421 , -1.77701295,  6.19756549, -8.49256484, -2.12474817,
  -1.76725901,  9.52706642,-22.4823815 , -2.66338647, -1.10592035,
   3.11669241, -2.041115  , -2.30659314,  4.94121002, -4.22387454,
  12.58484148,  0.05305843,  1.12144162, -0.04960291,-18.67309783,
   1.48213549,  0.19641993]

qfrc_actuator:
[ 1.05872070e-05,-5.70063339e-05, 1.12336812e-04, 1.41058810e-04,
 -5.78439525e-05,-2.56201121e-04,-2.22082282e-04,-3.07271796e-05,
  2.17905609e-05, 3.77673422e-04, 1.66550843e-04, 6.92160068e-06,
  2.85015857e-02,-1.15727619e-03, 1.16561414e-02,-3.29919365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002613719632538619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38041433e-13,  6.37151176e-13,  1.00000000e+00,  2.79098614e-25,
        1.00000000e+00, -6.37151176e-13, -1.00000000e+00,  0.00000000e+00,
       -4.38041433e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490722, -0.09312629,  0.06199365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12692655e-06,-2.78174871e-05, 1.65604728e-05,-6.14115283e-06,
 -1.24785343e-05, 6.72175830e-06, 7.12733445e-06,-3.68920339e-05,
 -1.58163520e-05,-2.14653901e-05, 1.44660334e-05, 3.82265912e-06,
 -1.91163691e-04, 3.23494434e-05,-9.65039719e-05, 3.37886142e-05,
  6.83231917e-07, 2.51162941e-06,-1.21642753e+00, 1.27652356e-04,
  1.47367644e-03,-1.90846313e-06]


--- Step 693 ---
qpos:
[ 3.04579521e-03,-3.34619764e-03, 1.18788401e-02, 4.17616835e-02,
 -2.18942620e-03,-1.95173556e-03,-1.73745050e-02, 2.87074483e-02,
  5.86004027e-03, 1.64791911e-02,-9.38806118e-03, 2.59934398e-02,
  1.04092078e+00,-1.34868121e-03, 8.11104970e-01, 6.45953299e-02,
  9.49407761e-02,-7.01411041e-02, 1.21768123e-01, 9.99986854e-01,
  5.24969034e-04,-3.37834171e-04, 5.08949280e-03]

qacc:
[ -2.62470767, -0.74112536,  2.90794562, -4.55945439,  4.95354941,
   0.70777749, -1.92922621,  1.10422333, -4.78377336,  4.25135328,
 -17.91957877, 32.42193894, -0.93434139,  1.51878171,-11.79400316,
  38.65197981,  0.05382576,  1.11196448, -0.12992737,-18.53008204,
   1.43962044,  0.23865713]

qfrc_actuator:
[-4.95451864e-06,-4.45715929e-05, 1.26932497e-04, 1.38145885e-04,
 -2.83585117e-05,-2.42927625e-04,-2.31378954e-04,-3.31869626e-05,
 -5.80004858e-06, 3.99049584e-04, 1.26342438e-04, 4.57426416e-05,
  2.84428947e-02,-1.14921488e-03, 1.16243106e-02,-3.12228452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002593134765583316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20414191e-13,  4.28139347e-13,  1.00000000e+00,  5.15540532e-26,
        1.00000000e+00, -4.28139347e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20414191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490748, -0.093127  ,  0.0619937 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54285762e-05, 1.02878756e-07, 1.06968704e-05,-3.64979359e-06,
  2.91333275e-05, 1.68991737e-05,-8.31438681e-06,-2.64363175e-06,
 -2.80543704e-05, 1.25473412e-05,-4.27346819e-05, 3.84763952e-05,
 -1.71546469e-04,-2.63968315e-05,-7.75345952e-05, 1.65204971e-04,
  2.01235108e-06, 2.09026640e-06,-1.21642531e+00, 1.25909729e-04,
  1.47068100e-03,-1.65581054e-06]


--- Step 694 ---
qpos:
[ 3.04520368e-03,-3.34784383e-03, 1.18789753e-02, 4.17621839e-02,
 -2.18930722e-03,-1.95107753e-03,-1.73745057e-02, 2.87071104e-02,
  5.86033432e-03, 1.64783763e-02,-9.38703620e-03, 2.59944387e-02,
  1.04156890e+00,-1.34736183e-03, 8.11637299e-01, 6.45960421e-02,
  9.49327332e-02,-7.01282106e-02, 1.21767274e-01, 9.99986803e-01,
  4.15864312e-04,-4.00144514e-04, 5.10497392e-03]

qacc:
[ -4.66121798, -1.47988188,  8.97657974,-22.52856202,  6.1634329 ,
   0.06781829, -0.22205167,  0.08128745, -2.94273821,  2.75614118,
 -12.55076294, 26.12090152, -0.36924353, -0.14300712,  4.90347999,
 -18.48001479,  0.05429222,  1.10440211, -0.197014  ,-18.41617319,
   1.40455163,  0.27417805]

qfrc_actuator:
[-3.18280303e-05,-1.85796867e-05, 1.35554954e-04, 1.00434337e-04,
  6.97938891e-06,-2.53094296e-04,-2.36845691e-04,-3.44968662e-05,
 -2.22793347e-05, 4.29908538e-04, 1.19940549e-04, 8.62320721e-05,
  2.83790491e-02,-1.18076561e-03, 1.15701174e-02,-3.23220737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002560628252791103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21942818e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.21942818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490766, -0.09312803,  0.06199378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73075265e-05, 2.81622389e-05, 9.85422824e-06,-3.74061221e-05,
  3.61747063e-05,-2.56120360e-06,-3.10055941e-06,-9.26899194e-07,
 -1.72810172e-05, 3.07124719e-05,-7.74387973e-06, 4.02975491e-05,
 -1.76652948e-04,-7.17960263e-05,-7.64369322e-05,-1.11861373e-04,
  3.41703452e-06, 1.68319719e-06,-1.21641610e+00, 1.22334945e-04,
  1.46784279e-03,-1.31477860e-06]


--- Step 695 ---
qpos:
[ 3.04463978e-03,-3.34954420e-03, 1.18793283e-02, 4.17622570e-02,
 -2.18911010e-03,-1.95072123e-03,-1.73741720e-02, 2.87071165e-02,
  5.86042855e-03, 1.64774070e-02,-9.38588540e-03, 2.59952496e-02,
  1.04221600e+00,-1.34641995e-03, 8.12168528e-01, 6.45954582e-02,
  9.49249085e-02,-7.01109232e-02, 1.21765414e-01, 9.99986745e-01,
  2.70090614e-04,-4.59891201e-04, 5.12105027e-03]

qacc:
[  0.25014222, -1.56181847,  7.26603333,-14.9663229 ,  0.70126201,
  -0.6261565 ,  0.19898147,  5.44551674, -1.73617771, -0.93939972,
   3.85251506, -7.19880083, -0.39688621, -0.04197082,  2.29907882,
 -10.38095275,  0.05452912,  1.09847887, -0.25294292,-18.32758201,
   1.37553045,  0.30443635]

qfrc_actuator:
[-2.96444019e-05,-3.79752117e-05, 1.40624945e-04, 7.80659609e-05,
  9.96017485e-06,-2.77204603e-04,-2.22346972e-04,-1.73867341e-05,
 -3.20829829e-05, 3.95330938e-04, 1.15863777e-04, 7.41593621e-05,
  2.83281152e-02,-1.19995890e-03, 1.15131456e-02,-3.29728932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025189709607639776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37732709e-14,  2.20372335e-13,  1.00000000e+00,  3.03524788e-27,
        1.00000000e+00, -2.20372335e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37732709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490778, -0.0931293 ,  0.06199388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42181096e-06,-3.16479303e-06, 1.08246342e-05,-2.15457095e-05,
  4.01123627e-06,-2.62332127e-05, 1.35472732e-05, 1.68728275e-05,
 -1.02910032e-05,-1.72654938e-05, 2.70413483e-06,-1.02421601e-05,
 -1.77127696e-04,-6.79392067e-05,-1.10823391e-04,-8.26241347e-05,
  4.91563108e-06, 1.29001103e-06,-1.21640004e+00, 1.16940144e-04,
  1.46516354e-03,-8.85005109e-07]


--- Step 696 ---
qpos:
[ 3.04445131e-03,-3.35137471e-03, 1.18797605e-02, 4.17627720e-02,
 -2.18887833e-03,-1.95083498e-03,-1.73732514e-02, 2.87069865e-02,
  5.86040436e-03, 1.64765180e-02,-9.38595408e-03, 2.59956287e-02,
  1.04286196e+00,-1.34516734e-03, 8.12697621e-01, 6.45958712e-02,
  9.49173020e-02,-7.00892599e-02, 1.21762355e-01, 9.99986664e-01,
  8.77810648e-05,-5.17122243e-04, 5.13777154e-03]

qacc:
[  3.30033049,  0.51094252, -3.94631065, 11.57263351,  0.33021696,
  -2.54087988,  8.73214256,-11.67726231, -1.07259368,  2.62760836,
  -7.38798723,  1.80072018, -0.99054291,  1.6533878 , -6.10454204,
  16.90788747,  0.05459171,  1.09396081, -0.29949008,-18.26109076,
   1.35143833,  0.33057249]

qfrc_actuator:
[-1.03726174e-05,-4.88998784e-05, 1.43395045e-04, 1.00377339e-04,
  1.16229089e-05,-3.09384901e-04,-1.96229121e-04,-2.50821299e-05,
 -3.78829823e-05, 3.75064831e-04, 4.18713681e-05, 4.89515105e-05,
  2.82849657e-02,-1.17611988e-03, 1.14013139e-02,-3.24656404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024704543302442317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.49400344e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.49400344e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490785, -0.09313075,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93166507e-05,-1.13219052e-05, 2.72021342e-06, 2.21338525e-05,
  1.76667171e-06,-4.33440133e-05, 2.29435667e-05,-8.02422899e-06,
 -6.10243622e-06,-2.97848810e-05,-7.75835718e-05,-2.60552825e-05,
 -1.69043615e-04,-2.42557252e-05,-1.76291467e-04, 3.08492496e-05,
  6.52260984e-06, 9.14385383e-07,-1.21637721e+00, 1.09734761e-04,
  1.46264452e-03,-3.66213163e-07]


--- Step 697 ---
qpos:
[ 3.04449503e-03,-3.35285556e-03, 1.18799987e-02, 4.17638525e-02,
 -2.18828373e-03,-1.95109708e-03,-1.73718644e-02, 2.87070774e-02,
  5.86065584e-03, 1.64752471e-02,-9.38650474e-03, 2.59960576e-02,
  1.04350684e+00,-1.34365349e-03, 8.13225149e-01, 6.45957789e-02,
  9.49128733e-02,-7.00692612e-02, 1.21761418e-01, 9.99986572e-01,
 -7.99525510e-05,-5.49096186e-04, 5.15237931e-03]

qacc:
[ 2.02624802, 2.16632512,-9.4452258 ,19.28895096, 3.19959912,-1.05063581,
  2.51791072, 0.68185388, 2.3957732 , 0.94023673,-4.30280625, 6.22418062,
 -0.98319716, 1.62689036,-0.7290004 ,-0.67686916, 0.79441809,-0.41614503,
  0.53026068, 7.3522062 ,12.59084193,-1.06158526]

qfrc_actuator:
[ 1.04058341e-06,-1.38648839e-06, 1.44836724e-04, 1.31045662e-04,
  3.02596907e-05,-2.92860295e-04,-1.63526189e-04,-1.18130908e-05,
 -2.35296177e-05, 3.45459956e-04, 1.59877094e-05, 5.16868260e-05,
  2.82358830e-02,-1.16250393e-03, 1.13365860e-02,-3.27015014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000247939772353975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23889660e-13,  2.23889660e-13,  1.00000000e+00,  5.01265797e-26,
        1.00000000e+00, -2.23889660e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23889660e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181381, -0.06189166,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19636618e-05, 4.27595732e-05, 2.18656440e-07, 3.07095453e-05,
  1.86714228e-05,-3.32384834e-06, 2.62893352e-05, 1.20476389e-05,
  1.41694448e-05,-6.33733549e-05,-4.24831625e-05,-1.73110057e-06,
 -1.60891022e-04,-2.52383768e-05,-1.42768903e-04,-4.46463740e-05,
  8.24970896e-06, 5.63750193e-07,-1.21634769e+00, 1.00725902e-04,
  1.46028674e-03, 2.41818750e-07]


--- Step 698 ---
qpos:
[ 3.04433015e-03,-3.35357682e-03, 1.18800666e-02, 4.17645458e-02,
 -2.18747074e-03,-1.95096033e-03,-1.73706311e-02, 2.87076436e-02,
  5.86107728e-03, 1.64735032e-02,-9.38707452e-03, 2.59964954e-02,
  1.04415071e+00,-1.34222666e-03, 8.13751782e-01, 6.45968560e-02,
  9.49115581e-02,-7.00509107e-02, 1.21762040e-01, 9.99986479e-01,
 -2.33419096e-04,-5.56048082e-04, 5.16504650e-03]

qacc:
[-1.84952621, 0.68574069, 0.65058121,-7.64105973, 1.90395701, 1.92982466,
 -8.12934307,16.31184473, 1.48975621,-0.55654105, 1.0345964 ,-0.49685949,
 -0.57687319, 0.55546528,-4.82355464,15.01837158, 0.77838193,-0.41205079,
  0.38974219, 7.19736823,12.47417799,-0.97318674]

qfrc_actuator:
[-1.00209258e-05, 6.30093432e-05, 1.45722908e-04, 1.13169932e-04,
  4.09862155e-05,-2.47246409e-04,-1.62491725e-04, 1.37320220e-05,
 -1.51835944e-05, 3.28434438e-04, 1.87196027e-05, 5.31265799e-05,
  2.81779498e-02,-1.17284929e-03, 1.13427523e-02,-3.19519857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025249275335255394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39704906e-13, -4.39704906e-13,  1.00000000e+00, -1.93340405e-25,
        1.00000000e+00,  4.39704906e-13, -1.00000000e+00,  0.00000000e+00,
       -4.39704906e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181386, -0.06189253,  0.06199386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07028818e-05, 8.97201071e-05, 1.08195187e-05,-1.54388790e-05,
  1.12560406e-05, 4.97012368e-05, 3.98893649e-06, 2.65432714e-05,
  8.72736588e-06,-6.12567139e-05,-1.56313159e-05,-2.77714707e-06,
 -1.64679397e-04,-4.77107003e-05,-6.69202553e-05, 5.35133661e-05,
  6.35636204e-06, 1.56980415e-07,-1.21636628e+00, 9.27053907e-05,
  1.45837322e-03, 4.13222548e-07]


--- Step 699 ---
qpos:
[ 3.04403435e-03,-3.35384643e-03, 1.18802997e-02, 4.17639997e-02,
 -2.18722555e-03,-1.94985363e-03,-1.73705171e-02, 2.87085043e-02,
  5.86159489e-03, 1.64719850e-02,-9.38763077e-03, 2.59961630e-02,
  1.04479344e+00,-1.34059322e-03, 8.14277654e-01, 6.45955024e-02,
  9.49133044e-02,-7.00341936e-02, 1.21763748e-01, 9.99986391e-01,
 -3.72876011e-04,-5.38175839e-04, 5.17591567e-03]

qacc:
[ -1.15250783, -2.41749689, 14.71727854,-36.76237838, -5.03142651,
   5.02300452,-17.27720052, 23.42927762,  0.83486542, -1.32656835,
   8.41196368,-21.92636543, -1.08235749,  1.74666365,  6.27272982,
 -23.43824873,  0.76538003, -0.40835409,  0.27178812,  7.06833002,
  12.37593298, -0.90000952]

qfrc_actuator:
[-1.64667268e-05, 6.59743397e-05, 1.46329589e-04, 4.91415408e-05,
  1.14606432e-05,-1.84666831e-04,-2.15530021e-04, 2.85475246e-05,
 -1.04465292e-05, 3.90211117e-04, 3.83507575e-05, 1.83047360e-05,
  2.81200661e-02,-1.16182239e-03, 1.12796096e-02,-3.32888638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002545887388796658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.36084891e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.36084891e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181363, -0.06189306,  0.06199381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.71704545e-06, 5.47306109e-05, 1.99438128e-05,-6.01109608e-05,
 -2.91886335e-05, 9.23170950e-05,-4.13803077e-05, 1.75952491e-05,
  4.96059171e-06, 2.42468891e-05, 4.98247778e-06,-3.80379563e-05,
 -1.70994188e-04,-3.13594221e-05,-9.38319749e-05,-1.40697148e-04,
  4.89872121e-06,-1.01276661e-07,-1.21638033e+00, 8.53318023e-05,
  1.45775012e-03, 5.99364074e-07]


--- Step 700 ---
qpos:
[ 3.04331899e-03,-3.35410673e-03, 1.18804367e-02, 4.17634574e-02,
 -2.18733596e-03,-1.94796459e-03,-1.73710219e-02, 2.87091797e-02,
  5.86216495e-03, 1.64709452e-02,-9.38785794e-03, 2.59953598e-02,
  1.04543528e+00,-1.33969785e-03, 8.14802276e-01, 6.45915920e-02,
  9.49180703e-02,-7.00190968e-02, 1.21766149e-01, 9.99986310e-01,
 -4.98537875e-04,-4.95643608e-04, 5.18510540e-03]

qacc:
[-3.68584362e+00, 2.96605527e-01,-1.04364565e+00, 1.24479797e+00,
 -3.15170277e+00, 2.38742974e+00,-6.21970562e+00, 3.41494353e+00,
  4.59326932e-01,-1.25757334e+00, 7.38787710e+00,-1.64132146e+01,
 -1.57327638e-02,-1.03198806e+00, 5.85131636e+00,-2.32033167e+01,
  7.54912455e-01,-4.05050007e-01, 1.72967563e-01, 6.96080074e+00,
  1.22944403e+01,-8.38842394e-01]

qfrc_actuator:
[-3.78899589e-05, 3.20849216e-05, 1.28748555e-04, 4.71919490e-05,
 -6.01209926e-06,-1.48143725e-04,-2.46727082e-04, 1.91631967e-05,
 -7.86903588e-06, 4.45501598e-04, 6.80964637e-05,-1.99330517e-06,
  2.80622587e-02,-1.20924149e-03, 1.12068562e-02,-3.46035719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002547106939135707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17938047e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.17938047e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181317, -0.06189331,  0.06199381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15930266e-05,-1.73256320e-06,-5.89757055e-06,-8.35825826e-08,
 -1.82716235e-05, 8.02997667e-05,-1.66320632e-05,-6.52087623e-06,
  2.72409116e-06, 6.83141903e-05, 3.40771132e-05,-1.98215760e-05,
 -1.71883713e-04,-8.81750374e-05,-1.37119013e-04,-1.52683525e-04,
  3.83323001e-06,-2.36360728e-07,-1.21639004e+00, 7.86002923e-05,
  1.45839901e-03, 7.98507746e-07]


--- Step 701 ---
qpos:
[ 3.04235243e-03,-3.35444755e-03, 1.18806888e-02, 4.17632388e-02,
 -2.18730996e-03,-1.94581536e-03,-1.73711515e-02, 2.87097356e-02,
  5.86276136e-03, 1.64705980e-02,-9.38840301e-03, 2.59943360e-02,
  1.04607617e+00,-1.33961551e-03, 8.15325272e-01, 6.45893871e-02,
  9.49253336e-02,-7.00071175e-02, 1.21768960e-01, 9.99986248e-01,
 -5.98040848e-04,-4.32664329e-04, 5.19220755e-03]

qacc:
[-2.19970009, 0.24286749,-2.3783669 , 7.84598711, 1.20353411,-0.95256487,
  4.39634658,-7.25201513, 0.20796235, 1.34957621,-2.55356679,-1.26349133,
  0.19255928,-1.54117447,-7.57802   ,22.94957813, 0.62434043,-0.77939272,
  0.102572  ,13.131763  ,10.15609032,-1.04520662]

qfrc_actuator:
[-5.02060233e-05, 2.96024342e-05, 1.35955529e-04, 6.39893887e-05,
  1.51440586e-06,-1.45207521e-04,-2.29366783e-04, 1.33735381e-05,
 -6.58203755e-06, 4.78804734e-04, 5.03320341e-05,-1.35683249e-05,
  2.80045156e-02,-1.25536088e-03, 1.11656884e-02,-3.35861504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002537343386524177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37553321e-13,  1.20321322e-06,  1.00000000e+00,  5.26469939e-19,
        1.00000000e+00, -1.20321322e-06, -1.00000000e+00,  0.00000000e+00,
       -4.37553321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08414915, -0.05432221,  0.06199383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29306579e-05,-4.66932132e-06, 6.12407496e-06, 1.65200467e-05,
  7.03463065e-06, 4.40542029e-05, 3.16551748e-05,-3.05464367e-06,
  1.38468926e-06, 7.77393607e-05,-1.24637288e-07,-7.84950704e-06,
 -1.84989801e-04,-9.64376925e-05,-1.24264865e-04, 7.48747059e-05,
  3.12696896e-06,-2.67574895e-07,-1.21639554e+00, 7.25063663e-05,
  1.46030508e-03, 1.00929909e-06]


--- Step 702 ---
qpos:
[ 3.04193556e-03,-3.35497442e-03, 1.18811068e-02, 4.17628880e-02,
 -2.18753872e-03,-1.94375144e-03,-1.73711956e-02, 2.87109735e-02,
  5.86336915e-03, 1.64702320e-02,-9.38912636e-03, 2.59932646e-02,
  1.04671592e+00,-1.33978931e-03, 8.15847203e-01, 6.45886196e-02,
  9.49345117e-02,-6.99997890e-02, 1.21771416e-01, 9.99986215e-01,
 -6.58599990e-04,-3.53898146e-04, 5.19713100e-03]

qacc:
[ 4.83321583,-0.99141306, 3.71952035,-6.11836164,-2.22969799, 1.05522429,
 -6.79850122,18.51896112, 0.09390878, 0.37484551,-1.17114459, 0.64326331,
 -0.48387621, 0.17279964,-5.8912473 ,18.36987924, 0.47868089,-1.16270947,
 -0.0887149 ,19.51217012, 7.79289969,-1.09311936]

qfrc_actuator:
[-2.15530591e-05, 1.05449547e-05, 1.40109699e-04, 5.62084084e-05,
 -1.18145587e-05,-1.79966862e-04,-2.36876547e-04, 4.52543818e-05,
 -6.06421441e-06, 4.27499426e-04, 2.23295244e-05,-1.99715634e-05,
  2.79521754e-02,-1.26482501e-03, 1.11382252e-02,-3.27995844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002551828778188936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17534780e-13, -4.35069560e-13,  1.00000000e+00, -9.46427612e-26,
        1.00000000e+00,  4.35069560e-13, -1.00000000e+00,  0.00000000e+00,
       -2.17534780e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08667657, -0.0461318 ,  0.0619938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82829699e-05,-1.96875445e-05, 4.51867606e-06,-7.44607935e-06,
 -1.31142147e-05,-3.79208051e-06, 5.35819268e-06, 3.47985837e-05,
  5.83114293e-07,-8.17151175e-06,-1.22180529e-05,-3.22451890e-06,
 -1.89038238e-04,-6.42644176e-05,-7.88919424e-05, 6.62279502e-05,
  2.31985151e-06,-2.26563351e-07,-1.21640500e+00, 6.76330081e-05,
  1.46317078e-03, 1.27893500e-06]


--- Step 703 ---
qpos:
[ 3.04221031e-03,-3.35576320e-03, 1.18813521e-02, 4.17624807e-02,
 -2.18792516e-03,-1.94201777e-03,-1.73711405e-02, 2.87122700e-02,
  5.86363388e-03, 1.64693144e-02,-9.38933990e-03, 2.59921471e-02,
  1.04735453e+00,-1.34009609e-03, 8.16368032e-01, 6.45874882e-02,
  9.49455804e-02,-6.99970701e-02, 1.21773165e-01, 9.99986215e-01,
 -6.80598372e-04,-2.59412021e-04, 5.20001664e-03]

qacc:
[ 6.06973207e+00, 7.83895981e-03,-3.11908047e-01,-1.76308561e-01,
 -1.37423551e+00,-5.89871566e-01, 1.22685860e+00,-1.31658112e-01,
 -2.96674444e+00,-2.24270982e+00, 7.14279093e+00,-8.35786851e+00,
 -6.78469892e-01, 6.55006825e-01,-4.96272730e-01,-5.55166938e-01,
  4.72680369e-01,-1.15239942e+00,-1.76801768e-01, 1.93206134e+01,
  7.76033606e+00,-1.02062274e+00]

qfrc_actuator:
[ 1.32282898e-05,-1.83197855e-05, 1.24582951e-04, 5.17595000e-05,
 -1.95675867e-05,-2.19349488e-04,-2.41416104e-04, 4.57259353e-05,
 -2.37560902e-05, 3.79121294e-04, 4.14295851e-05,-2.33562432e-05,
  2.78978014e-02,-1.27028028e-03, 1.10710604e-02,-3.30433053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002543471014146981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18249592e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.18249592e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08667604, -0.04613159,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55814862e-05,-3.92334722e-05,-1.92930480e-05,-5.28089139e-06,
 -8.12984326e-06,-3.89869462e-05,-3.48469077e-06, 1.16492808e-06,
 -1.76794914e-05,-5.55834508e-05, 1.58113676e-05,-4.21545860e-06,
 -1.86269829e-04,-5.59263836e-05,-1.01305042e-04,-3.20519398e-05,
  1.64411340e-06,-2.60671010e-07,-1.21641512e+00, 6.46256977e-05,
  1.46683891e-03, 1.59311402e-06]


--- Step 704 ---
qpos:
[ 3.04255494e-03,-3.35654621e-03, 1.18812692e-02, 4.17623451e-02,
 -2.18874694e-03,-1.94014708e-03,-1.73712843e-02, 2.87128323e-02,
  5.86368421e-03, 1.64680634e-02,-9.38881488e-03, 2.59909537e-02,
  1.04799191e+00,-1.34017350e-03, 8.16887445e-01, 6.45874032e-02,
  9.49585213e-02,-6.99989271e-02, 1.21773912e-01, 9.99986243e-01,
 -6.64347348e-04,-1.49257819e-04, 5.20098277e-03]

qacc:
[  0.60316614,  1.48445363, -6.42995664, 11.65522901, -3.82711006,
  -0.76601523,  6.10788816,-18.61305634, -1.84122246, -2.65730534,
   9.16172622,-11.41565566, -1.00284952,  1.55654461, -5.19216622,
  15.25913234,  0.46803634, -1.14396683, -0.25047299, 19.16493793,
   7.73513916, -0.95944422]

qfrc_actuator:
[ 1.58196011e-05, 3.39287875e-07, 1.15272307e-04, 6.70396792e-05,
 -4.17228417e-05,-1.90216482e-04,-2.44221354e-04, 9.94979203e-06,
 -3.42712729e-05, 3.86297683e-04, 8.81744140e-05,-2.49124682e-05,
  2.78422490e-02,-1.25559831e-03, 1.10120712e-02,-3.24727232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002521097515151699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.2018645e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.2018645e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08667543, -0.04613096,  0.06199387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59439218e-06,-7.45343537e-06,-1.99679572e-05, 1.28297834e-05,
 -2.24005133e-05, 6.59230717e-06,-1.12706838e-05,-3.75514117e-05,
 -1.10451640e-05,-2.07879231e-05, 3.70816539e-05,-3.46735681e-06,
 -1.84267353e-04,-3.36279374e-05,-1.13701544e-04, 4.11750438e-05,
  1.48641320e-06,-3.52553720e-07,-1.21641631e+00, 6.34955535e-05,
  1.47137957e-03, 1.86562487e-06]


--- Step 705 ---
qpos:
[ 3.04292816e-03,-3.35714006e-03, 1.18809109e-02, 4.17630563e-02,
 -2.18913799e-03,-1.93827365e-03,-1.73714692e-02, 2.87133126e-02,
  5.86360769e-03, 1.64667220e-02,-9.38779809e-03, 2.59893908e-02,
  1.04862812e+00,-1.34007701e-03, 8.17405417e-01, 6.45873342e-02,
  9.49714165e-02,-7.00054335e-02, 1.21774038e-01, 9.99986286e-01,
 -6.09100151e-04,-3.99608330e-05, 5.20137935e-03]

qacc:
[ 2.39526746e-01, 2.76495276e+00,-1.30677574e+01, 2.80199096e+01,
  3.77628999e+00,-5.73546470e-02, 5.42825269e-01,-1.88265253e+00,
 -1.08963875e+00,-2.25252704e+00, 9.42251340e+00,-1.65426286e+01,
 -9.55978070e-01, 1.44276641e+00,-2.12162911e+00, 4.45551192e+00,
 -1.14434709e-02,-1.16235309e+00,-1.55241824e-01, 1.94955514e+01,
 -5.29821163e-01,-2.88005796e-01]

qfrc_actuator:
[ 1.71946035e-05, 2.95971113e-05, 1.09916038e-04, 1.11604194e-04,
 -1.89208264e-05,-1.91319798e-04,-2.45727624e-04, 6.45240706e-06,
 -4.04718751e-05, 3.91303968e-04, 1.15568170e-04,-4.30759923e-05,
  2.77860379e-02,-1.24689578e-03, 1.09367521e-02,-3.24913648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002484586253982675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.74815542e-07,  2.23422114e-13,  1.00000000e+00,  1.95453137e-19,
        1.00000000e+00, -2.23422114e-13, -1.00000000e+00,  0.00000000e+00,
       -8.74815542e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09643944, -0.04596154,  0.06199396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47764024e-06, 2.15447505e-05,-8.90134558e-06, 4.38060576e-05,
  2.21678009e-05,-1.42957483e-06,-2.85286650e-06,-4.33985559e-06,
 -6.52947454e-06, 9.30815094e-07, 2.75587932e-05,-1.78340401e-05,
 -1.78835145e-04,-3.54371408e-05,-1.26637945e-04,-1.50385632e-05,
  1.80354911e-06,-5.09782682e-07,-1.21640881e+00, 6.42297172e-05,
  1.47677893e-03, 2.09641976e-06]


--- Step 706 ---
qpos:
[ 3.04331511e-03,-3.35767465e-03, 1.18805062e-02, 4.17646416e-02,
 -2.18890757e-03,-1.93697653e-03,-1.73711493e-02, 2.87141294e-02,
  5.86380206e-03, 1.64655381e-02,-9.38710679e-03, 2.59876474e-02,
  1.04926299e+00,-1.33924894e-03, 8.17922001e-01, 6.45868734e-02,
  9.49818947e-02,-7.00166284e-02, 1.21773246e-01, 9.99986332e-01,
 -5.14923415e-04, 4.80262174e-05, 5.20281853e-03]

qacc:
[  0.11852134,  2.00931098,-10.73756828, 25.89100411,  5.47656973,
  -1.49047231,  2.77021314,  2.68997167,  2.34961217,  0.7415787 ,
  -1.58805704, -1.12313213, -1.60938501,  3.11258126, -0.76671633,
  -0.06099696, -0.60423158, -1.1721071 , -0.22955953, 19.40910293,
 -10.75638274,  0.51401989]

qfrc_actuator:
[ 1.78531627e-05, 2.95232081e-05, 1.07010858e-04, 1.55302992e-04,
  1.24110016e-05,-2.45990705e-04,-2.28780120e-04, 2.19635981e-05,
 -2.63328911e-05, 3.94898463e-04, 9.57973752e-05,-5.31271609e-05,
  2.77241454e-02,-1.20631194e-03, 1.08729915e-02,-3.26798963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024824389800086333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846863, -0.04575404,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08807755e-07, 1.20352208e-05, 1.97354519e-06, 4.51668161e-05,
  3.19635243e-05,-5.63048455e-05, 1.61288500e-05, 1.52609714e-05,
  1.39482587e-05, 9.08104053e-06,-1.67936795e-05,-9.40032816e-06,
 -1.81708578e-04,-2.60441557e-06,-1.26821571e-04,-3.67194842e-05,
  1.80090983e-06,-1.01289022e-06,-1.21640227e+00, 6.69558126e-05,
  1.48216757e-03, 2.21673040e-06]


--- Step 707 ---
qpos:
[ 3.04301706e-03,-3.35810089e-03, 1.18801423e-02, 4.17653446e-02,
 -2.18899297e-03,-1.93628943e-03,-1.73707995e-02, 2.87148184e-02,
  5.86450923e-03, 1.64643979e-02,-9.38668248e-03, 2.59868440e-02,
  1.04989662e+00,-1.33791585e-03, 8.18437505e-01, 6.45873891e-02,
  9.49899739e-02,-7.00324785e-02, 1.21771223e-01, 9.99986372e-01,
 -3.82120997e-04, 1.14927144e-04, 5.20536888e-03]

qacc:
[ -6.01371182, -1.77756307, 10.28715746,-25.71827657, -2.75858166,
  -1.14654981,  3.46712676, -5.2862898 ,  4.46399321,  2.73054838,
 -13.63633769, 30.31727067, -1.28338103,  2.3285643 , -4.46177244,
  13.4787873 , -0.59974167, -1.16382009, -0.30769025, 19.25769602,
 -10.64368527,  0.55108868]

qfrc_actuator:
[-1.74199813e-05, 2.96571537e-05, 1.05457447e-04, 1.09353188e-04,
 -4.76021183e-06,-2.96718938e-04,-2.36795183e-04, 1.29891336e-05,
 -3.37146692e-07, 3.97434297e-04, 8.38536833e-05,-5.09429130e-06,
  2.76642268e-02,-1.18273181e-03, 1.08534936e-02,-3.20787160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000246869732781152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24860094e-13, -4.49720187e-13,  1.00000000e+00, -1.01124123e-25,
        1.00000000e+00,  4.49720187e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24860094e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846867, -0.04575359,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52489189e-05, 9.22600816e-06, 2.74552909e-06,-4.44882844e-05,
 -1.62810224e-05,-7.82698966e-05,-1.71523752e-05,-1.05391248e-05,
  2.63964248e-05, 3.78635483e-06,-1.24523482e-05, 4.76624539e-05,
 -1.74460119e-04,-1.46889318e-05,-8.53221087e-05, 4.09660512e-05,
  9.06960465e-07,-1.61649064e-06,-1.21639823e+00, 7.16881461e-05,
  1.48641900e-03, 2.06714300e-06]


--- Step 708 ---
qpos:
[ 3.04195356e-03,-3.35828042e-03, 1.18797305e-02, 4.17647895e-02,
 -2.18859360e-03,-1.93587249e-03,-1.73706810e-02, 2.87153694e-02,
  5.86517794e-03, 1.64629039e-02,-9.38594514e-03, 2.59866334e-02,
  1.05052917e+00,-1.33657577e-03, 8.18952179e-01, 6.45852772e-02,
  9.49956694e-02,-7.00529576e-02, 1.21767707e-01, 9.99986397e-01,
 -2.10932777e-04, 1.60924426e-04, 5.20909049e-03]

qacc:
[-6.72521510e+00,-2.11972598e+00, 1.33597044e+01,-3.52541397e+01,
  4.24901855e+00,-2.93331113e-03, 6.11574613e-02,-1.86701365e+00,
 -3.19202450e-01,-1.21561772e-01,-2.74711568e+00, 1.27660135e+01,
 -8.67218002e-01, 1.17246375e+00, 6.74766818e+00,-2.52882141e+01,
 -5.95945316e-01,-1.15725326e+00,-3.73159076e-01, 1.91381638e+01,
 -1.05518084e+01, 5.83877460e-01]

qfrc_actuator:
[-5.58062806e-05, 4.75956364e-05, 1.04646484e-04, 4.65262105e-05,
  2.06659722e-05,-2.91559436e-04,-2.41762040e-04, 7.40548839e-06,
 -3.08287794e-06, 3.63880320e-04, 9.44305590e-05, 2.34827159e-05,
  2.76055318e-02,-1.18717262e-03, 1.07913403e-02,-3.35011922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000244271469741153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846893, -0.04575277,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93837266e-05, 2.17658671e-05,-9.71692799e-08,-6.32010866e-05,
  2.49359055e-05,-4.26397631e-05,-2.36244038e-05,-9.73970264e-06,
 -1.99257402e-06,-3.19167258e-05, 1.14842208e-05, 2.92384237e-05,
 -1.70814260e-04,-4.34517220e-05,-1.01910746e-04,-1.52125483e-04,
 -8.38084849e-08,-1.89909427e-06,-1.21638442e+00, 7.82957102e-05,
  1.48955706e-03, 1.68651542e-06]


--- Step 709 ---
qpos:
[ 3.04078295e-03,-3.35827424e-03, 1.18792842e-02, 4.17638381e-02,
 -2.18754803e-03,-1.93559327e-03,-1.73701512e-02, 2.87154410e-02,
  5.86546393e-03, 1.64610256e-02,-9.38527660e-03, 2.59864529e-02,
  1.05116062e+00,-1.33525487e-03, 8.19465920e-01, 6.45817394e-02,
  9.49988067e-02,-7.00770450e-02, 1.21763604e-01, 9.99986390e-01,
 -9.95454666e-06, 1.84848796e-04, 5.21399237e-03]

qacc:
[ -0.94472652, -0.47322522,  3.71858143,-10.66179752,  5.68251228,
  -2.32784761, 10.04093236,-18.87022213, -3.33358118, -0.24744615,
   0.03005096,  0.86933741, -0.80270293,  1.01383412,  2.96719535,
 -12.28866572, -0.63954023, -0.90206787, -0.14690013, 14.83721468,
 -11.11401723,  0.5902784 ]

qfrc_actuator:
[-6.02007641e-05, 5.82825132e-05, 1.04353379e-04, 2.75594850e-05,
  5.32237014e-05,-2.70715795e-04,-2.09145433e-04,-1.38348532e-05,
 -2.27273626e-05, 3.26805225e-04, 8.25413106e-05, 2.26048342e-05,
  2.75476013e-02,-1.19037733e-03, 1.07621938e-02,-3.41529387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002424183665275803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.28989049e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.28989049e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897682, -0.05163738,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.50489406e-06, 2.01332367e-05, 2.01462583e-06,-1.92636405e-05,
  3.32550089e-05,-8.30664634e-06, 2.05535867e-05,-2.40781274e-05,
 -1.97184350e-05,-5.12505403e-05,-1.60457999e-05,-1.27688352e-06,
 -1.74441403e-04,-4.60885718e-05,-9.79448699e-05,-8.79322012e-05,
 -1.18965960e-06,-1.86628933e-06,-1.21636105e+00, 8.67644589e-05,
  1.49158713e-03, 1.07826656e-06]


--- Step 710 ---
qpos:
[ 3.04025843e-03,-3.35820705e-03, 1.18786022e-02, 4.17626968e-02,
 -2.18646512e-03,-1.93522127e-03,-1.73701842e-02, 2.87152950e-02,
  5.86551202e-03, 1.64589046e-02,-9.38482139e-03, 2.59866010e-02,
  1.05179111e+00,-1.33453656e-03, 8.19978600e-01, 6.45800111e-02,
  9.49994020e-02,-7.01047238e-02, 1.21758660e-01, 9.99986333e-01,
  2.20670181e-04, 1.86856934e-04, 5.22011373e-03]

qacc:
[  5.66259442,  0.33709561, -0.30322474, -2.62858709,  0.30807754,
   1.24627503, -3.34744781,  0.4108288 , -2.07733507,  0.95610989,
  -5.25547266, 11.45660047, -0.02868866, -0.92771715, -7.04147166,
  22.3251379 , -0.63549113, -0.89784219, -0.21004148, 14.76579852,
 -11.03525699,  0.6124882 ]

qfrc_actuator:
[-2.67996759e-05, 4.68281064e-05, 8.66241233e-05, 1.67978821e-05,
  5.41997616e-05,-2.75991286e-04,-2.43292176e-04,-2.63201664e-05,
 -3.43988185e-05, 3.23294702e-04, 7.51816194e-05, 3.98849866e-05,
  2.74901700e-02,-1.22832226e-03, 1.07475647e-02,-3.31010692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023979728863199323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31491989e-13,  4.62983977e-13,  1.00000000e+00, -1.07177082e-25,
        1.00000000e+00, -4.62983977e-13, -1.00000000e+00,  0.00000000e+00,
        2.31491989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089772 , -0.05163673,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32526698e-05,-5.96013331e-07,-1.39804102e-05,-1.02009106e-05,
  1.92127314e-06,-6.71191724e-06,-3.41748461e-05,-1.26020801e-05,
 -1.22591628e-05,-3.54847158e-05,-1.99511198e-05, 1.45077775e-05,
 -1.76611881e-04,-8.21522259e-05,-7.43427757e-05, 8.65503993e-05,
 -2.31793848e-06,-1.40284761e-06,-1.21633709e+00, 9.66634939e-05,
  1.49248321e-03, 2.49271050e-07]


--- Step 711 ---
qpos:
[ 3.04048321e-03,-3.35812366e-03, 1.18779643e-02, 4.17621127e-02,
 -2.18572336e-03,-1.93490345e-03,-1.73711829e-02, 2.87157389e-02,
  5.86576405e-03, 1.64570626e-02,-9.38529356e-03, 2.59872824e-02,
  1.05242048e+00,-1.33422032e-03, 8.20490708e-01, 6.45787963e-02,
  9.50002319e-02,-7.01275587e-02, 1.21756574e-01, 9.99986239e-01,
  4.10849862e-04, 1.92005891e-04, 5.22647138e-03]

qacc:
[  6.57840138,  1.03397426, -6.02795342, 15.609819  , -3.02113259,
   3.84491194,-16.29476046, 28.07579231,  1.74544002,  4.05507826,
 -16.1805666 , 26.69205742, -0.3900013 , -0.12225856, -2.38479216,
   7.13820852,  0.05863115,  1.21096714,  0.71425474,-20.21406745,
   1.67598144,  0.11412015]

qfrc_actuator:
[ 1.08157579e-05, 5.76446144e-05, 9.41533534e-05, 4.64165975e-05,
  3.65771991e-05,-2.97113692e-04,-2.98934578e-04, 1.88297344e-06,
 -2.35255462e-05, 3.57687730e-04, 3.52064511e-05, 6.77492246e-05,
  2.74277403e-02,-1.25101499e-03, 1.07310397e-02,-3.28289442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002512874014107963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10453510e-13,  2.20907021e-13,  1.00000000e+00,  2.43999559e-26,
        1.00000000e+00, -2.20907021e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10453510e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949097 , -0.09312969,  0.06199389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85640413e-05, 7.17990156e-06, 5.34012212e-06, 2.89134764e-05,
 -1.75682349e-05,-3.24868658e-05,-6.16782197e-05, 2.64872461e-05,
  1.05034615e-05, 1.11173225e-05,-4.92407504e-05, 2.59394905e-05,
 -1.90237738e-04,-7.37502806e-05,-4.61560921e-05, 2.12840016e-05,
 -3.51252823e-06,-6.63068518e-07,-1.21630640e+00, 1.07987739e-04,
  1.49223531e-03,-7.56505403e-07]


--- Step 712 ---
qpos:
[ 3.04081212e-03,-3.35763249e-03, 1.18772767e-02, 4.17611527e-02,
 -2.18623339e-03,-1.93475752e-03,-1.73722566e-02, 2.87161253e-02,
  5.86579905e-03, 1.64557328e-02,-9.38613310e-03, 2.59878773e-02,
  1.05304850e+00,-1.33355441e-03, 8.21001987e-01, 6.45769616e-02,
  9.50013014e-02,-7.01456510e-02, 1.21756528e-01, 9.99986129e-01,
  5.61421663e-04, 2.00177329e-04, 5.23313411e-03]

qacc:
[  0.90528378, -0.09881507,  2.71662609, -9.43715114,-10.97839921,
  -0.11438571,  0.35780848, -1.14538488, -1.9131895 ,  1.52919696,
  -4.09876513,  2.80495193, -1.30430591,  2.17180536,  0.72414536,
  -4.13271171,  0.05993059,  1.18565172,  0.5100751 ,-19.79579573,
   1.61478867,  0.14815402]

qfrc_actuator:
[ 1.50929015e-05, 9.95967092e-05, 9.88996624e-05, 2.85818788e-05,
 -2.73462474e-05,-2.92129121e-04,-2.95835809e-04, 5.20702533e-07,
 -3.49773995e-05, 4.14398106e-04, 2.97192812e-05, 6.61226324e-05,
  2.73623592e-02,-1.22901063e-03, 1.06760908e-02,-3.31964701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42634014, -2.43575466,  3.69588775, -2.43575466, 11.97195996,
        4.97289957,  3.69588775,  4.97289957,  7.70370247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002621514800085628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72048658e-13, -2.11752195e-13,  1.00000000e+00, -3.64316810e-26,
        1.00000000e+00,  2.11752195e-13, -1.00000000e+00,  0.00000000e+00,
       -1.72048658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491027, -0.09312676,  0.06199363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37712939e-06, 4.83271350e-05, 7.89358044e-06,-1.67786448e-05,
 -6.44341831e-05,-2.47937799e-05,-1.02848859e-05,-4.37188061e-06,
 -1.11521746e-05, 5.39426702e-05,-8.33286818e-06,-2.34586646e-06,
 -1.99707945e-04,-3.06778738e-05,-8.08445191e-05,-4.31460986e-05,
 -3.00106403e-06,-6.51010419e-07,-1.21634913e+00, 1.17387778e-04,
  1.49258423e-03,-1.23518642e-06]


--- Step 713 ---
qpos:
[ 3.04084520e-03,-3.35672058e-03, 1.18760775e-02, 4.17596716e-02,
 -2.18750569e-03,-1.93487963e-03,-1.73732868e-02, 2.87168415e-02,
  5.86569685e-03, 1.64543814e-02,-9.38657225e-03, 2.59884629e-02,
  1.05367518e+00,-1.33261096e-03, 8.21511763e-01, 6.45757677e-02,
  9.50026147e-02,-7.01590854e-02, 1.21757835e-01, 9.99986021e-01,
  6.73085243e-04, 2.11275927e-04, 5.24015448e-03]

qacc:
[ -2.62030249,  0.9178632 , -0.25854002, -8.25871915, -6.67946792,
   0.21542518, -2.65191401,  8.46157815, -1.18379007, -1.16427923,
   4.15343662, -4.94311494, -1.13650121,  1.79767192, -4.0884302 ,
  11.23016941,  0.06092358,  1.16447764,  0.33819713,-19.44621791,
   1.56546605,  0.17409531]

qfrc_actuator:
[-2.87488920e-07, 1.06574200e-04, 6.65469602e-05, 7.37951241e-07,
 -6.47452303e-05,-3.06846239e-04,-2.93502091e-04, 1.73358389e-05,
 -4.17322900e-05, 3.95391143e-04, 4.47358469e-05, 6.49606037e-05,
  2.72952698e-02,-1.21628417e-03, 1.05981312e-02,-3.28733482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000269139258088677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28908988e-14,  4.12508763e-13,  1.00000000e+00,  5.31760874e-27,
        1.00000000e+00, -4.12508763e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28908988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491068, -0.09312492,  0.06199346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52106562e-05, 3.49070308e-05,-2.19750087e-05,-2.58250053e-05,
 -3.92437419e-05,-3.09095633e-05,-4.19308863e-06, 1.53155393e-05,
 -7.06026507e-06, 9.38917114e-06, 2.50761567e-05, 8.19648993e-07,
 -1.98395022e-04,-3.45121477e-05,-1.25757156e-04, 1.81628009e-05,
 -2.47963416e-06,-6.07605026e-07,-1.21638295e+00, 1.24833878e-04,
  1.49308912e-03,-1.62329256e-06]


--- Step 714 ---
qpos:
[ 3.04069376e-03,-3.35552691e-03, 1.18747672e-02, 4.17585494e-02,
 -2.18818206e-03,-1.93539224e-03,-1.73742340e-02, 2.87181120e-02,
  5.86585948e-03, 1.64527568e-02,-9.38727717e-03, 2.59901456e-02,
  1.05430081e+00,-1.33213452e-03, 8.22020674e-01, 6.45751456e-02,
  9.50041747e-02,-7.01679324e-02, 1.21759916e-01, 9.99985927e-01,
  7.46423168e-04, 2.25225180e-04, 5.24757230e-03]

qacc:
[ -1.6276943 ,  1.42590074, -6.05243363, 12.22810412,  5.23644841,
   0.38224588, -4.47057496, 14.23894201,  2.30687165,  2.6356797 ,
 -14.56192766, 34.18465106, -0.27266035, -0.37509054, -2.99977432,
   8.64380226,  0.0616908 ,  1.14684932,  0.19370658,-19.15513737,
   1.52585621,  0.19367611]

qfrc_actuator:
[-9.35145584e-06, 1.27896110e-04, 6.56746977e-05, 2.04420085e-05,
 -3.29604359e-05,-3.33219481e-04,-2.91715908e-04, 4.46932555e-05,
 -2.79093898e-05, 3.49035125e-04, 1.81759501e-05, 1.17292653e-04,
  2.72431790e-02,-1.24469747e-03, 1.05863426e-02,-3.25010186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002729748096679807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.8129309e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.8129309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491098, -0.09312395,  0.06199337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.48443145e-06, 3.51755956e-05, 2.74491508e-06, 1.99407559e-05,
  3.06548917e-05,-4.38663436e-05,-4.57139279e-06, 2.61883738e-05,
  1.36181353e-05,-3.58406127e-05,-2.14836000e-05, 5.36209899e-05,
 -1.83677293e-04,-7.58927290e-05,-7.06960453e-05, 2.13556281e-05,
 -1.92316804e-06,-5.50651967e-07,-1.21640844e+00, 1.30360860e-04,
  1.49375168e-03,-1.92073831e-06]


--- Step 715 ---
qpos:
[ 3.04043462e-03,-3.35409240e-03, 1.18739938e-02, 4.17579769e-02,
 -2.18847288e-03,-1.93590861e-03,-1.73752894e-02, 2.87193185e-02,
  5.86618631e-03, 1.64508706e-02,-9.38796390e-03, 2.59920766e-02,
  1.05492532e+00,-1.33172818e-03, 8.22529020e-01, 6.45735767e-02,
  9.50059839e-02,-7.01722504e-02, 1.21762287e-01, 9.99985855e-01,
  7.81917948e-04, 2.41964016e-04, 5.25541735e-03]

qacc:
[ -0.93233408, -0.04781802, -1.68316131, 10.15375884,  3.37802435,
   0.15884317, -0.31450699, -0.60624237,  1.43730173,  0.11165525,
  -1.95292619,  6.41859354, -0.76869205,  0.88828786,  2.0606827 ,
  -8.33454332,  0.062294  ,  1.13225938,  0.07243615,-18.91404274,
   1.49422082,  0.20825556]

qfrc_actuator:
[-1.46185549e-05, 1.57795369e-04, 1.01247289e-04, 5.02505229e-05,
 -1.39765824e-05,-3.13098816e-04,-2.90315082e-04, 4.25142423e-05,
 -1.98396014e-05, 3.39787948e-04, 2.04340811e-05, 1.29607876e-04,
  2.71947841e-02,-1.24390319e-03, 1.05609953e-02,-3.29886680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002742660741195946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.32496557e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.32496557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491119, -0.09312369,  0.06199334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.52812495e-06, 5.09623976e-05, 4.38707555e-05, 3.18016216e-05,
  1.98414596e-05,-4.19365779e-06,-7.30387013e-06,-3.70827153e-06,
  8.44073549e-06,-3.13607316e-05,-5.91295691e-06, 1.10804077e-05,
 -1.79267942e-04,-5.07967126e-05,-6.11329253e-05,-5.79914618e-05,
 -1.31379708e-06,-4.92649692e-07,-1.21642606e+00, 1.33997664e-04,
  1.49457261e-03,-2.12760977e-06]


--- Step 716 ---
qpos:
[ 3.04011439e-03,-3.35263847e-03, 1.18738049e-02, 4.17574456e-02,
 -2.18887878e-03,-1.93617580e-03,-1.73764483e-02, 2.87201106e-02,
  5.86660723e-03, 1.64488304e-02,-9.38862603e-03, 2.59934352e-02,
  1.05554869e+00,-1.33131242e-03, 8.23036537e-01, 6.45714310e-02,
  9.50080443e-02,-7.01720872e-02, 1.21764542e-01, 9.99985808e-01,
  7.79966323e-04, 2.61444061e-04, 5.26371154e-03]

qacc:
[ -0.51813136, -1.52280297,  5.29448826, -5.53306568, -1.01712525,
  -0.23191168,  3.05797884,-10.25087013,  0.8237549 , -1.45218112,
   7.29654773,-17.12601926, -0.8315536 ,  1.0666884 ,  0.56030315,
  -3.638339  ,  0.06278012,  1.12027478, -0.02915887,-18.71579966,
   1.46915576,  0.2188995 ]

qfrc_actuator:
[-1.76105336e-05, 1.39511351e-04, 1.22578135e-04, 5.02822279e-05,
 -2.04538955e-05,-2.83064983e-04,-2.88987521e-04, 2.30100445e-05,
 -1.52269793e-05, 3.35151085e-04, 2.20527250e-05, 1.00570387e-04,
  2.71379997e-02,-1.24354709e-03, 1.05221912e-02,-3.32693012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002735223812920795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15633536e-13, -2.02949210e-13,  1.00000000e+00, -4.37626558e-26,
        1.00000000e+00,  2.02949210e-13, -1.00000000e+00,  0.00000000e+00,
       -2.15633536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491133, -0.09312398,  0.06199335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13838176e-06, 2.05953834e-05, 3.83552967e-05, 4.35191573e-06,
 -5.91274421e-06, 2.60565595e-05,-5.51715893e-07,-2.00088161e-05,
  4.83710696e-06,-2.28445353e-05,-5.17848536e-06,-3.03692365e-05,
 -1.79518127e-04,-4.59985970e-05,-8.00112300e-05,-4.07074810e-05,
 -6.38814766e-07,-4.41618268e-07,-1.21643617e+00, 1.35768225e-04,
  1.49555206e-03,-2.24409940e-06]


--- Step 717 ---
qpos:
[ 3.03976095e-03,-3.35148803e-03, 1.18741319e-02, 4.17562755e-02,
 -2.18901433e-03,-1.93592476e-03,-1.73774486e-02, 2.87202638e-02,
  5.86742535e-03, 1.64461939e-02,-9.38908748e-03, 2.59948258e-02,
  1.05617095e+00,-1.33115569e-03, 8.23543182e-01, 6.45682698e-02,
  9.50103574e-02,-7.01674820e-02, 1.21766340e-01, 9.99985786e-01,
  7.40891265e-04, 2.83627429e-04, 5.27247057e-03]

qacc:
[ -0.27045716, -3.15945363, 13.37745944,-25.03010111,  2.36693239,
  -1.07692641,  7.52408585,-19.20863954,  3.48070856, -1.28978335,
   3.3081487 , -2.62227403, -0.56884397,  0.35171344,  1.7990528 ,
  -8.11537549,  0.0631847 ,  1.11052551, -0.11410016,-18.55440817,
   1.44952425,  0.22644327]

qfrc_actuator:
[-1.92409752e-05, 9.24424577e-05, 1.35101489e-04, 1.49838378e-05,
 -6.35623941e-06,-2.29582057e-04,-2.69912718e-04,-6.51335356e-06,
  5.06839531e-06, 2.80019561e-04, 2.32740157e-05, 1.00700526e-04,
  2.70762239e-02,-1.26125802e-03, 1.04806829e-02,-3.37806905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002711693423038397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27943923e-14,  2.04710277e-13,  1.00000000e+00,  2.61914360e-27,
        1.00000000e+00, -2.04710277e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27943923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949114 , -0.09312472,  0.06199341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71867905e-06,-2.74924131e-05, 2.16390102e-05,-3.30056912e-05,
  1.39390617e-05, 6.71017478e-05, 2.37118155e-05,-2.88135677e-05,
  2.04206568e-05,-7.01958590e-05,-5.15740167e-06,-1.61618340e-06,
 -1.83746221e-04,-6.32518689e-05,-8.84076826e-05,-6.49966789e-05,
  1.10799367e-07,-4.01677008e-07,-1.21643903e+00, 1.35692197e-04,
  1.49668979e-03,-2.27046039e-06]


--- Step 718 ---
qpos:
[ 3.04008060e-03,-3.35070709e-03, 1.18746812e-02, 4.17550670e-02,
 -2.18863472e-03,-1.93560795e-03,-1.73775000e-02, 2.87204099e-02,
  5.86848028e-03, 1.64428541e-02,-9.38886603e-03, 2.59958426e-02,
  1.05679197e+00,-1.33087581e-03, 8.24048642e-01, 6.45609296e-02,
  9.50129246e-02,-7.01584659e-02, 1.21767399e-01, 9.99985783e-01,
  6.64952115e-04, 3.08484932e-04, 5.28170524e-03]

qacc:
[  5.92141806, -1.20103142,  3.71589577, -4.44397158,  4.54689667,
  -2.58664082,  9.36376075,-11.03297025,  2.09854204, -3.61190219,
  13.10118438,-20.13790831, -1.15061954,  1.73141951, 10.92444497,
 -40.62167133,  0.06353446,  1.10269529, -0.18496704,-18.42480934,
   1.43440401,  0.23154111]

qfrc_actuator:
[ 1.54473281e-05, 6.39230288e-05, 1.42175174e-04, 1.24086654e-05,
  1.97469872e-05,-2.33408906e-04,-2.22657591e-04,-6.15264803e-06,
  1.66800583e-05, 2.48353021e-04, 5.95762187e-05, 8.24504846e-05,
  2.70114905e-02,-1.25403922e-03, 1.03843279e-02,-3.60215757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002675615300015144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68569863e-13,  6.22411801e-13,  1.00000000e+00,  1.04919872e-25,
        1.00000000e+00, -6.22411801e-13, -1.00000000e+00,  0.00000000e+00,
       -1.68569863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491144, -0.0931258 ,  0.0619935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.46265082e-05,-4.08797500e-05, 2.90392157e-06,-3.64709309e-06,
  2.65242232e-05, 3.73664509e-05, 6.30470264e-05, 3.49681070e-06,
  1.21642422e-05,-7.19476093e-05, 2.11442572e-05,-2.14650177e-05,
 -1.93167812e-04,-4.21493582e-05,-1.49436995e-04,-2.40290183e-04,
  9.41448660e-07,-3.73445167e-07,-1.21643487e+00, 1.33785561e-04,
  1.49798538e-03,-2.20697506e-06]


--- Step 719 ---
qpos:
[ 3.04046849e-03,-3.35027056e-03, 1.18753079e-02, 4.17541894e-02,
 -2.18794480e-03,-1.93550838e-03,-1.73767769e-02, 2.87206080e-02,
  5.86897569e-03, 1.64397993e-02,-9.38863314e-03, 2.59965511e-02,
  1.05741179e+00,-1.33051889e-03, 8.24552317e-01, 6.45529232e-02,
  9.50157472e-02,-7.01450639e-02, 1.21767481e-01, 9.99985791e-01,
  5.52353132e-04, 3.35994619e-04, 5.29142244e-03]

qacc:
[ 6.07600352e-01, 9.37437341e-03,-2.09173772e+00, 7.94899786e+00,
  2.74969554e+00,-2.34875468e+00, 7.72947696e+00,-7.89663170e+00,
 -4.88482842e+00,-2.80138003e-01, 2.86331127e+00,-8.44330566e+00,
 -8.98604341e-01, 1.22701037e+00,-5.77305474e-01,-1.70070917e+00,
  6.38493561e-02, 1.09651384e+00,-2.43962911e-01,-1.83227296e+01,
  1.42304528e+00, 2.34705010e-01]

qfrc_actuator:
[ 1.79759656e-05, 4.67207010e-05, 1.46066238e-04, 2.91226920e-05,
  3.49479852e-05,-2.71376481e-04,-1.94853248e-04,-5.99043277e-06,
 -1.24222674e-05, 3.19874178e-04, 8.08592221e-05, 7.13181027e-05,
  2.69556869e-02,-1.24989378e-03, 1.03190339e-02,-3.62465133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026299329262689797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.59607497e-14,  4.22148798e-13,  1.00000000e+00,  2.78452512e-26,
        1.00000000e+00, -4.22148798e-13, -1.00000000e+00,  0.00000000e+00,
       -6.59607497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491143, -0.09312715,  0.06199361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49785087e-06,-3.96396634e-05,-4.33592727e-06, 1.49906400e-05,
  1.59674265e-05,-3.90179920e-06, 4.34051803e-05, 4.01107834e-06,
 -2.87888584e-05, 3.48590469e-05, 8.31767614e-06,-1.38973855e-05,
 -1.86341713e-04,-4.32773702e-05,-1.63781683e-04,-5.57934375e-05,
  1.85769376e-06,-3.54313879e-07,-1.21642383e+00, 1.30061135e-04,
  1.49943829e-03,-2.05393326e-06]


--- Step 720 ---
qpos:
[ 3.04019390e-03,-3.34993251e-03, 1.18758944e-02, 4.17531499e-02,
 -2.18707776e-03,-1.93548728e-03,-1.73762512e-02, 2.87208573e-02,
  5.86911790e-03, 1.64375479e-02,-9.38845192e-03, 2.59970565e-02,
  1.05803052e+00,-1.33040064e-03, 8.25053921e-01, 6.45492750e-02,
  9.50188263e-02,-7.01272948e-02, 1.21766392e-01, 9.99985798e-01,
  4.03250737e-04, 3.66140594e-04, 5.30162604e-03]

qacc:
[ -5.81479042, -0.34033415,  1.72735565, -4.41376823,  1.54854946,
   0.54986365, -2.3325663 ,  3.59735718, -3.09606885,  0.7939633 ,
  -0.42189643, -3.61504935, -0.31249714, -0.12910461,-16.19793857,
  52.25230995,  0.06414415,  1.09175025, -0.2929704 ,-18.24455393,
   1.41483748,  0.23633531]

qfrc_actuator:
[-1.62082245e-05, 5.41839778e-05, 1.48103795e-04, 2.15509460e-05,
  4.36064284e-05,-2.94066494e-04,-2.14429852e-04,-6.00352798e-06,
 -2.97461140e-05, 3.99343004e-04, 9.35289989e-05, 6.45401706e-05,
  2.68999557e-02,-1.26534814e-03, 1.02671474e-02,-3.38600858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002577079826909384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44269317e-13,  4.30806610e-13,  1.00000000e+00,  1.91394158e-25,
        1.00000000e+00, -4.30806610e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44269317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949114 , -0.0931287 ,  0.06199374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41007009e-05,-1.49779183e-05,-6.17651338e-06,-9.12858200e-06,
  9.11031713e-06,-1.57414456e-05,-1.49078304e-05, 1.39666525e-06,
 -1.81459475e-05, 1.00182614e-04, 2.04471147e-05,-5.26072821e-06,
 -1.82063508e-04,-6.16904720e-05,-1.34658907e-04, 2.14197404e-04,
  2.86281365e-06,-3.38623640e-07,-1.21640603e+00, 1.24529005e-04,
  1.50104799e-03,-1.81161788e-06]


--- Step 721 ---
qpos:
[ 3.04020129e-03,-3.34918264e-03, 1.18756708e-02, 4.17523605e-02,
 -2.18611336e-03,-1.93577578e-03,-1.73758424e-02, 2.87211297e-02,
  5.86974075e-03, 1.64359817e-02,-9.38809568e-03, 2.59971298e-02,
  1.05864804e+00,-1.33015619e-03, 8.25554441e-01, 6.45493397e-02,
  9.50221632e-02,-7.01051729e-02, 1.21763968e-01, 9.99985786e-01,
  2.17759632e-04, 3.98912048e-04, 5.31231742e-03]

qacc:
[ 2.44279953e+00, 3.32031068e+00,-1.21114022e+01, 1.74397918e+01,
  8.55657958e-01,-3.66417519e-02,-5.63591306e-01, 1.38139124e+00,
  4.18573627e+00,-4.81010910e-01, 4.83899397e+00,-1.30845781e+01,
 -7.92348280e-01, 1.05394367e+00,-1.27609037e+01, 4.24258220e+01,
  6.44296852e-02, 1.08820747e+00,-3.33597755e-01,-1.81872221e+01,
  1.40928250e+00, 2.36744740e-01]

qfrc_actuator:
[-7.06137165e-07, 9.40910696e-05, 1.13610543e-04, 3.52735038e-05,
  4.83484139e-05,-3.25394507e-04,-2.26267685e-04,-6.14182692e-06,
 -4.48011898e-06, 4.29690211e-04, 1.01089391e-04, 4.26405561e-05,
  2.68443019e-02,-1.25677222e-03, 1.02500242e-02,-3.19072059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025190583522390064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.7904631e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.7904631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491135, -0.09313039,  0.06199388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45247505e-05, 2.98368037e-05,-3.86704672e-05, 1.26912745e-05,
  4.99672635e-06,-4.31543445e-05,-1.68846675e-05,-1.30370879e-06,
  2.47733599e-05, 9.04405161e-05, 3.06149187e-05,-1.69969800e-05,
 -1.82585104e-04,-4.02468953e-05,-5.64773154e-05, 1.89618326e-04,
  3.95921197e-06,-3.17771943e-07,-1.21638155e+00, 1.17196882e-04,
  1.50281392e-03,-1.48029557e-06]


--- Step 722 ---
qpos:
[ 3.04039408e-03,-3.34816562e-03, 1.18752848e-02, 4.17520600e-02,
 -2.18509963e-03,-1.93623716e-03,-1.73756342e-02, 2.87213868e-02,
  5.87066137e-03, 1.64350987e-02,-9.38768115e-03, 2.59976393e-02,
  1.05926421e+00,-1.32920663e-03, 8.26054046e-01, 6.45504404e-02,
  9.50257590e-02,-7.00787081e-02, 1.21760075e-01, 9.99985736e-01,
 -4.04199797e-06, 4.34302472e-04, 5.32349601e-03]

qacc:
[  1.61793374,  1.81167338, -8.01489642, 16.54341787,  0.42923077,
   0.29955943, -1.33647183,  1.52078341,  2.5876005 ,  1.63274367,
  -6.36185224, 13.32359167, -1.55237812,  2.93966005, -4.37865292,
  13.58831727,  0.06471381,  1.0857175 , -0.36721809,-18.14814201,
   1.4059734 ,  0.2361773 ]

qfrc_actuator:
[ 8.42296292e-06, 1.17488287e-04, 1.11242789e-04, 6.14253824e-05,
  5.07494194e-05,-3.26137511e-04,-2.33463756e-04,-6.34763432e-06,
  1.01419508e-05, 4.65866499e-04, 1.05378113e-04, 6.52359139e-05,
  2.67834182e-02,-1.21629491e-03, 1.01898355e-02,-3.14681195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024575069177067144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12942004e-13, -2.25884008e-13,  1.00000000e+00, -2.55117925e-26,
        1.00000000e+00,  2.25884008e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12942004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491128, -0.09313218,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.55225273e-06, 3.26203483e-05,-5.33648632e-07, 2.63388642e-05,
  2.52911252e-06,-2.84114968e-05,-1.82369822e-05,-2.66588126e-06,
  1.53586174e-05, 9.24097114e-05, 2.61668447e-05, 2.72012622e-05,
 -1.82827212e-04,-5.13804789e-06,-7.06761968e-05, 4.59057453e-05,
  5.14871101e-06,-2.80268723e-07,-1.21635044e+00, 1.08070413e-04,
  1.50473559e-03,-1.06021095e-06]


--- Step 723 ---
qpos:
[ 3.04104003e-03,-3.34725778e-03, 1.18753466e-02, 4.17513903e-02,
 -2.18475495e-03,-1.93662812e-03,-1.73761470e-02, 2.87206082e-02,
  5.87106053e-03, 1.64347353e-02,-9.38629956e-03, 2.59983730e-02,
  1.05987923e+00,-1.32807465e-03, 8.26552491e-01, 6.45494853e-02,
  9.50267076e-02,-7.00561440e-02, 1.21758515e-01, 9.99985649e-01,
 -1.93822594e-04, 4.45480464e-04, 5.33538881e-03]

qacc:
[ 3.99345389e+00,-2.16513068e+00, 9.05372423e+00,-1.60621828e+01,
 -5.89245428e+00,-1.15826683e-02, 4.56997677e+00,-2.14165839e+01,
 -4.52663306e+00,-1.54561122e+00, 5.57586926e+00,-3.63975436e+00,
 -1.04205347e+00, 1.61476998e+00, 4.54872270e+00,-1.82702688e+01,
 -6.61800845e-01,-9.75185218e-01, 5.82958813e-01, 1.59456868e+01,
 -1.21912689e+01, 3.64102244e-01]

qfrc_actuator:
[ 3.14647003e-05, 9.54542525e-05, 1.27826564e-04, 4.14380627e-05,
  1.62496748e-05,-3.26295040e-04,-2.73249589e-04,-5.98226705e-05,
 -1.71369780e-05, 5.05268223e-04, 1.61008450e-04, 7.83276494e-05,
  2.67247791e-02,-1.21056404e-03, 1.00985053e-02,-3.26354970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025013909898470577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21921129e-13,  2.21921129e-13,  1.00000000e+00,  4.92489875e-26,
        1.00000000e+00, -2.21921129e-13, -1.00000000e+00,  0.00000000e+00,
       -2.21921129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896869, -0.05163712,  0.06199392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33213492e-05,-2.80361841e-06, 2.41600267e-05,-1.80969274e-05,
 -3.44367206e-05,-1.99117361e-05,-4.79907381e-05,-5.53756304e-05,
 -2.68109107e-05, 9.76828724e-05, 7.88876931e-05, 1.84861134e-05,
 -1.73470465e-04,-3.37639804e-05,-1.24494967e-04,-1.24610397e-04,
  6.43276433e-06,-2.11752362e-07,-1.21631271e+00, 9.71534386e-05,
  1.50681256e-03,-5.51583433e-07]


--- Step 724 ---
qpos:
[ 3.04230214e-03,-3.34641051e-03, 1.18753501e-02, 4.17505159e-02,
 -2.18482611e-03,-1.93736314e-03,-1.73770091e-02, 2.87192231e-02,
  5.87078505e-03, 1.64346942e-02,-9.38384827e-03, 2.59996210e-02,
  1.06049321e+00,-1.32689014e-03, 8.27049978e-01, 6.45486638e-02,
  9.50250358e-02,-7.00374036e-02, 1.21758556e-01, 9.99985543e-01,
 -3.52184261e-04, 4.32997700e-04, 5.34809383e-03]

qacc:
[  5.40740958, -0.3494015 ,  1.97496878, -5.35959598, -3.6526812 ,
  -0.71911774,  4.47769853,-14.17559608, -5.85608035, -1.49342333,
   3.79096547,  3.14269571, -0.76825647,  1.02068792, -1.77625772,
   4.25424478, -0.65508532, -0.95589731,  0.40051439, 15.64593682,
 -11.91409916,  0.41085912]

qfrc_actuator:
[ 6.25120925e-05, 8.19362058e-05, 1.19730779e-04, 2.99350517e-05,
 -4.18661535e-06,-3.61780684e-04,-2.96483338e-04,-9.09748218e-05,
 -5.11037634e-05, 5.10990238e-04, 2.11006419e-04, 1.03507337e-04,
  2.66781681e-02,-1.20768777e-03, 1.00897353e-02,-3.24321377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4177554 ,  0.47766413, -4.39185607,  0.47766413, 23.38088538,
        2.06245532, -4.39185607,  2.06245532,  4.64207079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002590029708722935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28652622e-13, -4.28652622e-13,  1.00000000e+00, -1.83743070e-25,
        1.00000000e+00,  4.28652622e-13, -1.00000000e+00,  0.00000000e+00,
       -4.28652622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896661, -0.0516389 ,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17076314e-05,-1.08966802e-05,-6.33678971e-06,-1.11411424e-05,
 -2.14206205e-05,-5.88961305e-05,-3.51604284e-05,-3.47384980e-05,
 -3.47047502e-05, 7.74216939e-05, 8.05199876e-05, 3.24524620e-05,
 -1.62586072e-04,-3.91320573e-05,-8.34591996e-05,-3.45532661e-06,
  5.74270639e-06,-2.73584113e-07,-1.21634874e+00, 8.76601508e-05,
  1.50732077e-03, 4.18546948e-07]


--- Step 725 ---
qpos:
[ 3.04358183e-03,-3.34568191e-03, 1.18752690e-02, 4.17498655e-02,
 -2.18479721e-03,-1.93823401e-03,-1.73783261e-02, 2.87184921e-02,
  5.87010448e-03, 1.64351274e-02,-9.38186662e-03, 2.60009039e-02,
  1.06110620e+00,-1.32570093e-03, 8.27546581e-01, 6.45454169e-02,
  9.50208373e-02,-7.00229650e-02, 1.21759431e-01, 9.99985434e-01,
 -4.75053029e-04, 3.97714609e-04, 5.36166670e-03]

qacc:
[  0.15380877,  0.54081972, -3.10111342,  7.19960917,  0.86611188,
   2.43440104,-11.70556276, 23.85376399, -3.55593233,  2.01833734,
  -6.42238936,  7.41545808, -0.78465712,  1.0470939 ,  6.05580008,
 -22.99021679, -0.63168108, -1.07547115,  0.20839219, 17.68503521,
 -11.49506013,  0.43759274]

qfrc_actuator:
[ 6.25133616e-05, 7.35228058e-05, 1.14906952e-04, 4.12584809e-05,
  1.58221703e-06,-3.47066367e-04,-3.09869197e-04,-5.54903182e-05,
 -7.09688535e-05, 4.96493869e-04, 1.68372330e-04, 1.00054735e-04,
  2.66334810e-02,-1.20646732e-03, 1.00293350e-02,-3.37278476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026429949073339176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10031246e-13, -3.55284444e-07,  1.00000000e+00,  7.46208343e-20,
        1.00000000e+00,  3.55284444e-07, -1.00000000e+00,  0.00000000e+00,
        2.10031246e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10872414, -0.04885417,  0.06199358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.98775996e-07,-1.63146604e-05,-8.25115938e-06, 1.04189994e-05,
  5.14054519e-06,-2.69391108e-05,-3.10614587e-05, 3.10754175e-05,
 -2.08348227e-05, 4.67786054e-05,-1.56307935e-05, 3.27612564e-06,
 -1.54482709e-04,-3.96378129e-05,-1.04154099e-04,-1.41665346e-04,
  5.15428572e-06,-5.91588326e-08,-1.21637621e+00, 7.96894911e-05,
  1.50663012e-03, 1.18286095e-06]


--- Step 726 ---
qpos:
[ 3.04450688e-03,-3.34505317e-03, 1.18751407e-02, 4.17490055e-02,
 -2.18469947e-03,-1.93945092e-03,-1.73797251e-02, 2.87178472e-02,
  5.86919102e-03, 1.64358049e-02,-9.38022507e-03, 2.60011219e-02,
  1.06171837e+00,-1.32508198e-03, 8.28041980e-01, 6.45406222e-02,
  9.50142139e-02,-7.00133453e-02, 1.21760346e-01, 9.99985335e-01,
 -5.58037660e-04, 3.40503521e-04, 5.37613552e-03]

qacc:
[-3.11275543e+00,-4.25900919e-01, 2.22175588e+00,-5.71085296e+00,
  6.07150290e-01,-5.22426230e-02,-8.43228779e-01, 2.72226171e+00,
 -2.04680378e+00,-9.14859281e-01, 8.23420988e+00,-2.63098557e+01,
 -9.48102256e-02,-6.92486982e-01, 2.88311424e+00,-1.26980516e+01,
 -6.06221011e-01,-1.20472074e+00, 1.00550829e-02, 1.98828171e+01,
 -1.10709764e+01, 4.50669194e-01]

qfrc_actuator:
[ 4.42390685e-05, 6.82545313e-05, 1.12095784e-04, 3.04256562e-05,
  4.97191397e-06,-3.73313184e-04,-3.17100959e-04,-5.20522235e-05,
 -8.23726264e-05, 4.87338183e-04, 1.42281009e-04, 4.41911299e-05,
  2.65846537e-02,-1.24171882e-03, 9.97526483e-03,-3.44777334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026828035214743196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.0691471e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.0691471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845488, -0.04575744,  0.06199348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82565914e-05,-1.56771809e-05,-6.84424464e-06,-1.16146446e-05,
  3.52678685e-06,-4.63447199e-05,-1.55199636e-05, 1.81996126e-06,
 -1.19805137e-05, 1.38636875e-05,-1.82714227e-05,-5.43435429e-05,
 -1.54104550e-04,-7.42419353e-05,-1.22251545e-04,-9.73362252e-05,
  4.46140661e-06, 4.67511624e-07,-1.21639864e+00, 7.34431401e-05,
  1.50473757e-03, 1.72563204e-06]


--- Step 727 ---
qpos:
[ 3.04520556e-03,-3.34430234e-03, 1.18745717e-02, 4.17483665e-02,
 -2.18456182e-03,-1.94112487e-03,-1.73805723e-02, 2.87168736e-02,
  5.86814801e-03, 1.64364571e-02,-9.37854828e-03, 2.60010234e-02,
  1.06232954e+00,-1.32455978e-03, 8.28536058e-01, 6.45339369e-02,
  9.50051807e-02,-7.00084832e-02, 1.21760823e-01, 9.99985250e-01,
 -6.01643637e-04, 2.61691827e-04, 5.39156349e-03]

qacc:
[ -2.00277379,  1.8532269 , -7.29859071, 11.72972724,  0.37501688,
  -2.82168567, 10.57138094,-16.80246613, -1.12848842, -0.7814421 ,
   4.07764968, -9.59702175, -0.67478499,  0.73375029,  3.78667924,
 -16.01122816, -0.60244085, -1.18939111, -0.10934879, 19.63081549,
 -10.90626707,  0.48020556]

qfrc_actuator:
[ 3.31172554e-05, 8.26546164e-05, 9.27361129e-05, 4.21483683e-05,
  6.92533355e-06,-3.88366880e-04,-2.85325984e-04,-6.75357293e-05,
 -8.87097635e-05, 4.81427127e-04, 1.43926285e-04, 2.89773879e-05,
  2.65333636e-02,-1.24502252e-03, 9.90907600e-03,-3.54317779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000269835904843016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05721886e-13, -2.05721886e-13,  1.00000000e+00, -4.23214943e-26,
        1.00000000e+00,  2.05721886e-13, -1.00000000e+00,  0.00000000e+00,
       -2.05721886e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845422, -0.04575777,  0.06199344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16482136e-05, 3.69351604e-06,-2.38468982e-05, 1.05896267e-05,
  2.03832773e-06,-4.40339858e-05, 2.03854944e-05,-1.79640457e-05,
 -6.66884135e-06,-4.31275449e-06, 3.50098941e-07,-1.63147896e-05,
 -1.63917221e-04,-4.81319685e-05,-1.36387150e-04,-1.17291327e-04,
  3.58867983e-06, 1.33922078e-06,-1.21641427e+00, 6.91384061e-05,
  1.50166940e-03, 2.01780475e-06]


--- Step 728 ---
qpos:
[ 3.04576543e-03,-3.34355072e-03, 1.18734968e-02, 4.17482384e-02,
 -2.18474718e-03,-1.94270032e-03,-1.73809918e-02, 2.87156583e-02,
  5.86772721e-03, 1.64366953e-02,-9.37692335e-03, 2.60001090e-02,
  1.06293942e+00,-1.32318327e-03, 8.29029007e-01, 6.45253928e-02,
  9.49937500e-02,-7.00083280e-02, 1.21760463e-01, 9.99985180e-01,
 -6.06286958e-04, 1.61542639e-04, 5.40799305e-03]

qacc:
[ -1.23411077,  2.47072475,-10.95818139, 20.60107099, -2.82144552,
  -1.55585882,  6.76690295,-11.71593027,  5.43183975, -2.09214879,
  10.09255494,-23.80551674, -1.74692968,  3.46782876,  4.05534896,
 -16.34839092, -0.59937701, -1.17673157, -0.20953916, 19.42339216,
 -10.77392799,  0.49943119]

qfrc_actuator:
[ 2.63005126e-05, 7.31684543e-05, 6.38597868e-05, 6.70576322e-05,
 -9.73425591e-06,-3.43197401e-04,-2.48500608e-04,-7.62392173e-05,
 -5.65118577e-05, 4.24377010e-04, 1.26468958e-04,-1.54268145e-05,
  2.64806422e-02,-1.19389767e-03, 9.86762461e-03,-3.63211730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026932794400362503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06109884e-13,  2.06109884e-13,  1.00000000e+00,  4.24812842e-26,
        1.00000000e+00, -2.06109884e-13, -1.00000000e+00,  0.00000000e+00,
       -2.06109884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845395, -0.0457575 ,  0.06199346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.14837678e-06,-1.19181938e-05,-3.06851098e-05, 2.44498107e-05,
 -1.66169288e-05, 2.40602848e-05, 2.96511711e-05,-1.02270802e-05,
  3.20096706e-05,-6.01373092e-05,-1.88973862e-05,-4.48993244e-05,
 -1.65913370e-04, 8.71216775e-06,-1.19915043e-04,-1.13636680e-04,
  2.69032723e-06, 2.54732256e-06,-1.21641950e+00, 6.67451954e-05,
  1.49747817e-03, 2.07105713e-06]


--- Step 729 ---
qpos:
[ 3.04623913e-03,-3.34284787e-03, 1.18721257e-02, 4.17477113e-02,
 -2.18478583e-03,-1.94417236e-03,-1.73810228e-02, 2.87150400e-02,
  5.86804073e-03, 1.64361359e-02,-9.37474639e-03, 2.59983329e-02,
  1.06354824e+00,-1.32148904e-03, 8.29521048e-01, 6.45167014e-02,
  9.49799315e-02,-7.00128382e-02, 1.21758928e-01, 9.99985118e-01,
 -5.72306711e-04, 4.02648168e-05, 5.42545010e-03]

qacc:
[ -0.76508978, -0.05753934,  1.79762546, -8.19552062,  1.29757425,
   0.27683951, -3.31398385, 12.95305828,  6.43492491, -4.38362405,
  17.71685819,-32.90206609, -1.04385035,  1.75842844, -0.83442323,
   1.11568626, -0.59697258, -1.16635688, -0.29348997, 19.2542857 ,
 -10.66891037,  0.51042512]

qfrc_actuator:
[ 2.20698097e-05, 6.71756308e-05, 4.72674304e-05, 4.62426134e-05,
 -1.70942146e-06,-3.33277271e-04,-2.26494168e-04,-4.53249064e-05,
 -1.96454902e-05, 3.72547291e-04, 1.50880964e-04,-5.89666961e-05,
  2.64271222e-02,-1.18203859e-03, 9.85702329e-03,-3.62769017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026718461077014644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845402, -0.04575676,  0.06199351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43950467e-06,-1.79669350e-05,-2.19837206e-05,-2.19101929e-05,
  7.55879022e-06, 2.91200112e-05, 3.03015781e-05, 3.27802269e-05,
  3.77677764e-05,-9.13022675e-05, 8.08716941e-06,-4.76482369e-05,
 -1.55431230e-04,-2.12971223e-05,-8.22099742e-05,-1.81927115e-05,
  1.74020324e-06, 4.09150787e-06,-1.21641472e+00, 6.62421534e-05,
  1.49217301e-03, 1.89096335e-06]


--- Step 730 ---
qpos:
[ 3.04665838e-03,-3.34229431e-03, 1.18708805e-02, 4.17465772e-02,
 -2.18438326e-03,-1.94541947e-03,-1.73810871e-02, 2.87148105e-02,
  5.86844862e-03, 1.64354278e-02,-9.37232436e-03, 2.59966765e-02,
  1.06415609e+00,-1.31991373e-03, 8.30012517e-01, 6.45073569e-02,
  9.49637322e-02,-7.00219802e-02, 1.21755939e-01, 9.99985051e-01,
 -4.99975665e-04,-1.01978735e-04, 5.44394722e-03]

qacc:
[ -0.47174545, -1.79903902,  8.68939721,-19.28223171,  3.86506302,
   1.18203928, -5.43858907, 12.06987315,  0.83345241, -0.63643882,
   1.47559257,  0.31842568, -0.59625782,  0.58490474,  1.15487325,
  -5.20271771, -0.59517001, -1.15793753, -0.36373928, 19.11821814,
 -10.58704204,  0.51481693]

qfrc_actuator:
[ 1.93936125e-05, 6.33280659e-05, 5.57907425e-05, 1.64512782e-05,
  2.07855417e-05,-3.26798411e-04,-2.31263542e-04,-2.68871330e-05,
 -1.58442912e-05, 4.13162415e-04, 1.82078805e-04,-4.83578780e-05,
  2.63731510e-02,-1.19354409e-03, 9.84364966e-03,-3.65697426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002637624675307787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.20917743e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.20917743e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845433, -0.04575565,  0.06199359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80783918e-06,-1.93853413e-05, 1.35499150e-06,-3.17454188e-05,
  2.27180037e-05, 3.04843457e-05, 6.13100172e-06, 2.13765774e-05,
  4.85368518e-06,-1.08001414e-05, 1.16693741e-05, 6.04748105e-06,
 -1.55386916e-04,-4.78153855e-05,-5.82748189e-05,-4.20342274e-05,
  7.18802867e-07, 5.96594271e-06,-1.21640020e+00, 6.76123207e-05,
  1.48576204e-03, 1.48174551e-06]


--- Step 731 ---
qpos:
[ 3.04669734e-03,-3.34197294e-03, 1.18699926e-02, 4.17461253e-02,
 -2.18371415e-03,-1.94638705e-03,-1.73814568e-02, 2.87141255e-02,
  5.86820916e-03, 1.64351049e-02,-9.37041790e-03, 2.59958333e-02,
  1.06476281e+00,-1.31811964e-03, 8.30503073e-01, 6.45016669e-02,
  9.49451573e-02,-7.00357270e-02, 1.21751260e-01, 9.99984964e-01,
 -3.89509219e-04,-2.65064203e-04, 5.46348633e-03]

qacc:
[ -3.32236791,  0.1065042 , -3.6909239 , 15.07934758,  2.32307883,
   0.28091819,  1.44987689, -9.04202769, -5.66836291,  3.63486581,
 -15.63548101, 30.22705426, -0.83158543,  1.23604396,-12.3272143 ,
  41.28676676, -0.59391303, -1.15119167, -0.42245488, 19.01073201,
 -10.5248671 ,  0.51388299]

qfrc_actuator:
[-9.97688902e-08, 6.08876715e-05, 7.90799611e-05, 5.26521195e-05,
  3.38567610e-05,-3.22547218e-04,-2.51832167e-04,-5.14712506e-05,
 -4.92886215e-05, 4.55656541e-04, 1.64176385e-04,-5.89665900e-06,
  2.63136118e-02,-1.18325353e-03, 9.83926663e-03,-3.45738345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002593574271538973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28066794e-13, -4.28066794e-13,  1.00000000e+00, -1.83241181e-25,
        1.00000000e+00,  4.28066794e-13, -1.00000000e+00,  0.00000000e+00,
       -4.28066794e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845484, -0.04575425,  0.0619937 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95791136e-05,-1.43659051e-05, 1.83638001e-05, 3.48034842e-05,
  1.37283060e-05, 2.35350004e-05,-1.27620919e-05,-2.26470370e-05,
 -3.33097819e-05, 3.91282476e-05,-1.85028844e-05, 4.25196020e-05,
 -1.66506597e-04,-3.06914125e-05,-4.21721970e-05, 1.88297854e-04,
 -3.88960096e-07, 8.15997199e-06,-1.21637616e+00, 7.08424323e-05,
  1.47825233e-03, 8.46525325e-07]


--- Step 732 ---
qpos:
[ 3.04650228e-03,-3.34178323e-03, 1.18693508e-02, 4.17464502e-02,
 -2.18289355e-03,-1.94685093e-03,-1.73821562e-02, 2.87124339e-02,
  5.86757091e-03, 1.64349496e-02,-9.36893860e-03, 2.59951817e-02,
  1.06536850e+00,-1.31647960e-03, 8.30992647e-01, 6.44977976e-02,
  9.49290499e-02,-7.00525674e-02, 1.21747832e-01, 9.99984865e-01,
 -2.51795983e-04,-4.06650405e-04, 5.48100571e-03]

qacc:
[ -2.04375951,  0.74287887, -6.17093243, 19.30673902,  1.30896922,
  -0.48620904,  6.94655377,-24.20907945, -3.49430311,  1.81679999,
  -6.95404902, 10.81826088, -0.49281219,  0.32162348, -6.92196586,
  22.16284631,  0.61687173, -0.77341961,  0.31295699, 13.68165029,
  10.6754317 , -1.00923501]

qfrc_actuator:
[-1.15832124e-05, 5.94342018e-05, 9.31942949e-05, 9.18967723e-05,
  4.12719189e-05,-2.84271919e-04,-2.63842285e-04,-1.01179733e-04,
 -6.88710246e-05, 4.45545810e-04, 1.35229065e-04, 1.67689131e-06,
  2.62561075e-02,-1.19568073e-03, 9.77641981e-03,-3.37305086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026022457071553704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07355957e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07355957e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08414087, -0.05433303,  0.06199368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20483312e-05,-4.21016231e-06, 1.46215319e-05, 3.99453124e-05,
  7.81616105e-06, 4.78752598e-05,-9.48783356e-06,-4.95782570e-05,
 -2.05238046e-05, 9.74904120e-06,-2.16881817e-05, 9.43733375e-06,
 -1.67092906e-04,-5.31604106e-05,-6.74505830e-05, 8.79831260e-05,
 -1.59538729e-06, 1.06585509e-05,-1.21634274e+00, 7.59223529e-05,
  1.46964989e-03,-1.24768173e-08]


--- Step 733 ---
qpos:
[ 3.04582564e-03,-3.34130227e-03, 1.18687551e-02, 4.17465112e-02,
 -2.18233519e-03,-1.94697895e-03,-1.73827206e-02, 2.87104940e-02,
  5.86704771e-03, 1.64346084e-02,-9.36736239e-03, 2.59942906e-02,
  1.06597309e+00,-1.31470001e-03, 8.31480832e-01, 6.44947317e-02,
  9.49159313e-02,-7.00710091e-02, 1.21746136e-01, 9.99984751e-01,
 -9.95567253e-05,-5.22212723e-04, 5.49675827e-03]

qacc:
[-4.23072563,-0.27939513, 2.68159511,-7.54910438,-2.30164131,-0.43967735,
  3.26773865,-8.03473274, 1.00942107,-1.01173054, 4.2592645 ,-8.42064786,
 -0.83618769, 1.19621698,-4.42837003,12.62155405, 0.74718358,-0.40032113,
  0.4326629 , 7.33385878,12.97215604,-0.88304114]

qfrc_actuator:
[-3.60074671e-05, 9.40704924e-05, 1.01771918e-04, 7.93422456e-05,
  2.75492517e-05,-2.61423409e-04,-2.52818028e-04,-1.11971482e-04,
 -6.23732633e-05, 4.21688303e-04, 1.35277883e-04,-1.13860193e-05,
  2.62051816e-02,-1.18594800e-03, 9.68918531e-03,-3.33974873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026518232085306903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18664043e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.18664043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180997, -0.06190637,  0.06199356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47711512e-05, 3.70094964e-05, 1.08963890e-05,-1.14504991e-05,
 -1.34807075e-05, 4.55674295e-05, 1.80460588e-05,-1.00271389e-05,
  5.91424260e-06,-2.25007511e-05,-2.96056928e-07,-1.32126599e-05,
 -1.66146583e-04,-3.48335848e-05,-1.13695995e-04, 2.83166125e-05,
 -3.26432606e-06, 9.01565422e-06,-1.21634224e+00, 8.30814415e-05,
  1.46245566e-03,-5.83811563e-07]


--- Step 734 ---
qpos:
[ 3.04486137e-03,-3.34055433e-03, 1.18685546e-02, 4.17460545e-02,
 -2.18229035e-03,-1.94696184e-03,-1.73830676e-02, 2.87084585e-02,
  5.86626144e-03, 1.64340430e-02,-9.36578181e-03, 2.59936069e-02,
  1.06657658e+00,-1.31279227e-03, 8.31967718e-01, 6.44894444e-02,
  9.49057726e-02,-7.00910563e-02, 1.21745662e-01, 9.99984626e-01,
  6.69635896e-05,-6.12178513e-04, 5.51078602e-03]

qacc:
[ -2.51720936, -1.8140638 ,  9.17195313,-18.96685436, -4.49950007,
  -0.60293695,  2.84713745, -4.97199182, -2.29032605,  0.12293425,
  -1.73662649,  5.47703113, -0.96364468,  1.42905316,  4.84020996,
 -19.59880432,  0.73999627, -0.40136858,  0.30582166,  7.21031764,
  12.75890182, -0.86481154]

qfrc_actuator:
[-5.01024228e-05, 1.14485138e-04, 1.24881735e-04, 5.41907621e-05,
  1.49702043e-06,-2.65617246e-04,-2.46058832e-04,-1.17521665e-04,
 -7.60869796e-05, 4.07621781e-04, 1.34618541e-04,-9.70901812e-07,
  2.61475940e-02,-1.18090394e-03, 9.60336762e-03,-3.46104416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.44094177,  -3.45144124,  -2.79455134,  -3.45144124,
        21.77206831, -21.40499764,  -2.79455134, -21.40499764,
        30.87741852,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002673968790608411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07598351e-13,  4.15196703e-13,  1.00000000e+00, -8.61941509e-26,
        1.00000000e+00, -4.15196703e-13, -1.00000000e+00,  0.00000000e+00,
        2.07598351e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181068, -0.06190718,  0.0619935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47884692e-05, 4.28535083e-05, 3.17030423e-05,-2.34107360e-05,
 -2.64209128e-05, 2.45960947e-05, 1.80603343e-05,-3.16165703e-06,
 -1.35511227e-05,-2.72801379e-05,-5.81404727e-06, 9.18236483e-06,
 -1.68731784e-04,-3.59055745e-05,-1.38126051e-04,-1.35074508e-04,
 -4.23430448e-06, 6.99868981e-06,-1.21634847e+00, 9.09439613e-05,
  1.45671816e-03,-9.67091314e-07]


--- Step 735 ---
qpos:
[ 3.04373565e-03,-3.33985106e-03, 1.18687884e-02, 4.17453375e-02,
 -2.18255828e-03,-1.94670403e-03,-1.73833507e-02, 2.87063710e-02,
  5.86531634e-03, 1.64339835e-02,-9.36429681e-03, 2.59933107e-02,
  1.06717909e+00,-1.31136891e-03, 8.32453092e-01, 6.44840165e-02,
  9.48985494e-02,-7.01127128e-02, 1.21745986e-01, 9.99984488e-01,
  2.47574000e-04,-6.76898948e-04, 5.52311560e-03]

qacc:
[ -1.40279925, -1.80754571,  7.46174967,-12.63333399, -2.74532491,
   0.03771367,  0.5561354 , -1.74602733, -1.39670996,  1.73616572,
  -6.85143232, 13.33245089, -0.22002101, -0.45420955, -1.8106845 ,
   3.08329574,  0.73387355, -0.40231986,  0.19940006,  7.11398121,
  12.58359917, -0.85419262]

qfrc_actuator:
[-5.80011036e-05, 9.07692908e-05, 1.38590774e-04, 3.95932104e-05,
 -1.38441466e-05,-2.50474834e-04,-2.41994855e-04,-1.19980221e-04,
 -8.38428662e-05, 4.88305748e-04, 1.51340706e-04, 2.31797965e-05,
  2.60860494e-02,-1.21422274e-03, 9.55039658e-03,-3.45936305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002674726599888877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.07539534e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.07539534e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181095, -0.06190764,  0.0619935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.30731248e-06, 5.76763214e-06, 2.56515328e-05,-1.21200035e-05,
 -1.60863215e-05, 3.24902481e-05, 1.12691882e-05,-8.34712217e-07,
 -8.15429240e-06, 6.46175761e-05, 1.06780680e-05, 2.29588318e-05,
 -1.75005125e-04,-7.47948826e-05,-1.34235630e-04,-2.42342565e-05,
 -4.85671389e-06, 5.12874497e-06,-1.21635024e+00, 9.94594069e-05,
  1.45227196e-03,-1.33911439e-06]


--- Step 736 ---
qpos:
[ 3.04252391e-03,-3.33918936e-03, 1.18689375e-02, 4.17448328e-02,
 -2.18266316e-03,-1.94633116e-03,-1.73838202e-02, 2.87046495e-02,
  5.86394049e-03, 1.64345613e-02,-9.36276044e-03, 2.59936226e-02,
  1.06778052e+00,-1.31030273e-03, 8.32936847e-01, 6.44825446e-02,
  9.48942411e-02,-7.01359823e-02, 1.21746752e-01, 9.99984334e-01,
  4.42128551e-04,-7.16660914e-04, 5.53376128e-03]

qacc:
[ -0.75686001,  0.62128576, -3.18805895,  7.02587923,  1.42239924,
   1.42247717, -6.40194224, 12.95450475, -3.76584484,  1.95801136,
  -8.31418472, 18.27415229, -0.23167069, -0.37713929,-14.32353073,
  46.64904274,  0.72872131, -0.40326304,  0.11030633,  7.04031794,
  12.44031953, -0.84970199]

qfrc_actuator:
[-6.21931588e-05, 7.62852848e-05, 1.28709393e-04, 4.90303720e-05,
 -5.00137863e-06,-2.59389571e-04,-2.57234245e-04,-1.02836504e-04,
 -1.05775689e-04, 5.36436372e-04, 1.60837361e-04, 5.53088620e-05,
  2.60274853e-02,-1.23449275e-03, 9.51719957e-03,-3.24306739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000265847628128299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08808149e-13, -4.17616299e-13,  1.00000000e+00,  8.72016864e-26,
        1.00000000e+00,  4.17616299e-13, -1.00000000e+00,  0.00000000e+00,
        2.08808149e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181086, -0.06190784,  0.06199354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42950842e-06,-6.50541152e-06,-5.95785764e-06, 1.03359851e-05,
  8.39513814e-06, 1.15387017e-05,-7.16350360e-06, 1.89151765e-05,
 -2.21441282e-05, 8.74343622e-05, 2.49372873e-05, 3.57121267e-05,
 -1.84138257e-04,-6.99817367e-05,-9.98148757e-05, 1.97176836e-04,
 -5.14763622e-06, 3.38822006e-06,-1.21634774e+00, 1.08622304e-04,
  1.44909920e-03,-1.70134454e-06]


--- Step 737 ---
qpos:
[ 3.04196111e-03,-3.33851509e-03, 1.18687169e-02, 4.17437678e-02,
 -2.18231628e-03,-1.94607999e-03,-1.73843300e-02, 2.87028226e-02,
  5.86300303e-03, 1.64347950e-02,-9.36121573e-03, 2.59944472e-02,
  1.06838076e+00,-1.30945019e-03, 8.33420059e-01, 6.44831717e-02,
  9.48900871e-02,-7.01545717e-02, 1.21749152e-01, 9.99984166e-01,
  5.97393148e-04,-7.53407428e-04, 5.54462396e-03]

qacc:
[  5.68391339, -0.11578314,  2.78107901,-11.87191204,  3.96294598,
  -0.27266968,  1.17065896, -2.82661024,  3.83006258,  0.56976828,
  -4.86928738, 13.99683813, -0.55243334,  0.31325439, -7.11280772,
  23.77605049,  0.03857609,  1.17001091,  0.40884313,-19.63624485,
   1.61645591,  0.12194695]

qfrc_actuator:
[-2.86668235e-05, 6.73551387e-05, 1.05019161e-04, 1.92618485e-05,
  1.80010401e-05,-2.82709219e-04,-2.66078270e-04,-1.09833918e-04,
 -8.26213301e-05, 4.40432788e-04, 1.30384724e-04, 7.40966648e-05,
  2.59654285e-02,-1.24686691e-03, 9.51723407e-03,-3.13282743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002736979604452683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.33809427e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.33809427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492716, -0.09312767,  0.06199335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33955653e-05,-1.33781373e-05,-2.54170503e-05,-3.00524020e-05,
  2.32452548e-05,-1.75375201e-05,-6.68392347e-06,-6.37894161e-06,
  2.25510928e-05,-4.04798681e-05,-8.11056851e-06, 2.40878482e-05,
 -1.91540277e-04,-6.36038983e-05,-2.68902263e-05, 1.07704518e-04,
 -5.11714122e-06, 1.76369787e-06,-1.21634111e+00, 1.18428082e-04,
  1.44718569e-03,-2.05478570e-06]


--- Step 738 ---
qpos:
[ 3.04180461e-03,-3.33806829e-03, 1.18682987e-02, 4.17423741e-02,
 -2.18135131e-03,-1.94603994e-03,-1.73849267e-02, 2.87016322e-02,
  5.86269511e-03, 1.64348082e-02,-9.36028281e-03, 2.59955200e-02,
  1.06897986e+00,-1.30877905e-03, 8.33902568e-01, 6.44828645e-02,
  9.48860995e-02,-7.01685560e-02, 1.21752562e-01, 9.99984001e-01,
  7.14026129e-04,-7.87291229e-04, 5.55583892e-03]

qacc:
[  3.56379154, -0.43264788,  2.48128517, -7.6734716 ,  5.42224934,
   1.26239186, -7.61230274, 18.94184478,  5.47565008,  1.91867112,
  -8.33045766, 13.78618284, -0.67728054,  0.59973393,  1.81188108,
  -7.77772886,  0.04159178,  1.1513068 ,  0.25220342,-19.30743421,
   1.53853931,  0.18982644]

qfrc_actuator:
[-8.71526340e-06, 4.39671671e-05, 9.11150294e-05, 2.16287926e-06,
  4.91453124e-05,-2.96728459e-04,-2.71156571e-04,-7.77330878e-05,
 -5.08641329e-05, 4.18448928e-04, 9.37376129e-05, 8.47318794e-05,
  2.59119752e-02,-1.25450424e-03, 9.45195639e-03,-3.19246210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47300286, -2.09454783,  3.95229351, -2.09454783, 30.83018515,
       13.9681881 ,  3.95229351, 13.9681881 , 11.87554978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027846430454812887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11806674e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.11806674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492787, -0.09312636,  0.06199323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08986559e-05,-3.74123623e-05,-2.08416270e-05,-1.91364711e-05,
  3.18013050e-05,-2.54710993e-05,-9.73860807e-06, 3.09975458e-05,
  3.23912811e-05,-4.52870014e-05,-4.51988177e-05, 9.08170476e-06,
 -1.85621044e-04,-5.96568459e-05,-7.30130211e-05,-5.88019924e-05,
 -4.14102617e-06, 1.54011575e-06,-1.21637621e+00, 1.26096802e-04,
  1.44557695e-03,-2.34936221e-06]


--- Step 739 ---
qpos:
[ 3.04154397e-03,-3.33805790e-03, 1.18677823e-02, 4.17411520e-02,
 -2.18036516e-03,-1.94635849e-03,-1.73855221e-02, 2.87011941e-02,
  5.86242511e-03, 1.64351944e-02,-9.36007925e-03, 2.59962982e-02,
  1.06957799e+00,-1.30856065e-03, 8.34384125e-01, 6.44818487e-02,
  9.48822873e-02,-7.01779973e-02, 1.21756454e-01, 9.99983852e-01,
  7.92574346e-04,-8.18435673e-04, 5.56751369e-03]

qacc:
[ -0.90958253,  0.05314059, -1.74703844,  5.19103288,  0.19236259,
   1.06903918, -7.67717147, 20.95964702,  0.30138575,  1.92424677,
  -4.90230664,  0.6941071 , -0.28884401, -0.29017507,  0.73744721,
  -4.61509451,  0.0438802 ,  1.1357374 ,  0.12071586,-19.03429234,
   1.47562353,  0.24386853]

qfrc_actuator:
[-1.46781357e-05, 1.21395229e-05, 8.30584537e-05, 1.04108996e-05,
  4.93224004e-05,-3.22781990e-04,-2.73912653e-04,-4.06256765e-05,
 -4.98170059e-05, 4.76396195e-04, 7.17432582e-05, 7.27823143e-05,
  2.58690487e-02,-1.27699888e-03, 9.40610902e-03,-3.22755942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028043556101871314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.2371637e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.2371637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949284 , -0.09312584,  0.06199319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37976105e-06,-5.78737015e-05,-1.90113705e-05, 5.55394569e-06,
  1.07381278e-06,-4.09607630e-05,-8.13639058e-06, 3.62847305e-05,
  1.96244147e-06, 2.36717942e-05,-3.66170454e-05,-1.52833992e-05,
 -1.71249383e-04,-7.22048427e-05,-9.17057307e-05,-4.91014794e-05,
 -3.18032235e-06, 1.35338147e-06,-1.21640309e+00, 1.31856448e-04,
  1.44411307e-03,-2.55626607e-06]


--- Step 740 ---
qpos:
[ 3.04121406e-03,-3.33832474e-03, 1.18665288e-02, 4.17404078e-02,
 -2.17972937e-03,-1.94693709e-03,-1.73855559e-02, 2.87001164e-02,
  5.86251510e-03, 1.64357055e-02,-9.36008967e-03, 2.59962316e-02,
  1.07017503e+00,-1.30833724e-03, 8.34865229e-01, 6.44796189e-02,
  9.48786577e-02,-7.01829471e-02, 1.21760389e-01, 9.99983727e-01,
  8.33489468e-04,-8.46940441e-04, 5.57973401e-03]

qacc:
[-6.26150421e-01, 2.68067486e+00,-1.21026717e+01, 2.17513561e+01,
 -3.05102454e+00,-3.22120032e+00, 1.36983016e+01,-2.54835456e+01,
  3.13045674e+00,-9.81761662e-01, 7.29624044e+00,-2.16542607e+01,
 -8.31875246e-01, 1.07477538e+00, 3.03730640e+00,-1.14992529e+01,
  4.56063357e-02, 1.12286527e+00, 1.05528830e-02,-1.88086817e+01,
  1.42480385e+00, 2.87063494e-01]

qfrc_actuator:
[-1.80891203e-05,-6.69938435e-06, 4.29847035e-05, 3.34981919e-05,
  3.12688590e-05,-3.20318893e-04,-2.39823750e-04,-7.18952648e-05,
 -3.13508476e-05, 4.75280983e-04, 5.89028326e-05, 2.99728477e-05,
  2.58218128e-02,-1.27255876e-03, 9.40392221e-03,-3.28329167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028016619817211597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.71505946e-14,  3.96273009e-13,  1.00000000e+00, -1.47217779e-26,
        1.00000000e+00, -3.96273009e-13, -1.00000000e+00,  0.00000000e+00,
        3.71505946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492879, -0.09312595,  0.06199319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58314158e-06,-5.48835681e-05,-5.41680862e-05, 2.00626418e-05,
 -1.80384102e-05,-2.05477933e-05, 2.58931877e-05,-3.25973513e-05,
  1.85343647e-05, 3.88521388e-06,-1.29986648e-05,-4.33626432e-05,
 -1.69530628e-04,-4.42429220e-05,-5.43362692e-05,-7.13200693e-05,
 -2.19036977e-06, 1.18404828e-06,-1.21642218e+00, 1.35735219e-04,
  1.44279932e-03,-2.67470397e-06]


--- Step 741 ---
qpos:
[ 3.04050080e-03,-3.33883907e-03, 1.18649883e-02, 4.17406017e-02,
 -2.17931499e-03,-1.94755041e-03,-1.73855500e-02, 2.86986794e-02,
  5.86317047e-03, 1.64365787e-02,-9.36037572e-03, 2.59952808e-02,
  1.07077094e+00,-1.30778889e-03, 8.35345744e-01, 6.44744111e-02,
  9.48752156e-02,-7.01834477e-02, 1.21763997e-01, 9.99983630e-01,
  8.37141639e-04,-8.72886097e-04, 5.59256859e-03]

qacc:
[ -3.36922649,  2.41537549,-13.03143189, 29.88931072, -1.94037471,
  -0.89216563,  4.63848378,-10.90194507,  4.91585266, -0.58114041,
   6.48330354,-21.59544596, -1.22894857,  2.07792363,  8.1901933 ,
 -29.74951688,  0.04689881,  1.11231457, -0.08154746,-18.62378482,
   1.38376157,  0.32175869]

qfrc_actuator:
[-3.77148209e-05, 2.29870802e-08, 3.76367315e-05, 8.28667233e-05,
  2.03926231e-05,-3.18453564e-04,-2.37446401e-04,-8.98421901e-05,
 -2.77050888e-06, 5.09837651e-04, 5.13311323e-05,-1.29320340e-05,
  2.57720365e-02,-1.25223442e-03, 9.35868596e-03,-3.43937902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027811989491713374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12271805e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12271805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492907, -0.09312656,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97432884e-05,-3.42720415e-05,-2.26420398e-05, 4.55389996e-05,
 -1.13972887e-05,-5.65603050e-06, 2.05074797e-07,-1.85614354e-05,
  2.91168919e-05, 3.21744891e-05,-9.87697079e-06,-4.40337825e-05,
 -1.64601080e-04,-2.32870991e-05,-8.48722126e-05,-1.68610763e-04,
 -1.13841123e-06, 1.01861040e-06,-1.21643382e+00, 1.37756295e-04,
  1.44163918e-03,-2.70416487e-06]


--- Step 742 ---
qpos:
[ 3.03990250e-03,-3.33939398e-03, 1.18641007e-02, 4.17412924e-02,
 -2.17937945e-03,-1.94794523e-03,-1.73859176e-02, 2.86970345e-02,
  5.86381879e-03, 1.64376197e-02,-9.36071909e-03, 2.59938327e-02,
  1.07136596e+00,-1.30760695e-03, 8.35825056e-01, 6.44700110e-02,
  9.48719649e-02,-7.01795332e-02, 1.21766972e-01, 9.99983561e-01,
  8.03830948e-04,-8.96337728e-04, 5.60607276e-03]

qacc:
[  1.03066236, -0.85735779,  0.87990241,  6.70431434, -4.21518233,
   0.91288104, -1.9441941 , -1.23213144, -0.06636761, -0.64165695,
   4.70967268,-13.3489347 , -0.22793055, -0.29217478, -4.21163514,
  12.15656755,  0.04785781,  1.10376229, -0.15836972,-18.47387326,
   1.35064356,  0.34979601]

qfrc_actuator:
[-3.12222867e-05, 3.99158934e-05, 8.84742555e-05, 1.11847437e-04,
 -3.91864563e-06,-2.99315571e-04,-2.53798880e-04,-9.98199586e-05,
 -3.97630915e-06, 5.12252557e-04, 4.70679130e-05,-3.77640960e-05,
  2.57261052e-02,-1.27595938e-03, 9.32492901e-03,-3.38714057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027468326959208256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64199336e-13,  4.04182980e-13,  1.00000000e+00,  6.63665768e-26,
        1.00000000e+00, -4.04182980e-13, -1.00000000e+00,  0.00000000e+00,
       -1.64199336e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492927, -0.09312756,  0.06199333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.92042193e-06, 1.80333996e-05, 4.25706272e-05, 2.76207701e-05,
 -2.46373637e-05, 1.52435197e-05,-1.81269316e-05,-1.05692446e-05,
 -3.55441598e-07, 1.64659032e-05,-3.62553421e-07,-2.46522448e-05,
 -1.53559279e-04,-6.24080169e-05,-9.71999717e-05, 3.06219624e-05,
 -2.77063687e-10, 8.48537944e-07,-1.21643828e+00, 1.37938602e-04,
  1.44063488e-03,-2.64433169e-06]


--- Step 743 ---
qpos:
[ 3.03973141e-03,-3.33991414e-03, 1.18637863e-02, 4.17426649e-02,
 -2.17973488e-03,-1.94821705e-03,-1.73861790e-02, 2.86949164e-02,
  5.86375877e-03, 1.64381102e-02,-9.36080698e-03, 2.59925151e-02,
  1.07196001e+00,-1.30766690e-03, 8.36302503e-01, 6.44676780e-02,
  9.48689085e-02,-7.01712310e-02, 1.21769058e-01, 9.99983516e-01,
  7.33797099e-04,-9.17347853e-04, 5.62029135e-03]

qacc:
[  3.76772171, -0.15866079, -2.25658881, 13.12476361, -2.55108498,
  -1.10247607,  6.17444882,-14.63571742, -6.16064631, -1.16099177,
   2.55398444, -0.32179063, -0.32881511, -0.04052994, -8.97866356,
  27.43836533,  0.04856121,  1.09693098, -0.22229309,-18.3541233 ,
   1.32396712,  0.3726199 ]

qfrc_actuator:
[-9.40379507e-06, 4.63453211e-05, 1.18940034e-04, 1.46414176e-04,
 -1.81923256e-05,-2.87805948e-04,-2.45486555e-04,-1.22776637e-04,
 -4.04601580e-05, 4.42173913e-04, 4.46817256e-05,-3.40330749e-05,
  2.56718475e-02,-1.29004729e-03, 9.22890095e-03,-3.28351146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002701775854677957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66937647e-13,  6.16385158e-13,  1.00000000e+00,  1.02897888e-25,
        1.00000000e+00, -6.16385158e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66937647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949294 , -0.09312887,  0.06199344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19930793e-05, 2.65228968e-05, 4.04054725e-05, 3.73515126e-05,
 -1.49694897e-05, 1.58503834e-05, 8.87598072e-06,-2.31299003e-05,
 -3.64845855e-05,-6.20306701e-05, 1.13174718e-07, 3.94615315e-06,
 -1.63340070e-04,-5.72908266e-05,-1.41006810e-04, 9.19767498e-05,
  1.24202820e-06, 6.69596411e-07,-1.21643576e+00, 1.36297443e-04,
  1.43978786e-03,-2.49501786e-06]


--- Step 744 ---
qpos:
[ 3.03947823e-03,-3.34023429e-03, 1.18635606e-02, 4.17441080e-02,
 -2.18025872e-03,-1.94848074e-03,-1.73866126e-02, 2.86932645e-02,
  5.86326152e-03, 1.64386269e-02,-9.36110951e-03, 2.59908660e-02,
  1.07255278e+00,-1.30723650e-03, 8.36778487e-01, 6.44662110e-02,
  9.48660484e-02,-7.01585625e-02, 1.21770043e-01, 9.99983487e-01,
  6.27227554e-04,-9.35958756e-04, 5.63526102e-03]

qacc:
[ -0.72115773,  0.16345769, -0.49491012,  1.42578783, -1.48218833,
   1.45310499, -7.129663  , 15.4623285 , -3.82092117, -0.04038086,
   1.60662091, -7.03344617, -1.28001929,  2.24163736, -4.69464425,
  13.47015528,  0.04906951,  1.09158251, -0.27535116,-18.26046637,
   1.30254472,  0.39136253]

qfrc_actuator:
[-1.42532240e-05, 5.03901884e-05, 1.19248721e-04, 1.48443498e-04,
 -2.64397726e-05,-2.98617877e-04,-2.58210914e-04,-9.99141177e-05,
 -6.19014573e-05, 4.71271316e-04, 4.31318727e-05,-4.90982983e-05,
  2.56073084e-02,-1.26282566e-03, 9.16484821e-03,-3.23939374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000264868741059493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16911847e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.16911847e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492948, -0.0931304 ,  0.06199357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21523883e-06, 2.88500445e-05, 1.20622409e-05, 5.28861987e-06,
 -8.66802397e-06,-1.09381296e-06,-9.14575628e-06, 2.34053253e-05,
 -2.25077058e-05,-5.42475097e-06,-1.42130216e-05,-1.76392368e-05,
 -1.78828607e-04,-1.70986586e-05,-1.19819672e-04, 3.08392424e-05,
  2.60208363e-06, 4.81370672e-07,-1.21642640e+00, 1.32845019e-04,
  1.43909908e-03,-2.25612175e-06]


--- Step 745 ---
qpos:
[ 3.03916902e-03,-3.34015607e-03, 1.18630107e-02, 4.17452226e-02,
 -2.18122249e-03,-1.94856337e-03,-1.73875464e-02, 2.86919002e-02,
  5.86251046e-03, 1.64395590e-02,-9.36168091e-03, 2.59893472e-02,
  1.07314426e+00,-1.30616191e-03, 8.37253862e-01, 6.44650990e-02,
  9.48633859e-02,-7.01415439e-02, 1.21769750e-01, 9.99983462e-01,
  4.84264416e-04,-9.52204353e-04, 5.65101197e-03]

qacc:
[ -0.5090865 ,  0.75687298, -0.54682033, -4.91481307, -3.87714195,
   2.23574119, -8.82638586, 14.45615942, -2.22903558,  1.57314108,
  -5.3549748 ,  7.72570893, -1.49378581,  2.76373087, -1.87671927,
   5.48121869,  0.0494296 ,  1.08751275, -0.31928191,-18.18946701,
   1.28542428,  0.40691068]

qfrc_actuator:
[-1.70123556e-05, 7.05777938e-05, 1.01718372e-04, 1.31288817e-04,
 -4.88302996e-05,-2.87251812e-04,-2.83321515e-04,-8.58156006e-05,
 -7.43049915e-05, 5.24012647e-04, 4.24517629e-05,-3.95262859e-05,
  2.55473137e-02,-1.22920642e-03, 9.16794388e-03,-3.21285587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025897580001779663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34919996e-13,  2.14348797e-13,  1.00000000e+00,  7.17896982e-26,
        1.00000000e+00, -2.14348797e-13, -1.00000000e+00,  0.00000000e+00,
       -3.34919996e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492952, -0.0931321 ,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86886547e-06, 3.90489660e-05,-9.89897273e-06,-1.54003119e-05,
 -2.26386015e-05, 9.88369807e-06,-2.56410283e-05, 1.41963194e-05,
 -1.30482818e-05, 4.59950462e-05,-4.16006243e-06, 8.50850795e-06,
 -1.74991167e-04,-7.15024102e-06,-5.14711613e-05, 1.21827688e-05,
  4.09033220e-06, 2.86937008e-07,-1.21641032e+00, 1.27590865e-04,
  1.43856913e-03,-1.92759417e-06]


--- Step 746 ---
qpos:
[ 3.03848461e-03,-3.34026559e-03, 1.18624806e-02, 4.17465204e-02,
 -2.18244732e-03,-1.94842603e-03,-1.73885304e-02, 2.86903339e-02,
  5.86127159e-03, 1.64407699e-02,-9.36226680e-03, 2.59882993e-02,
  1.07373474e+00,-1.30528475e-03, 8.37728693e-01, 6.44639354e-02,
  9.48609222e-02,-7.01201872e-02, 1.21768035e-01, 9.99983426e-01,
  3.05010246e-04,-9.66111688e-04, 5.66756936e-03]

qacc:
[ -3.28932539,  0.08033403, -1.40834954,  4.6735671 , -2.29502715,
   0.01959217,  1.21331012, -4.80165401, -4.25957025,  1.38652443,
  -6.38309985, 14.335283  , -0.52139829,  0.35852691, -0.62383417,
   1.06866843,  0.04967782,  1.08454698, -0.35556996,-18.13822247,
   1.27184183,  0.41995843]

qfrc_actuator:
[-3.62631586e-05, 2.91621588e-05, 9.16146979e-05, 1.38500001e-04,
 -6.16151389e-05,-2.62755119e-04,-2.79961513e-04,-9.47360178e-05,
 -9.90470395e-05, 5.37282667e-04, 4.24335801e-05,-1.55011083e-05,
  2.54954196e-02,-1.24535649e-03, 9.14739494e-03,-3.21445402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002526782735332439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37306896e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.37306896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492953, -0.09313391,  0.06199386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93177477e-05,-2.22826772e-05,-3.78662926e-06, 8.24028107e-06,
 -1.34262730e-05, 2.53448805e-05, 2.75015878e-06,-9.10149449e-06,
 -2.50981364e-05, 3.84654264e-05, 9.26365984e-06, 2.60208891e-05,
 -1.61747814e-04,-5.46607315e-05,-4.94665928e-05,-9.06525574e-06,
  5.71501288e-06, 9.26434994e-08,-1.21638758e+00, 1.20542213e-04,
  1.43819848e-03,-1.50941536e-06]


--- Step 747 ---
qpos:
[ 3.03757489e-03,-3.34066474e-03, 1.18619173e-02, 4.17479121e-02,
 -2.18312605e-03,-1.94833866e-03,-1.73891481e-02, 2.86897143e-02,
  5.85974583e-03, 1.64422098e-02,-9.36335376e-03, 2.59872426e-02,
  1.07432442e+00,-1.30518929e-03, 8.38203356e-01, 6.44606887e-02,
  9.48615894e-02,-7.01004851e-02, 1.21767965e-01, 9.99983392e-01,
  1.40180461e-04,-9.55195765e-04, 5.68194833e-03]

qacc:
[ -1.97374015, -0.09245154, -0.61511046,  2.49864916,  4.80255924,
   0.84865445, -7.13644216, 22.99201886, -2.52173913,  1.69006796,
  -5.54119735,  6.01248725,  0.03471756, -1.10155156,  6.01706975,
 -21.46463917,  0.78273213, -0.4136698 ,  0.41126712,  7.28136376,
  12.37021618, -1.09995137]

qfrc_actuator:
[-4.73147632e-05, 4.46921766e-06, 8.57525489e-05, 1.42197610e-04,
 -3.31342147e-05,-2.65996656e-04,-2.59769159e-04,-4.60825507e-05,
 -1.13104032e-04, 5.26840476e-04, 7.16045339e-06,-1.87020022e-05,
  2.54484048e-02,-1.29078420e-03, 9.13930416e-03,-3.32143226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002504089299282253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21681995e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.21681995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180271, -0.06191048,  0.06199392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16091503e-05,-3.75799080e-05,-1.06399162e-05, 2.77197273e-06,
  2.81073133e-05, 1.11146720e-05, 2.54652832e-05, 4.96636199e-05,
 -1.47614198e-05, 1.40492183e-05,-2.52914229e-05,-7.23798412e-07,
 -1.59059250e-04,-8.93471493e-05,-3.83126218e-05,-1.15353779e-04,
  7.48283859e-06,-9.20295637e-08,-1.21635823e+00, 1.11704294e-04,
  1.43798750e-03,-1.00157886e-06]


--- Step 748 ---
qpos:
[ 3.03688433e-03,-3.34103125e-03, 1.18611481e-02, 4.17493078e-02,
 -2.18311336e-03,-1.94825514e-03,-1.73894972e-02, 2.86896833e-02,
  5.85840818e-03, 1.64437656e-02,-9.36455799e-03, 2.59864898e-02,
  1.07491301e+00,-1.30504292e-03, 8.38677670e-01, 6.44528776e-02,
  9.48653303e-02,-7.00824235e-02, 1.21769055e-01, 9.99983364e-01,
 -1.05004604e-05,-9.19625813e-04, 5.69432065e-03]

qacc:
[  1.9166286 ,  0.62337963, -2.18319753,  2.56439645,  6.0728711 ,
   0.44282296, -4.09194587, 13.8723688 ,  1.63517108,  1.10311268,
  -4.99974505, 10.36712767, -1.01885064,  1.46883688, 13.31226663,
 -47.20117722,  0.76839823, -0.4101357 ,  0.29003473,  7.14339733,
  12.28647663, -1.01181395]

qfrc_actuator:
[-3.56940179e-05, 2.54921644e-05, 8.24805421e-05, 1.43803142e-04,
  1.65079761e-06,-2.67946540e-04,-2.47626445e-04,-1.72107396e-05,
 -1.03003162e-04, 5.37614381e-04, 4.48464170e-06,-2.44199576e-06,
  2.53990116e-02,-1.28210472e-03, 9.09606770e-03,-3.56059699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002529300673689283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.1947233e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.1947233e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180238, -0.06191112,  0.06199385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12788587e-05,-2.05398523e-06,-1.22393218e-05,-3.18729206e-07,
  3.55870112e-05, 1.16690050e-05, 1.93002104e-05, 3.11971990e-05,
  9.68693418e-06, 1.33279526e-05,-2.91670599e-06, 1.59747676e-05,
 -1.67424032e-04,-4.06936180e-05,-8.10833532e-05,-2.52248485e-04,
  5.93076700e-06,-3.59845502e-07,-1.21637099e+00, 1.03776229e-04,
  1.43819638e-03,-7.74551676e-07]


--- Step 749 ---
qpos:
[ 3.03633838e-03,-3.34145989e-03, 1.18603541e-02, 4.17507111e-02,
 -2.18233909e-03,-1.94757494e-03,-1.73901796e-02, 2.86892722e-02,
  5.85720233e-03, 1.64448050e-02,-9.36494860e-03, 2.59859544e-02,
  1.07550034e+00,-1.30419373e-03, 8.39150580e-01, 6.44459371e-02,
  9.48720986e-02,-7.00659897e-02, 1.21770899e-01, 9.99983347e-01,
 -1.47262152e-04,-8.59542914e-04, 5.70482878e-03]

qacc:
[ 1.26968226e+00, 3.67048155e-04,-1.56617938e-01, 3.77434596e-01,
  6.65846157e+00, 9.25110610e-01,-5.72144053e-01,-5.88716175e+00,
  1.18387336e+00,-2.51096737e+00, 7.04101237e+00,-4.19421049e+00,
 -1.47298928e+00, 2.77951294e+00,-4.60288788e+00, 1.33174218e+01,
  7.56894081e-01,-4.06928505e-01, 1.88415553e-01, 7.02843439e+00,
  1.22166533e+01,-9.38379371e-01]

qfrc_actuator:
[-2.85768392e-05, 2.04803143e-05, 8.09485801e-05, 1.44205783e-04,
  3.98545148e-05,-2.15889677e-04,-2.58115052e-04,-3.57335688e-05,
 -9.65204411e-05, 4.90129068e-04, 3.89364620e-05, 7.43279091e-06,
  2.53429188e-02,-1.24148087e-03, 9.05306942e-03,-3.50295379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025340641340214354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19059772e-13, -2.19059772e-13,  1.00000000e+00, -4.79871839e-26,
        1.00000000e+00,  2.19059772e-13, -1.00000000e+00,  0.00000000e+00,
       -2.19059772e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180186, -0.06191146,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.43989638e-06,-8.67689751e-06,-3.46432853e-06,-1.15981243e-07,
  3.92201413e-05, 6.39192069e-05,-4.61971196e-06,-1.67486136e-05,
  6.76803770e-06,-3.99915658e-05, 3.73941915e-05, 1.06561513e-05,
 -1.69268721e-04,-1.77373437e-06,-1.14490709e-04, 3.17452406e-05,
  4.80052732e-06,-4.86387309e-07,-1.21637941e+00, 9.64935431e-05,
  1.43967741e-03,-5.35398492e-07]


--- Step 750 ---
qpos:
[ 3.03553704e-03,-3.34171991e-03, 1.18591613e-02, 4.17521044e-02,
 -2.18145730e-03,-1.94667134e-03,-1.73908797e-02, 2.86890138e-02,
  5.85573917e-03, 1.64450690e-02,-9.36527006e-03, 2.59856278e-02,
  1.07608637e+00,-1.30278116e-03, 8.39621949e-01, 6.44433312e-02,
  9.48818580e-02,-7.00511721e-02, 1.21773156e-01, 9.99983340e-01,
 -2.70295961e-04,-7.75061898e-04, 5.71359206e-03]

qacc:
[ -2.25718603,  1.32164942, -4.33930003,  4.67316978,  0.93881349,
   0.65663163, -2.5611868 ,  5.07195171, -2.22867665, -0.78418809,
   0.43487811,  3.63044614, -1.20237563,  2.13811554,-15.28062281,
  50.33593056,  0.74774708, -0.40404972,  0.103416  ,  6.93267131,
  12.15983111, -0.87654187]

qfrc_actuator:
[-4.19275559e-05, 3.54345753e-05, 6.26092815e-05, 1.43881520e-04,
  4.42574592e-05,-2.20790912e-04,-2.63935158e-04,-2.87021942e-05,
 -1.09980178e-04, 4.08273924e-04, 2.37703663e-05, 1.34413946e-05,
  2.52722107e-02,-1.21786793e-03, 9.01564720e-03,-3.27083512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025225285419888666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20061539e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.20061539e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180116, -0.06191158,  0.06199387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31397957e-05, 9.40759540e-06,-2.05508300e-05,-8.18681927e-07,
  5.54413121e-06, 2.91681934e-05, 6.23347289e-06, 9.28413410e-06,
 -1.32788558e-05,-9.60710595e-05,-1.84602052e-05, 5.79528732e-06,
 -1.76309713e-04,-1.24731146e-05,-8.96645762e-05, 2.18462651e-04,
  4.05383512e-06,-4.94221118e-07,-1.21638364e+00, 8.98516917e-05,
  1.44241527e-03,-2.85327886e-07]


--- Step 751 ---
qpos:
[ 3.03458176e-03,-3.34157594e-03, 1.18579264e-02, 4.17527368e-02,
 -2.18087358e-03,-1.94625625e-03,-1.73912574e-02, 2.86882202e-02,
  5.85412595e-03, 1.64447663e-02,-9.36553044e-03, 2.59853505e-02,
  1.07667112e+00,-1.30075371e-03, 8.40092310e-01, 6.44405254e-02,
  9.48945797e-02,-7.00379604e-02, 1.21775544e-01, 9.99983343e-01,
 -3.79761161e-04,-6.66273232e-04, 5.72071163e-03]

qacc:
[ -1.3599061 , -0.91377913,  7.24686378,-20.64679189, -2.59614884,
  -2.64164595, 10.75197373,-20.18159509, -1.29725734, -0.81541851,
   1.61685961, -0.44785021, -1.46733539,  2.68500395, -0.78955811,
   0.82008675,  0.74056912, -0.40149138,  0.03248464,  6.85299745,
  12.11508521, -0.82384235]

qfrc_actuator:
[-4.94642137e-05, 7.99152253e-05, 7.00746518e-05, 1.07630291e-04,
  2.87293564e-05,-2.95237661e-04,-2.67136629e-04,-5.99769579e-05,
 -1.17316375e-04, 3.95025865e-04, 3.25104384e-05, 1.70519613e-05,
  2.52087580e-02,-1.18685059e-03, 8.94435319e-03,-3.29289603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002498158799265071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44416514e-13,  2.22208257e-13,  1.00000000e+00,  9.87530189e-26,
        1.00000000e+00, -2.22208257e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44416514e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180034, -0.06191151,  0.06199393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.90498991e-06, 4.54796682e-05, 6.86423581e-06,-3.65744748e-05,
 -1.53605223e-05,-5.64726310e-05, 3.91039515e-06,-2.96284943e-05,
 -7.74940620e-06,-7.05507743e-05,-1.31775329e-05,-1.03131717e-06,
 -1.75179881e-04,-8.78275646e-06,-9.16949984e-05,-2.22085955e-05,
  3.66214333e-06,-4.00834758e-07,-1.21638379e+00, 8.38465397e-05,
  1.44639779e-03,-2.52704225e-08]


--- Step 752 ---
qpos:
[ 3.03354371e-03,-3.34146140e-03, 1.18575187e-02, 4.17525794e-02,
 -2.18082525e-03,-1.94643973e-03,-1.73915527e-02, 2.86870904e-02,
  5.85312667e-03, 1.64441546e-02,-9.36553803e-03, 2.59850714e-02,
  1.07725477e+00,-1.29838709e-03, 8.40561636e-01, 6.44381059e-02,
  9.49102415e-02,-7.00263457e-02, 1.21777825e-01, 9.99983349e-01,
 -4.75790044e-04,-5.33244873e-04, 5.72627428e-03]

qacc:
[-7.00510315e-01,-3.97848235e+00, 1.74620562e+01,-3.24310739e+01,
 -4.68292533e+00,-1.70312132e+00, 6.36008415e+00,-1.18848422e+01,
  5.36790419e+00,-1.12919267e+00, 3.42311468e+00,-3.61161216e+00,
 -1.06116383e+00, 1.76772969e+00,-2.63002751e+00, 7.13077930e+00,
  7.35041035e-01,-3.99239367e-01,-2.65551241e-02, 6.78686332e+00,
  1.20815092e+01,-7.78332894e-01]

qfrc_actuator:
[-5.35117334e-05, 7.07983779e-05, 1.10578434e-04, 6.83305436e-05,
  1.60522437e-06,-3.39778635e-04,-2.69099839e-04,-7.81031315e-05,
 -8.54775011e-05, 4.05290678e-04, 5.55746155e-05, 1.92996031e-05,
  2.51603563e-02,-1.16942009e-03, 8.90600127e-03,-3.26938498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002463839603186191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.50606859e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.50606859e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179942, -0.0619113 ,  0.06199401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.25486658e-06, 1.61746640e-05, 4.94902996e-05,-3.78245238e-05,
 -2.75806261e-05,-7.65966427e-05,-1.41694110e-05,-2.09853007e-05,
  3.15914144e-05,-3.19469989e-05, 6.83802996e-06,-1.24990245e-06,
 -1.59040271e-04,-2.12879789e-05,-8.75852941e-05, 9.42671863e-06,
  3.60458341e-06,-2.20159055e-07,-1.21637995e+00, 7.84744335e-05,
  1.45161540e-03, 2.44073459e-07]


--- Step 753 ---
qpos:
[ 3.03212035e-03,-3.34151040e-03, 1.18577118e-02, 4.17519853e-02,
 -2.18110289e-03,-1.94679277e-03,-1.73917977e-02, 2.86860444e-02,
  5.85251652e-03, 1.64434809e-02,-9.36569012e-03, 2.59851617e-02,
  1.07783765e+00,-1.29672149e-03, 8.41030376e-01, 6.44332511e-02,
  9.49283425e-02,-7.00178022e-02, 1.21779850e-01, 9.99983363e-01,
 -5.46144957e-04,-3.79998900e-04, 5.72989745e-03]

qacc:
[-3.36053166e+00,-2.78943516e+00, 1.14843322e+01,-1.98899582e+01,
 -2.85440443e+00,-1.86494707e-01,-4.31894289e-03, 1.48835441e+00,
  3.39073446e+00, 1.07573154e+00,-5.52587654e+00, 1.22087037e+01,
  3.88040284e-04,-9.39361838e-01, 6.46556625e+00,-2.39249988e+01,
  6.09796083e-01,-7.67787351e-01,-6.40728551e-02, 1.28941410e+01,
  1.00355942e+01,-9.71775018e-01]

qfrc_actuator:
[-7.32279875e-05, 4.75474706e-05, 1.34547433e-04, 4.52876094e-05,
 -1.43673589e-05,-3.12812794e-04,-2.52456492e-04,-7.05726273e-05,
 -6.63428327e-05, 4.11879669e-04, 5.15118541e-05, 3.85135712e-05,
  2.51156900e-02,-1.21336984e-03, 8.87147608e-03,-3.39656345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024214931746529048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29243476e-13, -1.20133439e-07,  1.00000000e+00,  2.75398071e-20,
        1.00000000e+00,  1.20133439e-07, -1.00000000e+00,  6.01853108e-36,
        2.29243476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08412719, -0.05433587,  0.06199412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98321305e-05,-5.60105203e-06, 3.21017458e-05,-2.13724925e-05,
 -1.67840719e-05,-1.96899233e-05,-1.64026667e-06, 3.35400850e-06,
  2.00268445e-05,-9.88632476e-06,-9.85728575e-06, 1.80576749e-05,
 -1.47965184e-04,-8.13833337e-05,-7.81961378e-05,-1.38944560e-04,
  3.86641864e-06, 3.62992112e-08,-1.21637219e+00, 7.37322341e-05,
  1.45806067e-03, 5.22194858e-07]


--- Step 754 ---
qpos:
[ 3.03047160e-03,-3.34141041e-03, 1.18575451e-02, 4.17511468e-02,
 -2.18088037e-03,-1.94718592e-03,-1.73916399e-02, 2.86847089e-02,
  5.85214054e-03, 1.64430259e-02,-9.36631022e-03, 2.59854675e-02,
  1.07841973e+00,-1.29585206e-03, 8.41498505e-01, 6.44271578e-02,
  9.49483195e-02,-7.00138472e-02, 1.21780970e-01, 9.99983385e-01,
 -5.78118595e-04,-2.11043155e-04, 5.73154294e-03]

qacc:
[ -1.99243623,  0.70342641, -1.18432166, -2.58636503,  4.39973968,
  -1.78203945,  7.4847409 ,-13.09180945,  2.02409175,  2.0368334 ,
  -7.75989207, 12.08460055,  0.11054634, -1.24589297,  2.80869289,
 -11.20211041,  0.46899499, -1.14715191, -0.22619471, 19.23495306,
   7.74533648, -0.99185553]

qfrc_actuator:
[-8.42572191e-05, 5.14672850e-05, 1.12985777e-04, 3.19614017e-05,
  1.18609949e-05,-2.96390330e-04,-2.24649986e-04,-8.34388147e-05,
 -5.48514523e-05, 4.33892424e-04, 3.14691022e-05, 4.97841652e-05,
  2.50679474e-02,-1.25773794e-03, 8.86054695e-03,-3.45171471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024094820854478338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30386238e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30386238e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0866459 , -0.04614108,  0.06199415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15963799e-05, 6.50137581e-06,-1.95023167e-05,-1.28692500e-05,
  2.57429685e-05, 5.22901689e-06, 2.36635108e-05,-1.36971006e-05,
  1.20593597e-05, 1.52529785e-05,-2.26662042e-05, 1.08579713e-05,
 -1.57512053e-04,-8.98633561e-05,-6.76350209e-05,-7.41860443e-05,
  4.06355552e-06, 2.48814350e-07,-1.21636842e+00, 7.01852519e-05,
  1.46548811e-03, 9.16208705e-07]


--- Step 755 ---
qpos:
[ 3.02870351e-03,-3.34149389e-03, 1.18574905e-02, 4.17508563e-02,
 -2.18069026e-03,-1.94773340e-03,-1.73908154e-02, 2.86832255e-02,
  5.85190518e-03, 1.64430249e-02,-9.36755621e-03, 2.59851958e-02,
  1.07900080e+00,-1.29521039e-03, 8.41965866e-01, 6.44210670e-02,
  9.49701605e-02,-7.00144510e-02, 1.21780929e-01, 9.99983412e-01,
 -5.71985614e-04,-2.64088477e-05, 5.73133463e-03]

qacc:
[ -1.04057977,  0.57504484, -4.70967261, 14.14089355, -0.26075035,
  -2.36943161,  8.7781015 ,-12.28946855,  1.19892419,  1.15810822,
  -0.82367018, -8.50246996, -0.50217965,  0.28336699, -1.11872476,
   2.31615966,  0.46599829, -1.139695  , -0.29040211, 19.09773016,
   7.73048221, -0.9263859 ]

qfrc_actuator:
[-9.00800225e-05, 3.59371538e-05, 1.18084111e-04, 5.99530126e-05,
  9.45627687e-06,-3.04108168e-04,-1.90518309e-04,-9.04506752e-05,
 -4.79467237e-05, 4.64903489e-04, 2.21966228e-06, 2.07895774e-05,
  2.50183900e-02,-1.26647625e-03, 8.83716985e-03,-3.44611985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023859713835870655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.326564e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        2.326564e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08664535, -0.0461404 ,  0.0619942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14948145e-06,-1.64727211e-05, 3.59864030e-06, 2.73475626e-05,
 -1.66945868e-06,-4.68556548e-07, 3.76574141e-05,-6.23311020e-06,
  7.25416877e-06, 3.53499787e-05,-2.85038341e-05,-2.89127512e-05,
 -1.66858260e-04,-5.79369756e-05,-6.82718282e-05,-8.52457668e-06,
  4.37984259e-06, 1.75609861e-07,-1.21636560e+00, 6.84935399e-05,
  1.47373830e-03, 1.41433808e-06]


--- Step 756 ---
qpos:
[ 3.02687937e-03,-3.34188212e-03, 1.18575957e-02, 4.17505704e-02,
 -2.18087547e-03,-1.94787734e-03,-1.73903363e-02, 2.86813227e-02,
  5.85175508e-03, 1.64426545e-02,-9.36856932e-03, 2.59849711e-02,
  1.07958092e+00,-1.29473437e-03, 8.42431965e-01, 6.44154726e-02,
  9.49895397e-02,-7.00198402e-02, 1.21780771e-01, 9.99983423e-01,
 -5.26057583e-04, 1.36491970e-04, 5.73221877e-03]

qacc:
[ -0.48167647, -0.83894998,  2.38847133, -2.33972915, -3.30967921,
   0.64150539,  0.2691937 , -7.28707175,  0.75716745, -1.04412298,
   2.81354017, -2.09880413, -0.4747533 ,  0.31026196, -3.34283136,
   9.0313398 , -0.61542501, -1.19634163, -0.02893425, 19.83492345,
 -10.98091651,  0.53952049]

qfrc_actuator:
[-9.27948592e-05, 9.00992339e-06, 1.21097601e-04, 5.87828242e-05,
 -9.79578270e-06,-2.72922007e-04,-2.06274326e-04,-1.11728344e-04,
 -4.37941222e-05, 4.12227485e-04, 3.29655554e-06, 2.16006772e-05,
  2.49784432e-02,-1.27183924e-03, 8.76907944e-03,-3.42257543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023993178320230735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62724450e-13, -2.31362225e-13,  1.00000000e+00, -1.07056958e-25,
        1.00000000e+00,  2.31362225e-13, -1.00000000e+00,  0.00000000e+00,
       -4.62724450e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844122, -0.04574188,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89663895e-06,-3.42162697e-05, 1.00485275e-06,-1.21735999e-06,
 -1.93010723e-05, 3.84482910e-05,-1.14296777e-05,-2.01132988e-05,
  4.37389307e-06,-4.00179797e-05, 3.88231231e-06, 7.80086361e-07,
 -1.55906045e-04,-5.10620896e-05,-1.05833918e-04, 1.30455533e-05,
  5.16603712e-06, 3.98031390e-09,-1.21635414e+00, 6.86662676e-05,
  1.48284387e-03, 1.86966087e-06]


--- Step 757 ---
qpos:
[ 3.02538173e-03,-3.34239150e-03, 1.18571426e-02, 4.17499544e-02,
 -2.18163480e-03,-1.94769747e-03,-1.73906265e-02, 2.86795652e-02,
  5.85165605e-03, 1.64417596e-02,-9.36918459e-03, 2.59851122e-02,
  1.08016008e+00,-1.29434274e-03, 8.42896235e-01, 6.44122507e-02,
  9.50064860e-02,-7.00299660e-02, 1.21780059e-01, 9.99983423e-01,
 -4.40788734e-04, 2.77973104e-04, 5.73427279e-03]

qacc:
[  2.85022305,  0.7149542 , -1.39812725, -3.321951  , -5.06489904,
   2.88495421,-10.26242141, 13.74873706,  0.46713134, -1.05276364,
   1.20109872,  4.88429499, -0.44460083,  0.3190716 , -9.83763458,
  30.544033  , -0.60824693, -1.18414976, -0.13875294, 19.60860967,
 -10.82272652,  0.58201252]

qfrc_actuator:
[-7.59078475e-05,-6.80828199e-06, 8.72624443e-05, 4.04395664e-05,
 -3.88003806e-05,-2.72147500e-04,-2.51217619e-04,-1.05729473e-04,
 -4.12936719e-05, 3.80991774e-04, 2.19608456e-05, 3.99017350e-05,
  2.49336425e-02,-1.27514806e-03, 8.68488494e-03,-3.29999313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024230252769502636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29098523e-13,  2.29098523e-13,  1.00000000e+00,  5.24861333e-26,
        1.00000000e+00, -2.29098523e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29098523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1084407 , -0.04574257,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67937609e-05,-3.47783321e-05,-4.08150941e-05,-1.97961063e-05,
 -2.95400698e-05, 1.90490574e-05,-3.91043755e-05, 6.86397865e-06,
  2.60941933e-06,-5.27518209e-05, 1.09195572e-05, 1.67390086e-05,
 -1.52784254e-04,-4.52469205e-05,-1.34655155e-04, 1.08952745e-04,
  3.99863216e-06,-1.45250097e-06,-1.21636794e+00, 7.11098445e-05,
  1.49086405e-03, 2.14163533e-06]


--- Step 758 ---
qpos:
[ 3.02409807e-03,-3.34294701e-03, 1.18561972e-02, 4.17494550e-02,
 -2.18239092e-03,-1.94755937e-03,-1.73908077e-02, 2.86785703e-02,
  5.85158742e-03, 1.64407247e-02,-9.36939345e-03, 2.59847304e-02,
  1.08073819e+00,-1.29393456e-03, 8.43359219e-01, 6.44120631e-02,
  9.50210239e-02,-7.00447888e-02, 1.21778423e-01, 9.99983411e-01,
 -3.16547513e-04, 3.98295378e-04, 5.73756646e-03]

qacc:
[ 1.86353144e+00, 1.55195824e+00,-6.11923353e+00, 8.96246714e+00,
  3.27142256e-02, 1.20920181e+00,-7.61250576e+00, 2.06686475e+01,
  2.79750633e-01,-2.39769181e+00, 1.04878330e+01,-2.00834500e+01,
 -6.03935766e-01, 6.54242622e-01,-1.10222663e+01, 3.58810397e+01,
 -6.02092900e-01,-1.17424424e+00,-2.31009209e-01, 1.94250224e+01,
 -1.06912647e+01, 6.20602082e-01]

qfrc_actuator:
[-6.53724871e-05, 1.72986909e-06, 6.74776248e-05, 4.76307354e-05,
 -3.78023060e-05,-2.71949025e-04,-2.42100754e-04,-6.60090632e-05,
 -3.97844435e-05, 3.98428314e-04, 5.09194543e-05, 1.51010971e-05,
  2.48753120e-02,-1.27723936e-03, 8.65503379e-03,-3.13781535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024272808726084893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28696859e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.28696859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844051, -0.04574267,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10062227e-05,-2.01526979e-05,-3.26670778e-05, 3.90684647e-06,
  1.63956536e-07, 3.05814966e-06, 8.47856428e-06, 3.93227092e-05,
  1.56104575e-06,-9.04979403e-06, 2.00032944e-05,-2.63547539e-05,
 -1.63194568e-04,-4.22790110e-05,-8.08753253e-05, 1.50651104e-04,
  2.73251071e-06,-2.57681111e-06,-1.21637138e+00, 7.54649718e-05,
  1.49775073e-03, 2.17264301e-06]


--- Step 759 ---
qpos:
[ 3.02295057e-03,-3.34328007e-03, 1.18551411e-02, 4.17486382e-02,
 -2.18278469e-03,-1.94727532e-03,-1.73909519e-02, 2.86780394e-02,
  5.85188174e-03, 1.64401808e-02,-9.36955255e-03, 2.59839969e-02,
  1.08131518e+00,-1.29349528e-03, 8.43821149e-01, 6.44151039e-02,
  9.50329915e-02,-7.00632532e-02, 1.21776581e-01, 9.99983378e-01,
 -1.62229784e-04, 4.96401021e-04, 5.74209987e-03]

qacc:
[  1.18770539, -0.05274821,  1.94871574, -7.41950129,  3.17690172,
   1.03713269, -5.38835627, 13.26336034,  3.15867204, -0.22042036,
   3.2015258 , -9.71760626, -0.66087304,  0.74537486,-11.26271611,
  37.22850891, -0.6425771 , -0.91039894, -0.05143805, 14.97401976,
 -11.19460669,  0.62239609]

qfrc_actuator:
[-5.86661885e-05, 4.26079137e-05, 7.40329280e-05, 3.43227034e-05,
 -1.91503032e-05,-2.54107487e-04,-2.36623426e-04,-4.22364629e-05,
 -2.11170498e-05, 4.62645962e-04, 6.81343119e-05, 6.87181426e-07,
  2.48142333e-02,-1.27866735e-03, 8.62052509e-03,-2.97124363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024227810527858995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58243234e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.58243234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895441, -0.05162719,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01673280e-06, 2.30686649e-05,-1.47614472e-06,-1.52213579e-05,
  1.86557638e-05, 2.29875112e-05, 8.51672951e-06, 2.49646287e-05,
  1.87057070e-05, 6.22005826e-05, 1.69126901e-05,-1.46189619e-05,
 -1.71142289e-04,-4.36831543e-05,-5.88749534e-05, 1.63651174e-04,
  1.34982482e-06,-3.36973948e-06,-1.21636481e+00, 8.17108830e-05,
  1.50351256e-03, 1.96840749e-06]


--- Step 760 ---
qpos:
[ 3.02223713e-03,-3.34308106e-03, 1.18542526e-02, 4.17476079e-02,
 -2.18329685e-03,-1.94672673e-03,-1.73913393e-02, 2.86774564e-02,
  5.85239727e-03, 1.64404980e-02,-9.37029599e-03, 2.59834371e-02,
  1.08189099e+00,-1.29251745e-03, 8.44282703e-01, 6.44151160e-02,
  9.50424113e-02,-7.00853361e-02, 1.21774221e-01, 9.99983316e-01,
  2.19577962e-05, 5.72501385e-04, 5.74791987e-03]

qacc:
[  3.80608532, -0.21301491,  2.66769119, -7.00862246, -1.05045372,
   0.92358414, -2.56206971,  1.84904684,  1.89660784,  3.12481855,
 -10.22974336, 13.54085365, -1.46937678,  2.6631311 ,  8.67557857,
 -30.94797983, -0.63696639, -0.90464686, -0.12956709, 14.87117762,
 -11.08831198,  0.64899183]

qfrc_actuator:
[-3.65124746e-05, 1.02639749e-04, 9.62075625e-05, 2.68549180e-05,
 -2.57716314e-05,-2.43603752e-04,-2.51054277e-04,-4.57915789e-05,
 -1.02521167e-05, 5.18852225e-04, 4.29917502e-05, 1.02958662e-05,
  2.47675263e-02,-1.24421324e-03, 8.56726993e-03,-3.14074346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024120169859313811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30144114e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.30144114e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895454, -0.0516269 ,  0.06199414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23646109e-05, 7.20072532e-05, 2.62499961e-05,-6.82216427e-06,
 -6.08289472e-06, 2.61864145e-05,-7.77099046e-06,-1.78934238e-06,
  1.14207180e-05, 9.38869234e-05,-1.07074428e-05, 1.25774151e-05,
 -1.61743806e-04,-9.92857224e-06,-6.72068759e-05,-1.69139751e-04,
 -9.54314545e-08,-3.62111256e-06,-1.21635598e+00, 8.93988879e-05,
  1.50812559e-03, 1.49864797e-06]


--- Step 761 ---
qpos:
[ 3.02144983e-03,-3.34218121e-03, 1.18529336e-02, 4.17472057e-02,
 -2.18388414e-03,-1.94600969e-03,-1.73918857e-02, 2.86771875e-02,
  5.85304002e-03, 1.64405477e-02,-9.37054540e-03, 2.59823771e-02,
  1.08246580e+00,-1.29143988e-03, 8.44743612e-01, 6.44137183e-02,
  9.50493020e-02,-7.01110201e-02, 1.21771080e-01, 9.99983215e-01,
  2.35856364e-04, 6.26769514e-04, 5.75507107e-03]

qacc:
[ -0.67353972,  3.42629811,-13.51943585, 24.5580015 , -0.66665679,
   1.3142742 , -5.68758927, 11.25192185,  1.12917655, -2.7659439 ,
  11.45703772,-20.70116216, -0.85543984,  1.22718253,  3.35038205,
 -12.99446371, -0.63226753, -0.90024209, -0.19501196, 14.7921208 ,
 -11.00129751,  0.67444789]

qfrc_actuator:
[-4.09479427e-05, 1.38260009e-04, 7.42619049e-05, 5.84198266e-05,
 -2.94685379e-05,-2.37679669e-04,-2.59411906e-04,-2.99075019e-05,
 -4.07209884e-06, 4.45416690e-04, 4.63068243e-05,-1.93244002e-05,
  2.47188368e-02,-1.24200768e-03, 8.55067597e-03,-3.20512568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023891585945691463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.32346029e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.32346029e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895488, -0.05162634,  0.06199419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77363206e-06, 8.10321435e-05,-4.06497852e-06, 3.54279406e-05,
 -3.86077629e-06, 1.88694600e-05,-3.96819813e-06, 1.67037913e-05,
  6.54018392e-06,-2.26020909e-05, 2.18313571e-05,-2.57206982e-05,
 -1.51169923e-04,-3.38459578e-05,-7.27487885e-05,-8.39453609e-05,
 -1.60209552e-06,-3.57527246e-06,-1.21634025e+00, 9.85229252e-05,
  1.51158719e-03, 8.49299331e-07]


--- Step 762 ---
qpos:
[ 3.02027082e-03,-3.34066152e-03, 1.18511017e-02, 4.17472012e-02,
 -2.18451070e-03,-1.94580482e-03,-1.73922148e-02, 2.86771731e-02,
  5.85375257e-03, 1.64395171e-02,-9.36975139e-03, 2.59813843e-02,
  1.08303967e+00,-1.29059219e-03, 8.45203480e-01, 6.44099329e-02,
  9.50534808e-02,-7.01371024e-02, 1.21769501e-01, 9.99983075e-01,
  4.52741926e-04, 6.58647259e-04, 5.76286917e-03]

qacc:
[ -3.46488079,  3.07987604,-11.45838095, 18.69185883, -0.32865355,
  -0.75974219,  0.65289728,  3.78157284,  0.65994411, -4.20680279,
  12.64153494,-12.34696849, -0.53855869,  0.38714529,  5.69049686,
 -22.09503151, -0.67795598, -0.09961438,  0.3901597 ,  1.42884465,
 -11.20351108,  0.3271327 ]

qfrc_actuator:
[-6.10026184e-05, 1.58851717e-04, 4.41278265e-05, 7.71427585e-05,
 -3.14066843e-05,-3.05523638e-04,-2.64112433e-04,-2.04579823e-05,
 -6.97510180e-07, 3.48238064e-04, 8.36044810e-05,-1.86198471e-05,
  2.46636580e-02,-1.25892785e-03, 8.48155534e-03,-3.33111327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024091059032839424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30422212e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.30422212e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886205, -0.06834808,  0.06199415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01366083e-05, 6.65678037e-05,-1.26645621e-05, 2.27451165e-05,
 -2.04215048e-06,-5.74163953e-05,-7.15037379e-07, 1.04463347e-05,
  3.55406015e-06,-1.06402725e-04, 3.44330108e-05,-6.55866250e-09,
 -1.56272396e-04,-5.49356859e-05,-1.17396315e-04,-1.41298339e-04,
 -3.18333823e-06,-3.23883537e-06,-1.21631772e+00, 1.09073682e-04,
  1.51390365e-03, 2.25462151e-08]


--- Step 763 ---
qpos:
[ 3.01920576e-03,-3.33904172e-03, 1.18496789e-02, 4.17477699e-02,
 -2.18481063e-03,-1.94623879e-03,-1.73921764e-02, 2.86769339e-02,
  5.85449956e-03, 1.64381913e-02,-9.36905483e-03, 2.59807318e-02,
  1.08361251e+00,-1.28963970e-03, 8.45662005e-01, 6.44069330e-02,
  9.50578954e-02,-7.01584304e-02, 1.21769989e-01, 9.99982910e-01,
  6.30051891e-04, 6.93755886e-04, 5.77068274e-03]

qacc:
[ 1.01176869e+00, 1.67704041e-01,-2.82687516e+00, 1.20180726e+01,
  2.88704568e+00,-2.33843074e+00, 8.05305548e+00,-1.20514260e+01,
  3.02523724e-01, 5.82021880e-01,-4.07882720e+00, 1.03412600e+01,
 -7.67363941e-01, 1.04274765e+00,-4.30878270e+00, 1.22955596e+01,
  5.89324504e-02, 1.18860907e+00, 5.17096959e-01,-1.97781540e+01,
  1.72946018e+00,-5.95804295e-03]

qfrc_actuator:
[-5.45761551e-05, 1.52474335e-04, 6.25931046e-05, 1.05892263e-04,
 -1.45427542e-05,-3.46004666e-04,-2.49178950e-04,-3.26879081e-05,
  1.00033195e-06, 3.62001843e-04, 8.72867845e-05,-8.77243827e-08,
  2.46152674e-02,-1.25152845e-03, 8.44488714e-03,-3.27949055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002509473820399011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35031733e-13,  4.42412675e-13,  1.00000000e+00,  1.03981018e-25,
        1.00000000e+00, -4.42412675e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35031733e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493223, -0.09313482,  0.0619939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87278607e-06, 2.91688848e-05, 3.14479865e-05, 3.16072726e-05,
  1.67852733e-05,-7.22924662e-05, 3.34882309e-06,-1.45115587e-05,
  1.75856152e-06,-3.85911977e-05,-1.40501496e-05, 1.51663375e-05,
 -1.57744604e-04,-3.52327863e-05,-1.09714423e-04, 2.78757906e-05,
 -3.92780011e-06,-2.23890003e-06,-1.21631936e+00, 1.19713658e-04,
  1.51529844e-03,-9.28324930e-07]


--- Step 764 ---
qpos:
[ 3.01857124e-03,-3.33799993e-03, 1.18488354e-02, 4.17491002e-02,
 -2.18456172e-03,-1.94660728e-03,-1.73922944e-02, 2.86771859e-02,
  5.85491566e-03, 1.64372109e-02,-9.36866171e-03, 2.59805824e-02,
  1.08418439e+00,-1.28888288e-03, 8.46119507e-01, 6.44080760e-02,
  9.50625545e-02,-7.01750912e-02, 1.21771860e-01, 9.99982741e-01,
  7.68482189e-04, 7.31981523e-04, 5.77859048e-03]

qacc:
[ 3.80770985e+00,-8.21216089e-01,-1.40607834e+00, 1.40963421e+01,
  4.80781911e+00, 1.52442047e+00,-7.40111164e+00, 1.61233861e+01,
 -2.90111452e+00, 2.34608521e+00,-9.81755764e+00, 1.87465373e+01,
 -2.99251803e-01,-4.98070682e-02,-1.40019907e+01, 4.68200810e+01,
  6.11229636e-02, 1.16678642e+00, 3.45482694e-01,-1.94305391e+01,
  1.67069068e+00, 3.26305924e-02]

qfrc_actuator:
[-3.26099974e-05, 7.69293850e-05, 7.39959008e-05, 1.40323280e-04,
  1.32522288e-05,-2.98725859e-04,-2.40454668e-04,-4.28994225e-06,
 -1.60530509e-05, 4.24225430e-04, 8.92760167e-05, 2.88410616e-05,
  2.45656671e-02,-1.26528533e-03, 8.44905808e-03,-3.05250937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002586167638351511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34153985e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.34153985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493281, -0.09313284,  0.06199372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21372406e-05,-5.14219250e-05, 2.23921363e-05, 3.73822161e-05,
  2.82486970e-05, 6.94451016e-06,-6.29314590e-06, 2.51340357e-05,
 -1.70201164e-05, 3.84351394e-05,-7.17860675e-06, 2.70869349e-05,
 -1.55161306e-04,-5.34170026e-05,-4.61567868e-05, 2.13739622e-04,
 -3.15294270e-06,-2.04697381e-06,-1.21635802e+00, 1.28487821e-04,
  1.51718437e-03,-1.44387020e-06]


--- Step 765 ---
qpos:
[ 3.01820485e-03,-3.33737243e-03, 1.18482275e-02, 4.17498009e-02,
 -2.18398167e-03,-1.94658899e-03,-1.73930587e-02, 2.86777678e-02,
  5.85477911e-03, 1.64365168e-02,-9.36776462e-03, 2.59814216e-02,
  1.08475514e+00,-1.28794202e-03, 8.46576197e-01, 6.44099678e-02,
  9.50674651e-02,-7.01871575e-02, 1.21774536e-01, 9.99982581e-01,
  8.68613761e-04, 7.73234085e-04, 5.78665127e-03]

qacc:
[  2.36763173, -2.50880079, 10.79836167,-21.75582366,  2.87756225,
   2.98850529,-11.31664519, 17.78146376, -4.80864248,  1.01412244,
  -7.2242133 , 23.29791159, -0.93083726,  1.36991905, -3.40566054,
  10.29777008,  0.06288826,  1.14860746,  0.20120902,-19.1403466 ,
   1.62414776,  0.0613149 ]

qfrc_actuator:
[-1.94348222e-05, 4.92851431e-05, 8.08274239e-05, 1.06734866e-04,
  2.95003539e-05,-2.70250467e-04,-2.70584296e-04, 1.23532164e-05,
 -4.40056122e-05, 4.61744499e-04, 1.25999630e-04, 8.14614048e-05,
  2.45047192e-02,-1.25597216e-03, 8.38721372e-03,-3.02577942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026310421641906334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71425646e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.71425646e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493324, -0.09313174,  0.06199361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37825944e-05,-5.01940529e-05, 2.56131491e-07,-3.42927601e-05,
  1.70550024e-05, 3.21600720e-05,-2.85967316e-05, 1.72115166e-05,
 -2.84305881e-05, 5.87167971e-05, 4.47242714e-05, 5.45486554e-05,
 -1.67995185e-04,-3.34666617e-05,-6.45474539e-05, 3.14761015e-05,
 -2.41434241e-06,-1.83527923e-06,-1.21638828e+00, 1.35344577e-04,
  1.51922022e-03,-1.86930208e-06]


--- Step 766 ---
qpos:
[ 3.01799896e-03,-3.33660148e-03, 1.18475020e-02, 4.17493558e-02,
 -2.18355591e-03,-1.94641791e-03,-1.73941189e-02, 2.86785504e-02,
  5.85465280e-03, 1.64366407e-02,-9.36633618e-03, 2.59821221e-02,
  1.08532475e+00,-1.28661925e-03, 8.47031557e-01, 6.44063787e-02,
  9.50726330e-02,-7.01946897e-02, 1.21777531e-01, 9.99982442e-01,
  9.30929232e-04, 8.17442882e-04, 5.79490833e-03]

qacc:
[  1.40200327, -1.8457065 , 11.68384252,-31.41916831, -1.36501115,
   1.44403515, -5.69935296,  9.5296508 ,  0.09185998, -0.68933476,
   4.61090425, -8.45925267, -1.36026892,  2.34593209, 14.65964063,
 -53.95531353,  0.06433228,  1.13354382,  0.08010652,-18.89925275,
   1.58758339,  0.08216709]

qfrc_actuator:
[-1.15440337e-05, 8.59540639e-05, 8.50281467e-05, 5.11740920e-05,
  2.10658908e-05,-2.71157255e-04,-2.87968619e-04, 2.19085150e-05,
 -4.26383135e-05, 5.37619674e-04, 1.65125216e-04, 7.65996372e-05,
  2.44529908e-02,-1.23311839e-03, 8.24317177e-03,-3.33049478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026501742250878424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22553663e-13,  2.09462271e-13,  1.00000000e+00,  4.66165958e-26,
        1.00000000e+00, -2.09462271e-13, -1.00000000e+00,  0.00000000e+00,
       -2.22553663e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493355, -0.09313133,  0.06199356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.26574777e-06, 7.17311461e-06,-7.32412638e-06,-5.83716629e-05,
 -7.93663841e-06, 1.19208501e-05,-1.36617762e-05, 1.02786707e-05,
  5.67655930e-07, 1.20288439e-04, 5.86472909e-05, 2.62439794e-07,
 -1.62772480e-04,-1.89951781e-05,-1.75648031e-04,-3.12526326e-04,
 -1.68155078e-06,-1.61804505e-06,-1.21641062e+00, 1.40312654e-04,
  1.52140886e-03,-2.20463669e-06]


--- Step 767 ---
qpos:
[ 3.01788916e-03,-3.33549135e-03, 1.18466378e-02, 4.17489142e-02,
 -2.18323431e-03,-1.94633076e-03,-1.73947275e-02, 2.86794200e-02,
  5.85488842e-03, 1.64377933e-02,-9.36507635e-03, 2.59824346e-02,
  1.08589346e+00,-1.28536041e-03, 8.47485746e-01, 6.43983544e-02,
  9.50780631e-02,-7.01977374e-02, 1.21780442e-01, 9.99982330e-01,
  9.55826885e-04, 8.64553086e-04, 5.80339247e-03]

qacc:
[ 8.33305033e-01, 8.41661196e-01,-2.36844268e+00, 2.40592041e+00,
 -8.97760421e-01,-1.19184716e+00, 3.72454607e+00,-2.88203940e+00,
  3.13376109e+00, 1.02582007e+00,-5.64042643e-02,-7.13779150e+00,
 -7.58998430e-01, 9.48429394e-01, 1.16940927e+01,-4.33414481e+01,
  6.55353950e-02, 1.12114611e+00,-2.13678588e-02,-1.87002791e+01,
  1.55918913e+00, 9.68186993e-02]

qfrc_actuator:
[-6.82350536e-06, 1.25313603e-04, 8.79094137e-05, 5.42084063e-05,
  1.59274863e-05,-2.71861425e-04,-2.62292294e-04, 2.72081568e-05,
 -2.40209193e-05, 5.82604477e-04, 1.52205123e-04, 5.57328355e-05,
  2.44121600e-02,-1.23791701e-03, 8.20966066e-03,-3.54410506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000264865719002888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75076693e-13, -4.19164484e-13,  1.00000000e+00, -1.15302380e-25,
        1.00000000e+00,  4.19164484e-13, -1.00000000e+00,  0.00000000e+00,
       -2.75076693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493377, -0.09313149,  0.06199357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95957408e-06, 3.93426482e-05, 1.44129791e-06, 1.95243354e-06,
 -5.36035966e-06, 3.58224822e-06, 2.68204211e-05, 5.53840995e-06,
  1.86752487e-05, 1.24353529e-04, 1.91400111e-05,-1.36826443e-05,
 -1.47071958e-04,-4.21406167e-05,-1.50388644e-04,-2.53916697e-04,
 -9.32913873e-07,-1.40483148e-06,-1.21642539e+00, 1.43415860e-04,
  1.52375190e-03,-2.45004562e-06]


--- Step 768 ---
qpos:
[ 3.01783705e-03,-3.33441475e-03, 1.18462264e-02, 4.17485186e-02,
 -2.18263195e-03,-1.94639461e-03,-1.73943902e-02, 2.86799749e-02,
  5.85534600e-03, 1.64394195e-02,-9.36428257e-03, 2.59825879e-02,
  1.08646126e+00,-1.28440620e-03, 8.47938562e-01, 6.43968801e-02,
  9.50837595e-02,-7.01963408e-02, 1.21782927e-01, 9.99982246e-01,
  9.43632418e-04, 9.14522883e-04, 5.81212469e-03]

qacc:
[ 5.21164795e-01,-1.21659113e+00, 4.07766870e+00,-3.98041601e+00,
  2.49443947e+00,-3.49318482e+00, 1.34868583e+01,-2.03244102e+01,
  1.91315760e+00, 1.59696140e+00,-4.12061814e+00, 1.76971327e+00,
 -4.47773520e-02,-5.95834460e-01,-2.17997030e+01, 7.33126537e+01,
  6.65595799e-02, 1.11103161e+00,-1.06231594e-01,-1.85375554e+01,
  1.53750721e+00, 1.06554166e-01]

qfrc_actuator:
[-4.00492655e-06, 1.12776502e-04, 1.07819637e-04, 5.62034534e-05,
  3.05309226e-05,-2.72268431e-04,-2.11408845e-04, 1.22352771e-05,
 -1.31618933e-05, 5.55259111e-04, 1.08545034e-04, 4.33206624e-05,
  2.43619115e-02,-1.25901399e-03, 8.25847902e-03,-3.16932669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002630749694655238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24196921e-13,  4.22017734e-13,  1.00000000e+00,  9.46150766e-26,
        1.00000000e+00, -4.22017734e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24196921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493391, -0.0931321 ,  0.06199361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97088450e-06, 9.81765405e-06, 2.82797103e-05, 3.76843671e-06,
  1.44505729e-05, 7.37356202e-06, 5.51231495e-05,-1.37841184e-05,
  1.14425204e-05, 4.55112538e-05,-1.61185097e-05,-6.69393216e-06,
 -1.51558644e-04,-5.92713276e-05,-5.06717104e-05, 3.40815589e-04,
 -1.53179918e-07,-1.20118779e-06,-1.21643289e+00, 1.44673796e-04,
  1.52625008e-03,-2.60579608e-06]


--- Step 769 ---
qpos:
[ 3.01781938e-03,-3.33362131e-03, 1.18459402e-02, 4.17482055e-02,
 -2.18220417e-03,-1.94656068e-03,-1.73936868e-02, 2.86803799e-02,
  5.85558577e-03, 1.64413835e-02,-9.36423434e-03, 2.59829751e-02,
  1.08702798e+00,-1.28337044e-03, 8.48390606e-01, 6.43975681e-02,
  9.50897256e-02,-7.01905328e-02, 1.21784705e-01, 9.99982189e-01,
  8.94608862e-04, 9.67321172e-04, 5.82111820e-03]

qacc:
[  0.31120087, -0.55516448,  1.08742022,  0.34869315, -1.51805507,
  -1.4628804 ,  5.65780386, -8.76503153, -1.92857701,  3.01541491,
 -11.08452222, 16.06743635, -0.73177414,  0.93722417, -7.62396356,
  25.11463757,  0.06745248,  1.10287416, -0.1770584 ,-18.40613036,
   1.5213602 ,  0.11238458]

qfrc_actuator:
[-2.32754353e-06, 6.93384489e-05, 1.01906042e-04, 5.75311724e-05,
  2.11309553e-05,-2.90149126e-04,-1.99333749e-04, 3.21847399e-06,
 -2.47153135e-05, 5.55669986e-04, 6.45584586e-05, 5.36601315e-05,
  2.43060450e-02,-1.25411846e-03, 8.20230760e-03,-3.07206839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026000021845018484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20096140e-13,  4.27008497e-13,  1.00000000e+00,  5.12820721e-26,
        1.00000000e+00, -4.27008497e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20096140e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493399, -0.09313305,  0.06199368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76121704e-06,-3.19773897e-05,-2.79115553e-07, 2.79947284e-06,
 -8.98712170e-06,-2.96004252e-06, 1.99062477e-05,-7.06421024e-06,
 -1.12026290e-05, 2.21816186e-05,-3.68311866e-05, 1.15956985e-05,
 -1.61746785e-04,-3.82920533e-05,-4.57954088e-05, 1.08749764e-04,
  6.68249822e-07,-1.00910667e-06,-1.21643332e+00, 1.44102458e-04,
  1.52890355e-03,-2.67220905e-06]


--- Step 770 ---
qpos:
[ 3.01782179e-03,-3.33287652e-03, 1.18455011e-02, 4.17482459e-02,
 -2.18223693e-03,-1.94699753e-03,-1.73932748e-02, 2.86807422e-02,
  5.85568519e-03, 1.64438408e-02,-9.36422935e-03, 2.59827234e-02,
  1.08759373e+00,-1.28231872e-03, 8.48841792e-01, 6.43978225e-02,
  9.50959647e-02,-7.01803392e-02, 1.21785538e-01, 9.99982153e-01,
  8.08964955e-04, 1.02292571e-03, 5.83037997e-03]

qacc:
[  0.17239552,  1.09187431, -5.4779538 , 11.8755654 , -4.04361683,
   0.37614639, -1.66627626,  1.57625034, -1.23432215, -0.53985116,
   5.57235714,-16.92715861, -0.71414013,  0.89594798,  0.08026483,
  -2.03318564,  0.0682506 ,  1.09639579, -0.23604533,-18.30182012,
   1.50979535,  0.11510576]

qfrc_actuator:
[-1.33471472e-06, 7.86334078e-05, 9.83971790e-05, 7.61561901e-05,
 -2.32801370e-06,-3.36255054e-04,-2.28095039e-04,-2.26376538e-06,
 -3.16125917e-05, 6.08186102e-04, 7.40998265e-05, 2.40633530e-05,
  2.42628324e-02,-1.25164436e-03, 8.13639548e-03,-3.10404915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002559364749384063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76226583e-13, -2.16894256e-13,  1.00000000e+00, -3.82225335e-26,
        1.00000000e+00,  2.16894256e-13, -1.00000000e+00,  0.00000000e+00,
       -1.76226583e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493402, -0.09313427,  0.06199378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02956706e-06,-8.54857908e-06,-1.00567170e-05, 1.72995881e-05,
 -2.37166949e-05,-4.39584588e-05,-2.71719216e-05,-5.05953455e-06,
 -7.20330332e-06, 5.77334573e-05, 9.96426947e-06,-2.96997675e-05,
 -1.51102096e-04,-3.90720248e-05,-8.07495660e-05,-3.31766758e-05,
  1.53860171e-06,-8.27332568e-07,-1.21642687e+00, 1.41714734e-04,
  1.53171211e-03,-2.64963024e-06]


--- Step 771 ---
qpos:
[ 3.01714611e-03,-3.33213031e-03, 1.18449835e-02, 4.17484972e-02,
 -2.18220576e-03,-1.94767337e-03,-1.73932290e-02, 2.86813835e-02,
  5.85604690e-03, 1.64457293e-02,-9.36362415e-03, 2.59815206e-02,
  1.08815865e+00,-1.28156618e-03, 8.49291389e-01, 6.43981275e-02,
  9.51024798e-02,-7.01657802e-02, 1.21785231e-01, 9.99982127e-01,
  6.86862240e-04, 1.08132160e-03, 5.83991205e-03]

qacc:
[ -5.95427304,  0.66734405, -3.24592938,  6.99686107,  0.55344406,
   1.27946429, -6.20021752, 11.79007364,  2.31549164, -4.39179032,
  18.57672098,-35.5709245 , -0.27321945, -0.12272834, -2.49197294,
   5.32178126,  0.06898179,  1.09135966, -0.28506854,-18.22108416,
   1.50204038,  0.11534396]

qfrc_actuator:
[-3.62572851e-05, 8.39416556e-05, 9.65593348e-05, 8.71029078e-05,
  1.63865933e-06,-3.45828767e-04,-2.45341762e-04, 1.20802576e-05,
 -1.79538799e-05, 5.14148443e-04, 7.98485846e-05,-2.87160342e-05,
  2.42219164e-02,-1.26834281e-03, 8.04337133e-03,-3.10532656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000251127909618884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38154575e-14, -2.21047319e-13,  1.00000000e+00, -3.05386984e-27,
        1.00000000e+00,  2.21047319e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38154575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493402, -0.09313569,  0.0619939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48984622e-05,-8.29919281e-07,-4.24734504e-06, 1.05684894e-05,
  3.27657940e-06,-3.99825648e-05,-2.98482093e-05, 1.14217640e-05,
  1.34809535e-05,-6.10579331e-05, 1.78462275e-05,-5.05431100e-05,
 -1.42978718e-04,-5.57666100e-05,-1.38509049e-04,-1.45997379e-05,
  2.46266836e-06,-6.51564305e-07,-1.21641365e+00, 1.37520826e-04,
  1.53467534e-03,-2.53841031e-06]


--- Step 772 ---
qpos:
[ 3.01536721e-03,-3.33130883e-03, 1.18441091e-02, 4.17492328e-02,
 -2.18212767e-03,-1.94847528e-03,-1.73931915e-02, 2.86821517e-02,
  5.85657001e-03, 1.64467143e-02,-9.36327792e-03, 2.59801452e-02,
  1.08872248e+00,-1.28039809e-03, 8.49739666e-01, 6.43983354e-02,
  9.51092736e-02,-7.01468709e-02, 1.21783620e-01, 9.99982098e-01,
  5.28421066e-04, 1.14250008e-03, 5.84971250e-03]

qacc:
[ -9.69593747,  2.11441584, -9.40434231, 18.26346308,  0.41351772,
   0.11740196, -1.1982875 ,  3.50483256,  1.41493976, -0.82843348,
   1.94535733, -3.84875278, -1.11877235,  1.93208751, -1.58483831,
   2.87620325,  0.06966722,  1.08756409, -0.32572996,-18.16092387,
   1.49746818,  0.11359187]

qfrc_actuator:
[-9.20389742e-05, 8.68272693e-05, 7.79580573e-05, 1.11196525e-04,
  3.96783844e-06,-3.33406627e-04,-2.37735805e-04, 2.02628328e-05,
 -1.00607086e-05, 4.21806446e-04, 4.71903805e-05,-4.15791867e-05,
  2.41717489e-02,-1.24297812e-03, 7.99276032e-03,-3.10624540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002457757020825069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.05815693e-14,  6.77583066e-13,  1.00000000e+00,  4.78248761e-26,
        1.00000000e+00, -6.77583066e-13, -1.00000000e+00,  0.00000000e+00,
       -7.05815693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493399, -0.09313727,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.67781208e-05, 1.96535276e-06,-1.89312711e-05, 2.41173428e-05,
  2.40935525e-06,-1.55881093e-05,-3.92829872e-06, 5.65846171e-06,
  8.26604388e-06,-1.25032494e-04,-4.48479164e-05,-1.58492708e-05,
 -1.51383063e-04,-1.46434304e-05,-1.17281455e-04,-1.98707076e-05,
  3.44349700e-06,-4.74580410e-07,-1.21639374e+00, 1.31528600e-04,
  1.53779264e-03,-2.33889167e-06]


--- Step 773 ---
qpos:
[ 3.01327796e-03,-3.33028845e-03, 1.18434981e-02, 4.17501920e-02,
 -2.18202232e-03,-1.94931246e-03,-1.73931448e-02, 2.86833438e-02,
  5.85683786e-03, 1.64481942e-02,-9.36371308e-03, 2.59791730e-02,
  1.08928521e+00,-1.27862649e-03, 8.50187221e-01, 6.43977208e-02,
  9.51132547e-02,-7.01260758e-02, 1.21782462e-01, 9.99982075e-01,
  3.53630615e-04, 1.17978876e-03, 5.85948295e-03]

qacc:
[-2.71912979e+00,-7.44351192e-03,-5.25914854e-01, 3.81617492e+00,
  2.40205822e-01, 7.98325240e-01,-4.70459615e+00, 1.20505859e+01,
 -2.25890192e+00, 3.67230494e+00,-1.38395016e+01, 2.16936700e+01,
 -1.36660104e+00, 2.53558296e+00, 1.50475408e+00,-6.60683822e+00,
 -7.03148181e-01, 4.71462093e-01, 1.12872658e-01,-8.24435095e+00,
 -1.18968754e+01,-1.80423260e-02]

qfrc_actuator:
[-1.06381858e-04, 1.23690150e-04, 1.02866423e-04, 1.25067849e-04,
  5.30595420e-06,-3.25556942e-04,-2.33182161e-04, 4.25414735e-05,
 -2.33835251e-05, 5.44075624e-04, 4.53649730e-05,-1.31380738e-05,
  2.41214087e-02,-1.21072324e-03, 7.97828172e-03,-3.14232681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024327575227697795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28182014e-13,  5.70455036e-14,  1.00000000e+00,  1.30167579e-26,
        1.00000000e+00, -5.70455036e-14, -1.00000000e+00,  0.00000000e+00,
       -2.28182014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11006151, -0.0798938 ,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59614616e-05, 3.50493106e-05, 2.38202089e-05, 1.37710990e-05,
  1.40127864e-06,-1.40824535e-06, 1.05290557e-06, 2.15847005e-05,
 -1.31238217e-05, 4.23749748e-05,-3.37372641e-05, 2.12225601e-05,
 -1.47485611e-04,-2.38779270e-06,-7.33810169e-05,-5.29122857e-05,
  4.48289467e-06,-2.86307449e-07,-1.21636719e+00, 1.23743889e-04,
  1.54106339e-03,-2.05140006e-06]


--- Step 774 ---
qpos:
[ 3.01137742e-03,-3.32911299e-03, 1.18432230e-02, 4.17509644e-02,
 -2.18190228e-03,-1.94944227e-03,-1.73936886e-02, 2.86850840e-02,
  5.85694406e-03, 1.64500156e-02,-9.36401412e-03, 2.59791930e-02,
  1.08984695e+00,-1.27672626e-03, 8.50634365e-01, 6.43946002e-02,
  9.51146320e-02,-7.01056927e-02, 1.21782664e-01, 9.99982042e-01,
  1.81781279e-04, 1.19450460e-03, 5.86982600e-03]

qacc:
[  1.66428379, -1.12248829,  5.08152614, -8.95807864,  0.09853143,
   3.71123684,-14.19174111, 24.10114072, -1.41086842,  2.12174866,
 -11.09517924, 27.79704225, -0.93055649,  1.38959765,  7.00731708,
 -25.27827712, -0.65096943, -0.10301349,  0.34027197,  1.40406251,
 -11.29473048,  0.2920399 ]

qfrc_actuator:
[-9.62130452e-05, 1.27527751e-04, 1.17897812e-04, 1.15120227e-04,
  6.05033091e-06,-2.49480565e-04,-2.48226926e-04, 7.29302101e-05,
 -3.13312015e-05, 5.81042994e-04, 6.26652631e-05, 3.95788244e-05,
  2.40656808e-02,-1.21019369e-03, 7.95884732e-03,-3.26975216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024442078123911026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40669588e-13,  2.27113059e-13,  1.00000000e+00,  7.73705121e-26,
        1.00000000e+00, -2.27113059e-13, -1.00000000e+00,  0.00000000e+00,
       -3.40669588e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885891, -0.06834663,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.72210309e-06, 2.89163656e-05, 2.56772409e-05,-7.35592161e-06,
  7.82888143e-07, 7.64590865e-05,-1.44525450e-05, 3.07839336e-05,
 -8.30454882e-06, 5.45542371e-05, 2.26230433e-05, 5.37789659e-05,
 -1.47423758e-04,-3.12620762e-05,-6.43230636e-05,-1.41029553e-04,
  4.55728602e-06,-2.15905784e-07,-1.21635939e+00, 1.15016333e-04,
  1.54305201e-03,-1.34420140e-06]


--- Step 775 ---
qpos:
[ 3.00995840e-03,-3.32788921e-03, 1.18429305e-02, 4.17516503e-02,
 -2.18177420e-03,-1.94911318e-03,-1.73937544e-02, 2.86860954e-02,
  5.85695463e-03, 1.64515159e-02,-9.36351565e-03, 2.59798832e-02,
  1.09040782e+00,-1.27509583e-03, 8.51080095e-01, 6.43926995e-02,
  9.51134204e-02,-7.00857086e-02, 1.21783834e-01, 9.99982004e-01,
  1.28182720e-05, 1.18693609e-03, 5.88072819e-03]

qacc:
[  4.22511595, -0.07389801,  0.70654183, -2.19473573,  0.07721195,
  -2.22768041, 11.90055646,-25.6141869 , -0.80327985, -1.27748825,
   1.11208868,  9.44333971, -0.28181518, -0.09993715, -5.76150677,
  17.14039303, -0.64720941, -0.09974163,  0.24178906,  1.37740246,
 -11.1503917 ,  0.28333913]

qfrc_actuator:
[-7.17121409e-05, 1.11514443e-04, 1.09072482e-04, 1.08954779e-04,
  6.44012567e-06,-2.21959877e-04,-2.21176627e-04, 3.68805749e-05,
 -3.60453008e-05, 5.31279481e-04, 9.08380049e-05, 7.06056282e-05,
  2.40174002e-02,-1.22846586e-03, 7.89915701e-03,-3.20143443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002452063187878273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.52770969e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.52770969e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885849, -0.06834653,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47835893e-05, 5.11373798e-06, 4.48491040e-08,-4.18525009e-06,
  4.38096848e-07, 6.86179792e-05, 4.21321185e-05,-3.26763551e-05,
 -4.93079734e-06,-1.23437263e-05, 4.40716048e-05, 3.51910211e-05,
 -1.46348252e-04,-5.51915861e-05,-1.10983953e-04, 5.07896210e-05,
  4.58864099e-06,-2.59741441e-07,-1.21636489e+00, 1.06436649e-04,
  1.54388871e-03,-5.74432155e-07]


--- Step 776 ---
qpos:
[ 3.00884417e-03,-3.32678385e-03, 1.18429081e-02, 4.17522590e-02,
 -2.18129710e-03,-1.94880477e-03,-1.73932188e-02, 2.86860298e-02,
  5.85690834e-03, 1.64532086e-02,-9.36310848e-03, 2.59812815e-02,
  1.09096777e+00,-1.27366243e-03, 8.51524077e-01, 6.43942978e-02,
  9.51096693e-02,-7.00694648e-02, 1.21785700e-01, 9.99981961e-01,
 -1.25307267e-04, 1.15649071e-03, 5.89274026e-03]

qacc:
[  2.68583778, -1.07590852,  3.92538473, -5.59574875,  3.07955425,
  -3.92819463, 18.50489345,-38.07868695, -0.50156418,  1.96817668,
  -9.63724186, 21.89618919, -0.27579675, -0.08011588,-13.128749  ,
  42.2059037 , -0.63488844, -0.9350865 ,  0.1739968 , 15.35053195,
 -11.52888943,  0.57338915]

qfrc_actuator:
[-5.67328985e-05, 1.01387961e-04, 1.21657369e-04, 1.05033028e-04,
  2.43705781e-05,-2.59112328e-04,-2.05206909e-04,-2.02217753e-05,
 -3.88206045e-05, 5.54271749e-04, 8.93099281e-05, 1.06296143e-04,
  2.39682873e-02,-1.23991946e-03, 7.83139556e-03,-3.01839450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002468607193561734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24868304e-13,  2.24868304e-13,  1.00000000e+00, -5.05657540e-26,
        1.00000000e+00, -2.24868304e-13, -1.00000000e+00,  0.00000000e+00,
        2.24868304e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894631, -0.05162632,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56833895e-05,-7.46616648e-06, 1.34898826e-05,-3.78698421e-06,
  1.79665488e-05, 8.50753370e-06, 3.41969023e-05,-5.33427103e-05,
 -2.91879445e-06, 2.66378807e-05, 2.54344709e-06, 3.73655374e-05,
 -1.51862635e-04,-5.23683928e-05,-1.15587509e-04, 1.71028322e-04,
  4.75976059e-06,-2.21700669e-07,-1.21636776e+00, 9.79766288e-05,
  1.54362078e-03, 1.74143626e-07]


--- Step 777 ---
qpos:
[ 3.00791825e-03,-3.32567392e-03, 1.18427631e-02, 4.17521368e-02,
 -2.18060881e-03,-1.94833263e-03,-1.73930729e-02, 2.86853268e-02,
  5.85751877e-03, 1.64554393e-02,-9.36341802e-03, 2.59827501e-02,
  1.09152670e+00,-1.27233024e-03, 8.51967276e-01, 6.43972706e-02,
  9.51033925e-02,-7.00569144e-02, 1.21787803e-01, 9.99981924e-01,
 -2.32987690e-04, 1.10351022e-03, 5.90590871e-03]

qacc:
[ 1.64851369e+00,-1.16092801e+00, 7.22517272e+00,-1.96713759e+01,
  1.83687281e+00,-9.51488698e-03, 3.03353606e+00,-1.35568125e+01,
  5.69617848e+00, 2.84764707e+00,-9.43733677e+00, 1.14227949e+01,
 -5.58062838e-01, 4.86905124e-01,-5.27655421e+00, 1.68453948e+01,
 -6.31424762e-01,-9.23344414e-01, 5.94265334e-02, 1.51552184e+01,
 -1.13571333e+01, 5.94353247e-01]

qfrc_actuator:
[-4.74825380e-05, 9.49409759e-05, 1.11302624e-04, 6.69775451e-05,
  3.47286055e-05,-2.63762129e-04,-2.31705482e-04,-5.38107239e-05,
 -4.92789460e-06, 5.85027285e-04, 5.27797356e-05, 1.08973568e-04,
  2.39133857e-02,-1.24724676e-03, 7.81213022e-03,-2.94681441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002492332082024151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22727748e-13, -2.22727748e-13,  1.00000000e+00, -4.96076498e-26,
        1.00000000e+00,  2.22727748e-13, -1.00000000e+00,  0.00000000e+00,
       -2.22727748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894549, -0.05162677,  0.06199394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.69047549e-06,-8.03001701e-06,-1.03799406e-05,-3.79864357e-05,
  1.08739872e-05, 4.87402573e-06,-2.23851144e-05,-3.30817394e-05,
  3.38227304e-05, 4.77079218e-05,-2.94492132e-05, 4.62647769e-06,
 -1.60238930e-04,-4.90492479e-05,-5.50230014e-05, 6.58597464e-05,
  4.43332487e-06, 1.36882751e-07,-1.21638943e+00, 9.10006682e-05,
  1.54207805e-03, 7.98446780e-07]


--- Step 778 ---
qpos:
[ 3.00745547e-03,-3.32462742e-03, 1.18424929e-02, 4.17519142e-02,
 -2.17980130e-03,-1.94808261e-03,-1.73928528e-02, 2.86849354e-02,
  5.85818612e-03, 1.64579236e-02,-9.36406333e-03, 2.59839045e-02,
  1.09208449e+00,-1.27076041e-03, 8.52410562e-01, 6.43969830e-02,
  9.50946013e-02,-7.00480183e-02, 1.21789760e-01, 9.99981898e-01,
 -3.10548517e-04, 1.02826982e-03, 5.92026324e-03]

qacc:
[  4.06235129,  0.05101153,  0.10647281, -1.58258853,  1.05196191,
   0.13804147, -2.23788238,  7.68065216,  0.48151579,  0.6257468 ,
  -0.41965672, -4.66716203, -1.20472554,  1.91063474, 10.03783009,
 -34.76885016, -0.62858731, -0.91356855, -0.03666029, 14.99314014,
 -11.21883763,  0.60702405]

qfrc_actuator:
[-2.39223040e-05, 9.06260767e-05, 1.05221319e-04, 6.23842705e-05,
  4.05413844e-05,-2.84591730e-04,-2.29676462e-04,-3.77951519e-05,
 -2.98309671e-06, 5.84512865e-04, 3.14154615e-05, 9.21977954e-05,
  2.38550520e-02,-1.23436266e-03, 7.80596126e-03,-3.11891184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002496123329456257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.44778914e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.44778914e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894507, -0.05162677,  0.06199394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38320997e-05,-1.26083834e-05,-1.03433237e-05,-6.03798904e-06,
  6.12673163e-06,-2.41590237e-05,-8.72414146e-07, 1.48058138e-05,
  2.93899325e-06, 2.02125704e-05,-1.50032423e-05,-1.56690725e-05,
 -1.67706455e-04,-3.03056753e-05,-2.95858465e-05,-1.76776970e-04,
  4.10985528e-06, 8.09678074e-07,-1.21640356e+00, 8.54885483e-05,
  1.53937054e-03, 1.23334273e-06]


--- Step 779 ---
qpos:
[ 3.00727859e-03,-3.32364651e-03, 1.18426934e-02, 4.17515967e-02,
 -2.17893036e-03,-1.94799800e-03,-1.73923814e-02, 2.86854097e-02,
  5.85818272e-03, 1.64600386e-02,-9.36415511e-03, 2.59852130e-02,
  1.09264128e+00,-1.26934601e-03, 8.52853901e-01, 6.43942184e-02,
  9.50833048e-02,-7.00427441e-02, 1.21791248e-01, 9.99981885e-01,
 -3.58257892e-04, 9.30988692e-04, 5.93582020e-03]

qacc:
[  2.52546559, -1.60313187,  5.98177239, -8.31944255,  0.56749406,
   0.85877402, -7.03698558, 21.74171383, -5.82646977, -1.70630112,
   4.7447647 , -2.71124655, -0.70036518,  0.71860702,  7.58673313,
 -26.35229425, -0.62634318, -0.90548458, -0.11710616, 14.85959569,
 -11.10872562,  0.61308961]

qfrc_actuator:
[-9.87893519e-06, 1.05409219e-04, 1.37260907e-04, 5.97775976e-05,
  4.36345125e-05,-2.79303598e-04,-2.10839022e-04, 7.28900191e-06,
 -3.76225797e-05, 5.47553085e-04, 5.45617413e-05, 9.96117381e-05,
  2.38053594e-02,-1.24515534e-03, 7.82357743e-03,-3.23785160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002484036375488552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.46943143e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.46943143e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894499, -0.05162642,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47154397e-05, 5.31297061e-06, 2.79433016e-05,-3.62434596e-06,
  3.25876172e-06,-7.77590743e-06, 1.42472312e-05, 4.43063421e-05,
 -3.45394910e-05,-2.95092434e-05, 2.49078141e-05, 7.44939192e-06,
 -1.59704783e-04,-5.22081069e-05,-2.38309539e-05,-1.34492550e-04,
  3.77150699e-06, 1.79916352e-06,-1.21641047e+00, 8.14237195e-05,
  1.53550944e-03, 1.48369935e-06]


--- Step 780 ---
qpos:
[ 3.00692637e-03,-3.32240876e-03, 1.18431950e-02, 4.17501837e-02,
 -2.17802915e-03,-1.94802956e-03,-1.73914114e-02, 2.86863964e-02,
  5.85776418e-03, 1.64620370e-02,-9.36430453e-03, 2.59866102e-02,
  1.09319727e+00,-1.26891729e-03, 8.53296682e-01, 6.43884423e-02,
  9.50695096e-02,-7.00410653e-02, 1.21791999e-01, 9.99981883e-01,
 -3.76334528e-04, 8.11838594e-04, 5.95258523e-03]

qacc:
[ -1.53469699, -2.75713188, 14.94820879,-34.57601519,  0.28352453,
  -0.49302365, -0.6294035 ,  8.78678857, -3.62038543,  0.19628042,
  -1.28582831,  2.98483697,  0.19307461, -1.53490802,  8.2282985 ,
 -30.07330683, -0.62465392, -0.89885722, -0.18433514, 14.7506362 ,
 -11.02245323,  0.61387164]

qfrc_actuator:
[-1.93063415e-05, 1.31678728e-04, 1.56122104e-04, 5.13968645e-06,
  4.51039633e-05,-2.76065321e-04,-1.82123282e-04, 3.36303531e-05,
 -5.80024542e-05, 5.42505329e-04, 5.04014742e-05, 1.03444230e-04,
  2.37502273e-02,-1.30536135e-03, 7.77557774e-03,-3.39538658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002459454001697281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.25705182e-13, -2.25705182e-13,  1.00000000e+00,  5.09428290e-26,
        1.00000000e+00,  2.25705182e-13, -1.00000000e+00,  0.00000000e+00,
        2.25705182e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894516, -0.05162579,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.01064663e-06, 3.48256204e-05, 2.32614095e-05,-5.35164603e-05,
  1.55720990e-06, 3.72305266e-06, 3.03898949e-05, 2.73609128e-05,
 -2.13746918e-05,-1.61757085e-05,-6.95532007e-06, 3.56871106e-06,
 -1.64912489e-04,-1.03855114e-04,-8.19971560e-05,-1.69968001e-04,
  3.40535736e-06, 3.10438822e-06,-1.21641037e+00, 7.87929458e-05,
  1.53050424e-03, 1.55327553e-06]


--- Step 781 ---
qpos:
[ 3.00680901e-03,-3.32099589e-03, 1.18436496e-02, 4.17485071e-02,
 -2.17746219e-03,-1.94820579e-03,-1.73900295e-02, 2.86873553e-02,
  5.85744888e-03, 1.64644945e-02,-9.36502902e-03, 2.59876585e-02,
  1.09375219e+00,-1.26886640e-03, 8.53738050e-01, 6.43828601e-02,
  9.50533019e-02,-7.00434626e-02, 1.21791505e-01, 9.99981886e-01,
 -3.60718706e-04, 6.71389671e-04, 5.97055330e-03]

qacc:
[  2.05691245, -0.18467321,  2.0993026 , -6.70677833, -2.91617713,
  -1.39283885,  4.81613832, -5.8585323 ,  0.87430853,  1.49439565,
  -2.97752388, -2.47615277, -0.38507696, -0.09277849, -2.6604862 ,
   6.29916588, -0.60314367, -1.01899517, -0.31118762, 16.78204458,
 -10.74972663,  0.61116009]

qfrc_actuator:
[-6.96405519e-06, 1.29038600e-04, 1.49304906e-04,-8.66797773e-06,
  2.78543502e-05,-2.91792649e-04,-1.65581024e-04, 3.09804563e-05,
 -5.20612560e-05, 5.92005313e-04, 3.02470274e-05, 8.73790449e-05,
  2.36918494e-02,-1.32331240e-03, 7.71489060e-03,-3.37927444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024234359001509446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.59429173e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.59429173e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10870103, -0.0488388 ,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20949284e-05, 1.92971685e-05, 1.37294345e-06,-1.25530404e-05,
 -1.72062904e-05,-6.20758578e-06, 2.19881358e-05,-9.10712727e-07,
  5.32943119e-06, 3.90881354e-05,-2.42532833e-05,-1.69360267e-05,
 -1.83318414e-04,-7.17220799e-05,-1.22262420e-04,-5.05385047e-06,
  3.00179990e-06, 4.72154841e-06,-1.21640344e+00, 7.75857655e-05,
  1.52436292e-03, 1.44492837e-06]


--- Step 782 ---
qpos:
[ 3.00684070e-03,-3.31987624e-03, 1.18441630e-02, 4.17481129e-02,
 -2.17676149e-03,-1.94831996e-03,-1.73890262e-02, 2.86876132e-02,
  5.85686252e-03, 1.64669520e-02,-9.36525933e-03, 2.59877998e-02,
  1.09430599e+00,-1.26879695e-03, 8.54177132e-01, 6.43805900e-02,
  9.50346824e-02,-7.00499163e-02, 1.21789575e-01, 9.99981883e-01,
 -3.11577240e-04, 5.09752610e-04, 5.98972622e-03]

qacc:
[  1.31591128,  2.08881261,-13.42331398, 35.73702059,  1.15960781,
  -0.30425375,  4.16022419,-15.72884793, -2.34911074, -3.24404359,
  15.40429883,-31.90122802, -0.59852801,  0.60778359,-13.33807984,
  41.83433784, -0.6029328 , -1.01412803, -0.35898432, 16.69886075,
 -10.69417668,  0.60986277]

qfrc_actuator:
[ 3.47340901e-07, 9.12790376e-05, 1.45060901e-04, 5.48867865e-05,
  3.52309850e-05,-3.01071758e-04,-1.91960802e-04,-6.48164244e-06,
 -6.61849823e-05, 5.84941442e-04, 5.42944674e-05, 4.20246497e-05,
  2.36475555e-02,-1.31612406e-03, 7.60940748e-03,-3.20771694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002382982786918515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32948184e-13, -5.20152096e-07,  1.00000000e+00, -1.21168486e-19,
        1.00000000e+00,  5.20152096e-07, -1.00000000e+00, -2.40741243e-35,
       -2.32948184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10870145, -0.04883769,  0.06199421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65847835e-06,-2.72708394e-05,-5.41833841e-07, 6.41836035e-05,
  6.88314227e-06,-8.26563141e-06,-2.50005920e-05,-3.69891710e-05,
 -1.39483895e-05, 8.97683035e-06, 2.85251795e-05,-4.48545839e-05,
 -1.73521931e-04,-4.48513465e-05,-1.64566142e-04, 1.55037977e-04,
  2.33789466e-06, 6.71161171e-06,-1.21638983e+00, 7.80071205e-05,
  1.51706440e-03, 1.10926593e-06]


--- Step 783 ---
qpos:
[ 3.00661505e-03,-3.31930628e-03, 1.18450718e-02, 4.17484934e-02,
 -2.17632299e-03,-1.94816828e-03,-1.73890196e-02, 2.86874376e-02,
  5.85576706e-03, 1.64690037e-02,-9.36471281e-03, 2.59874291e-02,
  1.09485864e+00,-1.26839174e-03, 8.54614348e-01, 6.43803437e-02,
  9.50135637e-02,-7.00599209e-02, 1.21786403e-01, 9.99981859e-01,
 -2.33181130e-04, 3.26539725e-04, 6.01010937e-03]

qacc:
[ -2.23658718, -0.23108063, -3.49038969, 16.65756196, -2.33580229,
   2.24758163, -5.66576637, -0.44989053, -4.40933436, -3.75248991,
  14.77784153,-24.59590252, -0.97561934,  1.55849993, -8.80128976,
  26.93036574, -0.62481226, -0.88770611, -0.31060168, 14.56212851,
 -10.875513  ,  0.60926334]

qfrc_actuator:
[-1.31205605e-05, 5.05987413e-05, 1.60026534e-04, 9.24078651e-05,
  2.15438059e-05,-2.88878165e-04,-2.43468019e-04,-2.86414656e-05,
 -9.20146791e-05, 5.44214988e-04, 8.62711831e-05, 1.52997654e-05,
  2.36011029e-02,-1.29409734e-03, 7.52510834e-03,-3.10586166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002340768874921767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.3714922e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.3714922e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894671, -0.05162292,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32659335e-05,-5.33358575e-05, 1.14683909e-05, 3.75805156e-05,
 -1.34913059e-05, 8.16504886e-07,-5.75852538e-05,-2.41018209e-05,
 -2.62181039e-05,-3.18298228e-05, 3.57660728e-05,-2.62309521e-05,
 -1.63833951e-04,-2.29705251e-05,-1.42014226e-04, 8.95119357e-05,
  1.59047553e-06, 9.01752415e-06,-1.21636837e+00, 8.00453260e-05,
  1.50865529e-03, 5.75539160e-07]


--- Step 784 ---
qpos:
[ 3.00622957e-03,-3.31908314e-03, 1.18464372e-02, 4.17485998e-02,
 -2.17674196e-03,-1.94749174e-03,-1.73900933e-02, 2.86866247e-02,
  5.85540508e-03, 1.64708085e-02,-9.36383159e-03, 2.59874422e-02,
  1.09541024e+00,-1.26774508e-03, 8.55050694e-01, 6.43778667e-02,
  9.49899471e-02,-7.00734650e-02, 1.21781849e-01, 9.99981794e-01,
 -1.25612889e-04, 1.21792370e-04, 6.03167759e-03]

qacc:
[ -1.38273289, -2.29736119,  8.68697923,-13.9106413 , -7.56367487,
   2.41540697, -4.88960306, -4.82713208,  6.41194447, -0.48423636,
  -0.38899523,  6.70121709, -1.05584944,  1.67360076,  5.51101569,
 -21.00219616, -0.62446422, -0.88489937, -0.34549641, 14.52089094,
 -10.85483555,  0.59490043]

qfrc_actuator:
[-2.09566295e-05, 4.40450232e-05, 1.86157763e-04, 7.87982010e-05,
 -2.21918393e-05,-2.46276920e-04,-2.91529727e-04,-5.93596362e-05,
 -5.35109578e-05, 5.36954481e-04, 1.04772495e-04, 3.52255053e-05,
  2.35533975e-02,-1.28124484e-03, 7.48019299e-03,-3.22339058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002292084251290516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84372694e-13,  2.42186347e-13,  1.00000000e+00,  1.17308454e-25,
        1.00000000e+00, -2.42186347e-13, -1.00000000e+00,  0.00000000e+00,
       -4.84372694e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894744, -0.05162175,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23736732e-06,-3.24365901e-05, 1.78100632e-05,-1.47694730e-05,
 -4.41166106e-05, 3.01205535e-05,-5.58212950e-05,-3.31441477e-05,
  3.77477021e-05,-1.88885417e-05, 1.53945338e-05, 1.92846481e-05,
 -1.54208328e-04,-2.61355517e-05,-1.01084824e-04,-1.30986104e-04,
  9.92983135e-07, 1.15544244e-05,-1.21634037e+00, 8.34843261e-05,
  1.49917182e-03,-9.35008045e-08]


--- Step 785 ---
qpos:
[ 3.00575277e-03,-3.31884501e-03, 1.18476624e-02, 4.17488822e-02,
 -2.17733677e-03,-1.94673551e-03,-1.73916446e-02, 2.86854654e-02,
  5.85585197e-03, 1.64727663e-02,-9.36344587e-03, 2.59876998e-02,
  1.09596079e+00,-1.26691419e-03, 8.55486356e-01, 6.43745414e-02,
  9.49638323e-02,-7.00905406e-02, 1.21775797e-01, 9.99981666e-01,
  1.10708550e-05,-1.04469628e-04, 6.05440313e-03]

qacc:
[ -0.80603025,  0.77610057, -3.47803368,  6.73354638, -1.55874608,
   0.72952668, -0.97974591, -4.31946126,  7.03673724,  2.07676611,
  -8.1676121 , 13.10484323, -0.94752652,  1.42517687,  1.60435083,
  -6.95373381, -0.62455952, -0.88284544, -0.37450309, 14.49252755,
 -10.84500208,  0.57925702]

qfrc_actuator:
[-2.54081819e-05, 5.79842639e-05, 1.83263804e-04, 8.85070046e-05,
 -2.99985291e-05,-2.56806969e-04,-3.19288990e-04,-7.70830870e-05,
 -1.29513837e-05, 5.49777033e-04, 7.98147213e-05, 4.69454614e-05,
  2.34996479e-02,-1.27393689e-03, 7.47486278e-03,-3.25607343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002240306684252874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.95567429e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.95567429e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894823, -0.05162052,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69972052e-06,-1.17918310e-06,-7.92938850e-06, 8.64478111e-06,
 -9.05011617e-06,-6.66277756e-06,-2.95523744e-05,-1.90045939e-05,
  4.16402282e-05, 6.20268300e-06,-2.63293659e-05, 1.18108130e-05,
 -1.55040349e-04,-3.01410983e-05,-7.03765155e-05,-5.39015264e-05,
  3.29551889e-07, 1.43641424e-05,-1.21630582e+00, 8.83270185e-05,
  1.48857033e-03,-9.35436769e-07]


--- Step 786 ---
qpos:
[ 3.00557098e-03,-3.31838681e-03, 1.18487304e-02, 4.17492529e-02,
 -2.17767562e-03,-1.94649335e-03,-1.73927225e-02, 2.86841134e-02,
  5.85609252e-03, 1.64746088e-02,-9.36352663e-03, 2.59877836e-02,
  1.09651020e+00,-1.26567280e-03, 8.55921804e-01, 6.43742906e-02,
  9.49407548e-02,-7.01091974e-02, 1.21772028e-01, 9.99981487e-01,
  1.62794165e-04,-3.04226578e-04, 6.07507288e-03]

qacc:
[  2.58068811,  0.90742455, -3.19463954,  4.82198841,  2.26831644,
  -2.4021965 ,  8.38548236,-12.08873134, -1.8123452 ,  0.79681319,
  -2.32177598,  0.13554351, -1.04837033,  1.7598629 , -9.525713  ,
  33.03082204,  0.75932582, -0.39531321,  0.5708629 ,  7.59977413,
  13.20673891, -1.02864657]

qfrc_actuator:
[-1.00809803e-05, 8.39961972e-05, 1.81121459e-04, 9.41137232e-05,
 -1.65864879e-05,-2.98980574e-04,-2.99532209e-04,-8.70454890e-05,
 -2.47849867e-05, 5.21090334e-04, 4.72304311e-05, 3.59750099e-05,
  2.34476354e-02,-1.25224237e-03, 7.53057888e-03,-3.07856506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002249359260953071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.93573012e-13, -2.46786506e-13,  1.00000000e+00, -1.21807159e-25,
        1.00000000e+00,  2.46786506e-13, -1.00000000e+00,  0.00000000e+00,
       -4.93573012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179205, -0.06192419,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51908288e-05, 2.40612791e-05,-3.08048711e-06, 5.44650469e-06,
  1.31537210e-05,-5.28278778e-05, 1.40950000e-05,-1.16355839e-05,
 -1.06305888e-05,-3.02107035e-05,-3.41665980e-05,-1.13932565e-05,
 -1.54266070e-04,-1.68871240e-05, 1.21708381e-05, 1.64259696e-04,
 -4.05186879e-07, 1.74311666e-05,-1.21626472e+00, 9.45716074e-05,
  1.47685312e-03,-1.95003998e-06]


--- Step 787 ---
qpos:
[ 3.00522923e-03,-3.31769545e-03, 1.18497336e-02, 4.17496793e-02,
 -2.17785142e-03,-1.94653377e-03,-1.73930486e-02, 2.86822577e-02,
  5.85653488e-03, 1.64760479e-02,-9.36334340e-03, 2.59880674e-02,
  1.09705876e+00,-1.26451758e-03, 8.56357325e-01, 6.43702416e-02,
  9.49177615e-02,-7.01230983e-02, 1.21770028e-01, 9.99981261e-01,
  2.75278445e-04,-5.00377981e-04, 6.09512435e-03]

qacc:
[-1.40999842e+00, 6.06937895e-01,-1.94703435e+00, 2.83759429e+00,
  1.45823022e+00,-3.51136834e+00, 1.41003402e+01,-2.38031129e+01,
  1.77531651e+00,-8.62574925e-01, 1.45119595e+00, 1.89295710e+00,
 -7.32510937e-01, 8.90492927e-01, 1.16052870e+01,-4.03645043e+01,
  2.10492034e-02, 1.18897219e+00, 4.42181687e-01,-1.96082903e+01,
  1.92187308e+00,-3.03321863e-01]

qfrc_actuator:
[-1.87415720e-05, 9.92880296e-05, 1.79503158e-04, 9.72764644e-05,
 -8.55728723e-06,-2.88567888e-04,-2.52025821e-04,-1.10119171e-04,
 -1.41049308e-05, 5.03210518e-04, 6.34973122e-05, 4.72162145e-05,
  2.34073611e-02,-1.25772115e-03, 7.47910862e-03,-3.29335187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023541563106384278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.35800618e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.35800618e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494895, -0.09314526,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.22223939e-06, 2.83199083e-05, 3.14160063e-06, 4.18801714e-06,
  8.38563468e-06,-1.67043731e-05, 3.79404906e-05,-2.50720238e-05,
  1.03724085e-05,-4.23885614e-05, 5.40376930e-06, 8.53898896e-06,
 -1.37973133e-04,-4.20944321e-05,-3.60831649e-05,-2.06032041e-04,
 -2.23945633e-06, 1.46922141e-05,-1.21628221e+00, 1.02586580e-04,
  1.46692067e-03,-2.44470803e-06]


--- Step 788 ---
qpos:
[ 3.00444160e-03,-3.31681339e-03, 1.18501686e-02, 4.17501809e-02,
 -2.17792985e-03,-1.94637982e-03,-1.73930649e-02, 2.86811443e-02,
  5.85710161e-03, 1.64773534e-02,-9.36305695e-03, 2.59881141e-02,
  1.09760660e+00,-1.26401113e-03, 8.56791729e-01, 6.43650958e-02,
  9.48948751e-02,-7.01323281e-02, 1.21769164e-01, 9.99981003e-01,
  3.49122392e-04,-6.93222314e-04, 6.11489607e-03]

qacc:
[ -3.93492388,  2.00325198, -7.0803172 ,  9.1348364 ,  0.86087883,
   0.91582379, -6.02972837, 18.23888583,  1.09002229, -0.95520349,
   4.14692269, -8.3124981 ,  0.05624129, -0.96227114,  1.64255021,
  -8.19081332,  0.02673741,  1.16778085,  0.28399772,-19.30979209,
   1.77121583, -0.13055634]

qfrc_actuator:
[-4.14578887e-05, 9.02940570e-05, 1.42664516e-04, 9.89701368e-05,
 -3.76728175e-06,-2.46629304e-04,-2.23842550e-04,-6.96610690e-05,
 -7.99492610e-06, 5.09901666e-04, 7.30257624e-05, 3.59747519e-05,
  2.33634957e-02,-1.29692407e-03, 7.41656649e-03,-3.34731484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.37530803, -0.17878274,  4.37165382, -0.17878274, 42.48163737,
        1.55839283,  4.37165382,  1.55839283,  4.43903992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024265933940945117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28761651e-13,  4.57523303e-13,  1.00000000e+00,  1.04663786e-25,
        1.00000000e+00, -4.57523303e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28761651e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495036, -0.09314355,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29442229e-05, 7.63134862e-06,-3.04772703e-05, 3.09268039e-06,
  5.02272632e-06, 3.93722133e-05, 2.85470364e-05, 4.05716982e-05,
  6.39677571e-06,-1.55805036e-05, 1.71398264e-06,-1.27094331e-05,
 -1.38216588e-04,-7.62217235e-05,-1.09621290e-04,-7.18412363e-05,
 -1.97195459e-07, 1.30443570e-05,-1.21631174e+00, 1.08198195e-04,
  1.45777351e-03,-2.25188046e-06]


--- Step 789 ---
qpos:
[ 3.00373286e-03,-3.31605751e-03, 1.18502879e-02, 4.17507229e-02,
 -2.17760525e-03,-1.94598954e-03,-1.73930540e-02, 2.86808831e-02,
  5.85773789e-03, 1.64779002e-02,-9.36265133e-03, 2.59881057e-02,
  1.09815352e+00,-1.26365578e-03, 8.57224348e-01, 6.43613779e-02,
  9.48721121e-02,-7.01369568e-02, 1.21768904e-01, 9.99980719e-01,
  3.84824596e-04,-8.83004771e-04, 6.13466516e-03]

qacc:
[ 6.84778919e-01, 7.98137660e-01,-3.26048650e+00, 4.56083666e+00,
  3.53211030e+00, 1.98217015e+00,-1.02255446e+01, 2.47706917e+01,
  6.23226563e-01,-1.45068561e+00, 3.94821038e+00,-4.53249426e+00,
 -3.98198032e-01, 1.92583612e-01,-6.92728275e+00, 2.04441654e+01,
  3.08176363e-02, 1.15025192e+00, 1.50967023e-01,-1.90611436e+01,
  1.64751684e+00, 1.14467018e-02]

qfrc_actuator:
[-3.67524588e-05, 6.66778044e-05, 1.20728206e-04, 9.97405952e-05,
  1.68323004e-05,-2.39396987e-04,-2.24864649e-04,-2.76334730e-05,
 -4.63023461e-06, 4.24711144e-04, 6.08136861e-05, 2.93534230e-05,
  2.33174926e-02,-1.30250651e-03, 7.33683397e-03,-3.27046046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38616537,  0.40651664, -4.36728644,  0.40651664, 38.84955554,
        3.20792826, -4.36728644,  3.20792826,  4.6847664 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002469704546306517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40480243e-14,  4.49536778e-13,  1.00000000e+00,  6.31510359e-27,
        1.00000000e+00, -4.49536778e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40480243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495144, -0.09314261,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05234934e-06,-2.55551818e-05,-2.40216328e-05, 9.99967729e-08,
  2.07536570e-05, 3.68832619e-05, 1.20313344e-05, 4.54942252e-05,
  3.54752281e-06,-9.41405390e-05,-1.56774900e-05,-7.48087328e-06,
 -1.48466076e-04,-4.85870670e-05,-1.40949410e-04, 5.80997063e-05,
  1.66244552e-06, 1.16389013e-05,-1.21633297e+00, 1.11860922e-04,
  1.44874531e-03,-1.98025286e-06]


--- Step 790 ---
qpos:
[ 3.00343080e-03,-3.31567119e-03, 1.18507849e-02, 4.17515987e-02,
 -2.17738103e-03,-1.94553400e-03,-1.73929086e-02, 2.86804519e-02,
  5.85875438e-03, 1.64780018e-02,-9.36277972e-03, 2.59883694e-02,
  1.09869935e+00,-1.26278237e-03, 8.57655342e-01, 6.43585722e-02,
  9.48494835e-02,-7.01370423e-02, 1.21768801e-01, 9.99980414e-01,
  3.82797499e-04,-1.06992812e-03, 6.15466059e-03]

qacc:
[  3.58808813, -0.86389351,  0.95175618,  4.50230748, -0.87740753,
  -0.63726347,  3.11796656, -6.32477616,  3.30701793,  1.45799354,
  -7.2124071 , 13.11589113, -1.16868346,  2.07852771, -5.07712194,
  14.45161795,  0.03364294,  1.13583436,  0.03923524,-18.8554139 ,
   1.54529098,  0.12933502]

qfrc_actuator:
[-1.59404124e-05, 5.22814037e-05, 1.43213419e-04, 1.17714386e-04,
  1.10677573e-05,-2.53108133e-04,-2.25498557e-04,-3.83290443e-05,
  1.48449668e-05, 4.09338667e-04, 3.55000582e-05, 4.31697321e-05,
  2.32702506e-02,-1.27040218e-03, 7.26286499e-03,-3.22371739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024890665988641647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75712288e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.75712288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495228, -0.09314229,  0.06199395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09168936e-05,-3.36706805e-05, 1.42405602e-05, 1.60466547e-05,
 -5.16245503e-06, 1.13422189e-05, 1.00356999e-05,-7.81442068e-06,
  1.95471400e-05,-7.15966979e-05,-4.69601267e-05, 9.09181027e-06,
 -1.49935981e-04,-8.15825471e-06,-1.33031952e-04, 3.16977064e-05,
  3.43907343e-06, 1.04188726e-05,-1.21634631e+00, 1.13608298e-04,
  1.43985117e-03,-1.62688505e-06]


--- Step 791 ---
qpos:
[ 3.00303547e-03,-3.31543371e-03, 1.18512342e-02, 4.17519931e-02,
 -2.17688222e-03,-1.94542948e-03,-1.73922141e-02, 2.86788858e-02,
  5.85999620e-03, 1.64779760e-02,-9.36365700e-03, 2.59884251e-02,
  1.09924426e+00,-1.26208303e-03, 8.58085526e-01, 6.43558452e-02,
  9.48299407e-02,-7.01387541e-02, 1.21770332e-01, 9.99980114e-01,
  3.95347317e-04,-1.23180801e-03, 6.17242306e-03]

qacc:
[ -0.817984  , -1.05388441,  5.50520554,-13.65024691,  2.43083206,
  -4.33611098, 19.57274017,-39.82468533,  1.94390642,  1.49241806,
  -4.69346752,  2.38947578, -0.47631235,  0.31998752, -1.41150666,
   3.24954569,  0.77142667, -0.4065892 ,  0.40859179,  7.36418711,
  12.47619667, -1.12905799]

qfrc_actuator:
[-2.13290034e-05, 4.37107728e-05, 1.38526459e-04, 9.24428757e-05,
  2.53322051e-05,-2.97061463e-04,-2.08265165e-04,-9.77298772e-05,
  2.58953696e-05, 4.18094231e-04, 2.93101183e-06, 3.34380846e-05,
  2.32169895e-02,-1.28730505e-03, 7.25098772e-03,-3.21284929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025107244773599213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.52740372e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.52740372e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179576, -0.06193081,  0.0619939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.80772049e-06,-2.37839939e-05,-9.34534160e-06,-2.59134020e-05,
  1.41211676e-05,-3.58918508e-05, 2.05361118e-05,-5.87197618e-05,
  1.15875170e-05,-4.05851123e-05,-5.28279046e-05,-1.42489402e-05,
 -1.47887543e-04,-5.02202454e-05,-7.09910132e-05,-4.79951077e-06,
  5.20722725e-06, 9.34250629e-06,-1.21635210e+00, 1.13467460e-04,
  1.43110183e-03,-1.18951185e-06]


--- Step 792 ---
qpos:
[ 3.00223380e-03,-3.31516829e-03, 1.18509995e-02, 4.17517582e-02,
 -2.17587135e-03,-1.94571364e-03,-1.73912734e-02, 2.86769922e-02,
  5.86136130e-03, 1.64773173e-02,-9.36446301e-03, 2.59880264e-02,
  1.09978829e+00,-1.26183311e-03, 8.58515022e-01, 6.43541874e-02,
  9.48134292e-02,-7.01420906e-02, 1.21773015e-01, 9.99979828e-01,
  4.22211133e-04,-1.36891054e-03, 6.18807766e-03]

qacc:
[ -3.58898915,  0.65933389,  0.36975631,-10.19800627,  4.50513926,
  -1.88343657,  7.33820925,-13.09674815,  1.08787015, -1.97303087,
   7.73559155,-15.24195469, -0.16632777, -0.46447067, -4.24361954,
  13.36612972,  0.75782412, -0.4061809 ,  0.28807607,  7.2320236 ,
  12.34385333, -1.06767183]

qfrc_actuator:
[-4.21006888e-05, 3.85627056e-05, 1.00057910e-04, 5.96583730e-05,
  5.12792264e-05,-3.23264648e-04,-1.98532350e-04,-1.14310314e-04,
  3.18936808e-05, 3.70176439e-04, 1.94245441e-06, 9.94904858e-06,
  2.31654652e-02,-1.31537471e-03, 7.23907004e-03,-3.15202693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002535539121140268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09466170e-13,  5.47330849e-14,  1.00000000e+00,  5.99142117e-27,
        1.00000000e+00, -5.47330849e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09466170e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817957 , -0.06193162,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09167539e-05,-2.15035870e-05,-4.54372782e-05,-3.46332561e-05,
  2.63386444e-05,-4.45519885e-05, 2.81063970e-06,-1.85496722e-05,
  6.31807612e-06,-8.21171476e-05,-1.63606355e-05,-2.73318357e-05,
 -1.53666678e-04,-6.88140828e-05,-4.97692975e-05, 5.03437298e-05,
  3.22206842e-06, 7.52521308e-06,-1.21637373e+00, 1.14531990e-04,
  1.42293265e-03,-1.43945391e-06]


--- Step 793 ---
qpos:
[ 3.00118954e-03,-3.31514589e-03, 1.18503563e-02, 4.17514938e-02,
 -2.17490229e-03,-1.94618658e-03,-1.73903168e-02, 2.86752501e-02,
  5.86175265e-03, 1.64765298e-02,-9.36496952e-03, 2.59876134e-02,
  1.10033125e+00,-1.26133924e-03, 8.58943328e-01, 6.43556426e-02,
  9.47999041e-02,-7.01470502e-02, 1.21776447e-01, 9.99979564e-01,
  4.63177626e-04,-1.48146151e-03, 6.20172021e-03]

qacc:
[-2.13801898e+00, 7.64361036e-01,-3.05940981e+00, 3.37314971e+00,
 -3.62858926e-01, 1.84365249e-02,-1.06658296e+00, 3.80180629e+00,
 -8.48099973e+00,-1.02028054e+00, 3.48042124e+00,-4.14435394e+00,
 -8.18381469e-01, 1.21643624e+00,-1.11029790e+01, 3.64077998e+01,
  7.46601672e-01,-4.05767597e-01, 1.87118500e-01, 7.12577735e+00,
  1.22314866e+01,-1.02091314e+00]

qfrc_actuator:
[-5.39992309e-05, 1.75982949e-05, 7.74810822e-05, 5.82118656e-05,
  4.83832280e-05,-3.20887066e-04,-1.93216648e-04,-1.05551988e-04,
 -1.83852333e-05, 4.13079571e-04, 3.71342344e-05, 1.40402847e-05,
  2.31203387e-02,-1.29654154e-03, 7.18986571e-03,-2.99124346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002539940534505569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18552956e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.18552956e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179538, -0.06193209,  0.06199383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24990873e-05,-4.38691232e-05,-3.38115079e-05,-4.61260151e-06,
 -2.16008914e-06,-2.27374977e-05,-4.18685320e-06, 6.58696012e-06,
 -5.01276373e-05,-7.52738048e-06, 1.52876444e-05,-5.21687646e-07,
 -1.54614689e-04,-2.67159923e-05,-7.19456758e-05, 1.55921096e-04,
  1.61727736e-06, 5.92491626e-06,-1.21639097e+00, 1.16234483e-04,
  1.41602542e-03,-1.67546759e-06]


--- Step 794 ---
qpos:
[ 3.00001069e-03,-3.31557729e-03, 1.18500329e-02, 4.17518811e-02,
 -2.17363052e-03,-1.94658494e-03,-1.73894152e-02, 2.86732517e-02,
  5.86119286e-03, 1.64762965e-02,-9.36546206e-03, 2.59882183e-02,
  1.10087308e+00,-1.26032677e-03, 8.59370991e-01, 6.43579565e-02,
  9.47893285e-02,-7.01536314e-02, 1.21780290e-01, 9.99979330e-01,
  5.18078398e-04,-1.56965105e-03, 6.21342326e-03]

qacc:
[ -1.16325545, -0.14855102, -3.08549399, 14.17867849,  2.65180733,
  -0.28014132,  2.21556031, -6.60972344, -8.30370651,  2.8050902 ,
 -13.20878287, 30.36522753, -1.2334863 ,  2.18017036, -3.4598071 ,
  10.91495783,  0.73738348, -0.40541847,  0.10273838,  7.04109536,
  12.13683425, -0.98578761]

qfrc_actuator:
[-6.05751017e-05, 5.15651011e-06, 9.99426617e-05, 9.29726724e-05,
  6.40357238e-05,-3.01405435e-04,-1.90419444e-04,-1.17443734e-04,
 -6.58775037e-05, 4.92471569e-04, 5.82721970e-05, 6.99267742e-05,
  2.30684484e-02,-1.26783294e-03, 7.16096583e-03,-2.95048110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002528082417145028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09789046e-13,  2.19578092e-13,  1.00000000e+00,  2.41072691e-26,
        1.00000000e+00, -2.19578092e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09789046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179485, -0.06193231,  0.06199386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.94498975e-06,-4.41486794e-05, 9.08553781e-06, 3.16245785e-05,
  1.55828802e-05, 6.19344255e-06,-2.18883494e-06,-1.28799327e-05,
 -4.89355286e-05, 7.83372657e-05, 2.14665003e-05, 5.60886974e-05,
 -1.52661449e-04,-9.42948112e-06,-4.86074425e-05, 3.92790439e-05,
  3.63032792e-07, 4.51101472e-06,-1.21640400e+00, 1.18572547e-04,
  1.41036498e-03,-1.89936533e-06]


--- Step 795 ---
qpos:
[ 2.99876175e-03,-3.31613670e-03, 1.18504039e-02, 4.17526128e-02,
 -2.17218133e-03,-1.94656227e-03,-1.73886937e-02, 2.86714350e-02,
  5.86041248e-03, 1.64766881e-02,-9.36602148e-03, 2.59891379e-02,
  1.10141389e+00,-1.25923128e-03, 8.59798719e-01, 6.43586301e-02,
  9.47812943e-02,-7.01567599e-02, 1.21784167e-01, 9.99979133e-01,
  5.44695628e-04,-1.63549803e-03, 6.22598519e-03]

qacc:
[-5.90839782e-01,-1.39991565e+00, 3.29497158e+00, 1.64457645e+00,
  1.54322355e+00, 1.43003235e+00,-5.06447396e+00, 8.19365085e+00,
 -1.93644458e+00, 1.66458280e+00,-6.05918806e+00, 1.11464256e+01,
 -8.93697046e-01, 1.25482959e+00, 5.09630541e+00,-1.75735880e+01,
  6.35329293e-01, 8.63188947e-01, 8.53604556e-03,-1.40714021e+01,
  1.12591651e+01, 4.45734348e-01]

qfrc_actuator:
[-6.39683200e-05, 3.36415367e-05, 1.48862348e-04, 1.13283206e-04,
  7.27368806e-05,-2.54096590e-04,-1.89068726e-04,-1.05872958e-04,
 -7.58256361e-05, 5.22114930e-04, 5.33909820e-05, 8.48533435e-05,
  2.30125440e-02,-1.26907655e-03, 7.17087100e-03,-3.03398038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025079675308260774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10669597e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10669597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330746, -0.0876163 ,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60649553e-06, 7.04819968e-06, 4.20234069e-05, 1.93507554e-05,
  9.14814251e-06, 4.97819358e-05, 1.91266216e-06, 1.15124972e-05,
 -1.13278986e-05, 8.02818892e-05, 1.58937460e-05, 2.01201935e-05,
 -1.51634810e-04,-3.58456023e-05,-1.39415684e-05,-8.89230195e-05,
 -5.62653251e-07, 3.26081576e-06,-1.21641295e+00, 1.21543769e-04,
  1.40593919e-03,-2.11252930e-06]


--- Step 796 ---
qpos:
[ 2.99782669e-03,-3.31672641e-03, 1.18513564e-02, 4.17532311e-02,
 -2.17098399e-03,-1.94594789e-03,-1.73886342e-02, 2.86697821e-02,
  5.85986352e-03, 1.64775900e-02,-9.36710994e-03, 2.59899315e-02,
  1.10195375e+00,-1.25814873e-03, 8.60226571e-01, 6.43542989e-02,
  9.47757866e-02,-7.01564675e-02, 1.21787761e-01, 9.99978977e-01,
  5.43247322e-04,-1.67924885e-03, 6.23947717e-03]

qacc:
[  2.77373225, -1.90486339,  7.20188304,-10.05983751, -2.23957486,
   2.97167387,-10.14495625, 13.59081183,  1.9930396 ,  1.88959594,
  -5.23369426,  3.52987312, -0.92095731,  1.25447647, 15.33584967,
 -53.27602969,  0.63164037,  0.85524419, -0.07070662,-13.96294064,
  11.13550589,  0.48181588]

qfrc_actuator:
[-4.77100012e-05, 3.32804978e-05, 1.77649088e-04, 1.07217611e-04,
  5.95188219e-05,-2.25972983e-04,-2.23944118e-04,-9.83129049e-05,
 -6.35973743e-05, 5.21616699e-04, 1.52208832e-05, 7.54999478e-05,
  2.29649126e-02,-1.27031072e-03, 7.15076082e-03,-3.29639671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024937863810649274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.1129893e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.1129893e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0833075 , -0.08761679,  0.06199394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61568094e-05, 1.31063075e-05, 3.60901203e-05,-3.93366573e-06,
 -1.29404676e-05, 5.68479959e-05,-2.39638035e-05, 9.98572140e-06,
  1.19309180e-05, 4.85250839e-05,-1.89333685e-05,-4.97282249e-06,
 -1.48467130e-04,-4.04676901e-05,-4.46114866e-05,-2.71071688e-04,
 -2.33001880e-07, 2.32211310e-06,-1.21642737e+00, 1.22961212e-04,
  1.40287664e-03,-2.00665117e-06]


--- Step 797 ---
qpos:
[ 2.99709382e-03,-3.31736554e-03, 1.18524248e-02, 4.17538072e-02,
 -2.16995428e-03,-1.94484058e-03,-1.73887338e-02, 2.86685557e-02,
  5.85981077e-03, 1.64781492e-02,-9.36768787e-03, 2.59903006e-02,
  1.10249257e+00,-1.25678453e-03, 8.60653259e-01, 6.43505734e-02,
  9.47727932e-02,-7.01527796e-02, 1.21790808e-01, 9.99978865e-01,
  5.13909869e-04,-1.70110320e-03, 6.25395634e-03]

qacc:
[  1.77925624, -0.48007528,  1.78927452, -2.66368463, -1.48343457,
   1.97588483, -7.89664504, 15.1655543 ,  4.34929987, -2.76228173,
  10.96995622,-18.86608627, -0.93940964,  1.48636657, -3.4883478 ,
   9.84172111,  0.62856992,  0.84886347, -0.13680187,-13.87515237,
  11.0353176 ,  0.51091503]

qfrc_actuator:
[-3.77693036e-05, 1.55652977e-05, 1.76438600e-04, 1.03398918e-04,
  5.12601520e-05,-1.91946960e-04,-2.26743320e-04,-7.54612582e-05,
 -3.84270525e-05, 4.67393016e-04, 2.85769011e-05, 5.18934252e-05,
  2.29169505e-02,-1.25372386e-03, 7.11263377e-03,-3.25383220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002467499013448643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24969295e-13,  5.62423236e-14,  1.00000000e+00,  1.26527959e-26,
        1.00000000e+00, -5.62423236e-14, -1.00000000e+00,  0.00000000e+00,
       -2.24969295e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330729, -0.0876175 ,  0.06199401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04049438e-05,-3.08264285e-06, 5.80040000e-06,-2.08770037e-06,
 -8.60715418e-06, 6.12696021e-05, 6.33296224e-06, 2.46557773e-05,
  2.55321265e-05,-3.12314876e-05, 2.08748017e-05,-2.22808680e-05,
 -1.48472920e-04,-2.24933351e-05,-9.62511742e-05, 1.99971906e-05,
  3.40903146e-07, 1.47356242e-06,-1.21643518e+00, 1.23012830e-04,
  1.40093560e-03,-1.89718155e-06]


--- Step 798 ---
qpos:
[ 2.99648597e-03,-3.31800547e-03, 1.18532197e-02, 4.17540091e-02,
 -2.16903161e-03,-1.94345131e-03,-1.73882319e-02, 2.86675864e-02,
  5.86040525e-03, 1.64782532e-02,-9.36766901e-03, 2.59897025e-02,
  1.10303049e+00,-1.25551911e-03, 8.61078269e-01, 6.43468015e-02,
  9.47727480e-02,-7.01505096e-02, 1.21794062e-01, 9.99978798e-01,
  4.96551556e-04,-1.69907606e-03, 6.26663693e-03]

qacc:
[ 1.08859724e+00,-9.32963246e-03, 1.60603124e+00,-7.63612583e+00,
 -9.24591734e-01,-7.77194007e-01, 2.22945389e+00, 1.04814514e+00,
  5.67049916e+00,-4.27138498e+00, 1.84211299e+01,-3.57566327e+01,
 -5.07160362e-01, 4.41914072e-01,-2.31365275e+00, 4.54767379e+00,
  7.37061945e-01,-3.54501137e-01, 5.15741492e-02, 6.06257885e+00,
  1.19026100e+01,-9.15737211e-01]

qfrc_actuator:
[-3.16330549e-05, 5.22148188e-06, 1.57462763e-04, 8.31500415e-05,
  4.59936497e-05,-1.72270019e-04,-1.92782256e-04,-6.15156966e-05,
 -5.84886350e-06, 4.34840726e-04, 5.42679918e-05, 2.33139696e-06,
  2.28688317e-02,-1.26223904e-03, 7.01055015e-03,-3.26267196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024330318916876613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47971955e-07,  1.47971992e-07,  1.00000000e+00, -2.18957050e-14,
        1.00000000e+00, -1.47971992e-07, -1.00000000e+00,  0.00000000e+00,
        1.47971955e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185575, -0.06302176,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.43220741e-06,-1.09436462e-05,-1.89763596e-05,-2.02233841e-05,
 -5.49175341e-06, 5.62642002e-05, 4.82410467e-05, 1.72710993e-05,
  3.33005253e-05,-4.66655521e-05, 2.10383422e-05,-5.06136190e-05,
 -1.44606430e-04,-4.43530258e-05,-1.47443053e-04,-2.08610735e-05,
  1.16625386e-06, 6.96478207e-07,-1.21643657e+00, 1.21710193e-04,
  1.40010975e-03,-1.78242955e-06]


--- Step 799 ---
qpos:
[ 2.99630167e-03,-3.31897311e-03, 1.18541583e-02, 4.17546711e-02,
 -2.16817897e-03,-1.94214199e-03,-1.73873721e-02, 2.86665103e-02,
  5.86104082e-03, 1.64782652e-02,-9.36804876e-03, 2.59888833e-02,
  1.10356744e+00,-1.25431081e-03, 8.61502614e-01, 6.43397857e-02,
  9.47756304e-02,-7.01498664e-02, 1.21797239e-01, 9.99978775e-01,
  4.92832724e-04,-1.67316833e-03, 6.27744231e-03]

qacc:
[ 3.72808447e+00, 1.05884117e-01,-2.95896901e+00, 1.09430260e+01,
 -6.01554162e-01,-1.32363238e+00, 5.01948790e+00,-7.38307223e+00,
  3.47374311e-01, 5.36404408e-01,-1.15641642e+00,-1.96530978e+00,
 -7.81066461e-01, 9.50971856e-01, 8.84974508e+00,-3.22951533e+01,
  7.31878742e-01,-4.06673031e-01,-1.91229992e-02, 6.89281763e+00,
  1.18968791e+01,-9.55240327e-01]

qfrc_actuator:
[-1.00305501e-05,-1.84809833e-05, 1.63676096e-04, 1.06649646e-04,
  4.25289086e-05,-2.14446644e-04,-1.90719987e-04,-7.06675360e-05,
 -4.68070465e-06, 4.33293475e-04, 3.38117720e-05,-8.83369338e-06,
  2.28153181e-02,-1.26779504e-03, 6.98734816e-03,-3.42621295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024029199329020368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15507701e-13,  5.77538503e-14,  1.00000000e+00, -6.67101445e-27,
        1.00000000e+00, -5.77538503e-14, -1.00000000e+00,  0.00000000e+00,
        1.15507701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179047, -0.06193204,  0.06199416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17846759e-05,-3.45904851e-05, 9.13898390e-07, 2.19795630e-05,
 -3.60431641e-06,-6.53524726e-08, 2.02040279e-05,-4.73715022e-06,
  2.10795291e-06,-2.54553110e-05,-2.92564337e-05,-1.34221946e-05,
 -1.53003618e-04,-4.42405588e-05,-9.39928830e-05,-1.83811643e-04,
  5.76741129e-07,-6.09969721e-08,-1.21643920e+00, 1.21038196e-04,
  1.40008691e-03,-1.77486479e-06]


--- Step 800 ---
qpos:
[ 2.99603275e-03,-3.32015159e-03, 1.18553926e-02, 4.17559289e-02,
 -2.16737388e-03,-1.94160216e-03,-1.73863969e-02, 2.86657861e-02,
  5.86099613e-03, 1.64780091e-02,-9.36864360e-03, 2.59882920e-02,
  1.10410342e+00,-1.25316438e-03, 8.61926319e-01, 6.43340236e-02,
  9.47814163e-02,-7.01508452e-02, 1.21800144e-01, 9.99978796e-01,
  5.02665416e-04,-1.62342894e-03, 6.28643155e-03]

qacc:
[-0.72950943, 0.12384995,-3.35652897,13.3438848 ,-0.40013104,-0.6143447 ,
 -0.76950412, 7.23952393,-5.93489163, 0.72776356,-4.05126295, 8.51586124,
 -0.57158577, 0.55921441,-4.69983281,15.13767471, 0.72589032,-0.40551406,
 -0.06778945, 6.84888869,11.87263006,-0.92539016]

qfrc_actuator:
[-1.50020852e-05,-1.43661510e-05, 1.84695059e-04, 1.37961206e-04,
  4.01510168e-05,-3.11238901e-04,-2.07793895e-04,-5.79114724e-05,
 -3.97639575e-05, 4.14662941e-04, 2.19291030e-05, 2.68026936e-06,
  2.27692578e-02,-1.27157770e-03, 7.01144429e-03,-3.34205855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023650530367128053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17357096e-13,  1.17357096e-13,  1.00000000e+00,  1.37726880e-26,
        1.00000000e+00, -1.17357096e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17357096e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178942, -0.06193177,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36209894e-06,-1.40671531e-05, 1.47454562e-05, 3.02870696e-05,
 -2.48127581e-06,-9.29151138e-05,-1.47854805e-05, 1.33578512e-05,
 -3.50304778e-05,-3.94752322e-05,-2.12020912e-05, 9.15225987e-06,
 -1.50446129e-04,-4.44415097e-05,-4.39447998e-05, 6.08268172e-05,
  2.17491186e-07,-6.90992950e-07,-1.21643827e+00, 1.20995412e-04,
  1.40125672e-03,-1.76115044e-06]


--- Step 801 ---
qpos:
[ 2.99570644e-03,-3.32131024e-03, 1.18565255e-02, 4.17572043e-02,
 -2.16694852e-03,-1.94182767e-03,-1.73852584e-02, 2.86648726e-02,
  5.86087610e-03, 1.64775674e-02,-9.36970193e-03, 2.59878500e-02,
  1.10463845e+00,-1.25206938e-03, 8.62349004e-01, 6.43303423e-02,
  9.47900873e-02,-7.01534425e-02, 1.21802618e-01, 9.99978855e-01,
  5.25981034e-04,-1.54989302e-03, 6.29365251e-03]

qacc:
[-0.50722881, 0.34681946,-1.27067243, 1.71953927,-3.31223243,-1.85000039,
  5.93895104,-8.92249147,-0.66831616, 1.35875825,-5.82881167, 9.28794006,
 -0.52107881, 0.47823319,-7.75769734,25.01711018, 0.72127889,-0.40462037,
 -0.1080489 , 6.81467316,11.85521634,-0.90117726]

qfrc_actuator:
[-1.78266640e-05,-1.12993490e-05, 1.78882639e-04, 1.38134916e-04,
  2.06781547e-05,-3.51315857e-04,-2.00744845e-04,-6.79318528e-05,
 -4.26352457e-05, 4.03747853e-04,-2.58613929e-06, 9.68837995e-06,
  2.27223784e-02,-1.27426874e-03, 6.96275108e-03,-3.23675540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002321452716796124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39122472e-13,  4.78244944e-13,  1.00000000e+00,  1.14359113e-25,
        1.00000000e+00, -4.78244944e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39122472e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178836, -0.0619314 ,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95336240e-06,-4.31706695e-07,-5.85685233e-06, 6.68264691e-07,
 -1.95759796e-05,-9.45468042e-05,-1.35181172e-05,-1.42555693e-05,
 -3.89029502e-06,-3.69720669e-05,-3.49515685e-05, 4.76560219e-06,
 -1.48835893e-04,-4.32808231e-05,-6.78573948e-05, 1.01729070e-04,
  1.55869635e-07,-1.20103484e-06,-1.21643354e+00, 1.21578033e-04,
  1.40363290e-03,-1.73923149e-06]


--- Step 802 ---
qpos:
[ 2.99569359e-03,-3.32219623e-03, 1.18572009e-02, 4.17581187e-02,
 -2.16710518e-03,-1.94240290e-03,-1.73839100e-02, 2.86630984e-02,
  5.86106708e-03, 1.64768583e-02,-9.37076174e-03, 2.59874740e-02,
  1.10517239e+00,-1.25043730e-03, 8.62770024e-01, 6.43264569e-02,
  9.48012633e-02,-7.01526869e-02, 1.21804209e-01, 9.99978948e-01,
  5.21562604e-04,-1.45466491e-03, 6.30194313e-03]

qacc:
[ 2.73215369e+00, 8.90426739e-01,-1.13877684e+00,-4.56393176e+00,
 -5.09252009e+00,-2.80856861e+00, 1.29958697e+01,-2.79887446e+01,
  2.71699007e+00,-2.18937801e-01,-1.97638018e-02, 1.36988946e+00,
 -1.22813521e+00, 2.19447599e+00,-1.76290203e+00, 2.77913068e+00,
  6.26237440e-01, 8.38245253e-01,-2.20563762e-01,-1.37976499e+01,
  1.09334517e+01, 5.50505507e-01]

qfrc_actuator:
[-1.60382423e-06, 8.74492109e-06, 1.57250222e-04, 1.19965864e-04,
 -8.70050548e-06,-3.39307370e-04,-1.79316205e-04,-1.08970448e-04,
 -2.65121695e-05, 3.97486825e-04, 1.15877365e-06, 1.39804257e-05,
  2.26750413e-02,-1.24078524e-03, 6.83848668e-03,-3.26211266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002282819504206418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43169252e-13,  3.64753879e-13,  1.00000000e+00,  8.86969280e-26,
        1.00000000e+00, -3.64753879e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43169252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330519, -0.0876218 ,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61410419e-05, 1.86475940e-05,-2.24219342e-05,-1.83798014e-05,
 -2.99685409e-05,-4.42750392e-05,-2.66719161e-07,-4.58347775e-05,
  1.59973010e-05,-3.39239175e-05,-8.01374706e-06, 1.59549504e-06,
 -1.48188596e-04,-6.47095751e-06,-1.48393281e-04,-2.93883826e-05,
  3.85867180e-07,-1.60025700e-06,-1.21642505e+00, 1.22784732e-04,
  1.40721197e-03,-1.70934132e-06]


--- Step 803 ---
qpos:
[ 2.99622013e-03,-3.32271232e-03, 1.18575200e-02, 4.17587885e-02,
 -2.16761320e-03,-1.94291550e-03,-1.73828364e-02, 2.86611712e-02,
  5.86110467e-03, 1.64760432e-02,-9.37157784e-03, 2.59871140e-02,
  1.10570523e+00,-1.24812654e-03, 8.63189689e-01, 6.43205800e-02,
  9.48149410e-02,-7.01485910e-02, 1.21804761e-01, 9.99979069e-01,
  4.89525110e-04,-1.33783097e-03, 6.31129633e-03]

qacc:
[  4.71673901,  0.97175175, -1.73941468, -2.17787969, -3.09143702,
   0.54161057, -1.15438251, -1.11275954, -1.32830018, -0.78574714,
   2.53540463, -2.57530439, -1.4400048 ,  2.70443447,  4.10351622,
 -17.04598241,  0.62544849,  0.83506116, -0.25970129,-13.74039562,
  10.89000793,  0.54564682]

qfrc_actuator:
[ 2.56995726e-05, 3.87149173e-05, 1.44275109e-04, 1.08915188e-04,
 -2.59158310e-05,-3.13909711e-04,-1.84876974e-04,-1.14614843e-04,
 -3.48539495e-05, 4.11926945e-04, 2.15831615e-05, 1.66665066e-05,
  2.26274767e-02,-1.20391759e-03, 6.77016441e-03,-3.36441353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022432015406055605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47463949e-13,  2.47463949e-13,  1.00000000e+00,  6.12384062e-26,
        1.00000000e+00, -2.47463949e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47463949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330466, -0.08762268,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77732513e-05, 3.50069197e-05,-1.25212639e-05,-1.13877996e-05,
 -1.80831252e-05,-1.38162483e-06,-1.63286464e-05,-8.43956846e-06,
 -7.89818956e-06,-6.07222256e-06, 1.25061543e-05, 9.90221801e-07,
 -1.40833899e-04, 4.24320471e-06,-1.40668416e-04,-1.23197960e-04,
  1.41603845e-06,-1.92800583e-06,-1.21641712e+00, 1.22719625e-04,
  1.41202758e-03,-1.80370795e-06]


--- Step 804 ---
qpos:
[ 2.99741507e-03,-3.32308129e-03, 1.18577197e-02, 4.17596779e-02,
 -2.16797912e-03,-1.94317755e-03,-1.73820120e-02, 2.86598550e-02,
  5.86069731e-03, 1.64750228e-02,-9.37235799e-03, 2.59864706e-02,
  1.10623724e+00,-1.24593799e-03, 8.63608736e-01, 6.43155882e-02,
  9.48315287e-02,-7.01459079e-02, 1.21805068e-01, 9.99979208e-01,
  4.69259481e-04,-1.19718376e-03, 6.31900744e-03]

qacc:
[  5.86083322,  0.96974557, -4.12153879,  8.02533822,  1.2345318 ,
   2.28152037,-10.23962227, 21.03421587, -3.87625813, -0.94757346,
   4.19413702, -9.01802265, -0.44488112,  0.33281333, -3.56047414,
  11.18260498,  0.72747777, -0.35321091, -0.06155222,  5.95985212,
  11.86885127, -0.83479342]

qfrc_actuator:
[ 5.93000011e-05, 3.89287710e-05, 1.36576170e-04, 1.19916263e-04,
 -1.80783692e-05,-2.80751023e-04,-1.88477991e-04,-8.16334961e-05,
 -5.75346571e-05, 3.85475385e-04, 1.62653757e-05, 6.59968498e-07,
  2.25798141e-02,-1.21863378e-03, 6.80467476e-03,-3.29797995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022030659949245652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80003466e-07,  4.80003683e-07,  1.00000000e+00, -2.30403431e-13,
        1.00000000e+00, -4.80003683e-07, -1.00000000e+00, -5.04870979e-29,
        4.80003466e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184968, -0.06301981,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44058559e-05, 1.67371244e-05,-2.40524596e-06, 1.18433391e-05,
  7.32252220e-06, 2.86556900e-05,-6.19132067e-06, 3.21967153e-05,
 -2.29132653e-05,-2.71842055e-05,-4.97718965e-06,-1.58099819e-05,
 -1.34140686e-04,-4.37273828e-05,-4.55734922e-05, 4.11077827e-05,
  2.71299497e-06,-2.20760109e-06,-1.21640302e+00, 1.21317976e-04,
  1.41794799e-03,-1.89043430e-06]


--- Step 805 ---
qpos:
[ 2.99865880e-03,-3.32335227e-03, 1.18578686e-02, 4.17603485e-02,
 -2.16790353e-03,-1.94317248e-03,-1.73812946e-02, 2.86592769e-02,
  5.86002110e-03, 1.64739143e-02,-9.37378952e-03, 2.59856740e-02,
  1.10676850e+00,-1.24421013e-03, 8.64026870e-01, 6.43111270e-02,
  9.48497318e-02,-7.01418386e-02, 1.21805655e-01, 9.99979345e-01,
  4.37387612e-04,-1.04307840e-03, 6.32695190e-03]

qacc:
[  0.42482848, -0.18065935,  1.75367466, -5.52932728,  3.86471463,
   2.1619457 ,-10.32621186, 23.08694787, -2.36367531,  1.39326431,
  -4.48136247,  2.92584259, -0.07597964, -0.57560406, -2.95830913,
   8.36974011,  0.40385693,  0.34655355,  0.07019207, -5.76033784,
   6.76565882,  0.12047568]

qfrc_actuator:
[ 6.08286041e-05, 3.91164123e-05, 1.31948649e-04, 1.08276740e-04,
  4.43784926e-06,-2.60901329e-04,-1.90818816e-04,-4.39322906e-05,
 -7.07131625e-05, 3.70135866e-04,-2.21400654e-05,-8.51661027e-06,
  2.25374356e-02,-1.24601821e-03, 6.75174488e-03,-3.27440673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002166745637099728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92146982e-13,  4.05061209e-08,  1.00000000e+00,  7.78312887e-21,
        1.00000000e+00, -4.05061209e-08, -1.00000000e+00,  1.50463277e-36,
       -1.92146982e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08825099, -0.07725608,  0.06199474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51480321e-06, 9.57482268e-06,-1.05944754e-06,-1.07785348e-05,
  2.27338601e-05, 3.59802156e-05, 3.92557529e-06, 3.93430096e-05,
 -1.38481105e-05,-3.22084999e-05,-4.51578003e-05,-1.08151128e-05,
 -1.34205863e-04,-6.42674210e-05,-7.48557284e-05, 1.87251422e-05,
  3.26093318e-06,-2.31358499e-06,-1.21638916e+00, 1.20332621e-04,
  1.42481502e-03,-1.72789916e-06]


--- Step 806 ---
qpos:
[ 2.99956662e-03,-3.32364233e-03, 1.18582903e-02, 4.17608671e-02,
 -2.16755862e-03,-1.94290220e-03,-1.73805901e-02, 2.86588033e-02,
  5.85884672e-03, 1.64729271e-02,-9.37529413e-03, 2.59853970e-02,
  1.10729888e+00,-1.24277567e-03, 8.64444024e-01, 6.43069781e-02,
  9.48681198e-02,-7.01334022e-02, 1.21805260e-01, 9.99979468e-01,
  3.68645548e-04,-8.86613759e-04, 6.33569047e-03]

qacc:
[ -2.93958326, -1.09535968,  4.51966119, -7.58189883,  2.35728565,
   0.5965791 , -2.06778209,  3.70980973, -4.34889105,  1.44285257,
  -7.09134677, 16.09672816, -0.32490229, -0.03960276, -2.37823026,
   6.241323  ,  0.04622242,  1.09177664, -0.24535353,-18.42683607,
   1.29641914,  0.41579958]

qfrc_actuator:
[ 4.34663703e-05, 3.92785839e-05, 1.46895588e-04, 1.01156097e-04,
  1.76524472e-05,-2.49153802e-04,-1.92446059e-04,-3.92757646e-05,
 -9.59411086e-05, 4.14686259e-04,-8.71462752e-06, 2.18933060e-05,
  2.24875977e-02,-1.26286360e-03, 6.70498349e-03,-3.25879671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002145898410354924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85034185e-14,  5.17369797e-13,  1.00000000e+00, -2.50942038e-26,
        1.00000000e+00, -5.17369797e-13, -1.00000000e+00,  0.00000000e+00,
        4.85034185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949574 , -0.09315034,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72862014e-05, 4.83939758e-06, 1.64197530e-05,-6.95855317e-06,
  1.38733976e-05, 3.43651295e-05, 7.64138862e-06, 7.09870376e-06,
 -2.56390100e-05, 1.67994466e-05, 8.67323159e-07, 2.72645509e-05,
 -1.46558696e-04,-5.73411396e-05,-8.31007448e-05, 6.10140740e-06,
  4.07862025e-06,-2.36175253e-06,-1.21637764e+00, 1.18865753e-04,
  1.43248138e-03,-1.72847481e-06]


--- Step 807 ---
qpos:
[ 3.00060425e-03,-3.32384996e-03, 1.18585786e-02, 4.17613114e-02,
 -2.16705751e-03,-1.94273243e-03,-1.73797342e-02, 2.86584254e-02,
  5.85737846e-03, 1.64724420e-02,-9.37657143e-03, 2.59854148e-02,
  1.10782826e+00,-1.24124073e-03, 8.64860121e-01, 6.43036924e-02,
  9.48867014e-02,-7.01206103e-02, 1.21803714e-01, 9.99979570e-01,
  2.63209719e-04,-7.27785636e-04, 6.34519877e-03]

qacc:
[  1.13370343,  0.32665725, -0.69702449, -0.43150886,  1.37651309,
  -0.36152313,  0.68750335,  0.80618878, -2.56431055,  0.64007244,
  -2.5556242 ,  6.91565966, -0.75298459,  1.00005363, -4.12406227,
  12.25908444,  0.04838002,  1.0888858 , -0.2878328 ,-18.33867344,
   1.29808989,  0.40075659]

qfrc_actuator:
[ 5.06400734e-05, 3.95033617e-05, 1.37778780e-04, 9.67674642e-05,
  2.52816428e-05,-2.77877790e-04,-1.93696490e-04,-3.63550884e-05,
 -1.10309219e-04, 4.77243826e-04, 1.77389608e-05, 3.99382478e-05,
  2.24386481e-02,-1.25561595e-03, 6.66196198e-03,-3.21245325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021179599585666176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47429712e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.47429712e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495749, -0.09315102,  0.06199485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68304672e-06, 6.01997339e-06,-6.33853278e-06,-3.74952693e-06,
  8.03605286e-06,-7.63667348e-06, 7.02378783e-06, 4.79425188e-06,
 -1.51030974e-05, 7.33407728e-05, 3.10035468e-05, 1.93325101e-05,
 -1.51774749e-04,-3.46915523e-05,-8.43186453e-05, 3.51317838e-05,
  5.01341806e-06,-1.87861388e-06,-1.21636641e+00, 1.15592284e-04,
  1.44040993e-03,-1.88134044e-06]


--- Step 808 ---
qpos:
[ 3.00137470e-03,-3.32386882e-03, 1.18581469e-02, 4.17617271e-02,
 -2.16715850e-03,-1.94273200e-03,-1.73788281e-02, 2.86581021e-02,
  5.85609360e-03, 1.64730105e-02,-9.37835299e-03, 2.59856274e-02,
  1.10835660e+00,-1.23960436e-03, 8.65275109e-01, 6.43006542e-02,
  9.49082531e-02,-7.01094345e-02, 1.21802199e-01, 9.99979657e-01,
  1.71431347e-04,-5.44749518e-04, 6.35292551e-03]

qacc:
[-2.37111162e+00, 2.20838102e+00,-7.38286244e+00, 7.89191546e+00,
 -5.27629666e+00,-2.41533938e-01, 3.23933914e-01, 6.45460420e-01,
  1.56591314e+00, 3.19972509e+00,-1.02153944e+01, 1.36207579e+01,
 -7.92188254e-01, 1.06501830e+00,-2.33740302e+00, 5.90466027e+00,
  7.42567146e-01,-4.04028931e-01, 7.55299670e-03, 6.90474463e+00,
  1.20601808e+01,-8.98873101e-01]

qfrc_actuator:
[ 3.66987294e-05, 3.96718294e-05, 9.67681705e-05, 9.40011411e-05,
 -5.94027086e-06,-2.95119788e-04,-1.94879962e-04,-3.45089445e-05,
 -1.00413826e-04, 5.50176480e-04,-1.51961958e-06, 5.05812016e-05,
  2.23849499e-02,-1.25194163e-03, 6.60524938e-03,-3.20160353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020920726725316696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65340454e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.65340454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178177, -0.06192972,  0.06199492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37482080e-05, 2.06718223e-06,-4.06808771e-05,-2.80243068e-06,
 -3.09959905e-05,-1.98687274e-05,-1.74129779e-06, 1.85342121e-06,
  9.48314629e-06, 1.21200496e-04, 3.98314174e-07, 1.52391497e-05,
 -1.54637596e-04,-3.53190232e-05,-9.52797052e-05, 1.11821209e-06,
  6.08846886e-06,-1.38856053e-06,-1.21634840e+00, 1.10507892e-04,
  1.44849708e-03,-1.94225954e-06]


--- Step 809 ---
qpos:
[ 3.00197225e-03,-3.32397811e-03, 1.18578676e-02, 4.17620820e-02,
 -2.16832267e-03,-1.94298877e-03,-1.73776278e-02, 2.86581432e-02,
  5.85528255e-03, 1.64738574e-02,-9.37950799e-03, 2.59863325e-02,
  1.10888412e+00,-1.23851691e-03, 8.65689639e-01, 6.42959805e-02,
  9.49327556e-02,-7.00998678e-02, 1.21800512e-01, 9.99979720e-01,
  9.31929884e-05,-3.37516332e-04, 6.35897002e-03]

qacc:
[ -1.51134712, -0.66798621,  2.46982776, -3.70471486, -9.31065301,
  -0.39344221, -0.59825855,  6.59276954,  4.14754005, -0.37746595,
  -0.21440159,  7.54854391, -0.16794874, -0.50850352,  4.2557871 ,
 -15.88380877,  0.73766462, -0.40229252, -0.04270787,  6.84627364,
  12.05512847, -0.84678514]

qfrc_actuator:
[ 2.81860533e-05, 3.96671877e-05, 1.08271770e-04, 9.21922126e-05,
 -5.97770186e-05,-3.05363555e-04,-1.78230016e-04,-1.55520176e-05,
 -7.63200498e-05, 5.39818520e-04, 2.34456806e-05, 7.45177691e-05,
  2.23390920e-02,-1.28595770e-03, 6.59362263e-03,-3.28278995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020744902158283118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67589362e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.67589362e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178106, -0.06192969,  0.06199496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.90136364e-06,-7.37394929e-06, 6.82712167e-06,-3.18212053e-06,
 -5.47272438e-05,-2.16553157e-05, 1.23869440e-05, 1.80812532e-05,
  2.44072675e-05, 5.81524474e-05, 5.05892981e-05, 2.94424716e-05,
 -1.48835105e-04,-7.36942726e-05,-5.86232255e-05,-9.41311614e-05,
  6.60923099e-06,-1.09415301e-06,-1.21633440e+00, 1.05951466e-04,
  1.45738680e-03,-1.60838234e-06]


--- Step 810 ---
qpos:
[ 3.00315272e-03,-3.32402248e-03, 1.18579707e-02, 4.17616852e-02,
 -2.16943350e-03,-1.94342863e-03,-1.73762639e-02, 2.86587559e-02,
  5.85511249e-03, 1.64738644e-02,-9.37947740e-03, 2.59874254e-02,
  1.10941083e+00,-1.23787328e-03, 8.66103835e-01, 6.42906040e-02,
  9.49601946e-02,-7.00919042e-02, 1.21798487e-01, 9.99979747e-01,
  2.83980497e-05,-1.06083677e-04, 6.36341882e-03]

qacc:
[  5.12713531, -2.54295307, 12.34444389,-25.99102028,  0.47636681,
   0.47544295, -4.46115415, 14.22619057,  5.64198879, -3.6359689 ,
   9.6968252 , -4.23928164, -0.22332078, -0.32171856,  1.62675275,
  -6.40996991,  0.73413634, -0.40075533, -0.084688  ,  6.7982482 ,
  12.05666525, -0.80111563]

qfrc_actuator:
[ 5.84484344e-05, 5.75150021e-05, 1.32946870e-04, 5.54961240e-05,
 -5.54702371e-05,-3.11252786e-04,-1.68896637e-04, 1.33395819e-05,
 -4.40710194e-05, 4.26582264e-04, 5.62635537e-05, 8.83021362e-05,
  2.23032822e-02,-1.30647297e-03, 6.59837711e-03,-3.31089843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020499175981676665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.70796989e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.70796989e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178031, -0.06192955,  0.06199502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00066914e-05, 1.49995898e-05, 2.38862557e-05,-3.68373301e-05,
  2.73794609e-06,-1.46893442e-05, 7.00287915e-06, 2.87441224e-05,
  3.29673321e-05,-6.90181842e-05, 5.20801628e-05, 1.85978253e-05,
 -1.43570402e-04,-6.60285890e-05,-3.81384706e-05,-4.21553237e-05,
  7.47226272e-06,-7.31668170e-07,-1.21631647e+00, 1.02032385e-04,
  1.46750371e-03,-1.26673088e-06]


--- Step 811 ---
qpos:
[ 3.00468643e-03,-3.32368613e-03, 1.18579614e-02, 4.17604996e-02,
 -2.17013987e-03,-1.94373107e-03,-1.73751817e-02, 2.86593541e-02,
  5.85498571e-03, 1.64730521e-02,-9.37862921e-03, 2.59890453e-02,
  1.10993651e+00,-1.23716287e-03, 8.66517379e-01, 6.42869016e-02,
  9.49892851e-02,-7.00825339e-02, 1.21796674e-01, 9.99979713e-01,
 -4.80571519e-05, 1.39071144e-04, 6.36801020e-03]

qacc:
[  3.09010659, -0.81428433,  6.94957636,-20.6841086 ,  3.53615339,
   0.93183591, -3.01023925,  3.12252583,  0.41737765, -2.28408272,
   4.34647385,  4.07105753, -0.71088567,  0.88790463, -5.97373479,
  19.59735383,  0.41288163,  0.35166391,  0.05301508, -5.78634515,
   6.89804283,  0.07190327]

qfrc_actuator:
[ 7.57839207e-05, 8.59551264e-05, 1.29728598e-04, 1.63356407e-05,
 -3.47212011e-05,-2.96747897e-04,-1.81692952e-04, 1.23339991e-05,
 -4.27907982e-05, 3.76894194e-04, 9.29833117e-05, 1.13655492e-04,
  2.22522273e-02,-1.30102067e-03, 6.58633686e-03,-3.21867546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020233729274976543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37174790e-13, -8.21329116e-07,  1.00000000e+00, -1.12665649e-19,
        1.00000000e+00,  8.21329116e-07, -1.00000000e+00,  0.00000000e+00,
       -1.37174790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08824875, -0.07725745,  0.06199508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81960687e-05, 4.01917902e-05, 1.54507780e-06,-3.84092511e-05,
  2.08204762e-05, 8.96850310e-06,-1.39855991e-05,-8.36938881e-07,
  2.19855096e-06,-7.67206771e-05, 2.95169981e-05, 2.45556736e-05,
 -1.53605772e-04,-3.76368282e-05,-4.05326046e-05, 8.35230873e-05,
  8.67113340e-06,-3.11691713e-07,-1.21629464e+00, 9.87483450e-05,
  1.47884437e-03,-9.17311355e-07]


--- Step 812 ---
qpos:
[ 3.00641639e-03,-3.32316099e-03, 1.18579893e-02, 4.17585230e-02,
 -2.17093701e-03,-1.94387426e-03,-1.73742568e-02, 2.86592334e-02,
  5.85487518e-03, 1.64720041e-02,-9.37780773e-03, 2.59909399e-02,
  1.11046120e+00,-1.23639859e-03, 8.66929931e-01, 6.42814550e-02,
  9.50157104e-02,-7.00769989e-02, 1.21796466e-01, 9.99979619e-01,
 -9.30133304e-05, 3.60747986e-04, 6.37361507e-03]

qacc:
[  1.7200725 , -1.48805427,  8.99821202,-22.8759055 , -0.80425783,
  -0.82720747,  6.29332565,-18.60328556,  0.14503266,  0.328613  ,
  -2.78432295,  7.75690794, -0.81894088,  1.09128258,  3.84525912,
 -15.47680005, -0.66631131, -0.958811  ,  0.4013735 , 15.67436634,
 -11.83906475,  0.50855408]

qfrc_actuator:
[ 8.53597799e-05, 8.49035931e-05, 1.27868742e-04,-2.39658178e-05,
 -3.99845429e-05,-2.88006436e-04,-1.89634582e-04,-2.40052563e-05,
 -4.19979297e-05, 3.83403162e-04, 9.64327052e-05, 1.27903436e-04,
  2.22027252e-02,-1.29807351e-03, 6.49502505e-03,-3.32263888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020683387260722608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.68385205e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.68385205e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893569, -0.05160706,  0.06199497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01088651e-05, 2.00896854e-05, 5.29966003e-06,-3.92732007e-05,
 -4.66611569e-06, 1.08361988e-05,-7.85218856e-06,-3.64590668e-05,
  8.25520448e-07,-2.92279998e-05,-7.91727679e-06, 1.24555380e-05,
 -1.51669256e-04,-3.72845054e-05,-1.06386921e-04,-1.05835721e-04,
  9.86056704e-06, 3.03349375e-08,-1.21627403e+00, 9.50751457e-05,
  1.49099057e-03,-8.73600133e-07]


--- Step 813 ---
qpos:
[ 3.00755789e-03,-3.32231056e-03, 1.18576483e-02, 4.17560897e-02,
 -2.17144553e-03,-1.94436113e-03,-1.73732062e-02, 2.86583785e-02,
  5.85477470e-03, 1.64711167e-02,-9.37738184e-03, 2.59922740e-02,
  1.11098502e+00,-1.23590508e-03, 8.67341195e-01, 6.42770937e-02,
  9.50395093e-02,-7.00752413e-02, 1.21797274e-01, 9.99979483e-01,
 -1.06934264e-04, 5.59393440e-04, 6.38032641e-03]

qacc:
[ -5.18272884,  0.53007746,  0.67769334, -8.24715439,  2.5407939 ,
  -2.320085  , 10.70572993,-23.35154946,  0.07222924,  0.16386665,
   2.089968  ,-11.27617595, -0.29520347, -0.07440054, -5.1676221 ,
  15.33589279, -0.65657451, -0.94435949,  0.25373126, 15.44370818,
 -11.61440701,  0.55788608]

qfrc_actuator:
[ 5.47902960e-05, 1.01701972e-04, 1.08966763e-04,-4.68814164e-05,
 -2.50165943e-05,-3.36057729e-04,-1.94675190e-04,-6.30818780e-05,
 -4.14877438e-05, 4.05621745e-04, 8.04371460e-05, 1.00024210e-04,
  2.21595146e-02,-1.31439589e-03, 6.45739439e-03,-3.25752334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021494217013492967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58260867e-13, -5.16521734e-13,  1.00000000e+00, -1.33397351e-25,
        1.00000000e+00,  5.16521734e-13, -1.00000000e+00,  0.00000000e+00,
       -2.58260867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893417, -0.05160874,  0.06199478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02744362e-05, 2.74280485e-05,-1.54628351e-05,-2.26337606e-05,
  1.48405561e-05,-4.51830816e-05,-5.03981647e-06,-3.95947688e-05,
  5.21342898e-07, 4.79650623e-06,-2.25789375e-05,-2.91670892e-05,
 -1.45055558e-04,-5.55906051e-05,-1.01525813e-04, 4.48117529e-05,
  8.08982797e-06,-1.56312436e-06,-1.21631125e+00, 9.30393666e-05,
  1.50192193e-03,-1.58332414e-07]


--- Step 814 ---
qpos:
[ 3.00763430e-03,-3.32118105e-03, 1.18573034e-02, 4.17540717e-02,
 -2.17142570e-03,-1.94527759e-03,-1.73721775e-02, 2.86574295e-02,
  5.85433620e-03, 1.64703141e-02,-9.37689122e-03, 2.59932412e-02,
  1.11150804e+00,-1.23614653e-03, 8.67751581e-01, 6.42783470e-02,
  9.50607156e-02,-7.00772135e-02, 1.21798599e-01, 9.99979321e-01,
 -9.02038814e-05, 7.35381260e-04, 6.38822447e-03]

qacc:
[ -9.35356845,  1.25448068, -5.65818261, 12.61219989,  4.64041312,
  -0.70905542,  2.08635038, -3.3474899 , -2.94776957, -0.81877161,
   4.64154902,-11.17052239,  0.35571397, -1.6139146 ,-18.27846823,
  61.97879728, -0.64818197, -0.93245285,  0.1295278 , 15.2527289 ,
 -11.4264236 ,  0.60078888]

qfrc_actuator:
[ 8.39821850e-07, 1.28998289e-04, 1.15735888e-04,-2.38781769e-05,
  1.74703520e-06,-3.64487547e-04,-1.98195215e-04,-6.79927074e-05,
 -5.89001042e-05, 4.19211520e-04, 8.86594399e-05, 8.30992953e-05,
  2.21094518e-02,-1.35972951e-03, 6.48398949e-03,-2.95107119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022023266772225325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893316, -0.0516098 ,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.48035038e-05, 3.84351072e-05, 9.74629108e-06, 2.32077959e-05,
  2.71727499e-05,-5.64215032e-05,-1.48489144e-05,-7.79208711e-06,
 -1.73957325e-05, 1.03821227e-05, 5.42508903e-06,-1.80702462e-05,
 -1.51608107e-04,-8.66529644e-05,-1.76220938e-05, 2.95320185e-04,
  6.31944973e-06,-2.88298022e-06,-1.21634022e+00, 9.25082541e-05,
  1.51166288e-03, 3.56758728e-07]


--- Step 815 ---
qpos:
[ 3.00706357e-03,-3.32034293e-03, 1.18575355e-02, 4.17530687e-02,
 -2.17143083e-03,-1.94557761e-03,-1.73719816e-02, 2.86566952e-02,
  5.85403720e-03, 1.64697516e-02,-9.37696805e-03, 2.59943668e-02,
  1.11203015e+00,-1.23715524e-03, 8.68161002e-01, 6.42830213e-02,
  9.50793579e-02,-7.00828766e-02, 1.21800025e-01, 9.99979140e-01,
 -4.31376294e-05, 8.89023779e-04, 6.39737952e-03]

qacc:
[-5.65650393e+00, 1.04257590e-01,-5.19205847e+00, 2.20207144e+01,
 -2.55439065e-01, 3.58253522e+00,-1.24979251e+01, 1.70889508e+01,
  1.19497396e+00, 2.22738826e+00,-8.15453681e+00, 1.16323005e+01,
  2.07398597e-01,-1.41611687e+00,-1.17802390e+01, 3.90715318e+01,
 -6.40974987e-01,-9.22723259e-01, 2.51604331e-02, 1.50957847e+01,
 -1.12693659e+01, 6.38687639e-01]

qfrc_actuator:
[-3.09219699e-05, 9.14989306e-05, 1.37690342e-04, 2.59869526e-05,
 -2.72352141e-07,-2.74405314e-04,-2.18458209e-04,-5.27504645e-05,
 -5.12166728e-05, 4.27635621e-04, 5.78524603e-05, 9.05303531e-05,
  2.20499772e-02,-1.40414477e-03, 6.41598481e-03,-2.78882261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022323039220972785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48672014e-13, -4.97344028e-13,  1.00000000e+00, -1.23675541e-25,
        1.00000000e+00,  4.97344028e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48672014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893256, -0.05161036,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33135152e-05,-1.30508954e-05, 3.18943379e-05, 5.23055582e-05,
 -1.26358363e-06, 5.51632225e-05,-3.40160998e-05, 1.21595977e-05,
  7.18708062e-06, 1.45897972e-05,-2.86176989e-05, 7.71118967e-06,
 -1.70676820e-04,-9.35284949e-05,-4.88049033e-05, 1.75144706e-04,
  4.52995357e-06,-3.91510355e-06,-1.21636139e+00, 9.34590225e-05,
  1.52022767e-03, 6.78415371e-07]


--- Step 816 ---
qpos:
[ 3.00611632e-03,-3.32002292e-03, 1.18579453e-02, 4.17527288e-02,
 -2.17111506e-03,-1.94515331e-03,-1.73725362e-02, 2.86571640e-02,
  5.85383208e-03, 1.64698298e-02,-9.37759669e-03, 2.59948291e-02,
  1.11255094e+00,-1.23778777e-03, 8.68569708e-01, 6.42873239e-02,
  9.50954610e-02,-7.00921991e-02, 1.21801202e-01, 9.99978948e-01,
  3.40079898e-05, 1.02058132e-03, 6.40785410e-03]

qacc:
[ -3.2901564 ,  0.19181678, -4.46376386, 16.02332032,  2.77924961,
   5.52191596,-23.39045572, 44.88763037,  0.79017465,  1.02190092,
   0.38343906,-11.45156191, -1.28543736,  2.05819583,  0.14567434,
  -1.85768122, -0.63481211, -0.9148585 , -0.06242749, 14.96814009,
 -11.13849612,  0.6726858 ]

qfrc_actuator:
[-4.93624748e-05, 3.33336408e-05, 1.32671342e-04, 5.56983663e-05,
  1.62856711e-05,-2.20605824e-04,-2.47947306e-04, 9.81767755e-06,
 -4.65707158e-05, 4.86028858e-04, 3.97394839e-05, 5.89383482e-05,
  2.19902202e-02,-1.37667219e-03, 6.35516920e-03,-2.81966421e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022437566626032357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47402725e-13, -2.47402725e-13,  1.00000000e+00, -6.12081083e-26,
        1.00000000e+00,  2.47402725e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47402725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893228, -0.05161052,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94000750e-05,-5.66755733e-05,-1.98475305e-06, 3.12755755e-05,
  1.65421225e-05, 7.81514159e-05,-2.18613524e-05, 6.39937574e-05,
  4.85625800e-06, 6.09913312e-05,-1.83529455e-05,-3.18083416e-05,
 -1.84618958e-04,-2.69074883e-05,-6.84295516e-05,-2.84499354e-05,
  2.70519404e-06,-4.64964723e-06,-1.21637510e+00, 9.58730007e-05,
  1.52762818e-03, 8.11980829e-07]


--- Step 817 ---
qpos:
[ 3.00495509e-03,-3.32020481e-03, 1.18583910e-02, 4.17520661e-02,
 -2.17060304e-03,-1.94434896e-03,-1.73736112e-02, 2.86584069e-02,
  5.85333967e-03, 1.64701167e-02,-9.37802397e-03, 2.59945667e-02,
  1.11307052e+00,-1.23787236e-03, 8.68978090e-01, 6.42914464e-02,
  9.51090459e-02,-7.01051560e-02, 1.21801835e-01, 9.99978745e-01,
  1.41027393e-04, 1.13026997e-03, 6.41970468e-03]

qacc:
[ -1.86860553, -1.42617362,  5.49104235,-10.77380658,  1.69881323,
   3.54467355,-15.18550096, 29.14168633, -2.50327835, -1.77386795,
   9.79314215,-22.81947512, -1.37941275,  2.40803166,  0.15545655,
  -1.02797898, -0.62956772, -0.90859321, -0.13583448, 14.86580945,
 -11.02989806,  0.70363546]

qfrc_actuator:
[-5.98219570e-05,-1.38266971e-06, 1.29389441e-04, 3.77579365e-05,
  2.59016348e-05,-2.24435715e-04,-2.82721263e-04, 4.64491688e-05,
 -6.15100477e-05, 4.85143789e-04, 4.72068682e-05, 2.24436102e-05,
  2.19463396e-02,-1.34240870e-03, 6.36258872e-03,-2.82191459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022403700154667583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893225, -0.05161035,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10344130e-05,-6.54989920e-05,-1.41567187e-05,-1.98278784e-05,
  1.01129963e-05, 3.80949746e-05,-1.91102681e-05, 4.04682368e-05,
 -1.47770872e-05, 2.80720101e-05, 1.67098287e-05,-3.51351191e-05,
 -1.62984463e-04,-1.07212089e-05,-3.23400050e-05,-1.38197383e-05,
  8.31109202e-07,-5.08018633e-06,-1.21638160e+00, 9.97349416e-05,
  1.53387418e-03, 7.61659634e-07]


--- Step 818 ---
qpos:
[ 3.00402215e-03,-3.32069509e-03, 1.18586944e-02, 4.17515266e-02,
 -2.16997963e-03,-1.94314920e-03,-1.73750249e-02, 2.86586840e-02,
  5.85301692e-03, 1.64706800e-02,-9.37838427e-03, 2.59938697e-02,
  1.11358912e+00,-1.23787810e-03, 8.69385782e-01, 6.42952132e-02,
  9.51199578e-02,-7.01185112e-02, 1.21803484e-01, 9.99978540e-01,
  2.50957898e-04, 1.21809895e-03, 6.43217293e-03]

qacc:
[  2.00471252,  0.2409302 , -1.97732095,  4.57321614,  0.95892052,
  -0.52028658,  6.68935722,-23.15360803,  1.47675833, -0.71971676,
   4.92635108,-12.75434075, -0.77927008,  1.04163395,  0.09917063,
  -1.72432988, -0.66821328, -0.09957298,  0.25409746,  1.3850044 ,
 -10.93890837,  0.31202008]

qfrc_actuator:
[-4.77521388e-05,-4.08593536e-06, 1.27220365e-04, 4.52051805e-05,
  3.13486572e-05,-2.09530777e-04,-3.02843306e-04,-3.54417761e-06,
 -5.23516832e-05, 5.02125414e-04, 5.17373926e-05, 1.08651308e-06,
  2.19013721e-02,-1.33989817e-03, 6.32040140e-03,-2.84255838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022439645182621704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47379808e-13, -7.42139425e-13,  1.00000000e+00, -1.83590309e-25,
        1.00000000e+00,  7.42139425e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47379808e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886185, -0.06833516,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17343199e-05,-4.31011457e-05,-1.81279000e-05, 3.76729810e-06,
  5.74767893e-06, 3.39786791e-05,-1.32071402e-05,-4.82370343e-05,
  8.74577893e-06, 3.46140989e-05, 1.11739636e-05,-2.02582848e-05,
 -1.46898016e-04,-3.48771431e-05,-6.54416928e-05,-2.71603001e-05,
 -1.10519354e-06,-5.20313939e-06,-1.21638110e+00, 1.05032468e-04,
  1.53897353e-03, 5.30723223e-07]


--- Step 819 ---
qpos:
[ 3.00358578e-03,-3.32130812e-03, 1.18591372e-02, 4.17510364e-02,
 -2.16929542e-03,-1.94201375e-03,-1.73759600e-02, 2.86587080e-02,
  5.85280623e-03, 1.64717078e-02,-9.37906140e-03, 2.59929244e-02,
  1.11410679e+00,-1.23785881e-03, 8.69792266e-01, 6.42961564e-02,
  9.51282289e-02,-7.01322634e-02, 1.21805824e-01, 9.99978338e-01,
  3.63814485e-04, 1.28422511e-03, 6.44527813e-03]

qacc:
[  4.36514335, -0.4594303 ,  1.18041074, -0.44623111,  0.54923118,
  -1.94313876,  7.8720046 ,-12.96618722,  0.9594329 ,  0.98667451,
  -1.58184803, -2.54737409, -0.78544426,  1.03414249,  6.77993656,
 -26.21712599, -0.66021941, -0.09925684,  0.17251824,  1.39282337,
 -10.86050308,  0.32295979]

qfrc_actuator:
[-2.25214154e-05, 1.24258914e-05, 1.43635681e-04, 4.98152753e-05,
  3.43006740e-05,-2.19057605e-04,-2.78642644e-04,-1.53188064e-05,
 -4.68293539e-05, 5.29675961e-04, 3.68070077e-05,-1.11881240e-05,
  2.18557750e-02,-1.33843686e-03, 6.22186565e-03,-2.99825901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022479745948740526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.17346292e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.17346292e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886207, -0.0683351 ,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55518304e-05,-1.11509309e-05, 5.41404676e-06, 2.21120767e-06,
  3.13025764e-06, 4.65316609e-06, 2.79248555e-05,-1.17146004e-05,
  5.78677749e-06, 4.83343491e-05,-7.10651249e-06,-1.07982298e-05,
 -1.43403674e-04,-3.66281464e-05,-1.36546155e-04,-1.66774673e-04,
 -2.05241730e-06,-4.38833532e-06,-1.21639039e+00, 1.10389559e-04,
  1.54320357e-03, 7.00931419e-08]


--- Step 820 ---
qpos:
[ 3.00311012e-03,-3.32172357e-03, 1.18596487e-02, 4.17498773e-02,
 -2.16858115e-03,-1.94088224e-03,-1.73763584e-02, 2.86592691e-02,
  5.85266429e-03, 1.64722342e-02,-9.37977108e-03, 2.59919450e-02,
  1.11462350e+00,-1.23754399e-03, 8.70197465e-01, 6.42954900e-02,
  9.51338852e-02,-7.01464124e-02, 1.21808581e-01, 9.99978142e-01,
  4.79614043e-04, 1.32877915e-03, 6.45903899e-03]

qacc:
[ -0.34642373, -1.30852874,  7.86659788,-19.69470202,  0.28089691,
  -0.40020137, -0.84949996,  9.29126461,  0.60710558, -0.64314538,
   1.47308958, -1.63882175, -0.99563148,  1.61650569,  3.0223505 ,
 -13.18889176, -0.6537019 , -0.09919204,  0.1043506 ,  1.40151215,
 -10.79519828,  0.33362458]

qfrc_actuator:
[-2.52590029e-05, 4.04044783e-05, 1.53224034e-04, 1.72426421e-05,
  3.57617199e-05,-2.07436656e-04,-2.46282732e-04, 1.32639031e-05,
 -4.34989202e-05, 4.39000531e-04, 1.05570936e-05,-1.80258234e-05,
  2.18151564e-02,-1.31983018e-03, 6.17480503e-03,-3.07260981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022389546921815218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47933339e-13,  4.33883343e-13,  1.00000000e+00,  1.07574146e-25,
        1.00000000e+00, -4.33883343e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47933339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886243, -0.06833502,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01242088e-06, 2.29844006e-05, 8.03093587e-06,-3.28194060e-05,
  1.55126011e-06, 1.94597042e-05, 3.63529681e-05, 2.95197316e-05,
  3.51629113e-06,-6.56031052e-05,-1.75171768e-05,-5.22136630e-06,
 -1.37585468e-04,-1.85733917e-05,-1.30207537e-04,-1.01625570e-04,
 -2.86759751e-06,-3.49467878e-06,-1.21639718e+00, 1.15867833e-04,
  1.54635733e-03,-4.07082903e-07]


--- Step 821 ---
qpos:
[ 3.00226064e-03,-3.32191632e-03, 1.18602139e-02, 4.17486797e-02,
 -2.16785521e-03,-1.93934259e-03,-1.73765204e-02, 2.86601352e-02,
  5.85256370e-03, 1.64718829e-02,-9.38003530e-03, 2.59915990e-02,
  1.11513940e+00,-1.23731297e-03, 8.70601223e-01, 6.42987961e-02,
  9.51366522e-02,-7.01586587e-02, 1.21811706e-01, 9.99977974e-01,
  5.79223617e-04, 1.35004793e-03, 6.47254889e-03]

qacc:
[ -3.28336463,  0.07103331,  0.34738493, -1.27597908,  0.10305772,
   0.50618933, -2.3109147 ,  6.91323118,  0.38994519, -1.10192339,
  -0.42982313, 11.3273977 , -0.27857131,  0.0715453 ,-14.10219567,
  46.2780684 , -0.72231465,  0.47568912,  0.09224709, -8.16985499,
 -11.59016722, -0.13074127]

qfrc_actuator:
[-4.44403545e-05, 5.72392582e-05, 1.58731312e-04, 1.63166430e-05,
  3.63346048e-05,-1.65409070e-04,-2.27029432e-04, 2.98668567e-05,
 -4.14851337e-05, 3.84685645e-04, 3.06158107e-05, 1.37889866e-05,
  2.17775617e-02,-1.32672205e-03, 6.16400560e-03,-2.84969858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002229199595904091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.22545771e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.22545771e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11007918, -0.0798834 ,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92285852e-05, 2.99531216e-05, 1.01103317e-05,-2.99889570e-07,
  6.21199190e-07, 6.16461935e-05, 2.87622462e-05, 1.92662913e-05,
  2.09336639e-06,-9.48505110e-05, 4.17325757e-06, 2.82981304e-05,
 -1.26811657e-04,-3.95476530e-05,-8.38037037e-05, 2.00084915e-04,
 -3.55293882e-06,-2.51953199e-06,-1.21640151e+00, 1.21467403e-04,
  1.54844115e-03,-9.01063806e-07]


--- Step 822 ---
qpos:
[ 3.00153275e-03,-3.32186167e-03, 1.18610434e-02, 4.17484979e-02,
 -2.16816248e-03,-1.93782314e-03,-1.73762445e-02, 2.86612347e-02,
  5.85248773e-03, 1.64710378e-02,-9.37992456e-03, 2.59919374e-02,
  1.11565452e+00,-1.23717280e-03, 8.71004287e-01, 6.43036545e-02,
  9.51365619e-02,-7.01690172e-02, 1.21814919e-01, 9.99977838e-01,
  6.62795166e-04, 1.34813921e-03, 6.48587085e-03]

qacc:
[ 1.07185033e+00, 1.67969450e+00,-9.80307847e+00, 2.67782663e+01,
 -9.04766981e+00,-7.52366001e-01, 1.68922428e+00, 1.63138733e+00,
  2.35169992e-01,-2.92176591e-01,-2.79533249e+00, 1.44044202e+01,
 -3.91204404e-01, 2.86777981e-01,-5.69079841e+00, 1.84647590e+01,
 -7.14352323e-01, 4.71929614e-01, 2.15611146e-02,-8.09372740e+00,
 -1.15366692e+01,-9.81910784e-02]

qfrc_actuator:
[-3.76324517e-05, 8.50362455e-05, 1.79529980e-04, 6.95211266e-05,
 -1.68769458e-05,-1.94311157e-04,-2.15554479e-04, 3.92991126e-05,
 -4.02614418e-05, 3.88269131e-04, 6.02420872e-05, 5.03888882e-05,
  2.17418019e-02,-1.33089930e-03, 6.13774265e-03,-2.77291563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022239182765275423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49609672e-13, -1.87207254e-13,  1.00000000e+00, -4.67287414e-26,
        1.00000000e+00,  1.87207254e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49609672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11007968, -0.07988341,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.27055041e-06, 4.66213072e-05, 2.82204640e-05, 5.48343562e-05,
 -5.31742915e-05, 1.22812117e-05, 2.83996874e-05, 1.34392190e-05,
  1.24780753e-06,-4.73657629e-05, 1.15345488e-05, 3.32323203e-05,
 -1.22087600e-04,-3.87969063e-05,-4.50492204e-05, 7.65624550e-05,
 -3.22261502e-06,-1.19133399e-06,-1.21641410e+00, 1.26217246e-04,
  1.54960406e-03,-1.38168960e-06]


--- Step 823 ---
qpos:
[ 3.00123668e-03,-3.32140320e-03, 1.18623623e-02, 4.17485731e-02,
 -2.16944971e-03,-1.93664403e-03,-1.73758907e-02, 2.86625062e-02,
  5.85311649e-03, 1.64700459e-02,-9.37986425e-03, 2.59923504e-02,
  1.11616857e+00,-1.23618223e-03, 8.71407677e-01, 6.43056089e-02,
  9.51336394e-02,-7.01775007e-02, 1.21817981e-01, 9.99977739e-01,
  7.30454476e-04, 1.32314058e-03, 6.49905792e-03]

qacc:
[  3.79894976, -0.31206986,  0.79001077,  2.59033054, -8.58635322,
  -0.29660142, -0.2923112 ,  3.36355147,  6.14745975,  0.08861688,
  -0.93402695,  2.43869468, -1.69369025,  3.2835414 ,  9.35973259,
 -31.77836149, -0.70801736,  0.46876718, -0.03740221, -8.03074369,
 -11.49316521, -0.07062948]

qfrc_actuator:
[-1.55768698e-05, 1.19296761e-04, 2.09271383e-04, 8.31543669e-05,
 -6.58136643e-05,-2.47753335e-04,-2.26795281e-04, 4.43786719e-05,
 -4.00633786e-06, 3.91053472e-04, 5.99959489e-05, 5.40502685e-05,
  2.16965176e-02,-1.28014932e-03, 6.15011840e-03,-2.92499953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002207679634182863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77168524e-13,  1.25722841e-13,  1.00000000e+00,  4.74186984e-26,
        1.00000000e+00, -1.25722841e-13, -1.00000000e+00,  0.00000000e+00,
       -3.77168524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008028, -0.07988356,  0.06199464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22460487e-05, 6.85023162e-05, 4.47350918e-05, 1.76725481e-05,
 -5.04498917e-05,-4.02120128e-05,-4.76216044e-06, 6.84580948e-06,
  3.62699999e-05,-1.98673731e-05,-7.45188888e-06, 2.67823559e-06,
 -1.28414405e-04, 1.72336933e-05,-4.96440348e-06,-1.54824037e-04,
 -2.75092902e-06,-1.64894678e-08,-1.21642259e+00, 1.30172187e-04,
  1.54962073e-03,-1.76805636e-06]


--- Step 824 ---
qpos:
[ 3.00120756e-03,-3.32087244e-03, 1.18639765e-02, 4.17481769e-02,
 -2.17027890e-03,-1.93613623e-03,-1.73752092e-02, 2.86642005e-02,
  5.85417469e-03, 1.64691545e-02,-9.37991170e-03, 2.59924308e-02,
  1.11668172e+00,-1.23485436e-03, 8.71810540e-01, 6.43031910e-02,
  9.51279048e-02,-7.01841196e-02, 1.21820698e-01, 9.99977677e-01,
  7.82304840e-04, 1.27512097e-03, 6.51215552e-03]

qacc:
[  2.35102623, -1.70669106,  8.20391812,-16.8766403 ,  4.03928683,
  -0.94085431,  0.26829394,  7.03467827,  3.74002978, -0.25815142,
   2.50578257, -8.15312291, -1.14203642,  1.94538304, 12.48879008,
 -44.66008215, -0.7030488 ,  0.46612943, -0.08647244, -7.97905828,
 -11.45891979, -0.04690909]

qfrc_actuator:
[-2.48418419e-06, 8.61694972e-05, 2.08542474e-04, 5.56448099e-05,
 -4.08149363e-05,-2.97838703e-04,-2.15975334e-04, 6.45672719e-05,
  1.70723736e-05, 4.10961639e-04, 5.98543973e-05, 3.82843946e-05,
  2.16455736e-02,-1.26835842e-03, 6.08442052e-03,-3.15731029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002182902427798339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27149868e-13,  1.27149868e-13,  1.00000000e+00,  1.61670890e-26,
        1.00000000e+00, -1.27149868e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27149868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008096, -0.07988383,  0.0619947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37448625e-05, 1.51530307e-05, 1.95204501e-05,-2.26882360e-05,
  2.35465103e-05,-7.33295958e-05, 2.14544233e-06, 1.84295806e-05,
  2.21086595e-05, 7.42263240e-06,-5.06146515e-06,-1.68232257e-05,
 -1.25493541e-04,-1.27980759e-05,-9.39888190e-05,-2.43617396e-04,
 -2.12866011e-06, 1.01655851e-06,-1.21642705e+00, 1.33335983e-04,
  1.54849804e-03,-2.06154538e-06]


--- Step 825 ---
qpos:
[ 3.00133613e-03,-3.32065880e-03, 1.18655331e-02, 4.17475306e-02,
 -2.17080256e-03,-1.93620054e-03,-1.73743779e-02, 2.86657780e-02,
  5.85513241e-03, 1.64687427e-02,-9.38012940e-03, 2.59915857e-02,
  1.11719430e+00,-1.23449032e-03, 8.72211939e-01, 6.42997097e-02,
  9.51224054e-02,-7.01862722e-02, 1.21822800e-01, 9.99977637e-01,
  7.97384999e-04, 1.23025452e-03, 6.52504594e-03]

qacc:
[  1.38755879, -0.77600435,  3.20901085, -7.20563612,  2.69416369,
  -1.4191211 ,  4.44683523, -6.27487871, -0.89034752, -0.79359023,
   7.65930216,-23.75871644,  0.44787496, -1.84594264,  0.99673515,
  -6.75153419,  0.05881649,  1.11658761, -0.15349644,-18.37430226,
   1.69617763, -0.12833875]

qfrc_actuator:
[ 5.22289777e-06, 3.05321973e-05, 1.89529520e-04, 3.95804150e-05,
 -2.57588430e-05,-3.27690264e-04,-2.09952691e-04, 5.79964109e-05,
  1.12860341e-05, 4.58707976e-04, 5.98531074e-05,-6.51286402e-06,
  2.15965824e-02,-1.33302794e-03, 6.01987553e-03,-3.20434311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021462133445070142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84963011e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.84963011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496656, -0.09315314,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.10076173e-06,-4.41358655e-05,-1.42885411e-05,-1.51859686e-05,
  1.57008482e-05,-6.96464386e-05,-8.24065399e-06,-9.28795031e-06,
 -5.15194865e-06, 5.01743730e-05, 3.37421151e-07,-4.49805051e-05,
 -1.29424616e-04,-9.36621334e-05,-1.39215351e-04,-7.37009609e-05,
 -1.34921975e-06, 1.91735129e-06,-1.21642754e+00, 1.35711732e-04,
  1.54624141e-03,-2.26324243e-06]


--- Step 826 ---
qpos:
[ 3.00190110e-03,-3.32072477e-03, 1.18668683e-02, 4.17467044e-02,
 -2.17183156e-03,-1.93649275e-03,-1.73739038e-02, 2.86672554e-02,
  5.85601352e-03, 1.64687088e-02,-9.38009847e-03, 2.59905391e-02,
  1.11770617e+00,-1.23535203e-03, 8.72611795e-01, 6.43005483e-02,
  9.51171497e-02,-7.01839930e-02, 1.21824062e-01, 9.99977621e-01,
  7.75871806e-04, 1.18844221e-03, 6.53784357e-03]

qacc:
[  3.82820543, -0.12898187,  0.66958987, -3.20807374, -4.43950764,
   0.49897804, -1.77829849,  0.76684876, -0.66694677, -0.60917061,
   3.75017744, -7.91742559,  0.8265864 , -2.81198798,-15.3911562 ,
  50.35798788,  0.06092138,  1.10794631, -0.21031016,-18.28625478,
   1.64637236, -0.07019786]

qfrc_actuator:
[ 2.74537400e-05, 1.50072654e-05, 1.77533761e-04, 3.03503710e-05,
 -5.22043107e-05,-3.27479579e-04,-2.24514014e-04, 5.34929217e-05,
  7.49142548e-06, 4.87232793e-04, 7.77941904e-05,-1.47453686e-05,
  2.15381138e-02,-1.40690223e-03, 6.00405785e-03,-2.96424269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021324193115032641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71830100e-13,  5.20640110e-13,  1.00000000e+00,  2.45653675e-25,
        1.00000000e+00, -5.20640110e-13, -1.00000000e+00,  0.00000000e+00,
       -4.71830100e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496699, -0.09315384,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24452347e-05,-4.38296782e-05,-2.34172957e-05,-1.19135370e-05,
 -2.60214975e-05,-4.08411475e-05,-3.02967290e-05,-7.96000017e-06,
 -3.92461457e-06, 5.47453044e-05, 2.68009166e-05,-6.94234705e-06,
 -1.59402579e-04,-1.18634759e-04,-8.87144790e-05, 2.17927606e-04,
 -1.63081304e-07, 1.54956696e-06,-1.21643440e+00, 1.36474501e-04,
  1.54432518e-03,-2.19073218e-06]


--- Step 827 ---
qpos:
[ 3.00307285e-03,-3.32074749e-03, 1.18678611e-02, 4.17460858e-02,
 -2.17178969e-03,-1.93703741e-03,-1.73733773e-02, 2.86689868e-02,
  5.85718728e-03, 1.64689241e-02,-9.38010917e-03, 2.59901290e-02,
  1.11821694e+00,-1.23670955e-03, 8.73010786e-01, 6.43061292e-02,
  9.51121440e-02,-7.01773094e-02, 1.21824292e-01, 9.99977626e-01,
  7.17905625e-04, 1.14960393e-03, 6.55064103e-03]

qacc:
[ 5.31465522e+00, 1.43220516e+00,-5.91712439e+00, 1.00448304e+01,
  9.39824482e+00, 2.44176245e-02,-1.67596473e+00, 6.20998041e+00,
  2.54720849e+00, 1.75140874e+00,-8.46320225e+00, 1.93733880e+01,
 -1.22682511e-01,-6.79406531e-01,-1.55928290e+01, 5.26879885e+01,
  6.24972993e-02, 1.10109290e+00,-2.57719016e-01,-1.82163722e+01,
  1.60612510e+00,-2.29637981e-02]

qfrc_actuator:
[ 5.80570532e-05, 4.13917271e-05, 1.69935017e-04, 4.30033674e-05,
  3.65373944e-06,-3.27099550e-04,-2.15473577e-04, 6.80125993e-05,
  2.26608121e-05, 4.86381897e-04, 7.06446578e-05, 1.63600210e-05,
  2.14739920e-02,-1.43239404e-03, 5.99623310e-03,-2.71659410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021101613230614658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13741053e-13, -2.63065912e-13,  1.00000000e+00, -5.62279850e-26,
        1.00000000e+00,  2.63065912e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13741053e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949673 , -0.09315473,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12277588e-05,-3.47773130e-06,-1.99629408e-05, 9.73127419e-06,
  5.51036023e-05,-2.90646620e-05,-3.40726207e-06, 1.15635768e-05,
  1.50749177e-05, 3.50062262e-05, 7.22318413e-06, 3.42463654e-05,
 -1.87868547e-04,-8.20750578e-05,-2.63424665e-05, 2.47920919e-04,
  9.96225212e-07, 1.20264170e-06,-1.21643440e+00, 1.35427474e-04,
  1.54255666e-03,-2.03258099e-06]


--- Step 828 ---
qpos:
[ 3.00391248e-03,-3.32058182e-03, 1.18683624e-02, 4.17456146e-02,
 -2.17107918e-03,-1.93746389e-03,-1.73731649e-02, 2.86701651e-02,
  5.85853365e-03, 1.64695960e-02,-9.38083185e-03, 2.59901153e-02,
  1.11872639e+00,-1.23780745e-03, 8.73409460e-01, 6.43096927e-02,
  9.51073929e-02,-7.01662428e-02, 1.21823334e-01, 9.99977645e-01,
  6.23594207e-04, 1.11367474e-03, 6.56351377e-03]

qacc:
[-2.93376953e+00, 1.93272573e+00,-7.14096114e+00, 1.03263707e+01,
  5.85214333e+00,-1.15584689e-01, 2.95510546e+00,-1.20931567e+01,
  1.47567740e+00, 3.40613618e+00,-1.29475089e+01, 2.06133118e+01,
 -1.27518134e+00, 1.93450581e+00, 5.69492600e+00,-2.04288492e+01,
  6.36630513e-02, 1.09575180e+00,-2.97233899e-01,-1.81627323e+01,
  1.57358127e+00, 1.56525449e-02]

qfrc_actuator:
[ 4.00810086e-05, 5.72055392e-05, 1.47431475e-04, 5.07179835e-05,
  3.65093015e-05,-3.08749563e-04,-2.28043962e-04, 4.03741043e-05,
  3.11173530e-05, 5.03388256e-04, 3.08789393e-05, 3.48053056e-05,
  2.14171912e-02,-1.41134338e-03, 5.93461490e-03,-2.83937209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020813962295015975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16694975e-13,  8.00104523e-13,  1.00000000e+00,  1.73378630e-25,
        1.00000000e+00, -8.00104523e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16694975e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496753, -0.09315575,  0.06199494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70882364e-05, 1.01602580e-05,-2.53563745e-05, 7.06198597e-06,
  3.44158157e-05, 1.91781702e-06,-1.85993039e-05,-2.87830480e-05,
  8.89975563e-06, 3.95439240e-05,-3.04609385e-05, 2.08619300e-05,
 -1.89093025e-04,-3.54623751e-05,-5.16945500e-05,-1.13638698e-04,
  2.15661310e-06, 8.70632778e-07,-1.21642765e+00, 1.32578779e-04,
  1.54093922e-03,-1.78826047e-06]


--- Step 829 ---
qpos:
[ 3.00418571e-03,-3.32051229e-03, 1.18684055e-02, 4.17452741e-02,
 -2.17066979e-03,-1.93775423e-03,-1.73731386e-02, 2.86706462e-02,
  5.85962618e-03, 1.64706630e-02,-9.38173715e-03, 2.59899488e-02,
  1.11923466e+00,-1.23846604e-03, 8.73807012e-01, 6.43082676e-02,
  9.51028999e-02,-7.01508095e-02, 1.21821055e-01, 9.99977669e-01,
  4.93016062e-04, 1.08060204e-03, 6.57652362e-03]

qacc:
[-4.98427527e+00, 1.43283377e+00,-5.82702426e+00, 8.87249928e+00,
 -2.64967815e+00,-7.29116390e-01, 5.81375320e+00,-1.76915114e+01,
 -2.22638232e+00, 7.22404532e-01,-1.16537747e+00,-1.48624264e+00,
 -1.44479813e+00, 2.44527122e+00, 1.34892766e+01,-4.93940772e+01,
  6.45116032e-02, 1.09169399e+00,-3.30140692e-01,-1.81236615e+01,
  1.54726479e+00, 4.74554484e-02]

qfrc_actuator:
[ 1.14061665e-05, 3.10092593e-05, 1.16271138e-04, 5.54468463e-05,
  2.00319838e-05,-2.97639881e-04,-2.35482650e-04, 5.89899067e-06,
  1.77965325e-05, 5.30802039e-04, 2.54883992e-05, 2.78875474e-05,
  2.13754927e-02,-1.38067695e-03, 5.82472522e-03,-3.10853282e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020477403707155895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20256489e-13,  2.71084909e-13,  1.00000000e+00,  5.97082102e-26,
        1.00000000e+00, -2.71084909e-13, -1.00000000e+00,  0.00000000e+00,
       -2.20256489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496769, -0.09315688,  0.06199502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91582339e-05,-2.54690467e-05,-3.19473487e-05, 4.42425403e-06,
 -1.54936679e-05, 7.12923267e-06,-1.03310615e-05,-3.56002392e-05,
 -1.30501618e-05, 4.41204072e-05,-2.50621100e-07,-5.87106818e-06,
 -1.65229263e-04,-1.70595112e-05,-1.52613456e-04,-2.83597059e-04,
  3.33911859e-06, 5.52145661e-07,-1.21641420e+00, 1.27934641e-04,
  1.53947518e-03,-1.45737822e-06]


--- Step 830 ---
qpos:
[ 3.00445816e-03,-3.32089545e-03, 1.18684887e-02, 4.17453502e-02,
 -2.17011588e-03,-1.93788944e-03,-1.73730077e-02, 2.86713781e-02,
  5.86055114e-03, 1.64714290e-02,-9.38186903e-03, 2.59900693e-02,
  1.11974204e+00,-1.23912977e-03, 8.74203288e-01, 6.43071293e-02,
  9.50956353e-02,-7.01335281e-02, 1.21818502e-01, 9.99977705e-01,
  3.46384801e-04, 1.02407231e-03, 6.58949737e-03]

qacc:
[ 2.37348216e-03, 1.48268246e-01,-3.15398576e+00, 1.06310265e+01,
  1.26832373e+00, 4.26105243e-01,-2.28473292e+00, 6.34651939e+00,
 -1.43208175e+00,-1.96576990e+00, 5.22483177e+00,-1.27727907e+00,
 -5.93048166e-01, 6.65689370e-01,-2.71661585e+00, 6.84065500e+00,
 -6.92915444e-01, 4.62004398e-01,-6.83872254e-02,-8.10349515e+00,
 -1.16754757e+01,-2.09808828e-02]

qfrc_actuator:
[ 1.21844389e-05,-2.43126505e-06, 1.15585184e-04, 7.60946133e-05,
  2.79151480e-05,-2.73186996e-04,-2.22092177e-04, 2.09450025e-05,
  9.51932725e-06, 4.93328541e-04, 5.82310280e-05, 4.16478034e-05,
  2.13428910e-02,-1.38002988e-03, 5.81910116e-03,-3.07118714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020329806132668438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36526514e-13, -2.73053028e-13,  1.00000000e+00, -3.72789780e-26,
        1.00000000e+00,  2.73053028e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36526514e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008344, -0.07988478,  0.06199506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.02142742e-08,-5.41054829e-05,-9.72816002e-06, 1.85391054e-05,
  7.44590109e-06, 2.47837183e-05, 1.23613061e-05, 1.43013902e-05,
 -8.63321748e-06,-1.31332363e-05, 4.16224171e-05, 1.55288380e-05,
 -1.38743669e-04,-3.77099945e-05,-1.09077557e-04, 1.53261272e-06,
  4.55976904e-06, 2.49867331e-07,-1.21639410e+00, 1.21499629e-04,
  1.53816621e-03,-1.03963765e-06]


--- Step 831 ---
qpos:
[ 3.00508251e-03,-3.32177578e-03, 1.18688614e-02, 4.17460069e-02,
 -2.16947175e-03,-1.93807151e-03,-1.73729278e-02, 2.86726662e-02,
  5.86136953e-03, 1.64721276e-02,-9.38192971e-03, 2.59907180e-02,
  1.12024851e+00,-1.23977460e-03, 8.74598887e-01, 6.43066104e-02,
  9.50858099e-02,-7.01166561e-02, 1.21816635e-01, 9.99977732e-01,
  2.02656510e-04, 9.45267919e-04, 6.60304021e-03]

qacc:
[  3.10680206, -0.27589979, -2.42899445, 12.38751726,  0.79092618,
   1.22273681, -6.80160297, 16.54781137, -0.92570414,  0.80116518,
  -5.21363437, 14.28982589, -0.62547755,  0.74212549, -2.83449386,
   8.54481439, -0.6401649 , -0.10235271,  0.17123367,  1.37777313,
 -11.14654854,  0.28990485]

qfrc_actuator:
[ 3.02955254e-05,-2.20707035e-05, 1.32868903e-04, 1.05955474e-04,
  3.23367705e-05,-2.94059514e-04,-2.31925566e-04, 4.72821136e-05,
  4.28356728e-06, 4.88471256e-04, 5.97126745e-05, 6.74362168e-05,
  2.12997873e-02,-1.37937306e-03, 5.81750702e-03,-3.03074380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020409680722628665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35992209e-13,  4.75972731e-13,  1.00000000e+00,  6.47285830e-26,
        1.00000000e+00, -4.75972731e-13, -1.00000000e+00,  0.00000000e+00,
       -1.35992209e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886347, -0.06833373,  0.06199504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80912215e-05,-5.10986881e-05, 5.55438413e-06, 2.75679470e-05,
  4.64142488e-06,-3.84299203e-06,-2.69857983e-06, 2.81033245e-05,
 -5.48782142e-06,-2.96485609e-06, 4.42640177e-06, 2.69668486e-05,
 -1.36790112e-04,-3.60853821e-05,-5.37791692e-05, 2.59972008e-05,
  5.44567162e-06, 3.71758609e-07,-1.21637759e+00, 1.14080264e-04,
  1.53555661e-03,-3.64607439e-07]


--- Step 832 ---
qpos:
[ 3.00660866e-03,-3.32276429e-03, 1.18695620e-02, 4.17469628e-02,
 -2.16877926e-03,-1.93860403e-03,-1.73730717e-02, 2.86743120e-02,
  5.86177359e-03, 1.64731982e-02,-9.38239278e-03, 2.59909564e-02,
  1.12075381e+00,-1.23950591e-03, 8.74993956e-01, 6.43071813e-02,
  9.50734264e-02,-7.01001829e-02, 1.21815189e-01, 9.99977748e-01,
  6.17934279e-05, 8.44385299e-04, 6.61714416e-03]

qacc:
[  7.9278505 , -0.45844284,  0.13788789,  4.62397158,  0.42326203,
   0.89714721, -5.38297864, 12.19066387, -3.63284077,  0.77875852,
  -0.31787591, -6.42916137, -1.60587087,  3.11111509, -3.96097867,
  12.98184329, -0.63956472, -0.09968059,  0.10553784,  1.35941709,
 -11.04826414,  0.2841887 ]

qfrc_actuator:
[ 7.62065586e-05, 2.30133558e-06, 1.60669043e-04, 1.23260975e-04,
  3.46779508e-05,-3.41987350e-04,-2.55579682e-04, 6.22353620e-05,
 -1.68739399e-05, 5.20823240e-04, 4.28305761e-05, 4.68275020e-05,
  2.12504150e-02,-1.32547448e-03, 5.80767134e-03,-2.97113664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020427693927647927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.75553016e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.75553016e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886311, -0.06833362,  0.06199504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64093903e-05,-1.84383931e-06, 1.88866654e-05, 1.58443130e-05,
  2.47108255e-06,-4.94254482e-05,-2.38097862e-05, 1.52392697e-05,
 -2.13148725e-05, 3.27386429e-05,-1.60240938e-05,-2.00602771e-05,
 -1.40932609e-04, 1.75919452e-05,-3.66403803e-05, 5.29900787e-05,
  6.04490227e-06, 7.73863968e-07,-1.21637213e+00, 1.06775299e-04,
  1.53175637e-03, 2.56432935e-07]


--- Step 833 ---
qpos:
[ 3.00832814e-03,-3.32335629e-03, 1.18698221e-02, 4.17477609e-02,
 -2.16806410e-03,-1.93946381e-03,-1.73731870e-02, 2.86757591e-02,
  5.86157580e-03, 1.64747888e-02,-9.38258140e-03, 2.59901887e-02,
  1.12125803e+00,-1.23857015e-03, 8.75388907e-01, 6.43054282e-02,
  9.50585506e-02,-7.00873958e-02, 1.21813804e-01, 9.99977746e-01,
 -4.86824260e-05, 7.20830578e-04, 6.63219274e-03]

qacc:
[ 1.67629847e+00, 1.42678698e+00,-3.66646337e+00, 1.35413956e+00,
  2.05175345e-01,-9.21277373e-01, 3.49584166e+00,-6.73872485e+00,
 -5.25002052e+00,-2.14085892e+00, 1.28963677e+01,-3.11504905e+01,
 -1.47981240e+00, 2.73668795e+00, 6.93899687e+00,-2.42987042e+01,
 -6.23031995e-01,-9.21542783e-01, 1.50381353e-02, 1.51178653e+01,
 -1.14363001e+01, 4.85884929e-01]

qfrc_actuator:
[ 8.48490140e-05, 3.51375000e-05, 1.41366903e-04, 1.15329708e-04,
  3.57766527e-05,-3.52568137e-04,-2.51827605e-04, 5.25817413e-05,
 -4.72340979e-05, 5.75088123e-04, 6.86332454e-05,-8.92115328e-07,
  2.11973390e-02,-1.29379092e-03, 5.78757612e-03,-3.09602833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020408384678417824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72001690e-13, -5.44003380e-13,  1.00000000e+00, -1.47969839e-25,
        1.00000000e+00,  5.44003380e-13, -1.00000000e+00,  0.00000000e+00,
       -2.72001690e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892659, -0.05160455,  0.06199504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.96447517e-06, 3.64217353e-05,-1.68106877e-05,-7.05199734e-06,
  1.15221729e-06,-4.24661350e-05,-8.85841663e-06,-1.23012929e-05,
 -3.09552833e-05, 6.83628242e-05, 2.98911092e-05,-4.72624045e-05,
 -1.34972770e-04, 4.29595780e-06,-3.70968321e-05,-1.28041152e-04,
  6.77445405e-06, 1.25738315e-06,-1.21636419e+00, 9.95889929e-05,
  1.52686251e-03, 8.58119395e-07]


--- Step 834 ---
qpos:
[ 3.00979345e-03,-3.32353538e-03, 1.18689656e-02, 4.17485030e-02,
 -2.16768643e-03,-1.94048093e-03,-1.73730670e-02, 2.86770425e-02,
  5.86136025e-03, 1.64770785e-02,-9.38257847e-03, 2.59888366e-02,
  1.12176145e+00,-1.23780143e-03, 8.75783019e-01, 6.43016052e-02,
  9.50411824e-02,-7.00782604e-02, 1.21812144e-01, 9.99977727e-01,
 -1.29060353e-04, 5.74870122e-04, 6.64823689e-03]

qacc:
[ -2.27327612,  3.55706002,-11.64616897, 12.15049185, -2.94989543,
  -1.19604374,  4.66411328, -7.76743736, -0.16113546, -0.81405714,
   6.71086775,-17.64542208, -0.50809417,  0.42459363,  5.03036261,
 -19.34916305, -0.62312141, -0.9129191 , -0.06862331, 14.97396994,
 -11.30244389,  0.50813999]

qfrc_actuator:
[ 7.14780584e-05, 3.70854590e-05, 7.66878764e-05, 1.10346425e-04,
  1.83835800e-05,-3.40623717e-04,-2.31794753e-04, 4.63299571e-05,
 -4.72573330e-05, 6.24451497e-04, 8.40256309e-05,-2.86130864e-05,
  2.11473987e-02,-1.31106060e-03, 5.72935232e-03,-3.20437294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002060806617715516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.69366134e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.69366134e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892572, -0.05160491,  0.06199499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30720100e-05, 1.85552811e-05,-5.94705973e-05,-4.14391535e-06,
 -1.73741794e-05,-1.41297300e-05, 9.75262232e-06,-8.61869736e-06,
 -8.81265019e-07, 9.16762060e-05, 3.15464300e-05,-2.46770403e-05,
 -1.31491610e-04,-4.56520543e-05,-9.63471206e-05,-1.21821597e-04,
  6.70784179e-06, 2.52582432e-06,-1.21637066e+00, 9.38418857e-05,
  1.52061894e-03, 1.16703956e-06]


--- Step 835 ---
qpos:
[ 3.01108729e-03,-3.32348099e-03, 1.18676161e-02, 4.17495051e-02,
 -2.16752063e-03,-1.94097908e-03,-1.73733088e-02, 2.86781942e-02,
  5.86149163e-03, 1.64791018e-02,-9.38226972e-03, 2.59879703e-02,
  1.12226389e+00,-1.23663313e-03, 8.76175541e-01, 6.43005112e-02,
  9.50213209e-02,-7.00727480e-02, 1.21809929e-01, 9.99977688e-01,
 -1.79578667e-04, 4.06711765e-04, 6.66530627e-03]

qacc:
[ -1.52440462,  2.22619972, -8.58133121, 13.69242471, -1.87863721,
   1.42914897, -3.53831441,  1.44853399,  3.04015791, -0.21233634,
  -1.81544591,  9.94337189, -0.88665945,  1.48037924,-10.52313663,
  33.54374198, -0.62332739, -0.90574234, -0.13892677, 14.85538957,
 -11.19802083,  0.5198133 ]

qfrc_actuator:
[ 6.30218664e-05, 5.58307632e-05, 5.66457308e-05, 1.24845867e-04,
  7.99915354e-06,-2.79697910e-04,-2.37716886e-04, 4.21637215e-05,
 -2.94217701e-05, 5.46218456e-04, 7.53923274e-05,-8.84895795e-06,
  2.11046807e-02,-1.28612440e-03, 5.68027538e-03,-3.05357698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002066074363229614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.68679348e-13, -5.37358695e-13,  1.00000000e+00, -1.44377184e-25,
        1.00000000e+00,  5.37358695e-13, -1.00000000e+00,  0.00000000e+00,
       -2.68679348e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089252 , -0.05160494,  0.06199498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.81817542e-06, 1.66656777e-05,-2.36682845e-05, 1.31566387e-05,
 -1.08846481e-05, 5.46961983e-05,-7.92922002e-06,-4.60219317e-06,
  1.78490343e-05,-2.15892271e-05, 1.33114636e-05, 2.43020215e-05,
 -1.33823374e-04,-1.16848918e-05,-1.10290282e-04, 1.30845306e-04,
  6.65203077e-06, 4.09458071e-06,-1.21636998e+00, 8.95428889e-05,
  1.51322237e-03, 1.29226039e-06]


--- Step 836 ---
qpos:
[ 3.01226967e-03,-3.32339642e-03, 1.18666382e-02, 4.17506387e-02,
 -2.16713589e-03,-1.94091505e-03,-1.73736856e-02, 2.86789195e-02,
  5.86149128e-03, 1.64805643e-02,-9.38157047e-03, 2.59877268e-02,
  1.12276549e+00,-1.23546007e-03, 8.76566699e-01, 6.43015292e-02,
  9.49989646e-02,-7.00708349e-02, 1.21806922e-01, 9.99977622e-01,
 -2.00431660e-04, 2.16514217e-04, 6.68341345e-03]

qacc:
[ -0.96714097, -0.72661945,  2.09754207, -0.44469899,  1.90608372,
   0.2387967 ,  2.02127111, -9.59416955, -1.12678787, -0.54864266,
  -1.74496747, 12.30712743, -0.4689382 ,  0.47321929, -8.36281904,
  26.39028321, -0.62370274, -0.89981638, -0.19795374, 14.75866667,
 -11.11830157,  0.52303492]

qfrc_actuator:
[ 5.75334924e-05, 6.69160940e-05, 8.09613408e-05, 1.32988597e-04,
  1.95819386e-05,-2.43254556e-04,-2.40956342e-04, 2.15296347e-05,
 -3.67337743e-05, 4.98629053e-04, 8.76579807e-05, 2.08171053e-05,
  2.10610152e-02,-1.28962238e-03, 5.62080686e-03,-2.94654650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020595941619033775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69524707e-13, -8.08574120e-13,  1.00000000e+00, -2.17930702e-25,
        1.00000000e+00,  8.08574120e-13, -1.00000000e+00,  0.00000000e+00,
       -2.69524707e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892496, -0.05160472,  0.061995  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.73230713e-06, 1.60839824e-05, 2.53099917e-05, 8.29449563e-06,
  1.12921157e-05, 6.52089053e-05, 6.92886328e-06,-1.86544657e-05,
 -6.80288060e-06,-5.59394171e-05, 1.02606385e-05, 2.96704315e-05,
 -1.28280737e-04,-3.44877012e-05,-9.71429765e-05, 9.97994293e-05,
  6.58560644e-06, 5.96063511e-06,-1.21636234e+00, 8.66805329e-05,
  1.50468018e-03, 1.23707595e-06]


--- Step 837 ---
qpos:
[ 3.01372205e-03,-3.32339096e-03, 1.18660065e-02, 4.17522218e-02,
 -2.16661511e-03,-1.94070373e-03,-1.73739535e-02, 2.86797737e-02,
  5.86105878e-03, 1.64813815e-02,-9.38060510e-03, 2.59875155e-02,
  1.12326633e+00,-1.23459562e-03, 8.76956775e-01, 6.43034540e-02,
  9.49741112e-02,-7.00725016e-02, 1.21802924e-01, 9.99977519e-01,
 -1.91775450e-04, 4.39476015e-06, 6.70255737e-03]

qacc:
[  2.38242946, -0.15073063, -1.51870998,  8.8099082 ,  1.19421224,
   0.15333361, -0.81292598,  2.76688498, -3.74965013, -1.5227337 ,
   4.06871415, -3.47471498, -0.20650234, -0.21916773, -4.33048453,
  12.83563871, -0.62428036, -0.89497291, -0.24747753, 14.68089958,
 -11.05942039,  0.5194797 ]

qfrc_actuator:
[ 7.15870280e-05, 5.57627304e-05, 9.57188648e-05, 1.55094635e-04,
  2.62463516e-05,-2.57256720e-04,-2.42668331e-04, 2.68676128e-05,
 -5.87944271e-05, 4.52074364e-04, 9.45033717e-05, 2.05879001e-05,
  2.10168035e-02,-1.30994588e-03, 5.57111774e-03,-2.90175535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020438275664835803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892495, -0.05160429,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38950183e-05, 3.42409099e-06, 2.14910815e-05, 2.38317447e-05,
  7.00955351e-06, 2.30987123e-05, 1.19668235e-05, 8.00782192e-06,
 -2.22715260e-05,-7.45083340e-05,-2.44368757e-06,-1.69798036e-06,
 -1.30463475e-04,-5.43679047e-05,-8.54416961e-05, 3.73514513e-05,
  6.49304190e-06, 8.11733480e-06,-1.21634787e+00, 8.52460179e-05,
  1.49499882e-03, 1.00394026e-06]


--- Step 838 ---
qpos:
[ 3.01498668e-03,-3.32357086e-03, 1.18656897e-02, 4.17533830e-02,
 -2.16670813e-03,-1.94041281e-03,-1.73744928e-02, 2.86814117e-02,
  5.86036529e-03, 1.64815505e-02,-9.37979960e-03, 2.59873339e-02,
  1.12376620e+00,-1.23363593e-03, 8.77346430e-01, 6.43047832e-02,
  9.49467574e-02,-7.00777326e-02, 1.21797771e-01, 9.99977364e-01,
 -1.53732884e-04,-2.29564450e-04, 6.72272595e-03]

qacc:
[ -1.63507366, -1.99141094,  8.52955199,-16.20113835, -5.39282151,
   2.48546772,-12.00110677, 25.91972845, -2.27016712, -0.34447065,
  -0.13261543,  1.37072051, -0.80101872,  1.09391253,  1.22305364,
  -5.07315951, -0.62507868, -0.89106755, -0.28900963, 14.61964916,
 -11.01821127,  0.51046397]

qfrc_actuator:
[ 6.15235678e-05, 3.13633622e-05, 1.04618281e-04, 1.31950017e-04,
 -5.55020865e-06,-2.65830920e-04,-2.61406342e-04, 6.51565927e-05,
 -7.15985322e-05, 4.06449096e-04, 8.03121558e-05, 2.05155510e-05,
  2.09669621e-02,-1.30454797e-03, 5.56460049e-03,-2.92945251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002020820626936204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74696084e-13, -2.74696084e-13,  1.00000000e+00, -7.54579385e-26,
        1.00000000e+00,  2.74696084e-13, -1.00000000e+00,  0.00000000e+00,
       -2.74696084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089251 , -0.0516037 ,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.66804333e-06,-1.70207960e-05, 1.30800962e-05,-2.17933614e-05,
 -3.15895056e-05, 7.15353697e-06,-1.22172476e-05, 3.98467101e-05,
 -1.34648219e-05,-8.79178764e-05,-2.99616035e-05,-3.38561087e-06,
 -1.41847282e-04,-3.28507542e-05,-4.46747042e-05,-3.73138117e-05,
  6.36281921e-06, 1.05549704e-05,-1.21632668e+00, 8.52327724e-05,
  1.48418373e-03, 5.94622420e-07]


--- Step 839 ---
qpos:
[ 3.01577608e-03,-3.32391408e-03, 1.18655453e-02, 4.17535749e-02,
 -2.16752645e-03,-1.93996401e-03,-1.73752789e-02, 2.86834842e-02,
  5.85952348e-03, 1.64811379e-02,-9.37917606e-03, 2.59868009e-02,
  1.12426524e+00,-1.23291071e-03, 8.77735596e-01, 6.43076985e-02,
  9.49224673e-02,-7.00845543e-02, 1.21794933e-01, 9.99977179e-01,
 -1.00798295e-04,-4.37174010e-04, 6.74090359e-03]

qacc:
[-4.16369743e+00,-2.68797604e+00, 1.33731368e+01,-3.03145577e+01,
 -6.37149476e+00, 1.80422790e+00,-7.94395790e+00, 1.57187901e+01,
 -1.28960386e+00,-9.81109275e-01, 3.87108957e+00,-9.23918253e+00,
 -3.16500023e-01, 7.29142323e-03,-5.49739513e+00, 1.82112969e+01,
  7.65903443e-01,-3.97680894e-01, 5.78845701e-01, 7.53418284e+00,
  1.31246187e+01,-9.95034037e-01]

qfrc_actuator:
[ 3.73396515e-05, 1.69069099e-05, 1.09895815e-04, 8.23466033e-05,
 -4.19752837e-05,-2.53386938e-04,-2.72270599e-04, 8.70045682e-05,
 -7.88470056e-05, 3.79395320e-04, 7.15711570e-05, 2.77434255e-06,
  2.09244392e-02,-1.31950286e-03, 5.56798842e-03,-2.83972931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020897440640076093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177636, -0.06194702,  0.06199492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44641848e-05,-2.22060290e-05, 2.62106950e-06,-5.03054608e-05,
 -3.73242140e-05, 1.56094013e-05,-9.51232981e-06, 2.25054983e-05,
 -7.66245423e-06,-8.25740845e-05,-3.07203577e-05,-2.26127980e-05,
 -1.36386515e-04,-5.18862417e-05,-2.70650359e-05, 8.05624344e-05,
  6.18603212e-06, 1.32611393e-05,-1.21629881e+00, 8.66361070e-05,
  1.47223940e-03, 1.03284806e-08]


--- Step 840 ---
qpos:
[ 3.01626933e-03,-3.32426023e-03, 1.18653914e-02, 4.17531631e-02,
 -2.16877503e-03,-1.93969440e-03,-1.73760454e-02, 2.86858274e-02,
  5.85860099e-03, 1.64803230e-02,-9.37849174e-03, 2.59860191e-02,
  1.12476354e+00,-1.23267279e-03, 8.78125031e-01, 6.43085720e-02,
  9.49011998e-02,-7.00929716e-02, 1.21793837e-01, 9.99976978e-01,
 -3.33024393e-05,-6.18909354e-04, 6.75718678e-03]

qacc:
[ -2.60014411, -1.21671753,  6.88799363,-17.32626471, -3.76967825,
   0.27240675, -2.44572325,  7.21883102, -0.69504667, -1.21230757,
   4.60395895, -8.71327812, -0.22179068, -0.31979552,  6.55869693,
 -22.3708458 ,  0.75566937, -0.39889148,  0.43540561,  7.36726019,
  12.88782739, -0.94902424]

qfrc_actuator:
[ 2.27986804e-05, 2.62209557e-05, 1.13016587e-04, 5.30893932e-05,
 -6.30678167e-05,-2.81700061e-04,-2.78326541e-04, 9.90236511e-05,
 -8.27703707e-05, 3.81429708e-04, 8.39389442e-05,-7.44631223e-06,
  2.08863310e-02,-1.34637785e-03, 5.57734077e-03,-2.94778689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.31421569,  -3.87863163,  -1.88909336,  -3.87863163,
        11.12395827, -13.98156575,  -1.88909336, -13.98156575,
        33.02076051,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00021639538386286628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56526504e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.56526504e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177786, -0.06194856,  0.06199474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52423410e-05,-4.71439789e-06,-2.87841544e-06,-3.10954651e-05,
 -2.21515776e-05,-2.06094615e-05,-3.22394825e-06, 1.27945522e-05,
 -4.17042034e-06,-5.14528123e-05,-9.25714616e-06,-1.52614690e-05,
 -1.32512283e-04,-6.63347324e-05,-6.32567112e-08,-1.08434446e-04,
  3.88390959e-06, 1.11569267e-05,-1.21632469e+00, 8.97264869e-05,
  1.46184152e-03,-3.59445064e-07]


--- Step 841 ---
qpos:
[ 3.01658446e-03,-3.32481838e-03, 1.18650724e-02, 4.17524415e-02,
 -2.17026701e-03,-1.93969354e-03,-1.73764937e-02, 2.86875970e-02,
  5.85798290e-03, 1.64796725e-02,-9.37767913e-03, 2.59850417e-02,
  1.12526109e+00,-1.23279313e-03, 8.78514216e-01, 6.43039301e-02,
  9.48829200e-02,-7.01029880e-02, 1.21794000e-01, 9.99976771e-01,
  4.84896955e-05,-7.75167284e-04, 6.77164673e-03]

qacc:
[ -1.56507704, -0.45374709,  2.52274898, -7.46588132, -2.1205963 ,
  -2.41915141, 10.54013284,-20.78569807,  2.65590765, -0.54894548,
   3.08914894, -6.78947815, -0.48114799,  0.25079358, 16.29332419,
 -57.50400307,  0.74689851, -0.39976539,  0.31473224,  7.23348849,
  12.69014078, -0.91557639]

qfrc_actuator:
[ 1.40544962e-05,-3.55566680e-06, 9.72036608e-05, 3.60620894e-05,
 -7.49657558e-05,-2.98688269e-04,-2.63912735e-04, 6.96300605e-05,
 -6.69543544e-05, 4.36475537e-04, 1.08802047e-04,-1.31167049e-05,
  2.08508931e-02,-1.36230562e-03, 5.51566012e-03,-3.24252994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022114541478182592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51016515e-13, -5.02033029e-13,  1.00000000e+00, -1.26018581e-25,
        1.00000000e+00,  5.02033029e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51016515e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177883, -0.06194966,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.17722742e-06,-3.43310826e-05,-1.82103591e-05,-1.79315973e-05,
 -1.25369719e-05,-2.86443793e-05, 1.02038844e-05,-3.01425755e-05,
  1.56774882e-05, 2.37257637e-05, 1.25690356e-05,-8.49065459e-06,
 -1.30789449e-04,-5.71890468e-05,-8.19837226e-05,-3.02710732e-04,
  1.99266764e-06, 9.25717154e-06,-1.21634563e+00, 9.34696839e-05,
  1.45275423e-03,-7.11644985e-07]


--- Step 842 ---
qpos:
[ 3.01644749e-03,-3.32574839e-03, 1.18643451e-02, 4.17519052e-02,
 -2.17120038e-03,-1.93995373e-03,-1.73764369e-02, 2.86882960e-02,
  5.85790431e-03, 1.64788727e-02,-9.37704569e-03, 2.59844104e-02,
  1.12575781e+00,-1.23285071e-03, 8.78901336e-01, 6.43002637e-02,
  9.48675978e-02,-7.01146061e-02, 1.21795016e-01, 9.99976565e-01,
  1.44367486e-04,-9.06278212e-04, 6.78433448e-03]

qacc:
[ -3.9747578 ,  1.03961836, -5.18714528,  9.30293491,  4.91904201,
  -3.96709284, 18.14939914,-37.27492156,  4.70241594,  1.00653127,
  -5.35220343, 11.75458655, -0.54190178,  0.6517466 , -5.96238242,
  16.49797422,  0.73942649, -0.40044863,  0.21336404,  7.12712082,
  12.52547554, -0.89215745]

qfrc_actuator:
[-8.96383645e-06,-3.88238060e-05, 7.01899411e-05, 4.40727345e-05,
 -4.58564163e-05,-3.08720279e-04,-2.37523362e-04, 1.61249781e-05,
 -3.96475158e-05, 3.98654054e-04, 8.78126268e-05, 1.74194745e-06,
  2.08170845e-02,-1.35384656e-03, 5.42204824e-03,-3.18342556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022372460783429138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48122689e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.48122689e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177939, -0.06195041,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32879901e-05,-5.89742925e-05,-3.69564597e-05, 5.56474463e-06,
  2.87428163e-05,-2.52371202e-05, 2.06884988e-05,-5.49686423e-05,
  2.77629462e-05,-2.23017027e-05,-1.48351587e-05, 1.61461068e-05,
 -1.27187651e-04,-3.01415669e-05,-1.69894786e-04, 3.05580783e-05,
  4.76543484e-07, 7.53186177e-06,-1.21636194e+00, 9.78609076e-05,
  1.44495492e-03,-1.04908226e-06]


--- Step 843 ---
qpos:
[ 3.01603549e-03,-3.32691694e-03, 1.18637800e-02, 4.17514123e-02,
 -2.17143285e-03,-1.94031573e-03,-1.73764025e-02, 2.86883645e-02,
  5.85849872e-03, 1.64778739e-02,-9.37691438e-03, 2.59843373e-02,
  1.12625353e+00,-1.23247089e-03, 8.79286793e-01, 6.43018108e-02,
  9.48552080e-02,-7.01278285e-02, 1.21796546e-01, 9.99976367e-01,
  2.54165423e-04,-1.01251624e-03, 6.79528495e-03]

qacc:
[ -2.40483671, -0.6747295 ,  1.77347731, -1.11606749,  6.14789464,
  -1.38073949,  7.36995173,-18.14913532,  5.85768997,  2.27811261,
 -10.88085442, 21.51195417, -0.8158051 ,  1.36609956,-18.13164968,
  60.00202084,  0.73310572, -0.40104745,  0.12835995,  7.04349497,
  12.38881486, -0.8767497 ]

qfrc_actuator:
[-2.24487832e-05,-2.38843133e-05, 9.00229019e-05, 4.89825217e-05,
 -1.06000038e-05,-3.14478783e-04,-2.39768161e-04,-1.56152801e-05,
 -5.80304335e-06, 3.76370707e-04, 5.73204717e-05, 2.84546686e-05,
  2.07683111e-02,-1.33103312e-03, 5.40531423e-03,-2.89854485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022455255730820245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.94415667e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.94415667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817796 , -0.06195087,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41637774e-05,-2.53984400e-05, 3.31392890e-06, 1.21900637e-06,
  3.60683821e-05,-1.79361960e-05,-6.81152906e-06,-3.31780452e-05,
  3.46304488e-05,-3.70946731e-05,-3.63653175e-05, 2.55585254e-05,
 -1.34145637e-04,-9.79865571e-06,-9.01168033e-05, 2.65060621e-04,
 -6.90942124e-07, 5.95887488e-06,-1.21637382e+00, 1.02895770e-04,
  1.43842534e-03,-1.37387156e-06]


--- Step 844 ---
qpos:
[ 3.01580975e-03,-3.32816650e-03, 1.18633442e-02, 4.17513083e-02,
 -2.17158586e-03,-1.94041710e-03,-1.73768935e-02, 2.86887307e-02,
  5.85914893e-03, 1.64773416e-02,-9.37719634e-03, 2.59844926e-02,
  1.12674821e+00,-1.23150546e-03, 8.79671557e-01, 6.43056509e-02,
  9.48457295e-02,-7.01426574e-02, 1.21798304e-01, 9.99976179e-01,
  3.77755582e-04,-1.09410753e-03, 6.80452019e-03]

qacc:
[ 1.64056912, 0.32995485,-2.97829237, 9.56783984, 0.67617253, 2.42305206,
 -9.40006522,15.20411765, 0.46592573, 2.24069911,-8.0607589 ,12.33229199,
 -1.13948408, 2.05879075,-7.86608816,26.21576388, 0.72780442,-0.40163797,
  0.05721665, 6.9788197 ,12.27600943,-0.86774402]

qfrc_actuator:
[-1.24573047e-05,-1.43100679e-05, 1.02051424e-04, 6.98521921e-05,
 -7.52633800e-06,-2.82222743e-04,-2.58868025e-04, 1.19676628e-06,
 -3.89056057e-06, 4.52282724e-04, 5.70265686e-05, 4.41766140e-05,
  2.07212556e-02,-1.30000679e-03, 5.38148711e-03,-2.78462128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022398055804248584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.4783915e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.4783915e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177955, -0.06195111,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.58338622e-06,-3.84547941e-06, 7.25508971e-06, 1.99257578e-05,
  4.09720330e-06, 1.94225325e-05,-2.47894687e-05, 1.51610801e-05,
  2.88960206e-06, 4.88007407e-05,-1.15416088e-05, 1.33721884e-05,
 -1.30920547e-04, 4.53937250e-08,-3.75970549e-05, 1.16691884e-04,
 -1.52901839e-06, 4.52190800e-06,-1.21638146e+00, 1.08570375e-04,
  1.43315078e-03,-1.68758955e-06]


--- Step 845 ---
qpos:
[ 3.01536056e-03,-3.32942781e-03, 1.18624533e-02, 4.17518323e-02,
 -2.17204544e-03,-1.94035042e-03,-1.73773642e-02, 2.86896142e-02,
  5.85912740e-03, 1.64773872e-02,-9.37761595e-03, 2.59848000e-02,
  1.12724206e+00,-1.23045068e-03, 8.80056085e-01, 6.43055295e-02,
  9.48391446e-02,-7.01590954e-02, 1.21800054e-01, 9.99976002e-01,
  5.15041497e-04,-1.15123717e-03, 6.81205197e-03]

qacc:
[-1.97510887e+00, 2.55477736e+00,-1.17726455e+01, 2.33639994e+01,
 -2.69076616e+00, 1.23419119e+00,-6.25323282e+00, 1.50373845e+01,
 -5.87264709e+00, 1.47313378e+00,-4.76647758e+00, 7.17160984e+00,
 -8.74477972e-01, 1.27265269e+00, 1.16572416e+01,-4.11754053e+01,
  7.23405427e-01,-4.02273590e-01,-2.19928827e-03, 6.93000521e+00,
  1.21836188e+01,-8.63855648e-01]

qfrc_actuator:
[-2.42365082e-05,-2.57697209e-05, 7.38599947e-05, 9.99347690e-05,
 -2.34212473e-05,-2.62984937e-04,-2.52063642e-04, 2.87114141e-05,
 -3.85418966e-05, 4.97763017e-04, 5.72109657e-05, 5.34106181e-05,
  2.06752690e-02,-1.29988116e-03, 5.32674784e-03,-3.00322104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002223019868552445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49710549e-13,  6.24276373e-14,  1.00000000e+00,  1.55888396e-26,
        1.00000000e+00, -6.24276373e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49710549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177928, -0.06195117,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15042830e-05,-1.12033179e-05,-2.73828524e-05, 3.05604249e-05,
 -1.57709697e-05, 2.56382709e-05, 8.29317338e-06, 2.77846592e-05,
 -3.45535120e-05, 7.09842356e-05, 9.31568493e-06, 1.11876940e-05,
 -1.25453565e-04,-2.84327260e-05,-6.44118226e-05,-2.18178047e-04,
 -2.05116536e-06, 3.20892447e-06,-1.21638500e+00, 1.14881362e-04,
  1.42911948e-03,-1.99139449e-06]


--- Step 846 ---
qpos:
[ 3.01442868e-03,-3.33034934e-03, 1.18608210e-02, 4.17519970e-02,
 -2.17269195e-03,-1.94015210e-03,-1.73774397e-02, 2.86904531e-02,
  5.85869112e-03, 1.64773643e-02,-9.37718144e-03, 2.59848844e-02,
  1.12773515e+00,-1.22965374e-03, 8.80440222e-01, 6.42997823e-02,
  9.48327105e-02,-7.01709941e-02, 1.21802223e-01, 9.99975827e-01,
  6.14208170e-04,-1.20577389e-03, 6.82016174e-03]

qacc:
[-4.26626424e+00, 1.78988965e+00,-4.20008342e+00,-1.09553165e+00,
 -1.62927356e+00,-1.01851166e+00, 4.07744449e+00,-5.58130946e+00,
 -3.58961087e+00,-2.92960240e+00, 1.12676934e+01,-1.64538433e+01,
 -5.79663784e-01, 5.02075018e-01, 1.64265675e+01,-5.82538131e+01,
  3.76927263e-02, 1.13479905e+00, 1.04818930e-01,-1.90499993e+01,
  1.42641216e+00, 3.10254862e-01]

qfrc_actuator:
[-4.87429157e-05, 3.37132479e-06, 3.98219073e-05, 8.18927684e-05,
 -3.25904132e-05,-2.51569766e-04,-2.30052253e-04, 2.68039063e-05,
 -5.89210435e-05, 4.71428279e-04, 9.30773101e-05, 4.09841823e-05,
  2.06299439e-02,-1.31803394e-03, 5.29072561e-03,-3.29172910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022375446523828502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.75279936e-14,  7.44268739e-13,  1.00000000e+00,  5.77016621e-26,
        1.00000000e+00, -7.44268739e-13, -1.00000000e+00,  0.00000000e+00,
       -7.75279936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498215, -0.09315561,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48333507e-05, 1.85814987e-05,-3.86424701e-05,-1.88703282e-05,
 -9.61126686e-06, 2.86513783e-05, 2.92934184e-05, 1.84956585e-08,
 -2.13459407e-05, 1.57542474e-05, 5.20687051e-05,-8.84281312e-06,
 -1.28683575e-04,-5.04018025e-05,-9.53680833e-05,-3.10218194e-04,
 -2.26622724e-06, 2.01098252e-06,-1.21638453e+00, 1.21825910e-04,
  1.42632214e-03,-2.28611713e-06]


--- Step 847 ---
qpos:
[ 3.01321031e-03,-3.33106264e-03, 1.18590747e-02, 4.17515721e-02,
 -2.17344324e-03,-1.94003367e-03,-1.73774040e-02, 2.86913100e-02,
  5.85801380e-03, 1.64772415e-02,-9.37677745e-03, 2.59848857e-02,
  1.12822744e+00,-1.22906136e-03, 8.80822988e-01, 6.42952426e-02,
  9.48264333e-02,-7.01784002e-02, 1.21804409e-01, 9.99975663e-01,
  6.75684004e-04,-1.25781746e-03, 6.82893871e-03]

qacc:
[-2.52205505e+00,-6.16091922e-01, 5.09117947e+00,-1.52712516e+01,
 -9.14199980e-01,-3.76995656e-01, 1.11852700e+00,-9.30392422e-01,
 -2.10145557e+00,-2.13826803e-01, 9.28762490e-01,-2.25256901e+00,
 -2.92399111e-01, 7.28946033e-03,-5.65828551e+00, 1.68769844e+01,
  3.92335964e-02, 1.12319321e+00, 4.48952900e-03,-1.88360639e+01,
  1.37528621e+00, 3.55512486e-01]

qfrc_actuator:
[-6.27843867e-05, 2.10206879e-05, 3.82494216e-05, 5.34646190e-05,
 -3.77211574e-05,-2.80384230e-04,-2.34805077e-04, 2.53505022e-05,
 -7.07251638e-05, 4.37925053e-04, 7.84055756e-05, 3.36283326e-05,
  2.05903645e-02,-1.32908968e-03, 5.26595600e-03,-3.21062276e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022615882806058252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99429802e-13,  7.36356193e-13,  1.00000000e+00,  1.46851370e-25,
        1.00000000e+00, -7.36356193e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99429802e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498257, -0.09315493,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47353983e-05, 1.92964532e-05,-3.11545405e-06,-2.93301500e-05,
 -5.39590053e-06,-6.75273854e-06, 4.77132229e-06, 7.86642987e-07,
 -1.24118590e-05,-1.43300691e-05,-5.31467021e-06,-5.05148285e-06,
 -1.30257403e-04,-4.79208171e-05,-1.07318701e-04, 5.05933586e-05,
 -1.67993797e-06, 1.78080287e-06,-1.21640790e+00, 1.26697985e-04,
  1.42374776e-03,-2.40535152e-06]


--- Step 848 ---
qpos:
[ 3.01252303e-03,-3.33184369e-03, 1.18576736e-02, 4.17511585e-02,
 -2.17390528e-03,-1.94006042e-03,-1.73773375e-02, 2.86918123e-02,
  5.85754499e-03, 1.64770210e-02,-9.37675880e-03, 2.59841338e-02,
  1.12871877e+00,-1.22827619e-03, 8.81204379e-01, 6.42965889e-02,
  9.48203174e-02,-7.01813517e-02, 1.21806278e-01, 9.99975518e-01,
  6.99821014e-04,-1.30744953e-03, 6.83845570e-03]

qacc:
[ 4.67359439e+00,-1.04053702e+00, 3.51621854e+00,-3.80496481e+00,
  2.54021008e+00,-1.01228452e+00, 4.81984973e+00,-1.08895984e+01,
  1.80763674e+00,-6.06249566e-01, 5.14848554e+00,-1.74902267e+01,
 -5.50273327e-01, 7.07900467e-01,-1.97575099e+01, 6.62587848e+01,
  4.03380696e-02, 1.11362239e+00,-7.96340165e-02,-1.86602642e+01,
  1.33347260e+00, 3.92602776e-01]

qfrc_actuator:
[-3.50447751e-05, 1.40180655e-05, 5.58255316e-05, 5.46840617e-05,
 -2.26835799e-05,-2.97672355e-04,-2.37737625e-04, 6.37233576e-06,
 -5.96394603e-05, 4.17932229e-04, 5.17066138e-05,-6.24109590e-06,
  2.05436112e-02,-1.31808470e-03, 5.25336609e-03,-2.89457816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002268054302685535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.21237397e-13,  2.44752302e-13,  1.00000000e+00,  7.86235924e-26,
        1.00000000e+00, -2.44752302e-13, -1.00000000e+00,  0.00000000e+00,
       -3.21237397e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498288, -0.09315476,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73321253e-05, 1.93401001e-06, 2.01947803e-05, 1.37453868e-06,
  1.48811836e-05,-2.00535221e-05,-3.71591383e-06,-1.90891944e-05,
  1.07253588e-05,-2.93273371e-05,-3.04919191e-05,-4.07659815e-05,
 -1.37283307e-04,-2.60182094e-05,-5.80281117e-05, 3.04678088e-04,
 -1.00984750e-06, 1.56488450e-06,-1.21642376e+00, 1.29708889e-04,
  1.42132796e-03,-2.43574486e-06]


--- Step 849 ---
qpos:
[ 3.01251843e-03,-3.33267030e-03, 1.18565081e-02, 4.17507675e-02,
 -2.17383882e-03,-1.94006908e-03,-1.73768026e-02, 2.86916864e-02,
  5.85755756e-03, 1.64764374e-02,-9.37644777e-03, 2.59835883e-02,
  1.12920926e+00,-1.22764621e-03, 8.81585357e-01, 6.42983331e-02,
  9.48143660e-02,-7.01798800e-02, 1.21807546e-01, 9.99975393e-01,
  6.86905651e-04,-1.35473713e-03, 6.84877267e-03]

qacc:
[  6.00053927, -0.68424537,  2.23679044, -2.16807424,  4.64918115,
  -2.5855407 , 11.8911631 ,-23.50804924,  4.21386544, -0.88047222,
   1.55783809,  1.82823731, -0.45267856,  0.31171898, -1.78940412,
   5.4241811 ,  0.04110554,  1.10581177, -0.15006492,-18.51720121,
   1.29919171,  0.42330866]

qfrc_actuator:
[-6.92107694e-07, 1.01695585e-05, 6.67244995e-05, 5.55743394e-05,
  4.10285561e-06,-2.72442156e-04,-2.04037033e-04,-2.27553612e-05,
 -3.51729848e-05, 4.06083381e-04, 7.14162479e-05, 6.09519361e-06,
  2.04979234e-02,-1.32966410e-03, 5.21617895e-03,-2.88654774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022604874078946402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99526926e-13, -2.45571601e-13,  1.00000000e+00, -4.89981467e-26,
        1.00000000e+00,  2.45571601e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99526926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498311, -0.093155  ,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51349494e-05, 1.52049056e-06, 1.38594071e-05, 1.70346834e-06,
  2.72045750e-05, 1.24349515e-05, 2.84380238e-05,-3.04890102e-05,
  2.47657899e-05,-3.62826925e-05, 8.48852491e-06, 9.23265460e-06,
 -1.34647768e-04,-4.65503189e-05,-3.31654745e-05, 1.68139498e-05,
 -2.31828095e-07, 1.35182260e-06,-1.21643237e+00, 1.30876791e-04,
  1.41906513e-03,-2.37681535e-06]


--- Step 850 ---
qpos:
[ 3.01292592e-03,-3.33364996e-03, 1.18561261e-02, 4.17500207e-02,
 -2.17414168e-03,-1.93984241e-03,-1.73762319e-02, 2.86908683e-02,
  5.85751808e-03, 1.64761049e-02,-9.37651235e-03, 2.59841970e-02,
  1.12969897e+00,-1.22743787e-03, 8.81965378e-01, 6.42973170e-02,
  9.48098684e-02,-7.01745220e-02, 1.21808360e-01, 9.99975298e-01,
  6.41867214e-04,-1.38905641e-03, 6.86010511e-03]

qacc:
[  3.64426796, -3.13352277, 12.36697495,-19.65003615, -3.24249172,
  -1.20600496,  7.68523809,-19.90566755, -0.46934259,  3.75883311,
 -17.79336289, 38.18586274, -0.2892618 , -0.15936822,  6.92252571,
 -26.26506819,  0.3634541 ,  0.97155247, -0.11354985,-16.01605555,
   6.59437278,  0.52492953]

qfrc_actuator:
[ 1.95117210e-05, 8.21842850e-06, 1.09093968e-04, 3.84987525e-05,
 -1.56742257e-05,-2.57311426e-04,-2.02064364e-04,-5.75572977e-05,
 -3.85395921e-05, 4.52683206e-04, 6.51895526e-05, 6.68493188e-05,
  2.04528990e-02,-1.35452324e-03, 5.12159005e-03,-3.04243969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022430326183375446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70128116e-07,  5.49283249e-13,  1.00000000e+00,  1.48376849e-19,
        1.00000000e+00, -5.49283249e-13, -1.00000000e+00, -2.40741243e-35,
       -2.70128116e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08866215, -0.09016659,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12083483e-05, 1.89152475e-06, 4.44722722e-05,-1.64938629e-05,
 -1.89971444e-05, 2.66555340e-05, 6.98222503e-06,-3.38804470e-05,
 -2.67170676e-06, 2.84867937e-05,-1.23529655e-05, 5.96734485e-05,
 -1.37250942e-04,-6.29695581e-05,-1.13807242e-04,-1.60579262e-04,
  6.72294154e-07, 1.13475295e-06,-1.21643394e+00, 1.30216430e-04,
  1.41696087e-03,-2.22822739e-06]


--- Step 851 ---
qpos:
[ 3.01391743e-03,-3.33435681e-03, 1.18561000e-02, 4.17490494e-02,
 -2.17502362e-03,-1.93966994e-03,-1.73758153e-02, 2.86900358e-02,
  5.85743861e-03, 1.64760873e-02,-9.37638433e-03, 2.59844443e-02,
  1.13018767e+00,-1.22693590e-03, 8.82344415e-01, 6.42930685e-02,
  9.48079088e-02,-7.01657574e-02, 1.21808596e-01, 9.99975241e-01,
  5.69043071e-04,-1.40155317e-03, 6.87239735e-03]

qacc:
[  5.13263958, -1.10685558,  5.39838613,-10.03125523, -5.08277447,
   0.33926332, -1.23545495,  1.25304367, -0.34828713, -0.86558636,
   5.21793742,-12.01602235, -1.11388871,  1.78621056,  8.37017049,
 -31.23871036,  0.63448522,  0.85167484, -0.14446349,-13.8170026 ,
  11.00663301,  0.49205586]

qfrc_actuator:
[ 4.89763955e-05, 4.30367163e-05, 1.34198331e-04, 2.87656394e-05,
 -4.49503686e-05,-2.83970111e-04,-2.18883134e-04,-5.99433354e-05,
 -4.05125249e-05, 4.80625486e-04, 7.94573668e-05, 4.91077637e-05,
  2.04082964e-02,-1.33376382e-03, 5.07251080e-03,-3.20492270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022281808413979198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49132163e-13,  1.86849122e-13,  1.00000000e+00,  4.65501259e-26,
        1.00000000e+00, -1.86849122e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49132163e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332464, -0.08764342,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00719328e-05, 4.44031548e-05, 3.04182185e-05,-8.43054550e-06,
 -2.98072306e-05,-1.17824307e-05,-1.16319371e-05,-1.66065010e-06,
 -2.04256739e-06, 4.38882335e-05, 2.06987383e-05,-1.57872251e-05,
 -1.43157324e-04,-2.04714484e-05,-1.21692513e-04,-1.86627659e-04,
  1.47718612e-06, 7.32375700e-07,-1.21643186e+00, 1.28039321e-04,
  1.41551125e-03,-2.04796628e-06]


--- Step 852 ---
qpos:
[ 3.01490961e-03,-3.33464510e-03, 1.18560325e-02, 4.17479776e-02,
 -2.17590462e-03,-1.93987354e-03,-1.73751439e-02, 2.86888496e-02,
  5.85768131e-03, 1.64758781e-02,-9.37553817e-03, 2.59838152e-02,
  1.13067546e+00,-1.22621494e-03, 8.82722980e-01, 6.42873578e-02,
  9.48084744e-02,-7.01536064e-02, 1.21808050e-01, 9.99975214e-01,
  4.68534394e-04,-1.39235204e-03, 6.88568997e-03]

qacc:
[-2.66195965e-03, 4.61672828e-01,-4.19142198e-01,-1.56296959e+00,
  2.25146082e-02,-1.93636196e+00, 7.67683071e+00,-1.39282893e+01,
  2.83500576e+00,-4.06968845e+00, 1.78333605e+01,-3.39948395e+01,
 -9.24527773e-01, 1.42246891e+00, 3.77397007e+00,-1.40831500e+01,
  6.31320788e-01, 8.46590106e-01,-1.95450154e-01,-1.37666738e+01,
  1.09441047e+01, 5.13295997e-01]

qfrc_actuator:
[ 4.81555548e-05, 6.40467449e-05, 1.31305247e-04, 2.34489044e-05,
 -4.40631975e-05,-3.17754430e-04,-2.11295867e-04,-7.87859236e-05,
 -2.38878749e-05, 4.43951022e-04, 1.05603925e-04, 3.07559692e-06,
  2.03693216e-02,-1.32168512e-03, 5.09338058e-03,-3.26326846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022033224366135862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.29857327e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.29857327e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332428, -0.08764417,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27555481e-08, 5.17976165e-05, 9.74191649e-06,-2.52389987e-06,
  3.39332744e-08,-4.28665262e-05, 3.65942269e-06,-1.97805352e-05,
  1.65813576e-05,-8.53521296e-06, 3.72136704e-05,-4.37431464e-05,
 -1.31716661e-04,-2.24424628e-05,-5.82390098e-05,-8.49284381e-05,
  2.28624014e-06, 2.03704118e-07,-1.21642613e+00, 1.24570554e-04,
  1.41514535e-03,-1.88693447e-06]


--- Step 853 ---
qpos:
[ 3.01519485e-03,-3.33480730e-03, 1.18563607e-02, 4.17465126e-02,
 -2.17642358e-03,-1.94029272e-03,-1.73744543e-02, 2.86877882e-02,
  5.85812173e-03, 1.64751135e-02,-9.37416888e-03, 2.59830463e-02,
  1.13116253e+00,-1.22592995e-03, 8.83101143e-01, 6.42805734e-02,
  9.48120600e-02,-7.01431010e-02, 1.21808210e-01, 9.99975219e-01,
  3.81966444e-04,-1.35882209e-03, 6.89700475e-03]

qacc:
[ -6.19518008, -1.73779438,  8.11669716,-15.66635687,  3.17958762,
  -0.08483064, -0.64870947,  2.95014389,  1.75011616, -2.48740516,
   8.38847521,-11.22967283, -0.17444978, -0.34942568,  2.64450567,
 -10.12077331,  0.75499708, -0.41138926,  0.17645913,  7.05256634,
  12.11568047, -1.00440361]

qfrc_actuator:
[ 1.17605134e-05, 5.87643080e-05, 1.47373866e-04, 2.99533989e-06,
 -2.54264309e-05,-3.19965302e-04,-2.07165067e-04,-7.16521416e-05,
 -1.42034710e-05, 3.86639721e-04, 1.20522508e-04,-6.01370594e-06,
  2.03284266e-02,-1.35036295e-03, 5.08697375e-03,-3.31286691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021882309855500437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53680492e-13, -4.43940860e-13,  1.00000000e+00, -1.12619136e-25,
        1.00000000e+00,  4.43940860e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53680492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817757 , -0.06195279,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63745609e-05, 2.55974532e-05, 2.78857226e-05,-1.79438350e-05,
  1.86234499e-05,-2.62714070e-05,-4.95996159e-06, 5.03999460e-06,
  1.01571402e-05,-5.62661905e-05, 1.62191475e-05,-9.01941743e-06,
 -1.26341041e-04,-6.14183972e-05,-4.77177923e-05,-6.29792527e-05,
  3.35665130e-06,-2.63083276e-07,-1.21641417e+00, 1.19760238e-04,
  1.41588842e-03,-1.71877458e-06]


--- Step 854 ---
qpos:
[ 3.01504173e-03,-3.33481736e-03, 1.18566224e-02, 4.17448431e-02,
 -2.17637050e-03,-1.94056286e-03,-1.73739345e-02, 2.86874767e-02,
  5.85867503e-03, 1.64737103e-02,-9.37228333e-03, 2.59828771e-02,
  1.13164890e+00,-1.22625344e-03, 8.83478857e-01, 6.42722176e-02,
  9.48186285e-02,-7.01342306e-02, 1.21808763e-01, 9.99975256e-01,
  3.09178878e-04,-1.30105771e-03, 6.90644390e-03]

qacc:
[-3.85249586e+00,-2.69226257e-02, 1.26309695e+00,-4.81992792e+00,
  5.00972846e+00, 2.20345736e+00,-1.07546108e+01, 2.39119625e+01,
  1.01179559e+00,-1.05456287e+00,-6.62029728e-05, 1.00271178e+01,
 -3.92247116e-02,-7.25516151e-01, 4.06739924e+00,-1.52254839e+01,
  7.45730182e-01,-4.08758179e-01, 9.82213337e-02, 6.97231389e+00,
  1.20690515e+01,-9.51899145e-01]

qfrc_actuator:
[-9.76644169e-06, 5.55840671e-05, 1.38893743e-04,-8.45490898e-06,
  3.49862462e-06,-2.85489551e-04,-2.04973255e-04,-3.15169308e-05,
 -8.68762809e-06, 3.52891998e-04, 1.46364696e-04, 2.44294536e-05,
  2.02863933e-02,-1.38517470e-03, 5.06421174e-03,-3.39252591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021922887956329906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26605471e-13, -2.53210943e-13,  1.00000000e+00,  3.20578907e-26,
        1.00000000e+00,  2.53210943e-13, -1.00000000e+00,  0.00000000e+00,
        1.26605471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177523, -0.061953  ,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25539730e-05, 1.61168614e-05,-3.76636995e-07,-9.73378502e-06,
  2.94467443e-05, 1.89923294e-05,-3.67279050e-06, 3.89368084e-05,
  5.78592290e-06,-6.22300255e-05, 1.58999671e-05, 2.84176096e-05,
 -1.32791830e-04,-7.37577948e-05,-5.69699978e-05,-9.05119402e-05,
  2.59554647e-06,-5.90363321e-07,-1.21641816e+00, 1.15630794e-04,
  1.41734967e-03,-1.57351123e-06]


--- Step 855 ---
qpos:
[ 3.01497647e-03,-3.33462464e-03, 1.18561874e-02, 4.17434328e-02,
 -2.17631629e-03,-1.94025172e-03,-1.73735819e-02, 2.86869008e-02,
  5.85894474e-03, 1.64723748e-02,-9.37011937e-03, 2.59833440e-02,
  1.13213434e+00,-1.22667113e-03, 8.83855306e-01, 6.42633963e-02,
  9.48281507e-02,-7.01269861e-02, 1.21809447e-01, 9.99975323e-01,
  2.50039495e-04,-1.21913413e-03, 6.91409264e-03]

qacc:
[ 7.45827675e-01, 2.74838297e+00,-1.05052555e+01, 1.59550017e+01,
 -5.49536802e-03, 6.91133085e-01,-2.33292865e-01,-4.50288786e+00,
 -2.46536813e+00, 6.25888312e-01,-4.77927652e+00, 1.52853208e+01,
 -5.68590306e-01, 5.33379946e-01,-4.35657215e-01,-1.12697337e+00,
  7.38412954e-01,-4.06483133e-01, 3.27624711e-02, 6.90618024e+00,
  1.20319098e+01,-9.07895565e-01]

qfrc_actuator:
[-4.60572552e-06, 5.35886624e-05, 9.82356090e-05, 3.21802547e-06,
  2.73656706e-06,-2.29280199e-04,-2.03764203e-04,-4.32663763e-05,
 -2.34197950e-05, 4.04598417e-04, 1.78558665e-04, 6.01559086e-05,
  2.02383761e-02,-1.38781463e-03, 4.98904891e-03,-3.41828346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021837981274448748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177465, -0.06195305,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52445965e-06, 6.51605444e-06,-3.77104929e-05, 1.21649226e-05,
  8.24855935e-08, 6.77545393e-05, 6.02341831e-06,-1.03059208e-05,
 -1.45923943e-05, 2.14420906e-05, 2.22762662e-05, 3.41620108e-05,
 -1.45577234e-04,-4.52925320e-05,-1.16323280e-04,-3.92455222e-05,
  2.17240114e-06,-7.92826516e-07,-1.21641817e+00, 1.12136763e-04,
  1.42004453e-03,-1.41874235e-06]


--- Step 856 ---
qpos:
[ 3.01428358e-03,-3.33445995e-03, 1.18555998e-02, 4.17425109e-02,
 -2.17627140e-03,-1.93935023e-03,-1.73732475e-02, 2.86858312e-02,
  5.85869054e-03, 1.64717081e-02,-9.36872898e-03, 2.59845750e-02,
  1.13261876e+00,-1.22682715e-03, 8.84230156e-01, 6.42566485e-02,
  9.48406038e-02,-7.01213598e-02, 1.21810044e-01, 9.99975416e-01,
  2.04439907e-04,-1.11310838e-03, 6.92002286e-03]

qacc:
[-5.51298006e+00, 1.40743081e+00,-7.11375605e+00, 1.58106140e+01,
 -9.27121953e-02,-1.84471598e-01, 3.87526345e+00,-1.28263572e+01,
 -4.60434058e+00, 4.62798996e+00,-1.84297538e+01, 3.23823278e+01,
 -8.24452418e-01, 1.22665677e+00,-8.56508823e+00, 2.66571593e+01,
  7.32724948e-01,-4.04539527e-01,-2.18996499e-02, 6.85200179e+00,
  1.20037890e+01,-8.70601479e-01]

qfrc_actuator:
[-3.70411597e-05, 5.21926654e-05, 9.21853318e-05, 2.83831172e-05,
  2.25697384e-06,-1.96027807e-04,-2.03079539e-04,-6.76797149e-05,
 -4.99494594e-05, 4.53868382e-04, 1.43584518e-04, 9.87759806e-05,
  2.01921396e-02,-1.37142236e-03, 4.93046743e-03,-3.30566184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002165416169427753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56353268e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.56353268e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177398, -0.06195296,  0.06199474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23031677e-05,-5.01733968e-06,-8.92229207e-06, 2.43796266e-05,
 -4.53409610e-07, 7.19289973e-05, 1.50585285e-05,-2.15020597e-05,
 -2.69447260e-05, 6.73437398e-05,-2.66290205e-05, 4.09723564e-05,
 -1.45636635e-04,-2.35317018e-05,-1.18191376e-04, 9.51015732e-05,
  2.07060813e-06,-8.83875406e-07,-1.21641424e+00, 1.09275339e-04,
  1.42396529e-03,-1.25502675e-06]


--- Step 857 ---
qpos:
[ 3.01320738e-03,-3.33438692e-03, 1.18552635e-02, 4.17415324e-02,
 -2.17623199e-03,-1.93869326e-03,-1.73722952e-02, 2.86852317e-02,
  5.85812014e-03, 1.64717930e-02,-9.36837412e-03, 2.59855762e-02,
  1.13310229e+00,-1.22683417e-03, 8.84603891e-01, 6.42528453e-02,
  9.48559705e-02,-7.01173451e-02, 1.21810370e-01, 9.99975529e-01,
  1.72291981e-04,-9.83020251e-04, 6.92429587e-03]

qacc:
[-3.35514920e+00,-9.34022228e-01, 3.40482919e+00,-4.73247707e+00,
 -2.41303420e-02,-1.08166838e+00, 1.40240835e+00, 5.92867197e+00,
 -2.80308345e+00, 3.41958143e+00,-9.77117454e+00, 6.88331034e+00,
 -6.05644191e-01, 8.03794240e-01,-1.04950327e+01, 3.44145061e+01,
  7.28403460e-01,-4.02902137e-01,-6.74534283e-02, 6.80799731e+00,
  1.19841876e+01,-8.38595415e-01]

qfrc_actuator:
[-5.58486990e-05, 5.13060140e-05, 1.06634418e-04, 2.58051417e-05,
  1.95685236e-06,-2.47801706e-04,-1.85038968e-04,-4.60983589e-05,
 -6.54512374e-05, 4.83295762e-04, 8.70027537e-05, 8.54918245e-05,
  2.01576654e-02,-1.36168159e-03, 4.90853921e-03,-3.14787057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021393539537789552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.18952473e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.18952473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177324, -0.06195277,  0.0619948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97297574e-05,-4.49709213e-06, 1.31664161e-05,-2.62256792e-06,
 -2.87655213e-07,-9.39683943e-06, 3.39966518e-05, 2.47661071e-05,
 -1.62517456e-05, 6.33365832e-05,-4.45436151e-05,-1.05254815e-05,
 -1.28800822e-04,-2.62191526e-05,-6.67652564e-05, 1.47678123e-04,
  2.27874935e-06,-8.74464785e-07,-1.21640644e+00, 1.07044098e-04,
  1.42910601e-03,-1.08276334e-06]


--- Step 858 ---
qpos:
[ 3.01260365e-03,-3.33419331e-03, 1.18544816e-02, 4.17402065e-02,
 -2.17619623e-03,-1.93852475e-03,-1.73709436e-02, 2.86852886e-02,
  5.85736864e-03, 1.64719167e-02,-9.36841949e-03, 2.59861137e-02,
  1.13358492e+00,-1.22645527e-03, 8.84977255e-01, 6.42465933e-02,
  9.48742381e-02,-7.01149366e-02, 1.21810275e-01, 9.99975653e-01,
  1.53524906e-04,-8.28893428e-04, 6.92696472e-03]

qacc:
[ 4.13082103e+00, 6.81148909e-01,-7.45951063e-01,-4.62507483e+00,
 -1.07072991e-02,-4.10853031e-01,-2.24309783e+00, 1.33229481e+01,
 -1.59294641e+00, 2.18479777e-01, 1.25855664e+00,-8.67804910e+00,
 -1.10881425e+00, 1.88960985e+00, 6.91291121e+00,-2.48178963e+01,
  7.25232880e-01,-4.01546136e-01,-1.05337406e-01, 6.77269767e+00,
  1.19725953e+01,-8.10748753e-01]

qfrc_actuator:
[-3.09674897e-05, 5.07998025e-05, 7.97823724e-05, 6.93116000e-06,
  1.76429885e-06,-2.96734761e-04,-1.74966258e-04,-1.54392739e-05,
 -7.43344218e-05, 4.47209437e-04, 5.35330717e-05, 5.95061608e-05,
  2.01196220e-02,-1.33817108e-03, 4.86601061e-03,-3.28422558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021074448217282826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63405004e-13, -1.05362002e-12,  1.00000000e+00, -2.77528785e-25,
        1.00000000e+00,  1.05362002e-12, -1.00000000e+00,  0.00000000e+00,
       -2.63405004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177245, -0.0619525 ,  0.06199488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43175735e-05,-4.13757020e-07,-2.62428427e-05,-1.86582672e-05,
 -2.06436251e-07,-4.61380542e-05, 1.31588681e-05, 3.19124391e-05,
 -9.32388868e-06,-1.03372150e-05,-2.62446251e-05,-2.50201689e-05,
 -1.22174673e-04,-9.48718580e-06,-6.01366733e-05,-1.37467188e-04,
  2.78965896e-06,-7.73915734e-07,-1.21639479e+00, 1.05441021e-04,
  1.43546223e-03,-9.02214896e-07]


--- Step 859 ---
qpos:
[ 3.01230283e-03,-3.33414160e-03, 1.18534558e-02, 4.17390306e-02,
 -2.17616319e-03,-1.93856785e-03,-1.73697934e-02, 2.86853739e-02,
  5.85686158e-03, 1.64715446e-02,-9.36808563e-03, 2.59866966e-02,
  1.13406669e+00,-1.22579035e-03, 8.85350353e-01, 6.42389901e-02,
  9.48953979e-02,-7.01141299e-02, 1.21809634e-01, 9.99975778e-01,
  1.48082768e-04,-6.50736456e-04, 6.92807593e-03]

qacc:
[  2.65371018,  0.79840239, -3.75997944,  6.85815289, -0.02661454,
   0.34145522, -1.74339951,  2.71314167,  2.1522088 , -1.62585946,
   4.64734554, -4.09470814, -0.93156642,  1.51707974,  3.74472981,
 -13.53357858,  0.72303607, -0.40044779, -0.1367772 ,  6.74488932,
  11.96851171, -0.78616482]

qfrc_actuator:
[-1.60807499e-05, 3.25936524e-05, 6.42512437e-05, 1.40981794e-05,
  1.63665266e-06,-3.08116287e-04,-1.87455457e-04,-1.52129555e-05,
 -6.15024385e-05, 4.07732265e-04, 6.92148111e-05, 6.17305753e-05,
  2.00794703e-02,-1.32444789e-03, 4.87500454e-03,-3.34431583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020712027676221545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36028168e-13, -2.68014084e-13,  1.00000000e+00, -1.43663098e-25,
        1.00000000e+00,  2.68014084e-13, -1.00000000e+00,  0.00000000e+00,
       -5.36028168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177162, -0.06195217,  0.06199497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55815024e-05,-2.46418336e-05,-1.94850420e-05, 5.88137365e-06,
 -1.51493001e-07,-3.31184068e-05,-1.93120612e-05,-6.78081448e-07,
  1.25636516e-05,-5.17619953e-05, 9.44563228e-06, 3.85264270e-07,
 -1.16965786e-04,-1.44193203e-05,-3.91156978e-05,-7.66608368e-05,
  3.59971713e-06,-5.90527210e-07,-1.21637933e+00, 1.04464497e-04,
  1.44303076e-03,-7.13527573e-07]


--- Step 860 ---
qpos:
[ 3.01218298e-03,-3.33429723e-03, 1.18527886e-02, 4.17386067e-02,
 -2.17613196e-03,-1.93881157e-03,-1.73688330e-02, 2.86858046e-02,
  5.85651164e-03, 1.64712574e-02,-9.36718588e-03, 2.59861771e-02,
  1.13454774e+00,-1.22523049e-03, 8.85722251e-01, 6.42324742e-02,
  9.49194443e-02,-7.01149215e-02, 1.21808340e-01, 9.99975891e-01,
  1.55922553e-04,-4.48543736e-04, 6.92767097e-03]

qacc:
[ 1.60375326e+00, 2.70042958e-01,-4.53838304e+00, 1.71357351e+01,
 -1.81173847e-02, 9.75493192e-01,-5.32173364e+00, 1.17508280e+01,
  1.38589609e+00,-3.74137599e+00, 1.81528963e+01,-3.81940723e+01,
 -3.45595254e-01, 2.09911629e-01,-5.03713912e+00, 1.50845611e+01,
  7.21667380e-01,-3.99584906e-01,-1.62816727e-01, 6.72356844e+00,
  1.19714583e+01,-7.64130696e-01]

qfrc_actuator:
[-7.21012781e-06, 3.94870451e-05, 9.09945493e-05, 5.42840660e-05,
  1.54848826e-06,-3.14800996e-04,-1.95288225e-04, 2.62427383e-06,
 -5.37470871e-05, 4.55502793e-04, 1.13768036e-04, 9.54692531e-06,
  2.00380813e-02,-1.33440419e-03, 4.81372580e-03,-3.28775485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020318721526972616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.46403977e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.46403977e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177077, -0.0619518 ,  0.06199506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.30747828e-06,-1.06399897e-05, 1.94707015e-05, 3.85747953e-05,
 -1.03233332e-07,-2.92346980e-05,-1.70890273e-05, 1.57338557e-05,
  8.09631160e-06, 2.08035858e-05, 3.50359523e-05,-5.40693830e-05,
 -1.15832160e-04,-3.80302513e-05,-9.36713325e-05, 4.59180044e-05,
  4.70831831e-06,-3.32036135e-07,-1.21636007e+00, 1.04113320e-04,
  1.45180953e-03,-5.16746878e-07]


--- Step 861 ---
qpos:
[ 3.01217031e-03,-3.33435469e-03, 1.18523236e-02, 4.17386384e-02,
 -2.17575728e-03,-1.93898390e-03,-1.73683889e-02, 2.86864331e-02,
  5.85556779e-03, 1.64710502e-02,-9.36601833e-03, 2.59843662e-02,
  1.13502785e+00,-1.22441672e-03, 8.86092834e-01, 6.42283354e-02,
  9.49463748e-02,-7.01173089e-02, 1.21806310e-01, 9.99975976e-01,
  1.77012481e-04,-2.22296427e-04, 6.92578732e-03]

qacc:
[  0.94569201,  0.50161479, -3.52467975, 11.0130025 ,  2.99491204,
   1.93709367, -7.61528417, 11.8201072 , -5.17364316, -3.29116048,
  17.35852627,-40.21541606, -0.7508061 ,  1.12435307, -9.06761185,
  29.01405497,  0.72100695, -0.39893704, -0.1843447 ,  6.70790377,
  11.98098677, -0.74407913]

qfrc_actuator:
[-1.94839699e-06, 6.15623757e-05, 1.07092158e-04, 7.81138515e-05,
  1.92368101e-05,-3.00841327e-04,-2.18010796e-04, 1.29470534e-05,
 -8.45534375e-05, 4.48723745e-04, 1.22047906e-04,-5.63992840e-05,
  1.99853179e-02,-1.32278625e-03, 4.76363504e-03,-3.16310116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019904700495190775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57769269e-13, -5.57769269e-13,  1.00000000e+00, -3.11106558e-25,
        1.00000000e+00,  5.57769269e-13, -1.00000000e+00,  0.00000000e+00,
       -5.57769269e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176991, -0.0619514 ,  0.06199516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.52198352e-06, 2.18175677e-05, 1.76431737e-05, 2.48010987e-05,
  1.76752107e-05,-5.24727934e-06,-3.03311239e-05, 8.78226449e-06,
 -3.05662604e-05, 9.77725155e-06, 1.50150139e-05,-6.48953010e-05,
 -1.32098933e-04,-2.05099453e-05,-9.02842830e-05, 1.14667189e-04,
  6.11747254e-06,-5.96442090e-09,-1.21633699e+00, 1.04386671e-04,
  1.46179740e-03,-3.11830724e-07]


--- Step 862 ---
qpos:
[ 3.01256589e-03,-3.33444642e-03, 1.18524228e-02, 4.17386016e-02,
 -2.17517381e-03,-1.93881945e-03,-1.73680732e-02, 2.86864279e-02,
  5.85460734e-03, 1.64704928e-02,-9.36462940e-03, 2.59832198e-02,
  1.13550701e+00,-1.22342026e-03, 8.86462677e-01, 6.42288928e-02,
  9.49735610e-02,-7.01151973e-02, 1.21804157e-01, 9.99976010e-01,
  1.60467415e-04, 6.29159736e-06, 6.92481489e-03]

qacc:
[ 3.60179736e+00,-1.77079845e+00, 6.52390887e+00,-8.57075356e+00,
  1.82103806e+00,-5.03166652e-01, 5.10970714e+00,-1.61124466e+01,
 -1.31404132e-01, 2.86637171e-01,-4.49912415e+00, 1.59039988e+01,
 -6.08759251e-01, 8.08596590e-01,-1.52264838e+01, 5.17770373e+01,
  6.39547667e-02, 1.12472136e+00,-3.06979558e-02,-1.88088335e+01,
  1.30073094e+00, 4.59749077e-01]

qfrc_actuator:
[ 1.89020360e-05, 5.70190238e-05, 1.34568098e-04, 7.43731506e-05,
  2.94938635e-05,-2.56934162e-04,-2.13759580e-04,-1.67345678e-05,
 -8.45507285e-05, 4.09185921e-04, 1.26388125e-04,-2.34572421e-05,
  1.99364266e-02,-1.31629334e-03, 4.77889432e-03,-2.91055333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002017588325734232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37568082e-13,  5.50272328e-13,  1.00000000e+00,  7.56999087e-26,
        1.00000000e+00, -5.50272328e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37568082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949835 , -0.09316114,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10142339e-05, 1.23731019e-05, 3.50195542e-05,-1.71196838e-06,
  1.07599163e-05, 3.50900448e-05,-2.70265592e-07,-3.07878172e-05,
 -8.67794639e-07,-3.37655725e-05, 5.95689684e-06, 3.26205905e-05,
 -1.33983526e-04,-2.60709373e-05,-1.57828632e-05, 2.46820167e-04,
  7.83150861e-06, 3.80118108e-07,-1.21631010e+00, 1.05284104e-04,
  1.47299412e-03,-9.86600546e-08]


--- Step 863 ---
qpos:
[ 3.01286338e-03,-3.33450129e-03, 1.18529016e-02, 4.17378335e-02,
 -2.17516178e-03,-1.93827580e-03,-1.73672282e-02, 2.86860147e-02,
  5.85468866e-03, 1.64698256e-02,-9.36389169e-03, 2.59838884e-02,
  1.13598546e+00,-1.22292781e-03, 8.86832144e-01, 6.42321289e-02,
  9.50010055e-02,-7.01086210e-02, 1.21801574e-01, 9.99975991e-01,
  1.06580990e-04, 2.37283583e-04, 6.92463720e-03]

qacc:
[-8.50145495e-01,-2.51836258e+00, 1.21371696e+01,-2.54275195e+01,
 -5.00203188e+00,-1.80648467e+00, 8.90843867e+00,-1.71122337e+01,
  9.06839726e+00, 5.39343805e+00,-2.71352335e+01, 5.97019912e+01,
  5.62776880e-02,-8.18376617e-01,-8.65569366e+00, 2.94393614e+01,
  6.45337708e-02, 1.11620396e+00,-1.07370410e-01,-1.86619065e+01,
  1.33130663e+00, 3.97242196e-01]

qfrc_actuator:
[ 1.32564783e-05, 5.43502650e-05, 1.50675460e-04, 3.66791988e-05,
 -2.15832992e-07,-2.13105083e-04,-1.75752844e-04,-3.41612760e-05,
 -3.08970762e-05, 4.03648959e-04, 9.27985879e-05, 6.73783531e-05,
  1.98952190e-02,-1.34841105e-03, 4.75879811e-03,-2.77981794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020308394959404896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.20022725e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.20022725e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498333, -0.09316083,  0.06199506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04384997e-06, 1.14187145e-05, 2.29158807e-05,-3.59863708e-05,
 -2.93894430e-05, 6.20702194e-05, 4.41500990e-05,-1.65329637e-05,
  5.36148252e-05,-2.17873125e-05,-3.87099725e-05, 9.02301134e-05,
 -1.27725212e-04,-6.66576790e-05,-5.41560568e-06, 1.41188122e-04,
  7.82622315e-06, 1.16224180e-06,-1.21630786e+00, 1.04642513e-04,
  1.48421545e-03,-5.57332954e-07]


--- Step 864 ---
qpos:
[ 3.01309121e-03,-3.33453188e-03, 1.18530439e-02, 4.17366718e-02,
 -2.17550576e-03,-1.93736668e-03,-1.73662034e-02, 2.86854212e-02,
  5.85575710e-03, 1.64691800e-02,-9.36329553e-03, 2.59845517e-02,
  1.13646329e+00,-1.22338765e-03, 8.87200751e-01, 6.42357274e-02,
  9.50287116e-02,-7.00976073e-02, 1.21798304e-01, 9.99975910e-01,
  1.55885823e-05, 4.70739736e-04, 6.92514794e-03]

qacc:
[ -0.62266755,  0.16254554,  1.12961491, -7.42232157, -3.12311998,
  -0.38428956,  2.84338012, -6.53270988,  8.60456376,  0.39676502,
  -1.37991058,  1.5308235 ,  0.43225689, -1.79948234, -2.41099396,
   6.47565108,  0.06542984,  1.10934204, -0.1717995 ,-18.54409318,
   1.36057069,  0.3398786 ]

qfrc_actuator:
[ 9.80900566e-06, 3.49962049e-05, 1.24415343e-04, 1.48088882e-05,
 -1.77035946e-05,-2.05005248e-04,-1.71356958e-04,-4.42072260e-05,
  1.83901692e-05, 4.18412237e-04, 9.04931517e-05, 6.72653887e-05,
  1.98533088e-02,-1.40308152e-03, 4.68020202e-03,-2.77528889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002030994275266651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36660039e-13,  2.73320077e-13,  1.00000000e+00, -3.73519323e-26,
        1.00000000e+00, -2.73320077e-13, -1.00000000e+00,  0.00000000e+00,
        1.36660039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498318, -0.09316088,  0.06199506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58674131e-06,-9.78142810e-06,-2.23276109e-05,-2.12878333e-05,
 -1.83049451e-05, 5.11812697e-05, 2.20689431e-05,-6.18100186e-06,
  5.08131093e-05,-1.51665147e-06,-8.45620233e-06,-6.33886704e-07,
 -1.33822121e-04,-9.54468493e-05,-7.17194623e-05, 1.02170222e-05,
  7.98917403e-06, 2.00817295e-06,-1.21629847e+00, 1.02145184e-04,
  1.49560219e-03,-9.20232185e-07]


--- Step 865 ---
qpos:
[ 3.01362097e-03,-3.33469307e-03, 1.18528945e-02, 4.17359653e-02,
 -2.17536689e-03,-1.93625849e-03,-1.73652897e-02, 2.86844088e-02,
  5.85671844e-03, 1.64688167e-02,-9.36226412e-03, 2.59840983e-02,
  1.13694023e+00,-1.22417805e-03, 8.87568221e-01, 6.42387490e-02,
  9.50537274e-02,-7.00904469e-02, 1.21797017e-01, 9.99975776e-01,
 -4.34586931e-05, 6.80711316e-04, 6.92698722e-03]

qacc:
[ 2.64358819e+00, 1.57631092e+00,-7.79951278e+00, 1.62477004e+01,
  4.22779247e+00,-2.96481940e-01, 3.19315575e+00,-1.03949939e+01,
 -9.26068729e-01,-3.14075639e+00, 1.64580247e+01,-3.66929843e+01,
 -3.51215722e-01,-3.09970402e-02, 7.33801641e-02,-2.67276611e+00,
 -6.72574243e-01,-9.63334869e-01, 4.95728494e-01, 1.58905524e+01,
 -1.18525931e+01, 6.72145888e-01]

qfrc_actuator:
[ 2.54438179e-05, 2.33814480e-05, 1.08804172e-04, 3.78928479e-05,
  7.66020910e-06,-2.18480913e-04,-1.86989878e-04,-6.76417847e-05,
  1.14375939e-05, 4.63020619e-04, 1.24461618e-04, 1.36775181e-05,
  1.98056682e-02,-1.41737585e-03, 4.60916935e-03,-2.80973355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021218458042134014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23234545e-13, -2.61617273e-13,  1.00000000e+00, -1.36887195e-25,
        1.00000000e+00,  2.61617273e-13, -1.00000000e+00,  0.00000000e+00,
       -5.23234545e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891397, -0.05160046,  0.06199484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55312041e-05,-2.26082114e-05,-2.11170497e-05, 2.14804093e-05,
  2.48592460e-05, 1.93882397e-05,-2.57724356e-06,-2.06001016e-05,
 -5.49746086e-06, 4.20223868e-05, 3.25898291e-05,-5.39610728e-05,
 -1.50561829e-04,-6.14484793e-05,-1.06287894e-04,-4.39080408e-05,
  8.29537767e-06, 2.92119672e-06,-1.21628206e+00, 9.78046288e-05,
  1.50714891e-03,-1.18910744e-06]


--- Step 866 ---
qpos:
[ 3.01398882e-03,-3.33476249e-03, 1.18527211e-02, 4.17354932e-02,
 -2.17526983e-03,-1.93528635e-03,-1.73649761e-02, 2.86835474e-02,
  5.85724448e-03, 1.64689077e-02,-9.36121415e-03, 2.59830121e-02,
  1.13741614e+00,-1.22485551e-03, 8.87934921e-01, 6.42412289e-02,
  9.50760991e-02,-7.00870804e-02, 1.21797058e-01, 9.99975607e-01,
 -7.11061986e-05, 8.67656090e-04, 6.93019421e-03]

qacc:
[ -1.42348627,  0.67447074, -3.21288687,  7.23487534, -0.38321343,
   1.80778181, -7.34286773, 11.01188125, -3.80400008, -0.74629293,
   6.21690995,-17.54567036, -0.85351959,  1.15605368,  0.54901984,
  -3.45585553, -0.66104252, -0.9484492 ,  0.33210068, 15.61928537,
 -11.62189565,  0.69414593]

qfrc_actuator:
[ 1.66790067e-05, 5.20606848e-05, 1.17424933e-04, 5.17526814e-05,
  4.78059376e-06,-2.62634282e-04,-2.32173797e-04,-6.32936694e-05,
 -1.08068522e-05, 4.89761738e-04, 1.26416357e-04,-1.76237507e-05,
  1.97599623e-02,-1.40768534e-03, 4.59066274e-03,-2.83126292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022154306669870671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50565960e-13, -7.51697881e-13,  1.00000000e+00, -1.88349901e-25,
        1.00000000e+00,  7.51697881e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50565960e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891242, -0.0516026 ,  0.06199462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.32957872e-06, 1.26079154e-05, 2.09731958e-06, 1.25803522e-05,
 -2.16326924e-06,-3.47667190e-05,-4.22319103e-05, 4.68561731e-06,
 -2.23866202e-05, 5.46629467e-05, 1.27764679e-05,-2.94230239e-05,
 -1.51552912e-04,-3.45750462e-05,-7.44515686e-05,-3.81535613e-05,
  6.98831119e-06, 9.48687694e-07,-1.21632030e+00, 9.51561722e-05,
  1.51760669e-03,-4.25268940e-07]


--- Step 867 ---
qpos:
[ 3.01424880e-03,-3.33463771e-03, 1.18525995e-02, 4.17348264e-02,
 -2.17520752e-03,-1.93474937e-03,-1.73653845e-02, 2.86834838e-02,
  5.85750007e-03, 1.64691410e-02,-9.36029423e-03, 2.59816102e-02,
  1.13789116e+00,-1.22548160e-03, 8.88301059e-01, 6.42426917e-02,
  9.50958660e-02,-7.00874582e-02, 1.21797877e-01, 9.99975419e-01,
 -6.78054383e-05, 1.03195788e-03, 6.93480555e-03]

qacc:
[ -0.94852654, -0.28789451,  2.22353699, -5.82253509, -0.31951957,
   3.08315001,-15.19627545, 30.47679443, -2.36549407, -0.09411808,
   1.94958168, -7.32061415, -0.73233155,  0.95006321,  2.27990863,
  -9.08773253, -0.65120035, -0.93609138,  0.19438076, 15.39468544,
 -11.42849735,  0.71484324]

qfrc_actuator:
[ 1.13701368e-05, 6.92409339e-05, 1.22681171e-04, 4.23641024e-05,
  3.03909326e-06,-3.07186166e-04,-2.76802078e-04,-2.49255068e-05,
 -2.41027611e-05, 4.69992011e-04, 1.09405434e-04,-3.55904145e-05,
  1.97261130e-02,-1.40166780e-03, 4.57172490e-03,-2.88035268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022775928050562666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.31181857e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.31181857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891138, -0.05160401,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.54183644e-06, 2.52042238e-05, 8.55794975e-06,-8.52917433e-06,
 -1.81378906e-06,-7.25536040e-05,-5.68625852e-05, 3.55072915e-05,
 -1.39166956e-05, 1.21570817e-05,-5.17338977e-06,-1.57537540e-05,
 -1.33942135e-04,-3.35521515e-05,-6.13896213e-05,-6.17062143e-05,
  5.62798411e-06,-6.76574382e-07,-1.21635015e+00, 9.40144359e-05,
  1.52685932e-03, 1.34614855e-07]


--- Step 868 ---
qpos:
[ 3.01409826e-03,-3.33449281e-03, 1.18525961e-02, 4.17344154e-02,
 -2.17516628e-03,-1.93511880e-03,-1.73658630e-02, 2.86842420e-02,
  5.85759427e-03, 1.64694600e-02,-9.36015889e-03, 2.59810936e-02,
  1.13836505e+00,-1.22517384e-03, 8.88666765e-01, 6.42418458e-02,
  9.51130616e-02,-7.00915396e-02, 1.21799010e-01, 9.99975222e-01,
 -3.39279704e-05, 1.17393793e-03, 6.94085602e-03]

qacc:
[ -3.5999496 ,  0.23058137, -1.85060368,  6.06035022, -0.17092796,
   0.68819733, -7.66179513, 22.66222145, -1.43294731,  4.13154806,
 -18.30001922, 34.8083693 , -1.74135347,  3.34501377,  6.4520236 ,
 -23.21644074, -0.64282614, -0.92591252,  0.07859654, 15.20983678,
 -11.26666119,  0.73459774]

qfrc_actuator:
[-9.60709757e-06, 6.16300270e-05, 1.25852429e-04, 5.48671921e-05,
  1.99012155e-06,-3.69376265e-04,-2.85229827e-04, 1.53947389e-05,
 -3.20202662e-05, 4.57951588e-04, 6.34036839e-05, 7.63774293e-06,
  1.96834254e-02,-1.34457977e-03, 4.54721167e-03,-2.99854462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002314151804687914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79753758e-13, -2.39876879e-13,  1.00000000e+00, -1.15081834e-25,
        1.00000000e+00,  2.39876879e-13, -1.00000000e+00,  0.00000000e+00,
       -4.79753758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891077, -0.05160482,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11264144e-05, 7.88128053e-06, 9.13763314e-06, 1.37144820e-05,
 -1.12517896e-06,-1.13000723e-04,-2.91910722e-05, 3.59344062e-05,
 -8.30991900e-06,-7.00597974e-06,-4.46823806e-05, 4.32647262e-05,
 -1.31804891e-04, 2.16208646e-05,-6.42238085e-05,-1.30595274e-04,
  4.20890330e-06,-1.95646193e-06,-1.21637206e+00, 9.43567070e-05,
  1.53492506e-03, 4.98170442e-07]


--- Step 869 ---
qpos:
[ 3.01369744e-03,-3.33435625e-03, 1.18526664e-02, 4.17341644e-02,
 -2.17513827e-03,-1.93604231e-03,-1.73662812e-02, 2.86850776e-02,
  5.85828229e-03, 1.64701722e-02,-9.36131728e-03, 2.59814405e-02,
  1.13883789e+00,-1.22414529e-03, 8.89031661e-01, 6.42415480e-02,
  9.51277142e-02,-7.00992915e-02, 1.21800069e-01, 9.99975022e-01,
  3.02229985e-05, 1.29386432e-03, 6.94837906e-03]

qacc:
[-2.19421259e+00, 1.16996269e-01,-1.10058858e+00, 3.74889569e+00,
 -1.04602279e-01,-7.40544862e-01, 1.25151252e+00, 3.99523185e-01,
  5.13248113e+00, 5.90283778e+00,-2.39562565e+01, 4.06976792e+01,
 -1.34848792e+00, 2.50638678e+00,-2.75645121e+00, 8.12444791e+00,
 -6.35727369e-01,-9.17613177e-01,-1.86201933e-02, 1.50589754e+01,
 -1.11316410e+01, 7.53670583e-01]

qfrc_actuator:
[-2.18869025e-05, 5.69934424e-05, 1.27685636e-04, 6.23799246e-05,
  1.35688311e-06,-3.70493438e-04,-2.72300508e-04, 2.10379323e-05,
 -1.20635463e-06, 4.86053493e-04, 7.13981118e-07, 5.10026795e-05,
  1.96301619e-02,-1.31101036e-03, 4.53001316e-03,-2.96122035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023299915665868365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76492293e-13, -4.76492293e-13,  1.00000000e+00, -2.27044905e-25,
        1.00000000e+00,  4.76492293e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76492293e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891049, -0.05160516,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28801000e-05, 2.23432856e-06, 5.06141755e-06, 8.43500509e-06,
 -7.05067288e-07,-6.87796197e-05,-1.27555781e-05, 4.90077374e-07,
  3.05743086e-05, 1.67938496e-05,-6.81471936e-05, 4.23611517e-05,
 -1.28851288e-04, 9.11318982e-06,-6.63431309e-05, 2.06263292e-05,
  2.72531467e-06,-2.89327540e-06,-1.21638643e+00, 9.61641464e-05,
  1.54181893e-03, 6.71441290e-07]


--- Step 870 ---
qpos:
[ 3.01315235e-03,-3.33420502e-03, 1.18528008e-02, 4.17333126e-02,
 -2.17511888e-03,-1.93664348e-03,-1.73663995e-02, 2.86854976e-02,
  5.85933424e-03, 1.64712502e-02,-9.36353352e-03, 2.59816009e-02,
  1.13930998e+00,-1.22326778e-03, 8.89395761e-01, 6.42436289e-02,
  9.51398479e-02,-7.01106872e-02, 1.21800727e-01, 9.99974820e-01,
  1.24402916e-04, 1.39195977e-03, 6.95740710e-03]

qacc:
[ -1.2650359 , -1.39544882,  7.5417124 ,-18.05336312, -0.07195008,
  -1.26668422,  6.88972757,-14.7978521 ,  3.13465697,  3.04982934,
  -9.39524091,  7.59818626, -0.28019603,  0.04405693, -8.34386429,
  27.50990239, -0.62973687, -0.91093614, -0.10013214, 14.93728074,
 -11.01949734,  0.77224753]

qfrc_actuator:
[-2.89442983e-05, 5.41618777e-05, 1.28713236e-04, 3.13867049e-05,
  9.73673646e-07,-2.81698726e-04,-2.28906398e-04, 6.29055834e-06,
  1.66504913e-05, 5.02393948e-04,-5.34128700e-05, 4.08594866e-05,
  1.95865639e-02,-1.32721788e-03, 4.51725310e-03,-2.83251970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023292025027750463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.38326857e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.38326857e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891048, -0.05160511,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.42448183e-06,-1.83785158e-07, 2.40346491e-06,-3.05574568e-05,
 -4.26817034e-07, 4.77558954e-05, 2.76470034e-05,-1.81255916e-05,
  1.87412545e-05, 1.34701253e-05,-5.75819665e-05,-1.09579657e-05,
 -1.19938972e-04,-4.25170103e-05,-4.50654020e-05, 1.20384247e-04,
  1.17091727e-06,-3.48983151e-06,-1.21639354e+00, 9.94211992e-05,
  1.54755308e-03, 6.59187348e-07]


--- Step 871 ---
qpos:
[ 3.01218188e-03,-3.33407563e-03, 1.18529418e-02, 4.17324504e-02,
 -2.17544932e-03,-1.93673249e-03,-1.73664264e-02, 2.86857257e-02,
  5.85990311e-03, 1.64719040e-02,-9.36554450e-03, 2.59816529e-02,
  1.13978121e+00,-1.22226486e-03, 8.89759461e-01, 6.42435798e-02,
  9.51493228e-02,-7.01224775e-02, 1.21802428e-01, 9.99974627e-01,
  2.21536634e-04, 1.46822093e-03, 6.96707679e-03]

qacc:
[ -3.73320154, -0.06195526,  0.23575493, -0.42514791, -3.07421475,
   0.03295842,  1.68574887, -5.54231249, -4.19970147, -1.34904746,
   4.46809933, -6.37351285, -0.82890634,  1.19627484,  5.88834239,
 -21.34375488, -0.6647153 , -0.09867784,  0.26057703,  1.40046129,
 -10.92711437,  0.32420363]

qfrc_actuator:
[-5.06267596e-05, 5.23936347e-05, 1.29237632e-04, 3.12445667e-05,
 -1.70114687e-05,-2.46127469e-04,-2.20755333e-04,-2.47656987e-06,
 -8.77980430e-06, 4.58289578e-04,-4.88625167e-05, 3.48213705e-05,
  1.95434506e-02,-1.31945013e-03, 4.46990357e-03,-2.95283793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023276894266840986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38481778e-13,  2.38481778e-13,  1.00000000e+00,  5.68735583e-26,
        1.00000000e+00, -2.38481778e-13, -1.00000000e+00,  0.00000000e+00,
       -2.38481778e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885819, -0.06832822,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18932652e-05,-2.68952324e-06,-2.75502022e-07,-6.60012162e-07,
 -1.79810030e-05, 6.72322637e-05, 2.08011781e-05,-6.11599227e-06,
 -2.48844096e-05,-4.89393399e-05,-1.25528419e-07,-7.66491065e-06,
 -1.25257561e-04,-2.65506520e-05,-5.90211508e-05,-1.20417572e-04,
 -4.61343598e-07,-3.74959244e-06,-1.21639360e+00, 1.04115109e-04,
  1.55213728e-03, 4.65121235e-07]


--- Step 872 ---
qpos:
[ 3.01095913e-03,-3.33412508e-03, 1.18531610e-02, 4.17316085e-02,
 -2.17599236e-03,-1.93675047e-03,-1.73664327e-02, 2.86859089e-02,
  5.85981826e-03, 1.64717223e-02,-9.36645461e-03, 2.59819685e-02,
  1.14025149e+00,-1.22086220e-03, 8.90121404e-01, 6.42413151e-02,
  9.51561695e-02,-7.01346620e-02, 1.21804836e-01, 9.99974446e-01,
  3.21628094e-04, 1.52281324e-03, 6.97739994e-03]

qacc:
[ -2.20883963, -0.40860573,  1.035685  , -0.68564675, -1.86524481,
  -0.05235115,  0.5183998 , -1.38589408, -5.65262236, -3.62751176,
  10.23802067, -6.84171515, -1.08502781,  1.82668509,  4.16300913,
 -18.17416987, -0.65703778, -0.09854142,  0.17700392,  1.40286789,
 -10.84439181,  0.33124422]

qfrc_actuator:
[-6.29928221e-05, 3.35414162e-05, 1.29491816e-04, 3.15104537e-05,
 -2.74604837e-05,-2.78314300e-04,-2.33661294e-04,-7.71288921e-06,
 -4.17283077e-05, 4.14067299e-04, 7.80682164e-06, 4.89952905e-05,
  1.94953388e-02,-1.29751327e-03, 4.33788379e-03,-3.07698907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002328373398843009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38411722e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.38411722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885842, -0.06832819,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29909178e-05,-2.04503579e-05,-3.57482248e-07, 1.30720095e-07,
 -1.09386870e-05, 9.44058546e-06, 3.33341018e-06,-1.75385641e-06,
 -3.36785501e-05,-7.19510147e-05, 4.62969076e-05, 1.19272059e-05,
 -1.30451509e-04,-1.02678409e-05,-1.77518436e-04,-1.39599898e-04,
 -1.29951592e-06,-3.11074890e-06,-1.21640177e+00, 1.08867460e-04,
  1.55580661e-03, 5.82272047e-08]


--- Step 873 ---
qpos:
[ 3.00994243e-03,-3.33435675e-03, 1.18533997e-02, 4.17307812e-02,
 -2.17631149e-03,-1.93692045e-03,-1.73661536e-02, 2.86856941e-02,
  5.85933865e-03, 1.64710048e-02,-9.36647414e-03, 2.59827723e-02,
  1.14072106e+00,-1.21977297e-03, 8.90481755e-01, 6.42394417e-02,
  9.51604130e-02,-7.01472409e-02, 1.21807674e-01, 9.99974280e-01,
  4.24684818e-04, 1.55587364e-03, 6.98838892e-03]

qacc:
[  1.81234608, -0.26918781,  0.54290323, -0.18198143,  1.97512737,
  -1.82066219,  7.87488505,-15.10137599, -3.40570463, -2.18544687,
   4.71489148,  2.69372488, -0.1706361 , -0.26073747, -3.53037395,
   8.93507926, -0.6507866 , -0.09859498,  0.10719452,  1.40696654,
 -10.77592604,  0.33858112]

qfrc_actuator:
[-5.20193633e-05, 2.23571661e-05, 1.29509792e-04, 3.19945557e-05,
 -1.56324843e-05,-2.97661831e-04,-2.23662118e-04,-2.86537376e-05,
 -6.10712425e-05, 4.05860592e-04, 5.92645885e-05, 7.49679468e-05,
  1.94549186e-02,-1.32065733e-03, 4.29899472e-03,-3.04272873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023158800743054708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19848933e-13, -2.99622333e-13,  1.00000000e+00, -3.59094169e-26,
        1.00000000e+00,  2.99622333e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19848933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885881, -0.06832814,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05964188e-05,-2.26879039e-05,-4.24396693e-06,-3.99443732e-07,
  1.15194237e-05,-1.34585026e-05, 1.22994122e-05,-2.04549646e-05,
 -2.03372578e-05,-3.83632564e-05, 4.27237669e-05, 2.47264104e-05,
 -1.23404849e-04,-5.28261666e-05,-1.34972614e-04, 3.92002861e-06,
 -2.00157981e-06,-2.38783066e-06,-1.21640745e+00, 1.13740885e-04,
  1.55840198e-03,-3.65467175e-07]


--- Step 874 ---
qpos:
[ 3.00906503e-03,-3.33475825e-03, 1.18536162e-02, 4.17303128e-02,
 -2.17648643e-03,-1.93732088e-03,-1.73654171e-02, 2.86852284e-02,
  5.85897536e-03, 1.64699332e-02,-9.36617602e-03, 2.59838971e-02,
  1.14118987e+00,-1.21918515e-03, 8.90841655e-01, 6.42406762e-02,
  9.51618082e-02,-7.01581014e-02, 1.21810836e-01, 9.99974148e-01,
  5.13121646e-04, 1.56581455e-03, 6.99921806e-03]

qacc:
[  1.22520647,  0.57516548, -3.89460258, 10.27015337,  1.28272686,
  -2.10003907,  8.101118  ,-12.99821899,  1.03062245, -0.6968033 ,
   0.44600866,  4.86843566,  0.04326355, -0.80953413,-10.06110807,
  34.19721327, -0.71209352,  0.42961785,  0.08129309, -7.39042687,
 -11.50842257, -0.08650403]

qfrc_actuator:
[-4.51522357e-05, 1.58486120e-05, 1.29413325e-04, 5.03598611e-05,
 -8.54237743e-06,-3.09111151e-04,-2.00192912e-04,-4.08934487e-05,
 -5.44956695e-05, 3.83792388e-04, 7.18600732e-05, 8.99371131e-05,
  1.94084749e-02,-1.35254402e-03, 4.35331304e-03,-2.86188426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002295051819453871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68296388e-07, -2.68296388e-07,  1.00000000e+00,  7.19829520e-14,
        1.00000000e+00,  2.68296388e-07, -1.00000000e+00,  0.00000000e+00,
        2.68296388e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10998937, -0.07894891,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.16186313e-06,-2.00750087e-05,-5.31691494e-06, 1.72404160e-05,
  7.41412831e-06,-1.73039933e-05, 2.14953114e-05,-1.27892363e-05,
  5.97432180e-06,-3.36205569e-05, 1.07960762e-05, 1.52852441e-05,
 -1.34045163e-04,-6.84321775e-05,-7.42304989e-06, 1.63685827e-04,
 -2.57029730e-06,-1.57974064e-06,-1.21641070e+00, 1.18735387e-04,
  1.55993000e-03,-8.06136273e-07]


--- Step 875 ---
qpos:
[ 3.00793189e-03,-3.33521133e-03, 1.18535012e-02, 4.17300744e-02,
 -2.17726482e-03,-1.93794720e-03,-1.73641005e-02, 2.86846103e-02,
  5.85903850e-03, 1.64684285e-02,-9.36620340e-03, 2.59852484e-02,
  1.14165784e+00,-1.21896088e-03, 8.91201228e-01, 6.42443871e-02,
  9.51603634e-02,-7.01670748e-02, 1.21814029e-01, 9.99974054e-01,
  5.85555525e-04, 1.55261545e-03, 7.00985651e-03]

qacc:
[-2.25428708e+00, 1.33734644e+00,-5.82932474e+00, 1.03680169e+01,
 -5.27054845e+00,-2.22207967e+00, 8.15134334e+00,-1.15679840e+01,
  3.71653920e+00, 7.96118472e-01,-4.63717737e+00, 9.40697384e+00,
 -1.73772325e-01,-3.50972327e-01,-7.95511360e+00, 2.71340555e+01,
 -7.10003082e-01, 4.71758584e-01, 7.42153434e-03,-8.08210964e+00,
 -1.15137865e+01,-1.02065961e-01]

qfrc_actuator:
[-5.85172183e-05, 1.22059824e-05, 1.11529547e-04, 6.13510063e-05,
 -3.98101082e-05,-3.15682308e-04,-1.68927709e-04,-4.79004954e-05,
 -3.27221669e-05, 3.35687335e-04, 4.36022619e-05, 9.82760017e-05,
  1.93637725e-02,-1.37161032e-03, 4.34101729e-03,-2.73798350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000228399196233256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43044425e-13, -6.07611062e-14,  1.00000000e+00, -1.47676481e-26,
        1.00000000e+00,  6.07611062e-14, -1.00000000e+00,  0.00000000e+00,
       -2.43044425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008835, -0.0798744 ,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31673606e-05,-1.52099928e-05,-2.20848392e-05, 1.02841831e-05,
 -3.10627638e-05,-1.23461151e-05, 2.98930658e-05,-7.25377125e-06,
  2.19290856e-05,-6.39870178e-05,-3.33380275e-05, 7.56803212e-06,
 -1.40712534e-04,-6.17685619e-05,-3.52294801e-06, 1.30667977e-04,
 -2.33228400e-06,-5.14179857e-07,-1.21642022e+00, 1.22966482e-04,
  1.56049223e-03,-1.22328511e-06]


--- Step 876 ---
qpos:
[ 3.00630243e-03,-3.33566338e-03, 1.18533881e-02, 4.17302849e-02,
 -2.17841195e-03,-1.93858467e-03,-1.73627202e-02, 2.86832306e-02,
  5.85901690e-03, 1.64668548e-02,-9.36642991e-03, 2.59862885e-02,
  1.14212500e+00,-1.21901977e-03, 8.91560771e-01, 6.42491959e-02,
  9.51561014e-02,-7.01741736e-02, 1.21817021e-01, 9.99974001e-01,
  6.42103893e-04, 1.51636645e-03, 7.02034918e-03]

qacc:
[ -4.3561562 ,  0.92962397, -5.1911496 , 12.93751559, -3.23234049,
  -1.75262796,  9.45548892,-22.74318825, -0.74432532, -0.17380299,
   1.80338799, -6.82159942, -0.29294444, -0.05757968, -3.34900856,
  11.67385077, -0.70428803,  0.4686469 , -0.04993136, -8.02323617,
 -11.46904557, -0.07861747]

qfrc_actuator:
[-8.36821329e-05, 2.79852130e-05, 1.18796893e-04, 8.56556918e-05,
 -5.78973258e-05,-3.19238931e-04,-1.68796011e-04,-8.72713312e-05,
 -3.76918154e-05, 3.60943862e-04, 4.46064642e-05, 8.48504086e-05,
  1.93308013e-02,-1.38292169e-03, 4.34201598e-03,-2.68436593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002262398540730931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22682079e-13, -1.22682079e-13,  1.00000000e+00, -1.50508925e-26,
        1.00000000e+00,  1.22682079e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22682079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008899, -0.07987463,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55431949e-05, 3.16988018e-06, 1.77023738e-06, 2.30917199e-05,
 -1.89778796e-05,-4.59901378e-06, 1.00733843e-06,-3.90056394e-05,
 -4.36686885e-06,-1.70278738e-05,-1.60435404e-05,-1.71744488e-05,
 -1.31527456e-04,-5.42421919e-05, 7.41492929e-06, 5.89321030e-05,
 -1.88577127e-06, 4.25306692e-07,-1.21642648e+00, 1.26400951e-04,
  1.55992755e-03,-1.54965167e-06]


--- Step 877 ---
qpos:
[ 3.00472893e-03,-3.33625523e-03, 1.18537155e-02, 4.17304268e-02,
 -2.17873240e-03,-1.93914217e-03,-1.73620058e-02, 2.86824653e-02,
  5.85859076e-03, 1.64656448e-02,-9.36689797e-03, 2.59871056e-02,
  1.14259131e+00,-1.21897446e-03, 8.91920044e-01, 6.42484482e-02,
  9.51490400e-02,-7.01794081e-02, 1.21819623e-01, 9.99973989e-01,
  6.82862691e-04, 1.45713755e-03, 7.03073500e-03]

qacc:
[  0.50740252, -1.55891748,  5.57761015, -7.36437502,  7.2285173 ,
   3.21529706,-13.93065101, 25.59591802, -3.54212123,  0.70371022,
  -0.85815167, -2.89570136, -0.98175904,  1.44852936, 16.4291328 ,
 -57.92571743, -0.69983498,  0.4660728 , -0.09761117, -7.97517541,
 -11.43428939, -0.05816163]

qfrc_actuator:
[-8.00788780e-05, 1.98803227e-05, 1.40954013e-04, 8.21323460e-05,
 -1.48116675e-05,-3.21111232e-04,-2.04812561e-04,-5.66270094e-05,
 -5.83667508e-05, 4.12273982e-04, 4.54190594e-05, 7.65656770e-05,
  1.92942438e-02,-1.37176242e-03, 4.25511227e-03,-2.99207755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002232796264746012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72925771e-13, -1.86462885e-13,  1.00000000e+00, -6.95368153e-26,
        1.00000000e+00,  1.86462885e-13, -1.00000000e+00,  0.00000000e+00,
       -3.72925771e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008971, -0.07987497,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87730922e-06,-4.96402717e-06, 2.38377925e-05,-2.87461832e-06,
  4.25446697e-05,-5.90414906e-06,-3.81969084e-05, 2.97251880e-05,
 -2.08097061e-05, 3.78137352e-05,-5.25621606e-06,-9.90194004e-06,
 -1.27892409e-04,-2.82627223e-05,-8.43455905e-05,-3.05205282e-04,
 -1.28460595e-06, 1.22405900e-06,-1.21642874e+00, 1.29044920e-04,
  1.55822669e-03,-1.78346294e-06]


--- Step 878 ---
qpos:
[ 3.00355578e-03,-3.33715311e-03, 1.18541600e-02, 4.17302243e-02,
 -2.17887913e-03,-1.93959023e-03,-1.73618318e-02, 2.86830965e-02,
  5.85792028e-03, 1.64644425e-02,-9.36754222e-03, 2.59882032e-02,
  1.14305675e+00,-1.21879296e-03, 8.92278223e-01, 6.42434072e-02,
  9.51391929e-02,-7.01827867e-02, 1.21821676e-01, 9.99974016e-01,
  7.07909234e-04, 1.37498039e-03, 7.04104837e-03]

qacc:
[ 3.52278977e+00,-1.44849275e+00, 6.01801847e+00,-1.19244130e+01,
  1.50574816e+00, 4.52272331e+00,-2.18194729e+01, 4.67771397e+01,
 -2.13650564e+00, 1.08419467e+00,-5.02803703e+00, 1.01506035e+01,
 -9.21451895e-01, 1.36137675e+00, 1.13948109e+01,-4.20927260e+01,
 -6.96449619e-01, 4.63969309e-01,-1.37145238e-01,-7.93648466e+00,
 -1.14086510e+01,-3.99754479e-02]

qfrc_actuator:
[-5.95684689e-05,-2.01672591e-05, 1.36100369e-04, 6.22501258e-05,
 -7.08072735e-06,-3.04306963e-04,-2.26308630e-04, 1.49549235e-05,
 -7.03585319e-05, 3.90079940e-04, 2.84861458e-05, 8.91544017e-05,
  1.92502430e-02,-1.36514749e-03, 4.19005073e-03,-3.20857687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021971325279888931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26326361e-13,  4.42142262e-13,  1.00000000e+00,  5.58542229e-26,
        1.00000000e+00, -4.42142262e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26326361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1100905 , -0.07987539,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05913051e-05,-3.79995377e-05,-3.03812338e-06,-1.93254915e-05,
  8.94192590e-06, 6.91526004e-06,-2.63940252e-05, 7.05853510e-05,
 -1.25786338e-05,-2.51960131e-06,-1.00937924e-05, 1.38373302e-05,
 -1.28842171e-04,-2.62535247e-05,-1.42329366e-04,-2.45400662e-04,
 -5.24278787e-07, 1.89045084e-06,-1.21642707e+00, 1.30901453e-04,
  1.55539476e-03,-1.92573688e-06]


--- Step 879 ---
qpos:
[ 3.00263771e-03,-3.33841163e-03, 1.18545811e-02, 4.17301483e-02,
 -2.17962135e-03,-1.94032104e-03,-1.73611277e-02, 2.86831751e-02,
  5.85711081e-03, 1.64634119e-02,-9.36813108e-03, 2.59887155e-02,
  1.14352138e+00,-1.21878709e-03, 8.92635052e-01, 6.42422733e-02,
  9.51265699e-02,-7.01843162e-02, 1.21823051e-01, 9.99974075e-01,
  7.17304616e-04, 1.26992982e-03, 7.05132032e-03]

qacc:
[ 2.24455317e+00,-1.55344325e-01,-6.78199531e-01, 3.17523220e+00,
 -5.20171821e+00,-2.98026835e+00, 1.24360778e+01,-2.26585588e+01,
 -1.21371704e+00,-1.13049666e+00, 6.83555712e+00,-1.71852347e+01,
 -1.99486713e-01,-1.41509787e-01,-1.37757466e+01, 4.53183337e+01,
 -6.93971300e-01, 4.62278469e-01,-1.69835272e-01,-7.90595736e+00,
 -1.13913468e+01,-2.34884454e-02]

qfrc_actuator:
[-4.70331669e-05,-4.36530298e-05, 1.32940127e-04, 6.83609871e-05,
 -3.79929756e-05,-3.29616105e-04,-2.03446472e-04,-1.41969006e-05,
 -7.71388041e-05, 4.12745069e-04, 3.64424421e-05, 6.05950254e-05,
  1.92071338e-02,-1.37908549e-03, 4.20741381e-03,-2.97883138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021570141373551677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57351819e-13, -2.57351819e-13,  1.00000000e+00, -6.62299589e-26,
        1.00000000e+00,  2.57351819e-13, -1.00000000e+00,  0.00000000e+00,
       -2.57351819e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009133, -0.07987586,  0.06199476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31118899e-05,-4.61518305e-05,-1.20460031e-05, 4.00264065e-06,
 -3.06568183e-05,-2.38530442e-05, 2.34830758e-05,-2.83961938e-05,
 -7.14614588e-06, 1.98062353e-05, 6.69032561e-06,-2.87452457e-05,
 -1.28510415e-04,-4.64123500e-05,-7.65434611e-05, 1.97518464e-04,
  3.98050343e-07, 2.43189136e-06,-1.21642149e+00, 1.31972939e-04,
  1.55143565e-03,-1.97724027e-06]


--- Step 880 ---
qpos:
[ 3.00187725e-03,-3.34005670e-03, 1.18552574e-02, 4.17301300e-02,
 -2.18072834e-03,-1.94112163e-03,-1.73601943e-02, 2.86825522e-02,
  5.85657077e-03, 1.64628352e-02,-9.36847929e-03, 2.59884863e-02,
  1.14398503e+00,-1.21835720e-03, 8.92991012e-01, 6.42412195e-02,
  9.51111778e-02,-7.01840020e-02, 1.21823638e-01, 9.99974162e-01,
  7.11095721e-04, 1.14200532e-03, 7.06157936e-03]

qacc:
[ 1.39816452e+00,-1.10785567e+00, 2.96016814e+00,-2.07882525e+00,
 -3.19132158e+00,-2.16931676e+00, 1.05743848e+01,-2.30413351e+01,
  2.34914197e+00,-1.60358785e+00, 9.71113775e+00,-2.32545346e+01,
 -1.05633563e+00, 1.77407632e+00,-1.45653061e+00, 3.39159510e+00,
 -6.92267116e-01, 4.60950257e-01,-1.96790301e-01,-7.88258351e+00,
 -1.13816742e+01,-8.25035585e-03]

qfrc_actuator:
[-3.92978077e-05,-5.70247066e-05, 1.48642161e-04, 7.19820978e-05,
 -5.58861383e-05,-3.26586988e-04,-1.90328774e-04,-4.91404335e-05,
 -6.30471606e-05, 4.62158673e-04, 5.91711651e-05, 2.58530450e-05,
  1.91645848e-02,-1.35184000e-03, 4.14647490e-03,-2.98489587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021137603815957196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.25235989e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.25235989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009218, -0.07987637,  0.06199486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.09660288e-06,-4.14482189e-05, 4.83437467e-06, 1.30693610e-06,
 -1.87751302e-05,-6.66843464e-06, 1.01022384e-05,-3.57046978e-05,
  1.38908659e-05, 6.06774995e-05, 2.66666717e-05,-3.42185266e-05,
 -1.30827309e-04,-9.74282531e-06,-7.63953822e-05,-5.40860044e-06,
  1.48383210e-06, 2.85524667e-06,-1.21641204e+00, 1.32261127e-04,
  1.54635222e-03,-1.93852343e-06]


--- Step 881 ---
qpos:
[ 3.00121540e-03,-3.34179249e-03, 1.18560119e-02, 4.17297837e-02,
 -2.18135211e-03,-1.94128414e-03,-1.73597788e-02, 2.86825115e-02,
  5.85654876e-03, 1.64623456e-02,-9.36761610e-03, 2.59885121e-02,
  1.14444768e+00,-1.21731011e-03, 8.93345489e-01, 6.42375913e-02,
  9.50960277e-02,-7.01792445e-02, 1.21823449e-01, 9.99974254e-01,
  6.68210176e-04, 1.01706389e-03, 7.07182253e-03]

qacc:
[  0.86932726, -1.01657102,  4.83109978,-10.5613567 ,  4.21136143,
   3.4786077 ,-13.65277364, 24.10120667,  4.55457335, -2.75463352,
   8.89652595, -6.46673191, -1.3456964 ,  2.42776287,  5.67094977,
 -22.81380496,  0.06049275,  1.11079883, -0.19375699,-18.32731135,
   1.62098692, -0.02995779]

qfrc_actuator:
[-3.44469778e-05,-4.64051199e-05, 1.57639813e-04, 5.63747548e-05,
 -3.04551103e-05,-2.53396879e-04,-2.00721796e-04,-1.61785985e-05,
 -3.67851805e-05, 4.74012472e-04, 1.26061182e-04, 4.10497005e-05,
  1.91170909e-02,-1.31816644e-03, 4.02790873e-03,-3.13018219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020851231663987502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16307656e-13,  5.32449614e-13,  1.00000000e+00,  1.15172928e-25,
        1.00000000e+00, -5.32449614e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16307656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499101, -0.09316321,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.07125102e-06,-1.14468166e-05, 1.08884107e-06,-1.71880556e-05,
  2.48945916e-05, 7.00306483e-05,-1.17608445e-05, 3.23326127e-05,
  2.66794548e-05, 4.98555851e-05, 8.15345766e-05, 1.80555801e-05,
 -1.29287309e-04, 3.33919409e-06,-1.57784661e-04,-1.56205287e-04,
  2.73332408e-06, 3.16716305e-06,-1.21639874e+00, 1.31767169e-04,
  1.54014642e-03,-1.80994890e-06]


--- Step 882 ---
qpos:
[ 3.00096161e-03,-3.34321391e-03, 1.18566647e-02, 4.17292129e-02,
 -2.18132157e-03,-1.94070570e-03,-1.73598869e-02, 2.86828520e-02,
  5.85684180e-03, 1.64621037e-02,-9.36626407e-03, 2.59894393e-02,
  1.14490956e+00,-1.21641116e-03, 8.93698301e-01, 6.42358085e-02,
  9.50811213e-02,-7.01700720e-02, 1.21822287e-01, 9.99974347e-01,
  5.88791359e-04, 8.95013732e-04, 7.08215756e-03]

qacc:
[  3.57312521,  0.23006261,  0.71792533, -4.65953236,  5.70974972,
   3.21407857,-11.66856807, 18.57717207,  2.75940935,  0.81175442,
  -6.23502115, 20.88426394, -0.28438769,  0.04621758, -8.01501541,
  24.49577114,  0.06093137,  1.10374586, -0.24365427,-18.25598967,
   1.57480543,  0.02638217]

qfrc_actuator:
[-1.35782678e-05,-3.77935238e-06, 1.62689619e-04, 4.73456634e-05,
  2.51570796e-06,-2.09800666e-04,-2.24565712e-04, 3.26546593e-06,
 -2.13300030e-05, 4.81268395e-04, 1.47370446e-04, 8.55096858e-05,
  1.90719937e-02,-1.33425671e-03, 3.99202003e-03,-3.01907906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020679452477666282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38863349e-14,  5.36872543e-13,  1.00000000e+00,  4.50362700e-26,
        1.00000000e+00, -5.36872543e-13, -1.00000000e+00,  0.00000000e+00,
       -8.38863349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499129, -0.09316396,  0.06199498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10146251e-05, 3.57720143e-05, 2.23748820e-06,-9.81345577e-06,
  3.37040116e-05, 8.17234182e-05,-9.71262366e-06, 2.26660374e-05,
  1.62326385e-05, 5.27681351e-05, 4.22695509e-05, 4.97670717e-05,
 -1.24068580e-04,-4.30473917e-05,-1.25822620e-04, 8.21325901e-05,
  3.60780914e-06, 2.37035613e-06,-1.21639605e+00, 1.29636371e-04,
  1.53423634e-03,-1.41698645e-06]


--- Step 883 ---
qpos:
[ 3.00061493e-03,-3.34414206e-03, 1.18572101e-02, 4.17292053e-02,
 -2.18158533e-03,-1.93988252e-03,-1.73603054e-02, 2.86824364e-02,
  5.85731793e-03, 1.64624983e-02,-9.36559071e-03, 2.59905784e-02,
  1.14537049e+00,-1.21510366e-03, 8.94050432e-01, 6.42384408e-02,
  9.50664591e-02,-7.01565066e-02, 1.21819983e-01, 9.99974434e-01,
  4.72948922e-04, 7.75776773e-04, 7.09267712e-03]

qacc:
[ -0.82685055,  2.1150438 , -8.96849568, 18.5208436 , -2.59568036,
  -0.35926001,  4.951898  ,-17.73051521,  1.56496197,  3.17081784,
 -10.98467061, 15.27167822, -0.81856881,  1.35089162,-14.27501928,
  48.61415076,  0.06103654,  1.09824785, -0.28533995,-18.2014618 ,
   1.53559951,  0.07515568]

qfrc_actuator:
[-1.89529973e-05, 3.99286750e-05, 1.65519416e-04, 7.77966050e-05,
 -1.36118644e-05,-2.37576770e-04,-2.56267315e-04,-3.86909079e-05,
 -1.23631451e-05, 5.03322633e-04, 1.06063996e-04, 9.35212389e-05,
  1.90336752e-02,-1.30867631e-03, 4.02711072e-03,-2.77528500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020436150040606393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56517181e-13,  2.71632138e-13,  1.00000000e+00,  9.68415240e-26,
        1.00000000e+00, -2.71632138e-13, -1.00000000e+00,  0.00000000e+00,
       -3.56517181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499149, -0.09316486,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.75943276e-06, 6.38068190e-05, 1.01643368e-05, 3.18718031e-05,
 -1.51388633e-05, 1.68799214e-05,-1.52410507e-05,-3.83522699e-05,
  9.44760011e-06, 6.24240571e-05,-2.34934897e-05, 1.26988443e-05,
 -1.23816866e-04,-9.45880304e-06,-1.37752215e-05, 2.32167655e-04,
  4.50529939e-06, 1.61854599e-06,-1.21638655e+00, 1.25694754e-04,
  1.52847999e-03,-9.37944087e-07]


--- Step 884 ---
qpos:
[ 3.00020674e-03,-3.34456689e-03, 1.18577820e-02, 4.17292061e-02,
 -2.18203994e-03,-1.93891568e-03,-1.73610506e-02, 2.86815368e-02,
  5.85789852e-03, 1.64628886e-02,-9.36510528e-03, 2.59911637e-02,
  1.14583056e+00,-1.21351126e-03, 8.94403092e-01, 6.42385556e-02,
  9.50520404e-02,-7.01385649e-02, 1.21816398e-01, 9.99974501e-01,
  3.20762311e-04, 6.59286039e-04, 7.10346198e-03]

qacc:
[ -0.54771459,  0.6097749 , -1.24251401,  0.97304187, -1.68674368,
   0.11004898,  1.93295691, -9.90077276,  0.90485271, -0.62222916,
   4.54552121,-13.82313171, -1.02346988,  1.66146687,  8.44391322,
 -28.25466194,  0.0608853 ,  1.09406931, -0.32014549,-18.16198187,
   1.5020368 ,  0.11796942]

qfrc_actuator:
[-2.19834312e-05, 6.62287978e-05, 1.67063574e-04, 7.79795703e-05,
 -2.30063151e-05,-2.36965928e-04,-2.74934575e-04,-6.32448769e-05,
 -7.28333817e-06, 4.62757582e-04, 8.14179817e-05, 6.22402072e-05,
  1.89941417e-02,-1.29409620e-03, 4.03019945e-03,-2.91675272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020138325172602833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92877375e-13,  2.75649294e-13,  1.00000000e+00,  8.07314418e-26,
        1.00000000e+00, -2.75649294e-13, -1.00000000e+00,  0.00000000e+00,
       -2.92877375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499163, -0.09316589,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14307698e-06, 6.54723684e-05, 1.70835457e-05, 3.88944478e-06,
 -9.81788366e-06, 5.22900772e-06,-1.83882694e-05,-2.51036766e-05,
  5.37498340e-06,-9.98574168e-06,-1.42207182e-05,-2.91768791e-05,
 -1.15960577e-04,-1.46848201e-05, 1.71229872e-05,-1.31562671e-04,
  5.44771007e-06, 9.08087210e-07,-1.21637030e+00, 1.19949315e-04,
  1.52288011e-03,-3.72184330e-07]


--- Step 885 ---
qpos:
[ 2.99976554e-03,-3.34463729e-03, 1.18581828e-02, 4.17288970e-02,
 -2.18294880e-03,-1.93764935e-03,-1.73621965e-02, 2.86817161e-02,
  5.85853579e-03, 1.64631335e-02,-9.36513342e-03, 2.59917570e-02,
  1.14628995e+00,-1.21228868e-03, 8.94755667e-01, 6.42380061e-02,
  9.50378639e-02,-7.01162591e-02, 1.21811417e-01, 9.99974534e-01,
  1.32283823e-04, 5.45483558e-04, 7.11458356e-03]

qacc:
[ -0.30144321,  0.30863182,  0.88719935, -6.23610865, -4.00115069,
   3.74133219,-17.30886394, 36.38637882,  0.48082192,  1.25874041,
  -4.80256694,  5.87139445, -0.21539659, -0.21129723,  1.88283153,
  -6.7630248 ,  0.06053762,  1.09101436, -0.34920385,-18.13603356,
   1.47305657,  0.15608835]

qfrc_actuator:
[-2.36015096e-05, 6.41241816e-05, 1.49992852e-04, 6.03313866e-05,
 -4.60992772e-05,-2.01567081e-04,-2.85640814e-04,-6.31643905e-06,
 -4.53035895e-06, 4.38265027e-04, 4.87963304e-05, 6.13223752e-05,
  1.89485791e-02,-1.32166130e-03, 4.02997995e-03,-2.94691085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019799990483898577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27792081e-13,  5.60718969e-13,  1.00000000e+00,  1.27727341e-25,
        1.00000000e+00, -5.60718969e-13, -1.00000000e+00,  0.00000000e+00,
       -2.27792081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499172, -0.093167  ,  0.06199519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68483919e-06, 3.82117670e-05,-1.30957410e-06,-1.41769081e-05,
 -2.33692102e-05, 3.34210926e-05,-1.27600388e-05, 5.60296440e-05,
  2.90720735e-06,-3.42818818e-05,-3.74566460e-05,-2.40901551e-06,
 -1.18785675e-04,-5.58948599e-05,-1.58327869e-05,-3.73396306e-05,
  6.45283805e-06, 2.40018438e-07,-1.21634736e+00, 1.12405219e-04,
  1.51743888e-03, 2.80834132e-07]


--- Step 886 ---
qpos:
[ 2.99896329e-03,-3.34414820e-03, 1.18579872e-02, 4.17287280e-02,
 -2.18447208e-03,-1.93647228e-03,-1.73635922e-02, 2.86826154e-02,
  5.85885586e-03, 1.64637098e-02,-9.36550071e-03, 2.59919155e-02,
  1.14674864e+00,-1.21163929e-03, 8.95107870e-01, 6.42397246e-02,
  9.50211033e-02,-7.00943620e-02, 1.21807256e-01, 9.99974523e-01,
 -5.33390070e-05, 4.09190772e-04, 7.12622944e-03]

qacc:
[ -3.19738325,  2.7020671 , -9.14074137, 12.09382822, -5.39473756,
   2.07102807,-10.578092  , 23.48383353, -2.78299078,  0.49633709,
   0.71127971, -7.94876376,  0.10522745, -0.94498048, -7.41450067,
  25.09561395, -0.64599161, -0.10216607,  0.20514935,  1.34764807,
 -11.2549782 ,  0.26455699]

qfrc_actuator:
[-4.21286966e-05, 9.81821677e-05, 1.21940067e-04, 6.78046422e-05,
 -7.70715875e-05,-2.34271897e-04,-3.09118471e-04, 2.71215257e-05,
 -2.09201214e-05, 4.94569344e-04, 4.72953645e-05, 4.27768703e-05,
  1.89047407e-02,-1.35622014e-03, 4.03846328e-03,-2.82236621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019866134750311237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79426028e-13, -2.79426028e-13,  1.00000000e+00, -7.80789051e-26,
        1.00000000e+00,  2.79426028e-13, -1.00000000e+00,  0.00000000e+00,
       -2.79426028e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886209, -0.06832702,  0.06199517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85613208e-05, 5.45476317e-05,-2.08145083e-05, 8.78889052e-06,
 -3.16286086e-05,-1.42914107e-05,-1.62083582e-05, 3.55194532e-05,
 -1.63159121e-05, 2.92864291e-05,-1.32826193e-05,-2.13593543e-05,
 -1.28175289e-04,-7.13477124e-05,-9.38493749e-06, 1.18932912e-04,
  7.53554274e-06,-3.80374600e-07,-1.21631775e+00, 1.03066035e-04,
  1.51215814e-03, 1.02158470e-06]


--- Step 887 ---
qpos:
[ 2.99829021e-03,-3.34337104e-03, 1.18580883e-02, 4.17286223e-02,
 -2.18635477e-03,-1.93561499e-03,-1.73650669e-02, 2.86828914e-02,
  5.85897712e-03, 1.64642966e-02,-9.36500118e-03, 2.59921521e-02,
  1.14720646e+00,-1.21110364e-03, 8.95459817e-01, 6.42422597e-02,
  9.50017953e-02,-7.00762144e-02, 1.21803813e-01, 9.99974466e-01,
 -2.08102088e-04, 2.49759566e-04, 7.13871475e-03]

qacc:
[  1.13828799, -0.32047377,  1.42344378, -1.00819857, -3.1496626 ,
  -1.47719895,  7.29680194,-17.73381117, -1.70696918, -2.24494665,
   7.70087286, -7.75018616, -0.50071555,  0.41022081, -2.81783093,
   9.36753563, -0.63687453, -0.93738791,  0.1794332 , 15.34686354,
 -11.67888544,  0.42556665]

qfrc_actuator:
[-3.49548517e-05, 1.18085639e-04, 1.41049788e-04, 7.22722055e-05,
 -9.46770055e-05,-2.72064691e-04,-3.22496916e-04,-6.86532229e-06,
 -3.06916891e-05, 5.10169884e-04, 1.00003089e-04, 4.95996591e-05,
  1.88619625e-02,-1.35911864e-03, 4.02024246e-03,-2.78519300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020404311417061838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.72055989e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.72055989e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089076 , -0.05159797,  0.06199504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66337297e-06, 4.64647308e-05, 2.81157047e-05, 6.25562693e-06,
 -1.85128091e-05,-4.76497013e-05,-1.70961143e-05,-3.44690747e-05,
 -1.02261406e-05, 2.82970365e-05, 5.63803362e-05, 7.20247819e-06,
 -1.35899148e-04,-4.49472152e-05,-1.52835154e-05, 4.12011504e-05,
  8.56440807e-06,-9.38776427e-08,-1.21630628e+00, 9.36681228e-05,
  1.50555449e-03, 1.81855841e-06]


--- Step 888 ---
qpos:
[ 2.99770826e-03,-3.34239986e-03, 1.18581977e-02, 4.17286031e-02,
 -2.18808937e-03,-1.93496704e-03,-1.73661843e-02, 2.86827139e-02,
  5.85898030e-03, 1.64648337e-02,-9.36383981e-03, 2.59931803e-02,
  1.14766340e+00,-1.21038220e-03, 8.95811041e-01, 6.42462866e-02,
  9.49799454e-02,-7.00617690e-02, 1.21800643e-01, 9.99974366e-01,
 -3.32386045e-04, 6.75108023e-05, 7.15207572e-03]

qacc:
[  0.79676783,  0.40986263, -1.45641609,  2.79810282,  1.31346539,
  -2.21025144,  9.39063864,-17.65249743, -1.0079331 , -0.28338188,
  -2.42439017, 15.10272238, -0.70738296,  1.01108311, -5.52347023,
  17.87984978, -0.63548755, -0.92553018,  0.06828124, 15.15761535,
 -11.51736378,  0.43940875]

qfrc_actuator:
[-3.04588208e-05, 1.11791378e-04, 1.34544461e-04, 7.49569438e-05,
 -8.65188990e-05,-2.59386149e-04,-2.94381333e-04,-2.69938517e-05,
 -3.64838523e-05, 5.01536606e-04, 1.30907818e-04, 8.90572100e-05,
  1.88305131e-02,-1.34325113e-03, 3.98067638e-03,-2.71113513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020870888891214023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65974063e-13, -5.31948127e-13,  1.00000000e+00, -1.41484405e-25,
        1.00000000e+00,  5.31948127e-13, -1.00000000e+00,  0.00000000e+00,
       -2.65974063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890631, -0.05159891,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.69809857e-06, 2.57396046e-05, 6.76196784e-06, 5.76787203e-06,
  7.61589316e-06,-1.89964851e-05, 1.49821344e-05,-2.34313982e-05,
 -6.07558111e-06, 1.91145907e-05, 4.39308225e-05, 4.27586848e-05,
 -1.23477605e-04,-2.27684937e-05,-4.82906818e-05, 7.29310900e-05,
  8.97516433e-06, 1.14825726e-06,-1.21631552e+00, 8.57307355e-05,
  1.49761684e-03, 2.26398295e-06]


--- Step 889 ---
qpos:
[ 2.99684010e-03,-3.34157735e-03, 1.18581338e-02, 4.17286739e-02,
 -2.18902321e-03,-1.93432408e-03,-1.73668258e-02, 2.86829514e-02,
  5.85891432e-03, 1.64649346e-02,-9.36201896e-03, 2.59940333e-02,
  1.14811967e+00,-1.20982274e-03, 8.96161224e-01, 6.42502575e-02,
  9.49556300e-02,-7.00515121e-02, 1.21797205e-01, 9.99974223e-01,
 -4.22067934e-04,-1.36890865e-04, 7.16630389e-03]

qacc:
[ -2.51504932,  0.47874738, -2.36333   ,  4.29908223,  7.03836162,
  -0.49572547, -0.01852635,  6.47139596, -0.57518835, -2.77943159,
   9.81542042,-13.58335246, -0.31807821,  0.13834789, -1.35592006,
   2.53762656, -0.61636266, -1.04715323, -0.06702656, 17.22133411,
 -11.20004901,  0.4312241 ]

qfrc_actuator:
[-4.53357213e-05, 7.20046809e-05, 1.12839914e-04, 7.65236532e-05,
 -4.55137943e-05,-2.34159971e-04,-2.59526866e-04,-3.22252429e-06,
 -3.98895655e-05, 4.42913621e-04, 1.48589008e-04, 7.63401302e-05,
  1.88005664e-02,-1.35188331e-03, 3.90705110e-03,-2.72246417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021124353880191623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -2.132127e-07,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  2.132127e-07, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10865418, -0.04881292,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47378001e-05,-2.37822249e-05,-1.53676671e-05, 3.01309228e-06,
  4.12159384e-05, 1.66864609e-05, 3.19710131e-05, 2.30207448e-05,
 -3.57366315e-06,-3.70645176e-05, 2.84981675e-05,-9.55156504e-06,
 -1.09745530e-04,-4.00795600e-05,-9.21017164e-05,-1.44954500e-05,
  9.40701177e-06, 2.67785654e-06,-1.21631735e+00, 7.92627419e-05,
  1.48850867e-03, 2.52154246e-06]


--- Step 890 ---
qpos:
[ 2.99580050e-03,-3.34116165e-03, 1.18585287e-02, 4.17284079e-02,
 -2.18876840e-03,-1.93369162e-03,-1.73670269e-02, 2.86834742e-02,
  5.85915307e-03, 1.64645115e-02,-9.36012287e-03, 2.59944354e-02,
  1.14857504e+00,-1.20900873e-03, 8.96510238e-01, 6.42547230e-02,
  9.49313055e-02,-7.00460312e-02, 1.21794408e-01, 9.99974055e-01,
 -4.71219560e-04,-3.42216216e-04, 7.17980506e-03]

qacc:
[-1.48353751e+00,-2.51232060e+00, 9.60335356e+00,-1.58725618e+01,
  1.04394514e+01,-6.77759561e-01, 1.15636543e+00, 3.12397207e+00,
  2.66871312e+00,-1.83620610e+00, 7.43680250e+00,-1.49646596e+01,
 -8.17901031e-01, 1.24689003e+00,-3.16596031e+00, 8.68933725e+00,
 -2.26535597e-03,-1.19397003e+00, 1.60299671e-01, 2.02612448e+01,
 -6.06904526e-01,-3.66367566e-01]

qfrc_actuator:
[-5.37428744e-05, 4.78928500e-05, 1.35452035e-04, 5.96286579e-05,
  1.44876201e-05,-2.37031090e-04,-2.38643069e-04, 1.06962390e-05,
 -2.41124806e-05, 3.90208605e-04, 1.40321053e-04, 5.07212191e-05,
  1.87502318e-02,-1.33943658e-03, 3.85565141e-03,-2.69531108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021353523588903502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27743288e-07,  5.19924976e-13,  1.00000000e+00,  1.70401921e-19,
        1.00000000e+00, -5.19924976e-13, -1.00000000e+00,  2.40741243e-35,
       -3.27743288e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09634339, -0.04596925,  0.06199481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.83727711e-06,-4.04876481e-05, 1.59037118e-05,-1.83878989e-05,
  6.11798536e-05, 1.40482477e-05, 2.90629876e-05, 1.61858639e-05,
  1.56633111e-05,-6.79826643e-05,-1.27687841e-05,-2.64131634e-05,
 -1.26329060e-04,-1.89301623e-05,-9.76568599e-05, 1.39561758e-05,
  9.64150382e-06, 4.60732923e-06,-1.21631449e+00, 7.44742963e-05,
  1.47821708e-03, 2.52326458e-06]


--- Step 891 ---
qpos:
[ 2.99501285e-03,-3.34098289e-03, 1.18594190e-02, 4.17279167e-02,
 -2.18745087e-03,-1.93340829e-03,-1.73664766e-02, 2.86838368e-02,
  5.85957907e-03, 1.64637006e-02,-9.35892618e-03, 2.59945648e-02,
  1.14902935e+00,-1.20768095e-03, 8.96858574e-01, 6.42580598e-02,
  9.49089533e-02,-7.00452868e-02, 1.21792389e-01, 9.99973887e-01,
 -4.80028004e-04,-5.31064096e-04, 7.19110096e-03]

qacc:
[  2.23093245, -2.1664032 ,  8.21145296,-12.71529507,  9.35014315,
  -2.90750277, 10.34269648,-14.02403357,  1.61764765,  0.87759434,
  -2.72634426, -0.58538221, -1.25686582,  2.15725604,  2.48939387,
  -9.96866431,  0.49306494, -1.18413418,  0.19450438, 20.22984347,
   8.09421359, -1.1056276 ]

qfrc_actuator:
[-4.05158387e-05, 5.12561994e-05, 1.66338642e-04, 4.98002502e-05,
  6.74259812e-05,-2.74505700e-04,-2.08544020e-04, 9.14554068e-07,
 -1.49245676e-05, 3.59069280e-04, 9.90514483e-05, 3.54595451e-05,
  1.86930350e-02,-1.31469425e-03, 3.82828758e-03,-2.75211266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022218907221380202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.4983745e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.4983745e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08657279, -0.04617911,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29596574e-05,-1.67989263e-05, 2.38388084e-05,-1.13709862e-05,
  5.46853554e-05,-2.29225631e-05, 3.71321077e-05,-7.86371805e-06,
  9.61548041e-06,-7.29266589e-05,-5.78175403e-05,-1.91356664e-05,
 -1.38416543e-04,-6.32665912e-06,-7.28216606e-05,-6.90726845e-05,
  8.03987889e-06, 5.54694613e-06,-1.21632778e+00, 7.20377700e-05,
  1.46770796e-03, 2.11948160e-06]


--- Step 892 ---
qpos:
[ 2.99473457e-03,-3.34089478e-03, 1.18606221e-02, 4.17273048e-02,
 -2.18619839e-03,-1.93336237e-03,-1.73658214e-02, 2.86841106e-02,
  5.86011175e-03, 1.64628538e-02,-9.35871744e-03, 2.59944852e-02,
  1.14948276e+00,-1.20584291e-03, 8.97206350e-01, 6.42576749e-02,
  9.48891154e-02,-7.00476868e-02, 1.21791638e-01, 9.99973726e-01,
 -4.61970195e-04,-6.98686671e-04, 7.20038392e-03]

qacc:
[  4.48246538, -1.2522539 ,  4.78471488, -7.29000741, -0.56315144,
  -0.78820164,  2.73198694, -4.26315465,  0.90008295,  2.28165425,
  -7.32475381,  5.31606431, -1.26052955,  2.23419952, 10.48763124,
 -37.70237384,  0.62857498, -0.78611855,  0.31693061, 13.50855908,
  10.51626169, -1.00850762]

qfrc_actuator:
[-1.46630862e-05, 5.33448593e-05, 1.84217304e-04, 4.42347270e-05,
  6.25190949e-05,-2.96894324e-04,-2.08908144e-04,-5.00336168e-06,
 -9.69456405e-06, 3.76447924e-04, 5.64780122e-05, 2.64144354e-05,
  1.86637219e-02,-1.28293558e-03, 3.78338840e-03,-2.94662485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022768208991215242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.0900717e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.0900717e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08407783, -0.05438331,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62141444e-05,-2.87716333e-06, 1.69403680e-05,-5.68324254e-06,
 -3.35724589e-06,-2.78725723e-05,-8.09832229e-07,-5.77345667e-06,
  5.48200121e-06,-3.61456620e-05,-6.54257646e-05,-1.45447499e-05,
 -1.14879628e-04, 3.16591386e-07,-9.00699950e-05,-2.08647069e-04,
  5.54678003e-06, 5.19936762e-06,-1.21635008e+00, 7.18925291e-05,
  1.45801903e-03, 1.55447989e-06]


--- Step 893 ---
qpos:
[ 2.99442354e-03,-3.34098204e-03, 1.18620873e-02, 4.17266454e-02,
 -2.18604902e-03,-1.93306810e-03,-1.73659146e-02, 2.86839631e-02,
  5.86070259e-03, 1.64623734e-02,-9.35903366e-03, 2.59942126e-02,
  1.14993557e+00,-1.20398549e-03, 8.97553399e-01, 6.42561987e-02,
  9.48722893e-02,-7.00517081e-02, 1.21792291e-01, 9.99973576e-01,
 -4.29875175e-04,-8.40848541e-04, 7.20806399e-03]

qacc:
[-0.27629479,-1.06181656, 3.65091082,-4.76443913,-9.70303626, 1.57096371,
 -3.31338514,-3.00111763, 0.48455221, 1.55312528,-4.02189308, 1.25252967,
 -0.49716413, 0.6213341 , 2.24982372,-9.36477748, 0.7529678 ,-0.40529839,
  0.3510402 , 7.10952703,12.67985531,-0.80048226]

qfrc_actuator:
[-1.70983837e-05, 3.68645780e-05, 1.94275479e-04, 4.12125709e-05,
  5.85509873e-06,-2.74698159e-04,-2.44956932e-04,-2.63630034e-05,
 -6.83364461e-06, 4.40493287e-04, 4.91958526e-05, 2.11445926e-05,
  1.86405108e-02,-1.28267440e-03, 3.77591400e-03,-2.98993464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002324894298538216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38768495e-13, -4.77536990e-13,  1.00000000e+00, -1.14020788e-25,
        1.00000000e+00,  4.77536990e-13, -1.00000000e+00,  0.00000000e+00,
       -2.38768495e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177142, -0.06196836,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69149738e-06,-1.48394005e-05, 1.13392367e-05,-2.67239622e-06,
 -5.67691494e-05, 6.18402461e-06,-4.21142205e-05,-2.26965524e-05,
  3.00621301e-06, 2.97265875e-05,-2.33024133e-05,-9.36422234e-06,
 -9.35126647e-05,-2.43848357e-05,-7.57117121e-05,-6.73487606e-05,
  3.68913991e-06, 4.42449091e-06,-1.21636853e+00, 7.30556039e-05,
  1.44955767e-03, 1.14387049e-06]


--- Step 894 ---
qpos:
[ 2.99408598e-03,-3.34123703e-03, 1.18636685e-02, 4.17263096e-02,
 -2.18658020e-03,-1.93235503e-03,-1.73663146e-02, 2.86835077e-02,
  5.86132313e-03, 1.64622706e-02,-9.35979665e-03, 2.59935254e-02,
  1.15038812e+00,-1.20353967e-03, 8.97899486e-01, 6.42532160e-02,
  9.48584406e-02,-7.00573434e-02, 1.21793914e-01, 9.99973445e-01,
 -3.83934856e-04,-9.57876668e-04, 7.21417421e-03]

qacc:
[ -0.22615798,  0.12131069, -2.11841637,  7.65433444, -5.98583996,
   0.78876066, -0.68879956, -4.4804305 ,  0.23826817,  0.89369928,
  -0.71232602, -6.02725867,  1.01487899, -2.99965509,  3.03221261,
 -12.89611869,  0.74433789, -0.40351378,  0.24251902,  7.01239394,
  12.5169861 , -0.785397  ]

qfrc_actuator:
[-1.84154962e-05, 2.71165331e-05, 1.99567109e-04, 5.74441968e-05,
 -2.75411781e-05,-2.26141910e-04,-2.48347244e-04,-3.88670132e-05,
 -5.38833172e-06, 4.61140252e-04, 2.75153980e-05, 4.54883554e-07,
  1.86049908e-02,-1.37203543e-03, 3.72169427e-03,-3.06793316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023503225860344035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36185244e-13, -2.36185244e-13,  1.00000000e+00, -5.57834693e-26,
        1.00000000e+00,  2.36185244e-13, -1.00000000e+00,  0.00000000e+00,
       -2.36185244e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177189, -0.06196888,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37190829e-06,-1.58306670e-05, 3.51639839e-06, 1.59348537e-05,
 -3.50096825e-05, 4.23137200e-05,-8.08567891e-06,-1.41356548e-05,
  1.54129090e-06, 3.20801466e-05,-1.87238067e-05,-2.04019522e-05,
 -9.81067819e-05,-1.14141410e-04,-9.98240420e-05,-9.22537065e-05,
  2.29941274e-06, 3.45928080e-06,-1.21638661e+00, 7.48640589e-05,
  1.44247242e-03, 8.97525879e-07]


--- Step 895 ---
qpos:
[ 2.99407989e-03,-3.34124527e-03, 1.18648301e-02, 4.17264999e-02,
 -2.18716313e-03,-1.93129287e-03,-1.73665081e-02, 2.86828781e-02,
  5.86195637e-03, 1.64622664e-02,-9.36075006e-03, 2.59929592e-02,
  1.15084015e+00,-1.20409660e-03, 8.98243804e-01, 6.42520381e-02,
  9.48475404e-02,-7.00645870e-02, 1.21796143e-01, 9.99973341e-01,
 -3.24302815e-04,-1.05004258e-03, 7.21873741e-03]

qacc:
[  2.89240591,  2.57815853,-10.94754934, 20.5491791 , -0.45354851,
  -0.47311944,  3.09350919, -6.69644149,  0.10326548,  0.91150276,
  -3.5721953 ,  5.89889431,  0.64134043, -2.14718331, -8.11983659,
  24.46556303,  0.73710854, -0.40206841,  0.15155616,  6.93462347,
  12.38170259, -0.77537243]

qfrc_actuator:
[-1.30218916e-06, 5.69756054e-05, 1.84287348e-04, 8.48759451e-05,
 -2.92055121e-05,-1.97544670e-04,-2.32284680e-04,-4.60025121e-05,
 -4.78716895e-06, 4.55590339e-04, 1.50803794e-05, 6.31735958e-06,
  1.85674000e-02,-1.42498342e-03, 3.64480056e-03,-2.97061421e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023571589761052503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35500243e-13,  2.35500243e-13,  1.00000000e+00,  5.54603646e-26,
        1.00000000e+00, -2.35500243e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35500243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177201, -0.06196915,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70671581e-05, 2.24075338e-05,-1.75795027e-05, 2.71834236e-05,
 -2.64660514e-06, 4.99506670e-05, 2.33163043e-05,-5.87523561e-06,
  6.56902882e-07, 7.66421298e-06,-8.80835147e-06, 6.19585116e-06,
 -1.23442877e-04,-9.58988912e-05,-1.34749966e-04, 7.89341687e-05,
  1.23997754e-06, 2.60740851e-06,-1.21640028e+00, 7.73138857e-05,
  1.43665259e-03, 6.64289472e-07]


--- Step 896 ---
qpos:
[ 2.99393405e-03,-3.34108107e-03, 1.18655219e-02, 4.17270303e-02,
 -2.18776168e-03,-1.93004764e-03,-1.73664340e-02, 2.86821847e-02,
  5.86224702e-03, 1.64621271e-02,-9.36065325e-03, 2.59927565e-02,
  1.15129120e+00,-1.20465026e-03, 8.98587046e-01, 6.42538692e-02,
  9.48395645e-02,-7.00734344e-02, 1.21798674e-01, 9.99973267e-01,
 -2.51100351e-04,-1.11757035e-03, 7.22176823e-03]

qacc:
[ -1.24426553,  2.24469764, -9.10265283, 15.60614902, -0.13168224,
  -0.63627615,  2.88971567, -4.55650261, -2.95259144, -2.35956346,
   6.62887863, -1.92624564, -0.53808362,  0.52008041,-10.63955738,
  34.98551077,  0.73110096, -0.40095217,  0.07546914,  6.87315893,
  12.27002352, -0.76940461]

qfrc_actuator:
[-8.98328512e-06, 5.69936544e-05, 1.57154025e-04, 1.00943239e-04,
 -2.99398833e-05,-1.98773284e-04,-2.22693723e-04,-4.99274833e-05,
 -2.24400223e-05, 4.69955508e-04, 7.91255099e-05, 2.77413331e-05,
  1.85179493e-02,-1.42042254e-03, 3.63429647e-03,-2.80631881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023491545662995827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72605354e-13, -4.72605354e-13,  1.00000000e+00, -2.23355820e-25,
        1.00000000e+00,  4.72605354e-13, -1.00000000e+00,  0.00000000e+00,
       -4.72605354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177187, -0.06196922,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.18878457e-06, 1.00739249e-05,-2.37441561e-05, 1.69442830e-05,
 -7.93076798e-07, 3.12321717e-05, 2.25686282e-05,-1.09232618e-06,
 -1.76323492e-05, 1.71118748e-05, 6.47708106e-05, 2.15717180e-05,
 -1.46468371e-04,-4.05809751e-05,-6.29715555e-05, 1.51530023e-04,
  4.92424961e-07, 1.86038826e-06,-1.21640973e+00, 8.04003279e-05,
  1.43208369e-03, 4.42583575e-07]


--- Step 897 ---
qpos:
[ 2.99369732e-03,-3.34071627e-03, 1.18661868e-02, 4.17266788e-02,
 -2.18870937e-03,-1.92859768e-03,-1.73659489e-02, 2.86814370e-02,
  5.86232354e-03, 1.64623002e-02,-9.36019760e-03, 2.59924562e-02,
  1.15174121e+00,-1.20487608e-03, 8.98930453e-01, 6.42518833e-02,
  9.48344933e-02,-7.00838823e-02, 1.21801253e-01, 9.99973225e-01,
 -1.64421467e-04,-1.16064330e-03, 7.22327479e-03]

qacc:
[-8.02541058e-01,-1.47579015e+00, 9.36896283e+00,-2.47343196e+01,
 -3.05286190e+00,-9.83227073e-01, 4.13825985e+00,-5.89674702e+00,
 -1.86175873e+00,-7.87508952e-01, 3.82547644e+00,-6.32594402e+00,
 -1.24921930e+00, 2.00135982e+00, 1.18428069e+01,-4.08945952e+01,
  7.26160020e-01,-4.00149790e-01, 1.19716343e-02, 6.82548556e+00,
  1.21786288e+01,-7.66687609e-01]

qfrc_actuator:
[-1.34497513e-05, 7.45879743e-05, 1.58631778e-04, 5.69095204e-05,
 -4.78843532e-05,-1.82365741e-04,-1.99376647e-04,-5.19668298e-05,
 -3.29424425e-05, 4.96464006e-04, 9.91310977e-05, 2.27060269e-05,
  1.84720937e-02,-1.39971387e-03, 3.62102122e-03,-3.01207411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002329441742054683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.3830238e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.3830238e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177151, -0.06196914,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66878281e-06, 1.90317657e-05, 1.20960545e-06,-4.40967389e-05,
 -1.79570423e-05, 3.84425087e-05, 3.24965354e-05, 5.73834389e-08,
 -1.10057757e-05, 5.03804383e-05, 3.22665394e-05,-1.63969575e-06,
 -1.43431023e-04,-1.94153997e-05,-2.85723710e-05,-2.06139354e-04,
  4.33997864e-08, 1.21196584e-06,-1.21641508e+00, 8.41193558e-05,
  1.42875401e-03, 2.31224777e-07]


--- Step 898 ---
qpos:
[ 2.99375377e-03,-3.34018795e-03, 1.18668335e-02, 4.17261516e-02,
 -2.18986477e-03,-1.92692574e-03,-1.73651725e-02, 2.86806766e-02,
  5.86261824e-03, 1.64630453e-02,-9.36041750e-03, 2.59917913e-02,
  1.15219023e+00,-1.20460979e-03, 8.99273222e-01, 6.42478351e-02,
  9.48323107e-02,-7.00959289e-02, 1.21803669e-01, 9.99973214e-01,
 -6.43369785e-05,-1.17940957e-03, 7.22325995e-03]

qacc:
[  2.56989681, -0.09961633,  1.40064886, -4.5201211 , -1.81639535,
  -0.54321972,  2.42262612, -3.27866175,  1.87180794,  1.88995681,
  -4.10864211, -1.53586382, -1.23539514,  2.12588068,  5.36300313,
 -19.94345428,  0.72215131, -0.39964297, -0.04088663,  6.78952972,
  12.10474398, -0.76657337]

qfrc_actuator:
[ 1.77222335e-06, 8.48782882e-05, 1.59268595e-04, 4.89116854e-05,
 -5.80624712e-05,-1.73224044e-04,-1.85827035e-04,-5.28587598e-05,
 -2.13933906e-05, 5.12112484e-04, 5.74789945e-05, 2.11094752e-06,
  1.84337621e-02,-1.36964241e-03, 3.58470708e-03,-3.11469014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023006283921417348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41286908e-13, -4.82573817e-13,  1.00000000e+00, -1.16438744e-25,
        1.00000000e+00,  4.82573817e-13, -1.00000000e+00,  0.00000000e+00,
       -2.41286908e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177099, -0.06196894,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50956600e-05, 1.92727615e-05, 3.18017749e-06,-8.00042767e-06,
 -1.06778819e-05, 3.72904608e-05, 2.54746883e-05, 1.87914807e-06,
  1.12508701e-05, 5.04018353e-05,-2.73339160e-05,-1.73517798e-05,
 -1.29621425e-04,-5.14496012e-06,-7.93035069e-05,-1.19363111e-04,
 -1.16301838e-07, 6.57449273e-07,-1.21641645e+00, 8.84676188e-05,
  1.42665418e-03, 2.93426556e-08]


--- Step 899 ---
qpos:
[ 2.99399244e-03,-3.33988328e-03, 1.18675965e-02, 4.17266093e-02,
 -2.19044320e-03,-1.92531580e-03,-1.73643769e-02, 2.86803127e-02,
  5.86270441e-03, 1.64639871e-02,-9.36099926e-03, 2.59909123e-02,
  1.15263844e+00,-1.20428204e-03, 8.99614843e-01, 6.42465341e-02,
  9.48330039e-02,-7.01095731e-02, 1.21805745e-01, 9.99973233e-01,
  4.91020942e-05,-1.17398677e-03, 7.22172239e-03]

qacc:
[ 1.60755271, 1.40556835,-9.59939581,26.62111904, 5.06238362, 0.67045988,
 -4.20129304,11.09807469,-1.83345087, 0.83411758,-1.68660869,-1.59227156,
 -0.47356167, 0.52493899,-9.95740619,32.44004097, 0.71895867,-0.39941195,
 -0.08476979, 6.76357814,12.04604627,-0.76853987]

qfrc_actuator:
[ 1.07069245e-05, 5.52377739e-05, 1.59403013e-04, 9.76870900e-05,
 -2.80772932e-05,-2.04046254e-04,-1.95935304e-04,-3.53294562e-05,
 -3.24653779e-05, 5.03107661e-04, 3.29810235e-05,-9.76141302e-06,
  1.83946519e-02,-1.36975395e-03, 3.56659079e-03,-2.96037149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022648781976293553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45095526e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.45095526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177034, -0.06196865,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.36936047e-06,-1.85694180e-05, 4.21691168e-06, 4.95531801e-05,
  2.96927124e-05,-4.69890998e-06, 7.70638023e-07, 2.00420774e-05,
 -1.07280629e-05, 1.27723315e-05,-1.80587270e-05,-1.09960022e-05,
 -1.19191581e-04,-2.92880419e-05,-7.15998911e-05, 1.36627610e-04,
  7.58383204e-09, 1.93198135e-07,-1.21641391e+00, 9.34423926e-05,
  1.42577680e-03,-1.63683017e-07]


--- Step 900 ---
qpos:
[ 2.99399165e-03,-3.34003193e-03, 1.18688070e-02, 4.17273094e-02,
 -2.19065777e-03,-1.92384045e-03,-1.73635942e-02, 2.86794834e-02,
  5.86231274e-03, 1.64648539e-02,-9.36207577e-03, 2.59906336e-02,
  1.15308586e+00,-1.20393941e-03, 8.99955989e-01, 6.42456699e-02,
  9.48365631e-02,-7.01248151e-02, 1.21807337e-01, 9.99973275e-01,
  1.75861714e-04,-1.14446590e-03, 7.21865745e-03]

qacc:
[ -2.07984393, -1.34663829,  2.91608064,  0.88961227,  3.1928241 ,
  -1.10525062,  5.6371645 ,-13.55942811, -4.18140889,  2.52724595,
 -11.67496638, 22.8930934 , -0.55967536,  0.64902928, -1.98834545,
   6.01049947,  0.71648188, -0.39943668, -0.12109785,  6.74621276,
  12.00058875, -0.77216584]

qfrc_actuator:
[-1.88968940e-06, 1.97131521e-05, 1.76861268e-04, 1.08425786e-04,
 -1.02010029e-05,-2.23146361e-04,-2.02329924e-04,-6.04095163e-05,
 -5.67705576e-05, 4.79457387e-04, 9.79423178e-07, 1.91004871e-05,
  1.83550939e-02,-1.36998885e-03, 3.54881042e-03,-2.93991875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000222397907945579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.48808544e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.48808544e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176961, -0.06196828,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23403027e-05,-4.29334681e-05, 1.58426255e-05, 1.10499749e-05,
  1.87201742e-05,-2.07663222e-05,-6.60541427e-06,-2.48705261e-05,
 -2.46048423e-05,-2.07382208e-05,-3.19698151e-05, 2.85720201e-05,
 -1.18249938e-04,-3.19959545e-05,-3.81031069e-05, 1.82686818e-05,
  4.12269456e-07,-1.83768539e-07,-1.21640752e+00, 9.90415268e-05,
  1.42611616e-03,-3.48270930e-07]


--- Step 901 ---
qpos:
[ 2.99383976e-03,-3.34022803e-03, 1.18695688e-02, 4.17274526e-02,
 -2.19031105e-03,-1.92269602e-03,-1.73627970e-02, 2.86783842e-02,
  5.86197754e-03, 1.64657351e-02,-9.36389295e-03, 2.59913995e-02,
  1.15353246e+00,-1.20333083e-03, 9.00296222e-01, 6.42448005e-02,
  9.48429808e-02,-7.01416558e-02, 1.21808325e-01, 9.99973333e-01,
  3.15922497e-04,-1.09091464e-03, 7.21405782e-03]

qacc:
[ -1.33994814,  0.04657906,  2.09681284,-10.98496831,  4.92890597,
  -1.04258916,  4.2066257 , -8.6414359 ,  0.46987342,  4.23884487,
 -19.49842818, 38.75336964, -0.80169709,  1.25779937, -1.27932683,
   2.63868174,  0.71463469, -0.39969754, -0.15108203,  6.73625823,
  11.96673785, -0.7771107 ]

qfrc_actuator:
[-9.30367113e-06, 1.64824702e-05, 1.51078224e-04, 7.89381820e-05,
  1.81449224e-05,-2.52868433e-04,-2.06472087e-04,-7.48466507e-05,
 -5.31576552e-05, 4.82718193e-04,-3.52467087e-05, 7.16742873e-05,
  1.83206206e-02,-1.35252313e-03, 3.48860611e-03,-2.94531611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021794015515261278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.5470823e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.5470823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817688 , -0.06196786,  0.0619947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.78245103e-06,-2.35080672e-05,-3.23309313e-05,-3.05667832e-05,
  2.88735974e-05,-4.38191968e-05,-1.01311406e-05,-1.60436353e-05,
  2.90205142e-06,-1.37435046e-05,-4.34553706e-05, 5.11369890e-05,
 -1.13093814e-04,-1.46756105e-05,-8.06327624e-05,-1.04177282e-05,
  1.09752323e-06,-4.76075446e-07,-1.21639732e+00, 1.05263394e-04,
  1.42766800e-03,-5.24676017e-07]


--- Step 902 ---
qpos:
[ 2.99359991e-03,-3.34017078e-03, 1.18693225e-02, 4.17265512e-02,
 -2.18962708e-03,-1.92190166e-03,-1.73620572e-02, 2.86774735e-02,
  5.86168816e-03, 1.64663743e-02,-9.36575346e-03, 2.59924287e-02,
  1.15397841e+00,-1.20306644e-03, 9.00635029e-01, 6.42462374e-02,
  9.48522519e-02,-7.01600973e-02, 1.21808610e-01, 9.99973399e-01,
  4.69277783e-04,-1.01338012e-03, 7.20791408e-03]

qacc:
[-8.08836368e-01, 1.00220355e+00, 1.32169424e+00,-1.79714664e+01,
  2.96218215e+00, 7.98013343e-02,-1.76234415e+00, 5.38656304e+00,
  4.02480285e-01, 3.42342016e-01,-2.79798525e+00, 7.60381918e+00,
 -1.75347760e-02,-5.26502885e-01,-9.07457075e+00, 2.86674704e+01,
  7.13343066e-01,-4.00175895e-01,-1.75754961e-01, 6.73273906e+00,
  1.19431220e+01,-7.83098573e-01]

qfrc_actuator:
[-1.36006432e-05, 3.24035991e-05, 1.00067634e-04, 2.60172276e-05,
  3.46770115e-05,-2.70960905e-04,-2.09284950e-04,-6.51545692e-05,
 -5.08897249e-05, 4.66560829e-04,-3.80584851e-05, 8.45327610e-05,
  1.82785775e-02,-1.37795198e-03, 3.42963281e-03,-2.82393524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021323484528811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.60328705e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.60328705e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176795, -0.06196741,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.52444781e-06,-5.21639225e-06,-6.09125992e-05,-5.56429413e-05,
  1.73409114e-05,-4.54146982e-05,-1.36884862e-05, 7.14832876e-06,
  2.34702641e-06,-3.06401021e-05,-9.22496969e-06, 1.17613101e-05,
 -1.14112417e-04,-5.28250441e-05,-1.00092362e-04, 1.09772449e-04,
  2.06537131e-06,-6.86227408e-07,-1.21638333e+00, 1.12106841e-04,
  1.43042931e-03,-6.93018836e-07]


--- Step 903 ---
qpos:
[ 2.99331032e-03,-3.33999766e-03, 1.18689634e-02, 4.17253232e-02,
 -2.18944007e-03,-1.92122885e-03,-1.73614446e-02, 2.86763158e-02,
  5.86108360e-03, 1.64664205e-02,-9.36717022e-03, 2.59932703e-02,
  1.15442360e+00,-1.20329937e-03, 9.00973003e-01, 6.42493470e-02,
  9.48617672e-02,-7.01739354e-02, 1.21809645e-01, 9.99973451e-01,
  5.84319598e-04,-9.33760398e-04, 7.20305975e-03]

qacc:
[-4.42224027e-01,-2.03941966e-01, 2.32855402e+00,-7.88611614e+00,
 -4.36071258e+00,-3.04844688e-01, 1.91162140e+00,-5.90946187e+00,
 -2.72502512e+00,-2.40466497e+00, 8.23812339e+00,-1.17672049e+01,
 -7.90773026e-03,-7.01808726e-01,-6.28979864e+00, 2.01890935e+01,
  6.10778907e-02, 1.15081748e+00, 1.87677623e-01,-1.91480542e+01,
  1.18094575e+00, 6.63658498e-01]

qfrc_actuator:
[-1.60301007e-05, 5.95339995e-05, 1.05669962e-04, 1.30045770e-05,
  8.61506837e-06,-2.64171452e-04,-2.11234176e-04,-7.68408395e-05,
 -6.71933324e-05, 4.21250745e-04,-2.12227186e-05, 7.39255569e-05,
  1.82266815e-02,-1.41086115e-03, 3.40875776e-03,-2.73531270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021306225186154548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.14186211e-14,  7.81618763e-13,  1.00000000e+00,  6.36383219e-26,
        1.00000000e+00, -7.81618763e-13, -1.00000000e+00,  0.00000000e+00,
       -8.14186211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499691, -0.09316512,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55512311e-06, 9.25015560e-06,-4.89841851e-06,-1.64243730e-05,
 -2.55832386e-05,-2.11569157e-05,-1.27853119e-05,-1.39691615e-05,
 -1.62468165e-05,-6.38495183e-05, 9.78892903e-06,-1.20102867e-05,
 -1.33144022e-04,-6.79289008e-05,-5.57198202e-05, 8.16265921e-05,
  3.31987414e-06,-8.16795471e-07,-1.21636557e+00, 1.19571146e-04,
  1.43439819e-03,-8.53308402e-07]


--- Step 904 ---
qpos:
[ 2.99299382e-03,-3.33972425e-03, 1.18685550e-02, 4.17253266e-02,
 -2.18956663e-03,-1.92072954e-03,-1.73611789e-02, 2.86757397e-02,
  5.86028820e-03, 1.64659546e-02,-9.36781391e-03, 2.59939450e-02,
  1.15486791e+00,-1.20362589e-03, 9.01310813e-01, 6.42507566e-02,
  9.48715193e-02,-7.01832280e-02, 1.21810980e-01, 9.99973502e-01,
  6.61500219e-04,-8.52011729e-04, 7.19938812e-03]

qacc:
[ -0.23873715,  2.80923411,-15.01687078, 36.32566935, -2.75784604,
   1.94125255, -9.70088315, 20.43635069, -1.63169058, -3.17780836,
  11.05846265,-14.81056457, -0.65383645,  0.68781983,  4.92349935,
 -17.49635282,  0.05918489,  1.13639825,  0.07488656,-18.92187521,
   1.2011489 ,  0.60839445]

qfrc_actuator:
[-1.73421028e-05, 7.56734665e-05, 1.09242639e-04, 7.68946892e-05,
 -6.79872981e-06,-2.78046604e-04,-2.30325112e-04,-4.77360816e-05,
 -7.65445656e-05, 4.12154585e-04, 2.46844655e-05, 6.73371495e-05,
  1.81848831e-02,-1.41246247e-03, 3.39476222e-03,-2.82640762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021732770061631823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99103168e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.99103168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499664, -0.09316408,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38060859e-06, 1.95975247e-05, 4.31698181e-06, 6.38004369e-05,
 -1.61493292e-05,-2.89835609e-05,-2.55306973e-05, 2.74846059e-05,
 -9.84026507e-06,-4.32884206e-05, 3.35225181e-05,-9.21792483e-06,
 -1.37514496e-04,-4.40540804e-05,-3.41331224e-05,-9.45502206e-05,
  2.40506932e-06,-5.39947926e-07,-1.21639067e+00, 1.25322882e-04,
  1.43805005e-03,-1.32541823e-06]


--- Step 905 ---
qpos:
[ 2.99266410e-03,-3.33939342e-03, 1.18679414e-02, 4.17261116e-02,
 -2.19022227e-03,-1.92024456e-03,-1.73612091e-02, 2.86751472e-02,
  5.85973107e-03, 1.64655826e-02,-9.36789204e-03, 2.59948160e-02,
  1.15531134e+00,-1.20375210e-03, 9.01648423e-01, 6.42500334e-02,
  9.48815028e-02,-7.01880226e-02, 1.21812236e-01, 9.99973562e-01,
  7.01194009e-04,-7.68096767e-04, 7.19680938e-03]

qacc:
[-1.23159874e-01, 2.26025914e+00,-1.12445844e+01, 2.50510939e+01,
 -4.64938359e+00, 7.83081894e-01,-2.73527889e+00, 2.91977490e+00,
  2.09438000e+00,-1.05657665e+00, 3.11150723e+00,-6.79820509e-01,
 -9.17967129e-01, 1.38635034e+00, 6.19790593e+00,-2.19818342e+01,
  5.78383124e-02, 1.12449779e+00,-1.98311087e-02,-1.87346580e+01,
  1.21842432e+00, 5.61652720e-01]

qfrc_actuator:
[-1.79865632e-05, 6.74349769e-05, 9.38266526e-05, 1.14488563e-04,
 -3.35608700e-05,-2.68714691e-04,-2.41677722e-04,-4.81442843e-05,
 -6.39700071e-05, 4.60448436e-04, 6.97750362e-05, 8.09669704e-05,
  1.81545085e-02,-1.39548385e-03, 3.38486414e-03,-2.93386635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000219544023795204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.31862306e-13,  5.05694942e-13,  1.00000000e+00,  1.67821090e-25,
        1.00000000e+00, -5.05694942e-13, -1.00000000e+00,  0.00000000e+00,
       -3.31862306e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499641, -0.0931636 ,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.80222989e-07, 6.34046147e-06,-8.62667372e-06, 3.98251084e-05,
 -2.72327026e-05,-1.09968818e-05,-1.95402127e-05,-1.99854047e-06,
  1.22744081e-05, 3.06331531e-05, 3.99698636e-05, 1.27564699e-05,
 -1.23437778e-04,-2.17987365e-05,-4.19103772e-05,-1.18457623e-04,
  1.75287659e-06,-2.57077480e-07,-1.21640816e+00, 1.29204504e-04,
  1.44188413e-03,-1.70135281e-06]


--- Step 906 ---
qpos:
[ 2.99232921e-03,-3.33910934e-03, 1.18675278e-02, 4.17266360e-02,
 -2.19084866e-03,-1.92011594e-03,-1.73603982e-02, 2.86741739e-02,
  5.85967372e-03, 1.64653558e-02,-9.36746963e-03, 2.59961855e-02,
  1.15575373e+00,-1.20285293e-03, 9.01985612e-01, 6.42476739e-02,
  9.48917140e-02,-7.01883582e-02, 1.21813094e-01, 9.99973634e-01,
  7.03708196e-04,-6.81982796e-04, 7.19524701e-03]

qacc:
[ -0.03832522, -1.15753076,  5.13617909, -9.9282798 ,  0.28873898,
  -3.60406437, 13.77519309,-21.44740834,  4.37228815, -0.18920541,
  -1.16693081,  8.90507874, -1.72313752,  3.36819583,  4.44028558,
 -16.14985473,  0.05693021,  1.11475365, -0.09927209,-18.58101083,
   1.23362319,  0.52163679]

qfrc_actuator:
[-1.82334071e-05, 6.23250975e-05, 1.02698124e-04, 1.00756729e-04,
 -3.12858274e-05,-2.81053576e-04,-1.95041777e-04,-6.58951011e-05,
 -3.85927593e-05, 4.71764566e-04, 9.65212909e-05, 1.06431344e-04,
  1.81203675e-02,-1.33210850e-03, 3.36678216e-03,-3.01452523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002201093311333252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.31009983e-13,  7.56594247e-13,  1.00000000e+00,  2.50440249e-25,
        1.00000000e+00, -7.56594247e-13, -1.00000000e+00,  0.00000000e+00,
       -3.31009983e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499621, -0.09316356,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65888532e-07,-1.64598629e-06, 1.04985806e-05,-1.29845187e-05,
  1.49581521e-06,-2.26355400e-05, 4.18854589e-05,-1.89356535e-05,
  2.57365519e-05, 3.72643282e-05, 3.84407328e-05, 2.84068344e-05,
 -1.13827285e-04, 3.21455531e-05,-5.60260625e-05,-9.39142196e-05,
  1.32903261e-06, 2.44726385e-08,-1.21641831e+00, 1.31234980e-04,
  1.44589314e-03,-1.98250723e-06]


--- Step 907 ---
qpos:
[ 2.99164889e-03,-3.33870755e-03, 1.18671597e-02, 4.17269814e-02,
 -2.19075335e-03,-1.92022734e-03,-1.73590821e-02, 2.86736939e-02,
  5.85957629e-03, 1.64653389e-02,-9.36722803e-03, 2.59971981e-02,
  1.15619526e+00,-1.20145527e-03, 9.02322455e-01, 6.42442858e-02,
  9.49021507e-02,-7.01842664e-02, 1.21813289e-01, 9.99973718e-01,
  6.69291942e-04,-5.93640378e-04, 7.19463499e-03]

qacc:
[ -3.0327402 , -0.33479321,  2.18471033, -5.45247626,  6.35011521,
  -0.72575663,  0.02237864,  7.91031099, -0.35899746,  0.04871865,
   1.73720145, -7.78168798, -1.10770185,  1.95485829,  2.66842762,
  -9.90264414,  0.05637469,  1.10685815, -0.16581424,-18.45639715,
   1.24739531,  0.48692502]

qfrc_actuator:
[-3.59970967e-05, 7.69262243e-05, 1.08066521e-04, 9.24641469e-05,
  5.81747531e-06,-2.88294534e-04,-1.67889252e-04,-4.04224257e-05,
 -4.13959641e-05, 4.60805229e-04, 7.65944978e-05, 8.53577488e-05,
  1.80733613e-02,-1.31281081e-03, 3.36512005e-03,-3.06099495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002193564924246605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.1071534e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.1071534e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499604, -0.09316388,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77722980e-05, 1.52873655e-05, 5.87289750e-06,-8.25337243e-06,
  3.71371390e-05,-1.20700714e-05, 2.69724179e-05, 2.55833985e-05,
 -2.05521172e-06, 1.90459330e-05,-6.51807656e-06,-1.75983049e-05,
 -1.08819495e-04, 7.26970995e-07,-4.26921641e-05,-6.00020761e-05,
  1.10722261e-06, 3.00939452e-07,-1.21642133e+00, 1.31429845e-04,
  1.45007150e-03,-2.17005684e-06]


--- Step 908 ---
qpos:
[ 2.99076105e-03,-3.33838729e-03, 1.18672391e-02, 4.17268770e-02,
 -2.19055941e-03,-1.91989735e-03,-1.73585148e-02, 2.86728314e-02,
  5.85944627e-03, 1.64656027e-02,-9.36754763e-03, 2.59983140e-02,
  1.15663610e+00,-1.20032230e-03, 9.02658328e-01, 6.42427206e-02,
  9.49128118e-02,-7.01757723e-02, 1.21812599e-01, 9.99973811e-01,
  5.98143986e-04,-5.03042305e-04, 7.19491554e-03]

qacc:
[ -1.80636104, -2.28274587,  9.88605373,-18.33157993,  0.83385024,
   1.88598448, -4.26564191, -1.48159506, -0.30650585,  2.15253363,
  -7.57154535, 10.0474301 , -0.1547931 , -0.23733758, -6.93105175,
  22.17198283,  0.05610338,  1.10054996, -0.22148159,-18.35699162,
   1.26023434,  0.45639195]

qfrc_actuator:
[-4.61759255e-05, 6.77029312e-05, 1.29160106e-04, 6.97052192e-05,
  9.85568401e-06,-2.56945270e-04,-2.05685183e-04,-6.07481587e-05,
 -4.30148675e-05, 4.71863052e-04, 4.68976391e-05, 9.02753352e-05,
  1.80239833e-02,-1.33759562e-03, 3.33071198e-03,-2.96263602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021756309782475225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98671349e-13,  5.10299327e-13,  1.00000000e+00,  2.03441721e-25,
        1.00000000e+00, -5.10299327e-13, -1.00000000e+00,  0.00000000e+00,
       -3.98671349e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499589, -0.09316448,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06805461e-05, 1.69887858e-07, 2.46892639e-05,-2.20615034e-05,
  5.09042622e-06, 3.12699899e-05,-3.60959378e-05,-1.94150002e-05,
 -1.66978452e-06, 1.96023644e-05,-2.71793213e-05, 5.16306691e-06,
 -1.15072058e-04,-4.84247384e-05,-6.58353847e-05, 8.83553570e-05,
  1.06707376e-06, 5.71883903e-07,-1.21641739e+00, 1.29801677e-04,
  1.45441484e-03,-2.26499878e-06]


--- Step 909 ---
qpos:
[ 2.98975793e-03,-3.33811344e-03, 1.18676027e-02, 4.17261622e-02,
 -2.19031831e-03,-1.91907010e-03,-1.73584969e-02, 2.86717111e-02,
  5.85998752e-03, 1.64662091e-02,-9.36826810e-03, 2.59991156e-02,
  1.15707622e+00,-1.19945304e-03, 9.02992862e-01, 6.42434052e-02,
  9.49236972e-02,-7.01628958e-02, 1.21810836e-01, 9.99973904e-01,
  4.90419108e-04,-4.10162817e-04, 7.19603738e-03]

qacc:
[ -1.00252471, -2.11162095, 10.0173294 ,-21.00020023,  0.3876149 ,
   1.66087707, -3.88134098, -0.06709488,  5.83602394,  0.91471181,
  -1.29716333, -3.73280872, -0.14460508, -0.26952847, -8.76645162,
  27.79767985,  0.05606179,  1.09560706, -0.26799818,-18.27956347,
   1.27251326,  0.42914616]

qfrc_actuator:
[-5.18035699e-05, 6.20897629e-05, 1.41515970e-04, 3.86089480e-05,
  1.21418442e-05,-2.20779916e-04,-2.28140446e-04,-7.23690592e-05,
 -8.40938083e-06, 4.95976446e-04, 2.95440751e-05, 7.49649502e-05,
  1.79838493e-02,-1.35276088e-03, 3.26074754e-03,-2.85083036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021495992906830907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.38939384e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.38939384e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499575, -0.0931653 ,  0.06199478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93294258e-06,-1.37672031e-06, 1.46653923e-05,-3.06641684e-05,
  2.44444003e-06, 4.53487308e-05,-2.11232017e-05,-1.19079135e-05,
  3.45660682e-05, 2.96728529e-05,-1.64753910e-05,-1.53126118e-05,
 -1.20628220e-04,-4.97788810e-05,-9.33322120e-05, 1.07592265e-04,
  1.19266418e-06, 8.40015398e-07,-1.21640661e+00, 1.26360493e-04,
  1.45891974e-03,-2.26818448e-06]


--- Step 910 ---
qpos:
[ 2.98903998e-03,-3.33776126e-03, 1.18674744e-02, 4.17258092e-02,
 -2.19005144e-03,-1.91803096e-03,-1.73587175e-02, 2.86711658e-02,
  5.86059447e-03, 1.64672022e-02,-9.36947730e-03, 2.59986918e-02,
  1.15751534e+00,-1.19815687e-03, 9.03326702e-01, 6.42463032e-02,
  9.49348073e-02,-7.01456520e-02, 1.21807846e-01, 9.99973985e-01,
  3.46233589e-04,-3.14977002e-04, 7.19795428e-03]

qacc:
[  2.48659063,  2.21936178, -9.2969031 , 16.29394624,  0.21526272,
   2.12777486, -9.60929128, 19.78507159,  0.55040928, -0.64662502,
   8.21959428,-28.92997   , -0.96735869,  1.59430722, -7.63816504,
  25.38964081,  0.05620648,  1.09184089, -0.30683296,-18.22138087,
   1.284512  ,  0.40448122]

qfrc_actuator:
[-3.69571043e-05, 5.86401662e-05, 1.13108366e-04, 5.61085568e-05,
  1.33888094e-05,-2.17462580e-04,-2.41291026e-04,-4.32335613e-05,
 -6.01798266e-06, 5.09996422e-04, 1.90802658e-06, 1.23887677e-05,
  1.79386381e-02,-1.32654425e-03, 3.25473011e-03,-2.73211278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021173816926735312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78554398e-13, -2.62168845e-13,  1.00000000e+00, -7.30282846e-26,
        1.00000000e+00,  2.62168845e-13, -1.00000000e+00,  0.00000000e+00,
       -2.78554398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499563, -0.09316628,  0.06199486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46765894e-05,-2.51524130e-06,-2.79513289e-05, 1.73517963e-05,
  1.33381840e-06, 2.37759553e-05,-6.80509571e-06, 3.01168089e-05,
  3.39523846e-06, 2.65522439e-05,-2.40671307e-05,-6.21755164e-05,
 -1.29575476e-04,-9.80162892e-06,-3.83755632e-05, 1.12387774e-04,
  1.47141356e-06, 1.11107722e-06,-1.21638908e+00, 1.21114080e-04,
  1.46358347e-03,-2.18034530e-06]


--- Step 911 ---
qpos:
[ 2.98954037e-03,-3.33750016e-03, 1.18673226e-02, 4.17260034e-02,
 -2.19011657e-03,-1.91672186e-03,-1.73596787e-02, 2.86710015e-02,
  5.86088136e-03, 1.64679234e-02,-9.37079758e-03, 2.59982714e-02,
  1.15795354e+00,-1.19630396e-03, 9.03660281e-01, 6.42456303e-02,
  9.49461435e-02,-7.01240518e-02, 1.21803499e-01, 9.99974038e-01,
  1.65669836e-04,-2.17460349e-04, 7.20062403e-03]

qacc:
[ 1.06951868e+01, 1.05226845e+00,-6.27058445e+00, 1.58812989e+01,
 -2.93958835e+00, 3.21459859e+00,-1.25435138e+01, 2.01104070e+01,
 -2.79023063e+00,-3.62604998e-02,-3.97317979e-01, 8.25041120e-01,
 -1.33649965e+00, 2.36883416e+00, 1.04819670e+01,-3.70233097e+01,
  5.65027890e-02, 1.08909135e+00,-3.39237556e-01,-1.81801321e+01,
  1.29643909e+00, 3.81837054e-01]

qfrc_actuator:
[ 2.53247402e-05, 5.63825399e-05, 1.14162806e-04, 8.42850784e-05,
 -3.73785286e-06,-2.16014974e-04,-2.84455376e-04,-2.58790969e-05,
 -2.26179765e-05, 4.64521201e-04,-1.38966910e-05, 1.12530986e-05,
  1.79010820e-02,-1.29383625e-03, 3.20185832e-03,-2.92965900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020805554101428758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50080226e-13,  2.66809290e-13,  1.00000000e+00,  4.00427985e-26,
        1.00000000e+00, -2.66809290e-13, -1.00000000e+00,  0.00000000e+00,
       -1.50080226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499551, -0.09316739,  0.06199494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.26984834e-05,-8.69740973e-06,-2.30907462e-06, 2.74391715e-05,
 -1.70813240e-05, 1.45946273e-05,-3.80579429e-05, 1.87233795e-05,
 -1.64880168e-05,-3.82806927e-05,-1.54317406e-05,-2.03917237e-06,
 -1.17713030e-04, 2.12711910e-06,-6.25923978e-05,-1.97270985e-04,
  1.89325719e-06, 1.39377849e-06,-1.21636486e+00, 1.14068277e-04,
  1.46840383e-03,-2.00211296e-06]


--- Step 912 ---
qpos:
[ 2.99078317e-03,-3.33704587e-03, 1.18673518e-02, 4.17261369e-02,
 -2.19038625e-03,-1.91544371e-03,-1.73610240e-02, 2.86707158e-02,
  5.86165722e-03, 1.64679368e-02,-9.37209522e-03, 2.59982339e-02,
  1.15839104e+00,-1.19438700e-03, 9.03993038e-01, 6.42419642e-02,
  9.49577074e-02,-7.00981027e-02, 1.21797687e-01, 9.99974043e-01,
 -5.12197022e-05,-1.17588415e-04, 7.20400748e-03]

qacc:
[  6.5189339 , -0.38821205,  1.98820706, -3.4448287 , -1.80561738,
   0.78578798, -2.34270114,  0.87218948,  4.27751099, -0.21927541,
  -2.20638544,  9.33168753, -0.68289733,  0.94334447,  7.85783573,
 -29.16763536,  0.05692302,  1.08722256, -0.36627814,-18.15385981,
   1.30844843,  0.3607693 ]

qfrc_actuator:
[ 6.17626897e-05, 9.04834379e-05, 1.32622909e-04, 8.30323571e-05,
 -1.37885925e-05,-2.33584658e-04,-3.09525101e-04,-3.33819103e-05,
  3.00456558e-06, 4.01605420e-04,-2.27847683e-05, 2.84903748e-05,
  1.78681494e-02,-1.29303930e-03, 3.15281467e-03,-3.08128027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020404153198823327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36029049e-13, -2.72058099e-13,  1.00000000e+00, -3.70078045e-26,
        1.00000000e+00,  2.72058099e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36029049e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949954 , -0.09316859,  0.06199504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82189586e-05, 2.99479016e-05, 1.73239418e-05,-1.17442056e-06,
 -1.05317876e-05,-1.65089266e-05,-2.60983067e-05,-7.82951293e-06,
  2.51381133e-05,-8.76121855e-05,-1.87578840e-05, 1.50261641e-05,
 -1.04067807e-04,-2.43848464e-05,-1.04600482e-04,-1.71771006e-04,
  2.45003077e-06, 1.69976214e-06,-1.21633398e+00, 1.05227214e-04,
  1.47337899e-03,-1.73403585e-06]


--- Step 913 ---
qpos:
[ 2.99176372e-03,-3.33632524e-03, 1.18670010e-02, 4.17262836e-02,
 -2.19042930e-03,-1.91460562e-03,-1.73619328e-02, 2.86703385e-02,
  5.86273387e-03, 1.64673560e-02,-9.37321006e-03, 2.59980325e-02,
  1.15882775e+00,-1.19239385e-03, 9.04325059e-01, 6.42390161e-02,
  9.49723462e-02,-7.00738152e-02, 1.21793376e-01, 9.99974006e-01,
 -2.54051500e-04, 7.76629053e-06, 7.20576057e-03]

qacc:
[-2.31844399, 1.44597572,-4.69229613, 5.32305926, 2.00895775,-1.99275134,
  6.64142576,-8.59146324, 2.63915437,-1.63843607, 5.38516707,-8.0646738 ,
 -0.58658745, 0.74120108,-3.21676404, 9.75935663, 0.76873564,-0.41540275,
  0.37522564, 7.12037956,12.69045803,-0.81517914]

qfrc_actuator:
[ 4.71776280e-05, 9.28937128e-05, 1.08073483e-04, 8.22636881e-05,
 -1.83580594e-06,-2.62371795e-04,-2.88293123e-04,-3.76965216e-05,
  1.77743736e-05, 3.82028020e-04,-9.85949680e-06, 2.08654783e-05,
  1.78220258e-02,-1.29336634e-03, 3.16471162e-03,-3.02696960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020442105365560403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71553004e-13, -1.08621202e-12,  1.00000000e+00, -2.94964136e-25,
        1.00000000e+00,  1.08621202e-12, -1.00000000e+00,  0.00000000e+00,
       -2.71553004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817652 , -0.06196746,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34881899e-05, 2.26775058e-05,-1.62792071e-05, 1.08755244e-06,
  1.16481994e-05,-4.37788633e-05, 1.43381324e-05,-6.07627830e-06,
  1.54586722e-05,-7.17754270e-05,-6.94785999e-06,-1.17340039e-05,
 -1.15406296e-04,-2.73873753e-05,-5.75039829e-05, 3.07900171e-05,
  3.13501250e-06, 2.04360155e-06,-1.21629645e+00, 9.45935079e-05,
  1.47850745e-03,-1.37659228e-06]


--- Step 914 ---
qpos:
[ 2.99256250e-03,-3.33577825e-03, 1.18665500e-02, 4.17264580e-02,
 -2.19067388e-03,-1.91415189e-03,-1.73620586e-02, 2.86705715e-02,
  5.86363411e-03, 1.64666010e-02,-9.37406261e-03, 2.59973357e-02,
  1.15926375e+00,-1.19066730e-03, 9.04656570e-01, 6.42334011e-02,
  9.49842578e-02,-7.00534130e-02, 1.21791482e-01, 9.99973921e-01,
 -4.24664404e-04, 1.09229979e-04, 7.20863535e-03]

qacc:
[ -1.59566526,  0.11090795, -0.8396177 ,  1.60040135, -1.73607848,
  -1.43638068,  1.81350338,  7.77382738, -1.527663  , -1.98012429,
   8.82303811,-17.69352317, -0.40558269,  0.19421262,  7.31104024,
 -26.63910211, -0.68180297, -0.9713211 ,  0.60429527, 16.02294218,
 -12.06142131,  0.55808761]

qfrc_actuator:
[ 3.81917211e-05, 5.83865601e-05, 9.37120886e-05, 8.17359088e-05,
 -1.25355293e-05,-2.61962646e-04,-2.39947068e-04,-4.57420253e-06,
  8.27248858e-06, 4.06375628e-04, 1.59845426e-05,-1.28328718e-06,
  1.77786726e-02,-1.31215817e-03, 3.11733037e-03,-3.17116116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002140228055249188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59370262e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.59370262e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890254, -0.05160113,  0.0619948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.36351353e-06,-2.51719551e-05,-1.16498258e-05,-9.93023220e-08,
 -1.03833000e-05,-2.13856064e-05, 4.08604722e-05, 3.16245456e-05,
 -9.08604668e-06,-1.76843550e-05, 9.77680885e-06,-2.56896137e-05,
 -1.19280791e-04,-4.94417707e-05,-7.41114364e-05,-1.50716015e-04,
  3.04547244e-06, 3.01804941e-06,-1.21629691e+00, 8.45377927e-05,
  1.48453247e-03,-9.60036947e-07]


--- Step 915 ---
qpos:
[ 2.99359213e-03,-3.33534026e-03, 1.18659179e-02, 4.17266226e-02,
 -2.19173449e-03,-1.91408172e-03,-1.73618119e-02, 2.86708823e-02,
  5.86406831e-03, 1.64660695e-02,-9.37457382e-03, 2.59970115e-02,
  1.15969922e+00,-1.19000203e-03, 9.04987124e-01, 6.42277455e-02,
  9.49936356e-02,-7.00379847e-02, 1.21790906e-01, 9.99973817e-01,
 -5.53949238e-04, 1.88267770e-04, 7.21270437e-03]

qacc:
[  2.02242711,  0.33819782, -1.38006894,  1.58708398, -7.13889582,
  -1.37322941,  3.85685879, -2.85008775, -4.05762201,  0.11633337,
  -1.54533067,  7.2680924 ,  0.56159213, -2.03696493, -1.3478804 ,
   2.52417705, -0.63345696, -1.24348638,  0.32942742, 20.5825963 ,
 -11.3618685 ,  0.59467591]

qfrc_actuator:
[ 5.03423585e-05, 5.53202875e-05, 8.53358069e-05, 8.13328839e-05,
 -5.42418712e-05,-2.97173291e-04,-2.29111556e-04,-2.91277709e-06,
 -1.54355325e-05, 4.56895986e-04, 4.94272508e-05, 2.15086663e-05,
  1.77370031e-02,-1.37722182e-03, 3.08764640e-03,-3.16506673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022593480154703416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91390887e-13,  2.45695443e-13,  1.00000000e+00,  1.20732502e-25,
        1.00000000e+00, -2.45695443e-13, -1.00000000e+00,  0.00000000e+00,
       -4.91390887e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836917, -0.0457195 ,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18743224e-05,-1.95737464e-05,-1.50159285e-05,-1.88669883e-06,
 -4.20127437e-05,-3.73934181e-05, 1.25417158e-05, 2.77339686e-06,
 -2.39773661e-05, 4.15883297e-05, 3.01267381e-05, 2.18781253e-05,
 -1.25398819e-04,-1.00636293e-04,-8.41967222e-05,-1.26677033e-05,
  2.66083904e-06, 1.72684997e-06,-1.21634079e+00, 7.62200848e-05,
  1.48972333e-03, 1.07743315e-07]


--- Step 916 ---
qpos:
[ 2.99510395e-03,-3.33468590e-03, 1.18650204e-02, 4.17267446e-02,
 -2.19294207e-03,-1.91402313e-03,-1.73620730e-02, 2.86705339e-02,
  5.86421452e-03, 1.64661601e-02,-9.37497496e-03, 2.59986527e-02,
  1.16013403e+00,-1.19012063e-03, 9.05317039e-01, 6.42191693e-02,
  9.50005189e-02,-7.00274475e-02, 1.21790981e-01, 9.99973713e-01,
 -6.42638731e-04, 2.45302600e-04, 7.21798794e-03]

qacc:
[ 4.22040471e+00, 9.31831115e-01,-2.74218684e+00, 2.28658513e+00,
 -1.30516745e+00, 5.02104337e-02, 2.58650148e+00,-1.31786051e+01,
 -2.51772652e+00, 4.56517609e+00,-2.33746166e+01, 5.67467534e+01,
  7.02583472e-02,-1.01790612e+00, 7.84455237e+00,-2.88791297e+01,
 -6.23630010e-01,-1.22275701e+00, 1.62951804e-01, 2.02176753e+01,
 -1.11479297e+01, 6.04979654e-01]

qfrc_actuator:
[ 7.48350152e-05, 8.88759880e-05, 8.06715954e-05, 8.10311435e-05,
 -6.05991812e-05,-3.00344980e-04,-2.58437661e-04,-3.75921082e-05,
 -2.95543960e-05, 5.22791876e-04, 6.94925494e-05, 1.23853167e-04,
  1.77016790e-02,-1.41588935e-03, 3.04201029e-03,-3.31889720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023494136578461333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836768, -0.04572216,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48239432e-05, 1.94196723e-05,-1.06216507e-05,-1.69714540e-06,
 -7.56853842e-06,-2.13934349e-05,-3.54117451e-05,-3.57935582e-05,
 -1.47960641e-05, 9.63319542e-05, 3.31380204e-05, 1.05599071e-04,
 -1.34134327e-04,-8.56657840e-05,-8.79526761e-05,-1.65860459e-04,
  2.20499362e-06, 6.66116092e-07,-1.21638215e+00, 6.99056094e-05,
  1.49372997e-03, 9.88195198e-07]


--- Step 917 ---
qpos:
[ 2.99620801e-03,-3.33420015e-03, 1.18644456e-02, 4.17275609e-02,
 -2.19352692e-03,-1.91419489e-03,-1.73620910e-02, 2.86700942e-02,
  5.86419026e-03, 1.64667827e-02,-9.37563210e-03, 2.60015438e-02,
  1.16056803e+00,-1.19047001e-03, 9.05646026e-01, 6.42087889e-02,
  9.50049406e-02,-7.00217321e-02, 1.21791148e-01, 9.99973625e-01,
 -6.91341713e-04, 2.80685035e-04, 7.22450103e-03]

qacc:
[-3.56570649e+00, 3.13112696e-01,-4.35630313e+00, 1.59637156e+01,
  5.47335227e+00,-1.18212780e+00, 4.14040602e+00,-5.91922874e+00,
 -1.50300689e+00, 3.99485121e+00,-1.84959894e+01, 4.01410527e+01,
 -4.49030267e-01, 2.55184444e-01, 4.09707432e+00,-1.62789289e+01,
 -6.15381050e-01,-1.20545835e+00, 2.28146132e-02, 1.99144402e+01,
 -1.09706215e+01, 6.12639108e-01]

qfrc_actuator:
[ 5.31313028e-05, 7.31125842e-05, 9.61438638e-05, 1.16332088e-04,
 -2.83370933e-05,-3.02264477e-04,-2.40118881e-04,-4.01122598e-05,
 -3.79113978e-05, 5.26414768e-04, 4.61208823e-05, 1.83424188e-04,
  1.76701930e-02,-1.42081948e-03, 3.00278632e-03,-3.40601263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024072226887088266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30602476e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30602476e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836671, -0.04572385,  0.06199415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09905726e-05,-7.18014573e-06, 1.81165250e-05, 3.57311550e-05,
  3.20418038e-05,-2.27319894e-05, 8.30281204e-06,-5.35730572e-06,
 -8.75306055e-06, 6.88558432e-05, 4.26322516e-06, 6.68986707e-05,
 -1.32469572e-04,-5.08339602e-05,-1.01040454e-04,-1.08321306e-04,
  1.64826148e-06,-1.63228412e-08,-1.21641196e+00, 6.55540355e-05,
  1.49656993e-03, 1.61177705e-06]


--- Step 918 ---
qpos:
[ 2.99635383e-03,-3.33408230e-03, 1.18644731e-02, 4.17288001e-02,
 -2.19372052e-03,-1.91481944e-03,-1.73612509e-02, 2.86699583e-02,
  5.86406661e-03, 1.64670965e-02,-9.37633175e-03, 2.60038404e-02,
  1.16100112e+00,-1.19062838e-03, 9.05973584e-01, 6.42036812e-02,
  9.50069284e-02,-7.00207811e-02, 1.21790935e-01, 9.99973558e-01,
 -7.00561484e-04, 2.94704295e-04, 7.23225438e-03]

qacc:
[ -8.38553363, -1.2825327 ,  2.11180888,  4.48094364,  3.4663861 ,
  -2.37683176,  6.31231754, -2.07971813, -0.86326676, -1.51145702,
   7.30969068,-17.30565114, -0.51936628,  0.6592331 ,-17.99114068,
  59.95503776, -0.60850168, -1.19110251, -0.09504151, 19.66374949,
 -10.8243605 ,  0.61819197]

qfrc_actuator:
[ 4.40684404e-06, 4.58087730e-05, 1.23216222e-04, 1.36769543e-04,
 -9.11953962e-06,-3.20961903e-04,-1.93761124e-04,-2.36410694e-05,
 -4.28136161e-05, 4.39256997e-04, 1.47617089e-05, 1.46249854e-04,
  1.76357210e-02,-1.40574670e-03, 2.99408734e-03,-3.11574714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024388062595089022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82848230e-13, -6.82848230e-13,  1.00000000e+00, -4.66281705e-25,
        1.00000000e+00,  6.82848230e-13, -1.00000000e+00,  0.00000000e+00,
       -6.82848230e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836616, -0.04572474,  0.06199408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93281608e-05,-2.60698670e-05, 2.90560026e-05, 2.14513779e-05,
  2.01228470e-05,-2.99051045e-05, 4.25016571e-05, 1.56801059e-05,
 -5.13019577e-06,-4.49300870e-05,-1.43019029e-05,-3.27801133e-05,
 -1.26593523e-04,-2.36595236e-05,-6.93043836e-05, 2.70789299e-04,
  9.87619542e-07,-3.21360208e-07,-1.21643083e+00, 6.31355203e-05,
  1.49826084e-03, 1.98769973e-06]


--- Step 919 ---
qpos:
[ 2.99625898e-03,-3.33397617e-03, 1.18650399e-02, 4.17295423e-02,
 -2.19368235e-03,-1.91534969e-03,-1.73603482e-02, 2.86703503e-02,
  5.86388549e-03, 1.64665508e-02,-9.37650570e-03, 2.60053624e-02,
  1.16143311e+00,-1.18975705e-03, 9.06300417e-01, 6.41997293e-02,
  9.50065048e-02,-7.00245472e-02, 1.21789945e-01, 9.99973515e-01,
 -6.70711130e-04, 2.87597414e-04, 7.24125532e-03]

qacc:
[ -2.09557422, -2.54379559, 11.15031262,-20.61030449,  2.03361364,
   1.03163419, -5.73412694, 14.70971333, -0.47065195, -4.1990118 ,
  16.59613196,-30.21285748, -1.62902585,  3.15808563, -4.43814274,
  14.25272789, -0.6028108 , -1.1792719 , -0.19405822, 19.45797554,
 -10.70451464,  0.62204574]

qfrc_actuator:
[-6.55858271e-06, 6.51053469e-05, 1.56839850e-04, 1.12777365e-04,
  2.25369053e-06,-2.96153593e-04,-1.84549963e-04, 3.86641292e-06,
 -4.56458547e-05, 3.69269519e-04, 3.17568332e-05, 1.05630621e-04,
  1.75941692e-02,-1.34349639e-03, 2.94519841e-03,-3.06697683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024492209506607465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26648197e-13, -4.53296394e-13,  1.00000000e+00,  1.02738810e-25,
        1.00000000e+00,  4.53296394e-13, -1.00000000e+00,  0.00000000e+00,
        2.26648197e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836595, -0.04572501,  0.06199405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23822220e-05, 1.16137625e-05, 3.25572349e-05,-2.36869400e-05,
  1.19340185e-05, 1.75564693e-05, 8.80900736e-06, 2.80006384e-05,
 -2.99230441e-06,-9.94821653e-05, 4.81785607e-06,-4.36815682e-05,
 -1.22978425e-04, 2.96253548e-05,-5.25466504e-05, 5.45372842e-05,
  2.20010594e-07,-2.52734997e-07,-1.21643928e+00, 6.26254515e-05,
  1.49881739e-03, 2.12320742e-06]


--- Step 920 ---
qpos:
[ 2.99603288e-03,-3.33369545e-03, 1.18656363e-02, 4.17303476e-02,
 -2.19350828e-03,-1.91545417e-03,-1.73592188e-02, 2.86710140e-02,
  5.86367148e-03, 1.64655445e-02,-9.37659169e-03, 2.60060197e-02,
  1.16186417e+00,-1.18815769e-03, 9.06626779e-01, 6.41963480e-02,
  9.50036887e-02,-7.00329918e-02, 1.21787847e-01, 9.99973492e-01,
 -6.02126353e-04, 2.59556853e-04, 7.25150835e-03]

qacc:
[ -1.15409619,  0.28068367, -0.92836999,  1.84086113,  1.19180622,
   0.48575329, -2.0667764 ,  6.09715698, -0.27680273, -2.63408819,
  12.16019825,-26.92701842, -1.26986073,  2.37714869, -2.32856403,
   7.34564448, -0.59815107, -1.16960868, -0.27716175, 19.29073205,
 -10.60722818,  0.62450707]

qfrc_actuator:
[-1.29555007e-05, 7.66478804e-05, 1.58711041e-04, 1.16136028e-04,
  8.92328646e-06,-2.45607826e-04,-1.61669261e-04, 1.98972997e-05,
 -4.72382695e-05, 3.63516249e-04, 4.17080651e-05, 6.33624839e-05,
  1.75537467e-02,-1.30711257e-03, 2.93076706e-03,-3.03682744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002442697075128869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836601, -0.04572477,  0.06199407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.74692842e-06, 2.37310017e-05, 7.45151046e-06, 4.51900154e-06,
  7.01437584e-06, 6.33947946e-05, 2.85552842e-05, 1.76308022e-05,
 -1.71288405e-06,-6.22442699e-05,-1.15112303e-05,-4.72164842e-05,
 -1.07856257e-04, 1.50663455e-05,-3.66833180e-05, 2.55035661e-05,
 -6.58116044e-07, 1.83078041e-07,-1.21643767e+00, 6.40036636e-05,
  1.49825164e-03, 2.02395121e-06]


--- Step 921 ---
qpos:
[ 2.99607669e-03,-3.33326960e-03, 1.18662485e-02, 4.17315368e-02,
 -2.19394547e-03,-1.91498522e-03,-1.73581760e-02, 2.86718666e-02,
  5.86378454e-03, 1.64644944e-02,-9.37701875e-03, 2.60054502e-02,
  1.16229455e+00,-1.18641065e-03, 9.06951929e-01, 6.41977284e-02,
  9.49984951e-02,-7.00460835e-02, 1.21784362e-01, 9.99973479e-01,
 -4.95076241e-04, 2.10736866e-04, 7.26301562e-03]

qacc:
[  2.36736429,  0.93435028, -4.68059076, 11.20006802, -5.37357082,
   1.39841208, -4.6661107 ,  7.63154722,  2.84185512, -1.63550437,
  10.91831133,-31.56373633, -0.35461273,  0.43197975,-16.13476118,
  53.90742937, -0.59438588, -1.16180607, -0.34684421, 19.15665726,
 -10.5292824 ,  0.62580465]

qfrc_actuator:
[ 1.12817009e-06, 8.33563464e-05, 1.59577503e-04, 1.35543862e-04,
 -2.27313748e-05,-2.15494031e-04,-1.66281218e-04, 2.90873546e-05,
 -3.03357495e-05, 3.78495895e-04, 2.99077973e-05, 2.75219093e-06,
  1.75193507e-02,-1.30411146e-03, 2.89440738e-03,-2.78694338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002422764555618101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29123177e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.29123177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836628, -0.04572412,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38976393e-05, 2.16910036e-05, 6.83081011e-06, 2.07667489e-05,
 -3.14344813e-05, 7.22093602e-05, 1.25962098e-05, 1.32339415e-05,
  1.68309850e-05,-2.41942565e-05,-2.76981105e-05,-6.45939347e-05,
 -9.59387522e-05,-1.77966221e-05,-5.53060693e-05, 2.45472026e-04,
 -1.65113508e-06, 9.76867672e-07,-1.21642630e+00, 6.72537905e-05,
  1.49657344e-03, 1.69428357e-06]


--- Step 922 ---
qpos:
[ 2.99663371e-03,-3.33271055e-03, 1.18674366e-02, 4.17329116e-02,
 -2.19475855e-03,-1.91389578e-03,-1.73577727e-02, 2.86728553e-02,
  5.86409904e-03, 1.64635370e-02,-9.37742093e-03, 2.60037699e-02,
  1.16272418e+00,-1.18432174e-03, 9.07276686e-01, 6.41977522e-02,
  9.49909358e-02,-7.00637977e-02, 1.21779255e-01, 9.99973460e-01,
 -3.49772327e-04, 1.41258821e-04, 7.27577726e-03]

qacc:
[  4.52068334, -1.06056482,  3.23869395, -1.03125551, -3.32739842,
   2.89204759, -9.68584333, 12.59374754,  1.75548499, -2.23747098,
  12.83976144,-32.1672293 , -0.8979379 ,  1.50803408,  3.5725279 ,
 -13.2049284 , -0.59139676, -1.15560108, -0.40523017, 19.05123966,
 -10.46798407,  0.62610717]

qfrc_actuator:
[ 2.71515362e-05, 1.04876646e-04, 1.95348275e-04, 1.46482493e-04,
 -4.11825446e-05,-1.97957401e-04,-2.04918806e-04, 3.41470141e-05,
 -2.04356977e-05, 4.05682488e-04, 4.09557289e-05,-5.04027285e-05,
  1.74832567e-02,-1.28534560e-03, 2.84497417e-03,-2.87120632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023923599507480464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.32035113e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.32035113e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836671, -0.04572317,  0.06199419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64234273e-05, 3.59298926e-05, 4.17956752e-05, 1.25028422e-05,
 -1.93230563e-05, 6.10427729e-05,-2.17312979e-05, 8.84361310e-06,
  1.03740064e-05, 5.21798171e-06, 4.21632239e-07,-5.64033447e-05,
 -9.76891007e-05,-5.86003942e-06,-5.00737290e-05,-7.82778951e-05,
 -2.76448549e-06, 2.11661236e-06,-1.21640537e+00, 7.23627275e-05,
  1.49379065e-03, 1.13749194e-06]


--- Step 923 ---
qpos:
[ 2.99749829e-03,-3.33191424e-03, 1.18690474e-02, 4.17340580e-02,
 -2.19544157e-03,-1.91251867e-03,-1.73576497e-02, 2.86728796e-02,
  5.86452993e-03, 1.64625623e-02,-9.37770695e-03, 2.60018180e-02,
  1.16315321e+00,-1.18253974e-03, 9.07601455e-01, 6.41950117e-02,
  9.49809164e-02,-7.00855963e-02, 1.21772893e-01, 9.99973413e-01,
 -1.70755271e-04, 5.05743397e-05, 7.28980668e-03]

qacc:
[  2.70875273, -1.34412757,  6.2009885 ,-10.99167176,  1.12628559,
  -0.82240152,  7.55283012,-24.00318821,  1.01881945, -0.90830243,
   4.34845891, -9.21651753, -0.31479413,  0.05340978,  8.37174774,
 -29.23988437, -0.61505619, -1.02112222, -0.31392639, 16.77888356,
 -10.72580124,  0.6326484 ]

qfrc_actuator:
[ 4.22348223e-05, 1.17485286e-04, 2.15989967e-04, 1.34631836e-04,
 -3.39498572e-05,-2.05996122e-04,-2.27879068e-04,-1.65522553e-05,
 -1.47423384e-05, 4.04569285e-04, 4.77304328e-05,-6.32043830e-05,
  1.74408480e-02,-1.31063202e-03, 2.85157637e-03,-3.00972285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002354123090126143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35803945e-13, -4.84357810e-08,  1.00000000e+00, -1.14213482e-20,
        1.00000000e+00,  4.84357810e-08, -1.00000000e+00,  0.00000000e+00,
       -2.35803945e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10864744, -0.04881998,  0.06199428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58429667e-05, 4.18395550e-05, 3.36185685e-05,-8.63010877e-06,
  6.70370348e-06, 2.19333114e-05,-1.27414342e-05,-4.86678383e-05,
  5.99111229e-06,-4.77566325e-07, 5.97242524e-06,-1.36547416e-05,
 -1.02896164e-04,-4.77156961e-05,-2.96543386e-05,-1.50363272e-04,
 -4.00484793e-06, 3.58735884e-06,-1.21637503e+00, 7.93201831e-05,
  1.48990949e-03, 3.55984741e-07]


--- Step 924 ---
qpos:
[ 2.99819239e-03,-3.33111081e-03, 1.18707759e-02, 4.17347594e-02,
 -2.19603251e-03,-1.91118849e-03,-1.73576456e-02, 2.86719837e-02,
  5.86468099e-03, 1.64615369e-02,-9.37848750e-03, 2.60004656e-02,
  1.16358160e+00,-1.18127293e-03, 9.07925606e-01, 6.41923044e-02,
  9.49683512e-02,-7.01109856e-02, 1.21765592e-01, 9.99973315e-01,
  3.78193770e-05,-6.18221804e-05, 7.30508832e-03]

qacc:
[-1.49306031e+00,-1.23391602e+00, 6.29497327e+00,-1.41925429e+01,
  8.04119698e-01,-1.62409609e+00, 9.58452981e+00,-2.52839367e+01,
 -2.45480576e+00, 2.55391149e+00,-1.17256910e+01, 2.29180614e+01,
 -1.03070017e-02,-6.62358871e-01,-1.02664209e+00, 2.23307086e+00,
 -6.36428177e-01,-8.97654068e-01,-2.34693812e-01, 1.46992288e+01,
 -1.09635712e+01, 6.25171916e-01]

qfrc_actuator:
[ 3.30017921e-05, 8.90843280e-05, 2.09724417e-04, 1.09447249e-04,
 -2.94150647e-05,-2.29295430e-04,-2.41536210e-04,-6.41555489e-05,
 -2.93211411e-05, 3.86548944e-04, 1.63347001e-05,-3.44364689e-05,
  1.73946640e-02,-1.34408516e-03, 2.83319372e-03,-3.00131479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023264351621636592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.38610352e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.38610352e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889992, -0.05160485,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.77257513e-06, 1.52270055e-06, 6.18646700e-06,-2.24058177e-05,
  4.73607451e-06,-1.58009156e-05,-1.23981017e-05,-4.80550555e-05,
 -1.44106658e-05,-1.75924267e-05,-3.12119187e-05, 2.86953602e-05,
 -1.19192692e-04,-6.52857555e-05,-5.45218612e-05,-5.12136114e-06,
 -5.21278650e-06, 5.36944192e-06,-1.21633908e+00, 8.78963884e-05,
  1.48494281e-03,-6.12112566e-07]


--- Step 925 ---
qpos:
[ 2.99808087e-03,-3.33051809e-03, 1.18722572e-02, 4.17355535e-02,
 -2.19621978e-03,-1.90954991e-03,-1.73579812e-02, 2.86704939e-02,
  5.86431106e-03, 1.64606587e-02,-9.37977863e-03, 2.60001350e-02,
  1.16400926e+00,-1.18040074e-03, 9.08249035e-01, 6.41897076e-02,
  9.49559009e-02,-7.01314777e-02, 1.21761269e-01, 9.99973173e-01,
  2.05940386e-04,-1.70677639e-04, 7.31991717e-03]

qacc:
[-7.07552241e+00, 6.17242705e-01,-2.97148470e+00, 5.09861298e+00,
  3.52417607e+00, 1.28126600e-01, 2.63051383e+00,-1.25801018e+01,
 -4.56176114e+00, 3.73387745e+00,-1.73302900e+01, 3.57065694e+01,
 -1.57394740e-01,-3.42536845e-01,-1.40009854e+00, 3.34581233e+00,
  2.87337259e-02, 1.22430617e+00, 7.44537245e-01,-2.02133593e+01,
  1.91823228e+00,-2.25045825e-01]

qfrc_actuator:
[-8.21864374e-06, 5.39654747e-05, 1.87450443e-04, 1.12075550e-04,
 -8.76043002e-06,-1.90521033e-04,-2.49660814e-04,-9.18069895e-05,
 -5.57135802e-05, 4.11682525e-04,-1.89379287e-06, 1.85108837e-05,
  1.73568925e-02,-1.36435465e-03, 2.79987655e-03,-2.99520697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023599938196809667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17608679e-13,  7.05652075e-13,  1.00000000e+00,  8.29908086e-26,
        1.00000000e+00, -7.05652075e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17608679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500438, -0.09316199,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14735386e-05,-3.40054109e-05,-2.20043178e-05, 2.46445168e-06,
  2.07866218e-05, 2.52735203e-05,-1.45921526e-05,-2.96939890e-05,
 -2.68159057e-05, 1.01229775e-05,-2.46890995e-05, 5.16796156e-05,
 -1.24496298e-04,-5.92456222e-05,-6.27260931e-05,-2.05410579e-06,
 -6.34495998e-06, 7.42549192e-06,-1.21629927e+00, 9.78864849e-05,
  1.47887802e-03,-1.73910997e-06]


--- Step 926 ---
qpos:
[ 2.99816585e-03,-3.32993363e-03, 1.18728038e-02, 4.17367406e-02,
 -2.19615792e-03,-1.90768819e-03,-1.73587148e-02, 2.86686988e-02,
  5.86362766e-03, 1.64594185e-02,-9.38024839e-03, 2.60004140e-02,
  1.16443604e+00,-1.17947698e-03, 9.08571692e-01, 6.41865375e-02,
  9.49435854e-02,-7.01471815e-02, 1.21759094e-01, 9.99973008e-01,
  3.34418143e-04,-2.76251109e-04, 7.33455755e-03]

qacc:
[  1.69574117,  3.4093073 ,-13.83432673, 22.14034657,  2.16854916,
   0.77444333, -1.05154052, -3.75306238, -2.7017857 , -1.51378044,
   2.13842619,  7.35617645, -0.70247184,  0.87680457,  0.631835  ,
  -3.77150007,  0.03369265,  1.19705078,  0.53685485,-19.8090963 ,
   1.78602204, -0.09109985]

qfrc_actuator:
[ 3.08234087e-06, 5.05361332e-05, 1.38136543e-04, 1.31031936e-04,
  3.46505794e-06,-1.85849498e-04,-2.71950121e-04,-1.07445612e-04,
 -7.10884752e-05, 3.91520412e-04, 4.12497974e-05, 4.97984140e-05,
  1.73135466e-02,-1.35887583e-03, 2.75763021e-03,-3.02607509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38910053, -0.31126369,  4.37804961, -0.31126369, 15.70777389,
        0.80471725,  4.37804961,  0.80471725,  4.44631305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002481197794112905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23727231e-13,  2.23727231e-13,  1.00000000e+00,  5.00538739e-26,
        1.00000000e+00, -2.23727231e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23727231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500566, -0.0931589 ,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01050827e-05,-2.69393922e-05,-5.89870513e-05, 1.67816571e-05,
  1.28286466e-05, 1.44728066e-05,-1.99066522e-05,-1.56387654e-05,
 -1.61453657e-05,-1.73493571e-05, 4.40086210e-05, 3.18794694e-05,
 -1.31951036e-04,-3.34844289e-05,-7.47117935e-05,-3.98235201e-05,
 -4.68596074e-06, 6.50316970e-06,-1.21633947e+00, 1.06210225e-04,
  1.47389635e-03,-1.87824102e-06]


--- Step 927 ---
qpos:
[ 2.99838522e-03,-3.32958537e-03, 1.18733588e-02, 4.17381093e-02,
 -2.19594949e-03,-1.90610647e-03,-1.73592312e-02, 2.86667527e-02,
  5.86276508e-03, 1.64577411e-02,-9.38032762e-03, 2.60004150e-02,
  1.16486179e+00,-1.17793426e-03, 9.08893650e-01, 6.41813385e-02,
  9.49314194e-02,-7.01581880e-02, 1.21758366e-01, 9.99972833e-01,
  4.23931000e-04,-3.78753512e-04, 7.34922244e-03]

qacc:
[ 1.18405151e+00, 3.62206630e-02,-1.35205866e+00, 4.65872116e+00,
  1.29714137e+00,-1.28990946e+00, 4.69583552e+00,-7.44561888e+00,
 -1.54330930e+00,-2.23858440e+00, 8.32191370e+00,-1.34400340e+01,
 -1.36632108e+00, 2.41273339e+00, 5.18593246e+00,-1.94250807e+01,
  3.73539120e-02, 1.17433554e+00, 3.61943499e-01,-1.94706571e+01,
  1.67838990e+00, 1.71598891e-02]

qfrc_actuator:
[ 9.71104019e-06, 4.82497048e-05, 1.44395681e-04, 1.41695124e-04,
  1.06261301e-05,-2.19430416e-04,-2.67038782e-04,-1.15927557e-04,
 -7.98519711e-05, 3.44631135e-04, 4.90784082e-05, 3.25883232e-05,
  1.72722231e-02,-1.32048371e-03, 2.71538264e-03,-3.13174716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41036493, -0.56645876,  4.37383622, -0.56645876, 23.95788081,
        2.53161321,  4.37383622,  2.53161321,  4.73823602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000256252429058329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06175305e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.06175305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500664, -0.09315688,  0.06199377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90615383e-06,-2.88430731e-05,-6.00631284e-06, 7.78916245e-06,
  7.53325189e-06,-3.03203148e-05, 4.89780063e-06,-8.85389738e-06,
 -9.23981352e-06,-4.60924055e-05, 1.07878452e-05,-1.58066828e-05,
 -1.28744875e-04, 2.86537309e-06,-8.41862064e-05,-1.18207253e-04,
 -3.21279114e-06, 5.72458304e-06,-1.21637073e+00, 1.12558518e-04,
  1.46903595e-03,-1.93608012e-06]


--- Step 928 ---
qpos:
[ 2.99833738e-03,-3.32944935e-03, 1.18742594e-02, 4.17392225e-02,
 -2.19565668e-03,-1.90483388e-03,-1.73596427e-02, 2.86647320e-02,
  5.86180355e-03, 1.64562243e-02,-9.38112760e-03, 2.60009016e-02,
  1.16528686e+00,-1.17656070e-03, 9.09214042e-01, 6.41743602e-02,
  9.49194133e-02,-7.01645726e-02, 1.21758497e-01, 9.99972658e-01,
  4.75044474e-04,-4.78357256e-04, 7.36408459e-03]

qacc:
[ -2.33113742, -1.76871577,  6.98454396,-11.80954256,  0.74858595,
  -0.85593509,  2.77134294, -3.9980869 , -0.88787964,  3.22806541,
 -13.24858553, 22.68194698, -0.3810353 ,  0.23780075,  3.07378714,
 -14.07973364,  0.0400073 ,  1.15548224,  0.21479877,-19.18848063,
   1.59043475,  0.10527954]

qfrc_actuator:
[-4.23275562e-06, 4.68802541e-05, 1.65676722e-04, 1.29683945e-04,
  1.47514517e-05,-2.40043653e-04,-2.64015793e-04,-1.20147654e-04,
 -8.46575262e-05, 3.70688837e-04, 1.80676828e-05, 5.79338857e-05,
  1.72374831e-02,-1.33394217e-03, 2.61457182e-03,-3.22735864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026113223908069694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25864866e-13,  2.12578697e-13,  1.00000000e+00,  4.80140590e-26,
        1.00000000e+00, -2.12578697e-13, -1.00000000e+00,  0.00000000e+00,
       -2.25864866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500739, -0.09315574,  0.06199365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37591784e-05,-1.84259393e-05, 1.48390105e-05,-1.33082911e-05,
  4.32964215e-06,-3.69805266e-05,-2.95129575e-06,-5.52066230e-06,
 -5.09166935e-06, 1.88925050e-06,-3.97298896e-05, 2.34400875e-05,
 -1.12238300e-04,-4.10337153e-05,-1.55880997e-04,-1.13733655e-04,
 -1.83533306e-06, 5.04780363e-06,-1.21639362e+00, 1.16969647e-04,
  1.46431010e-03,-1.91027053e-06]


--- Step 929 ---
qpos:
[ 2.99881262e-03,-3.32934920e-03, 1.18750606e-02, 4.17401910e-02,
 -2.19566133e-03,-1.90414723e-03,-1.73598739e-02, 2.86627074e-02,
  5.86079155e-03, 1.64549412e-02,-9.38213046e-03, 2.60019874e-02,
  1.16571127e+00,-1.17559696e-03, 9.09532319e-01, 6.41696051e-02,
  9.49075748e-02,-7.01663975e-02, 1.21758994e-01, 9.99972488e-01,
  4.88227330e-04,-5.75203890e-04, 7.37928518e-03]

qacc:
[  4.58879024, -0.07691816,  0.80039689, -3.10218813, -2.59332646,
  -1.28096496,  3.4692522 , -3.40350073, -0.45019372,  2.11029258,
  -9.60504333, 20.12711049,  0.05437768, -0.70243964, -9.84684625,
  29.87561487,  0.04187922,  1.13991852,  0.09118392,-18.95455974,
   1.51826104,  0.17761675]

qfrc_actuator:
[ 2.30856983e-05, 4.61315235e-05, 1.60125159e-04, 1.22185231e-04,
 -6.93737326e-07,-2.88240419e-04,-2.62100287e-04,-1.21826735e-04,
 -8.70968861e-05, 4.04586345e-04, 1.79663277e-05, 9.04078902e-05,
  1.71960475e-02,-1.36021781e-03, 2.53731002e-03,-3.10334037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002633766442911717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31729484e-14,  4.21534350e-13,  1.00000000e+00,  5.55285025e-27,
        1.00000000e+00, -4.21534350e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31729484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500795, -0.0931553 ,  0.0619936 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69185126e-05,-8.58013126e-06,-8.00432784e-06,-8.03779844e-06,
 -1.53343323e-05,-6.97578000e-05,-6.28330032e-06,-3.47102966e-06,
 -2.58955817e-06, 2.78101069e-05,-3.76840335e-06, 3.16405643e-05,
 -1.19670144e-04,-5.83442092e-05,-1.60579469e-04, 9.78953351e-05,
 -4.87136231e-07, 4.44219730e-06,-1.21640859e+00, 1.19475123e-04,
  1.45972796e-03,-1.79908845e-06]


--- Step 930 ---
qpos:
[ 2.99961144e-03,-3.32936958e-03, 1.18760783e-02, 4.17413963e-02,
 -2.19550599e-03,-1.90409343e-03,-1.73603028e-02, 2.86607116e-02,
  5.85975797e-03, 1.64538213e-02,-9.38253231e-03, 2.60027155e-02,
  1.16613473e+00,-1.17434230e-03, 9.09849695e-01, 6.41697405e-02,
  9.48959089e-02,-7.01637137e-02, 1.21759440e-01, 9.99972325e-01,
  4.63865092e-04,-6.69410195e-04, 7.39494072e-03]

qacc:
[ 2.84932590e+00,-2.82163989e-01,-2.33391983e-01, 4.08238513e+00,
  1.40796314e+00,-2.27502272e-01,-5.28657637e-01, 1.81339927e+00,
 -1.72513955e-01,-2.20012803e+00, 9.66860489e+00,-1.69411485e+01,
 -6.70938593e-01, 9.82190004e-01,-1.60447178e+01, 5.43080782e+01,
  4.31463421e-02, 1.12716015e+00,-1.24994893e-02,-1.87621591e+01,
  1.45876917e+00, 2.37594331e-01]

qfrc_actuator:
[ 3.89728259e-05, 4.56637546e-05, 1.74285964e-04, 1.35138055e-04,
  7.97212211e-06,-3.34834199e-04,-2.78719376e-04,-1.22021975e-04,
 -8.81254156e-05, 4.25297910e-04, 5.39336467e-05, 7.35931279e-05,
  1.71559438e-02,-1.34061753e-03, 2.57014762e-03,-2.83308239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026350336718776457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23832427e-13,  2.10665814e-13,  1.00000000e+00,  4.71538403e-26,
        1.00000000e+00, -2.10665814e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23832427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500838, -0.09315543,  0.0619936 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66501719e-05,-7.27068166e-06, 1.11102571e-05, 1.21464620e-05,
  8.20481647e-06,-8.70718909e-05,-3.19221426e-05,-3.46553028e-06,
 -1.09910287e-06, 3.68923179e-05, 4.23658956e-05,-1.51350056e-05,
 -1.26355966e-04,-1.77256940e-05,-2.77146360e-05, 2.55641367e-04,
  8.81139409e-07, 3.88606918e-06,-1.21641601e+00, 1.20100791e-04,
  1.45529588e-03,-1.60126603e-06]


--- Step 931 ---
qpos:
[ 3.00024969e-03,-3.32942796e-03, 1.18772535e-02, 4.17423951e-02,
 -2.19524839e-03,-1.90433915e-03,-1.73611008e-02, 2.86590435e-02,
  5.85871992e-03, 1.64530233e-02,-9.38280855e-03, 2.60029035e-02,
  1.16655734e+00,-1.17288036e-03, 9.10167845e-01, 6.41666326e-02,
  9.48844188e-02,-7.01565628e-02, 1.21759489e-01, 9.99972167e-01,
  4.02271459e-04,-7.61073032e-04, 7.41114836e-03]

qacc:
[ -1.40395547, -0.91340171,  4.05931712, -7.86041136,  0.89057956,
   1.30764538, -6.62422961, 13.1101906 , -0.04079858, -1.03740738,
   6.59707796,-16.38328172, -1.0099538 ,  1.54519143, 10.9954772 ,
 -36.65788945,  0.04394633,  1.11679676, -0.09931494,-18.60559394,
   1.40949046,  0.28789975]

qfrc_actuator:
[ 3.02387870e-05, 4.54635538e-05, 1.82245473e-04, 1.24532954e-04,
  1.30135014e-05,-3.26927019e-04,-2.88400672e-04,-1.03605412e-04,
 -8.83161454e-05, 4.38074898e-04, 5.75615371e-05, 4.56750446e-05,
  1.71166873e-02,-1.32953377e-03, 2.58912493e-03,-3.01121598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026194549034157244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78143311e-13,  4.23837426e-13,  1.00000000e+00,  1.17887545e-25,
        1.00000000e+00, -4.23837426e-13, -1.00000000e+00,  0.00000000e+00,
       -2.78143311e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500869, -0.09315601,  0.06199364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.26450508e-06,-1.46137654e-06, 8.23061999e-06,-1.03014058e-05,
  5.24629698e-06,-4.75150502e-05,-3.17099269e-05, 1.35180681e-05,
 -2.14260638e-07, 4.15500252e-05, 1.59582377e-05,-2.51641255e-05,
 -1.18703491e-04,-2.06378660e-05, 3.05938711e-05,-1.68378460e-04,
  2.30649063e-06, 3.36497371e-06,-1.21641613e+00, 1.18867738e-04,
  1.45101826e-03,-1.31586216e-06]


--- Step 932 ---
qpos:
[ 3.00077841e-03,-3.32942301e-03, 1.18782004e-02, 4.17432729e-02,
 -2.19562265e-03,-1.90436182e-03,-1.73620244e-02, 2.86575236e-02,
  5.85768767e-03, 1.64523935e-02,-9.38270437e-03, 2.60031031e-02,
  1.16697923e+00,-1.17134240e-03, 9.10485816e-01, 6.41638058e-02,
  9.48731062e-02,-7.01449779e-02, 1.21758851e-01, 9.99972004e-01,
  3.03697955e-04,-8.50273202e-04, 7.42799012e-03]

qacc:
[ -0.96979636,  0.47469276, -1.05720928, -0.72155542, -5.54963329,
   0.96112934, -3.60626117,  6.18654027,  0.05966281, -0.81699515,
   3.18600351, -3.71541445, -0.58010002,  0.75467289, -1.07780177,
   3.46849465,  0.04438633,  1.10848023, -0.17187464,-18.48005354,
   1.36845688,  0.33064217]

qfrc_actuator:
[ 2.48394072e-05, 4.53895852e-05, 1.68703965e-04, 1.17894252e-04,
 -1.96313248e-05,-2.68646816e-04,-2.75916135e-04,-9.20849123e-05,
 -8.80126876e-05, 4.45867114e-04, 7.75260298e-05, 4.69257269e-05,
  1.70886176e-02,-1.32359266e-03, 2.58901606e-03,-2.99063860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002590642777467178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74098918e-13,  6.42826773e-13,  1.00000000e+00,  1.11915445e-25,
        1.00000000e+00, -6.42826773e-13, -1.00000000e+00,  0.00000000e+00,
       -1.74098918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500892, -0.09315694,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63640192e-06, 3.48868334e-07,-1.32016777e-05,-6.62152730e-06,
 -3.25111498e-05, 2.57632196e-05,-7.52431213e-07, 8.65597893e-06,
  3.09440940e-07, 3.32735893e-05, 2.96532039e-05, 3.09549704e-06,
 -1.03800682e-04,-2.45293663e-05,-1.40068887e-05, 1.30029552e-05,
  3.81703949e-06, 2.87049861e-06,-1.21640918e+00, 1.15793017e-04,
  1.44689820e-03,-9.42168293e-07]


--- Step 933 ---
qpos:
[ 3.00123822e-03,-3.32938241e-03, 1.18789967e-02, 4.17437172e-02,
 -2.19673042e-03,-1.90381183e-03,-1.73633313e-02, 2.86568156e-02,
  5.85701224e-03, 1.64514556e-02,-9.38157620e-03, 2.60036782e-02,
  1.16740043e+00,-1.16975608e-03, 9.10803052e-01, 6.41619835e-02,
  9.48649182e-02,-7.01350270e-02, 1.21759826e-01, 9.99971861e-01,
  2.19538509e-04,-9.14530531e-04, 7.44266968e-03]

qacc:
[ -0.61045483, -0.4241719 ,  3.4111299 ,-10.69816762, -6.45476241,
   3.5093055 ,-14.82166593, 29.039725  ,  3.14947778, -2.50251721,
   6.73606207, -1.63679251, -0.46713536,  0.55378815, -4.08907857,
  12.79359792,  0.78115368, -0.40847305,  0.40348587,  7.29854293,
  12.41721739, -1.09105286]

qfrc_actuator:
[ 2.14540143e-05, 4.53052299e-05, 1.60337353e-04, 9.58798960e-05,
 -5.64420289e-05,-2.16050820e-04,-2.85733205e-04,-4.91482853e-05,
 -6.96685675e-05, 4.15188194e-04, 1.24740072e-04, 6.53419162e-05,
  1.70566267e-02,-1.32068879e-03, 2.54555873e-03,-2.94182481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002566276566823289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.16310089e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.16310089e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177337, -0.06198239,  0.06199376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54615962e-06,-2.91661479e-06,-1.01631090e-05,-2.25890799e-05,
 -3.77287525e-05, 6.72220078e-05,-4.27291858e-06, 4.41900185e-05,
  1.83614225e-05,-5.79621518e-06, 5.78513211e-05, 2.09288910e-05,
 -9.97719385e-05,-2.48904245e-05,-5.42486130e-05, 4.64051128e-05,
  5.43455810e-06, 2.39939048e-06,-1.21639530e+00, 1.10890249e-04,
  1.44293797e-03,-4.79639492e-07]


--- Step 934 ---
qpos:
[ 3.00130902e-03,-3.32956919e-03, 1.18800687e-02, 4.17438986e-02,
 -2.19792616e-03,-1.90271370e-03,-1.73647746e-02, 2.86566130e-02,
  5.85656184e-03, 1.64505293e-02,-9.38074990e-03, 2.60041755e-02,
  1.16782117e+00,-1.16897043e-03, 9.11119601e-01, 6.41581326e-02,
  9.48597978e-02,-7.01267007e-02, 1.21761933e-01, 9.99971742e-01,
  1.49529868e-04,-9.54050310e-04, 7.45533560e-03]

qacc:
[ -3.40203806, -1.60687126,  6.41368669,-11.24925441, -0.7849267 ,
   2.14604203, -8.73244768, 17.29004489,  1.9530596 ,  0.69551873,
  -2.13632256,  1.27382512,  0.27010139, -1.28792894,  5.0730474 ,
 -19.30857517,  0.76690201, -0.40617838,  0.28297504,  7.16633643,
  12.31555718, -1.01607361]

qfrc_actuator:
[ 1.52756997e-06, 2.74643569e-05, 1.72841832e-04, 8.27536251e-05,
 -5.98926111e-05,-1.85056824e-04,-2.90870750e-04,-2.35902576e-05,
 -5.86060048e-05, 3.97340924e-04, 9.87449389e-05, 5.81837655e-05,
  1.70169796e-02,-1.37286791e-03, 2.48680036e-03,-3.05443142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025872719123024024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29109526e-13, -2.14554763e-13,  1.00000000e+00, -9.20674928e-26,
        1.00000000e+00,  2.14554763e-13, -1.00000000e+00,  0.00000000e+00,
       -4.29109526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177306, -0.06198303,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00281468e-05,-2.25531570e-05, 9.85750762e-06,-1.40454120e-05,
 -4.50422499e-06, 6.95793861e-05, 9.76212939e-06, 2.91558559e-05,
  1.15819507e-05,-8.21791711e-06,-1.93475822e-05,-5.00012334e-06,
 -1.05425178e-04,-7.89594213e-05,-8.20027290e-05,-1.17790263e-04,
  3.76907224e-06, 1.52114411e-06,-1.21641161e+00, 1.07024059e-04,
  1.43952562e-03,-4.64637576e-07]


--- Step 935 ---
qpos:
[ 3.00079546e-03,-3.32987841e-03, 1.18809770e-02, 4.17439383e-02,
 -2.19880923e-03,-1.90134591e-03,-1.73658089e-02, 2.86556803e-02,
  5.85590206e-03, 1.64507114e-02,-9.38154093e-03, 2.60038433e-02,
  1.16824131e+00,-1.16878455e-03, 9.11434530e-01, 6.41576610e-02,
  9.48576988e-02,-7.01199909e-02, 1.21764769e-01, 9.99971654e-01,
  9.34559618e-05,-9.69005574e-04, 7.46610763e-03]

qacc:
[-5.13248994e+00, 1.39335462e-02, 3.30450604e-01,-2.44809320e+00,
  2.75017130e+00,-2.29284567e+00, 1.17664405e+01,-2.52431174e+01,
 -1.89610630e+00, 4.28066571e+00,-9.62754205e+00,-2.97108946e+00,
  3.05173730e-01,-1.25286026e+00,-1.26248461e+01, 4.06130147e+01,
  7.55338022e-01,-4.04101835e-01, 1.82030899e-01, 7.05783330e+00,
  1.22298400e+01,-9.55513890e-01]

qfrc_actuator:
[-2.79758509e-05, 1.69709721e-05, 1.61997632e-04, 7.49630878e-05,
 -4.36792513e-05,-1.84981185e-04,-2.75541467e-04,-6.17355120e-05,
 -6.96759614e-05, 4.93511851e-04, 2.97405670e-05, 1.82312214e-05,
  1.69833958e-02,-1.40400925e-03, 2.43486085e-03,-2.87070097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002588115023833826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.14484869e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.14484869e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177254, -0.06198338,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00820997e-05,-2.16840549e-05,-1.47845482e-05,-8.69048359e-06,
  1.61076436e-05, 4.22261225e-05, 3.19172234e-05,-3.42568014e-05,
 -1.07418379e-05, 8.73900113e-05,-7.32588390e-05,-4.10729303e-05,
 -1.15574892e-04,-6.95317096e-05,-1.05329745e-04, 1.66026357e-04,
  2.49115386e-06, 8.17201677e-07,-1.21642361e+00, 1.03798725e-04,
  1.43737854e-03,-4.36564248e-07]


--- Step 936 ---
qpos:
[ 3.00027676e-03,-3.32991642e-03, 1.18812988e-02, 4.17435177e-02,
 -2.19949064e-03,-1.90035810e-03,-1.73660610e-02, 2.86547018e-02,
  5.85476997e-03, 1.64517735e-02,-9.38292990e-03, 2.60026472e-02,
  1.16866058e+00,-1.16840210e-03, 9.11748237e-01, 6.41619669e-02,
  9.48585838e-02,-7.01148901e-02, 1.21767995e-01, 9.99971599e-01,
  5.11400823e-05,-9.59539899e-04, 7.47508274e-03]

qacc:
[ -0.06840289,  1.04973735, -1.28055167, -5.94569392,  1.79967534,
  -2.78446001,  9.38707821,-11.14214342, -4.15362456,  1.06409724,
   1.55497896,-16.21294339, -0.53050612,  0.69291612,-16.18653853,
  54.09275097,  0.74602021, -0.40226625,  0.09766924,  6.96911084,
  12.15869561, -0.90636789]

qfrc_actuator:
[-2.73692207e-05, 4.63773521e-05, 1.37473373e-04, 5.26052271e-05,
 -3.37856129e-05,-2.38902611e-04,-2.48422936e-04,-6.60589164e-05,
 -9.36810258e-05, 5.50476566e-04, 7.37738335e-06,-2.28622108e-05,
  1.69481528e-02,-1.38690327e-03, 2.40842459e-03,-2.62028062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002572938845199907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15749983e-13, -2.15749983e-13,  1.00000000e+00, -4.65480552e-26,
        1.00000000e+00,  2.15749983e-13, -1.00000000e+00,  0.00000000e+00,
       -2.15749983e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177184, -0.06198349,  0.06199375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56752434e-07, 1.38461832e-05,-3.11302513e-05,-2.39675431e-05,
  1.03676519e-05,-2.52139462e-05, 3.85843025e-05,-2.07545069e-06,
 -2.42781180e-05, 8.89385316e-05,-1.47484956e-05,-4.06801557e-05,
 -1.20867994e-04,-2.18833547e-05,-5.64320085e-05, 2.46125372e-04,
  1.56765495e-06, 2.62029003e-07,-1.21643144e+00, 1.01210702e-04,
  1.43648198e-03,-3.96854049e-07]


--- Step 937 ---
qpos:
[ 2.99976911e-03,-3.32982217e-03, 1.18815577e-02, 4.17435042e-02,
 -2.20004798e-03,-1.89962723e-03,-1.73665047e-02, 2.86537321e-02,
  5.85370411e-03, 1.64531453e-02,-9.38412257e-03, 2.60009857e-02,
  1.16907904e+00,-1.16784240e-03, 9.12061008e-01, 6.41708868e-02,
  9.48624232e-02,-7.01113921e-02, 1.21771331e-01, 9.99971578e-01,
  2.24384859e-05,-9.25770027e-04, 7.48233985e-03]

qacc:
[ 9.29935069e-02, 1.18941321e+00,-5.70434978e+00, 1.27503967e+01,
  1.08667197e+00, 2.11524115e-01,-1.28743031e+00, 1.93737009e+00,
  5.78271359e-01,-1.09839671e+00, 6.47306243e+00,-1.50662915e+01,
 -4.95779388e-01, 6.39880060e-01,-1.52762736e+01, 5.15128499e+01,
  7.38584624e-01,-4.00680845e-01, 2.73452280e-02, 6.89696114e+00,
  1.21008411e+01,-8.66251790e-01]

qfrc_actuator:
[-2.67946853e-05, 6.38736622e-05, 1.40734652e-04, 7.51402201e-05,
 -2.76978517e-05,-2.71422606e-04,-2.68025591e-04,-6.82341010e-05,
 -8.95952097e-05, 5.48197264e-04, 1.26264524e-05,-4.65215438e-05,
  1.69119602e-02,-1.37691060e-03, 2.37600953e-03,-2.38585408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025451928964655146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18101942e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.18101942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081771  , -0.06198341,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74184054e-07, 1.77824760e-05, 1.45580855e-06, 2.15847462e-05,
  6.37301425e-06,-3.87659174e-05,-2.01365541e-05,-1.96095656e-06,
  3.42492375e-06, 4.26342430e-05, 2.04026969e-05,-2.11457659e-05,
 -1.13544846e-04,-2.11666973e-05,-3.34907144e-05, 2.40308439e-04,
  9.73969860e-07,-1.63694496e-07,-1.21643521e+00, 9.92566588e-05,
  1.43682419e-03,-3.46605507e-07]


--- Step 938 ---
qpos:
[ 2.99927227e-03,-3.32965055e-03, 1.18821427e-02, 4.17437400e-02,
 -2.20052805e-03,-1.89894418e-03,-1.73675041e-02, 2.86520524e-02,
  5.85338535e-03, 1.64546483e-02,-9.38573749e-03, 2.59998110e-02,
  1.16949656e+00,-1.16660155e-03, 9.12373254e-01, 6.41805811e-02,
  9.48691935e-02,-7.01094914e-02, 1.21774542e-01, 9.99971588e-01,
  7.23515329e-06,-8.67788284e-04, 7.48794364e-03]

qacc:
[  0.10391506, -0.29543611,  0.14924799,  3.58785315,  0.66063726,
   0.0276029 ,  2.80570546,-14.16754462,  6.50087332,  2.34284492,
 -10.17862036, 19.20358896, -1.2149967 ,  2.23011135, -3.02370092,
   9.6575496 ,  0.73273082, -0.3993454 , -0.03111313,  6.83875509,
  12.05508913, -0.83327395]

qfrc_actuator:
[-2.62535366e-05, 7.42543927e-05, 1.60378203e-04, 8.84224092e-05,
 -2.38967079e-05,-2.73320157e-04,-2.97247369e-04,-1.04661798e-04,
 -5.12518563e-05, 5.28342537e-04,-1.93700797e-05,-2.42680982e-05,
  1.68752245e-02,-1.33573998e-03, 2.32937399e-03,-2.35805042e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002507746984490994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21358660e-13, -2.21358660e-13,  1.00000000e+00, -4.89996564e-26,
        1.00000000e+00,  2.21358660e-13, -1.00000000e+00,  0.00000000e+00,
       -2.21358660e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177006, -0.06198319,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.62192411e-07, 2.15453996e-05, 2.42392003e-05, 1.45137815e-05,
  3.97016786e-06,-2.78356845e-05,-3.97787833e-05,-3.88226620e-05,
  3.84592583e-05, 7.26067641e-06,-2.14080971e-05, 2.43778835e-05,
 -1.09319426e-04, 1.16951024e-05,-3.89857359e-05, 3.60213556e-05,
  6.92240560e-07,-4.74815579e-07,-1.21643502e+00, 9.79335865e-05,
  1.43839585e-03,-2.86643625e-07]


--- Step 939 ---
qpos:
[ 2.99878586e-03,-3.32951385e-03, 1.18830342e-02, 4.17441489e-02,
 -2.20130339e-03,-1.89871672e-03,-1.73687709e-02, 2.86510182e-02,
  5.85352906e-03, 1.64558357e-02,-9.38729071e-03, 2.59999729e-02,
  1.16991312e+00,-1.16430974e-03, 9.12685634e-01, 6.41874694e-02,
  9.48788767e-02,-7.01091837e-02, 1.21777435e-01, 9.99971626e-01,
  5.43748530e-06,-7.85664782e-04, 7.49194754e-03]

qacc:
[  0.10188885, -0.54681758,  1.15230918,  1.37738814, -2.59004626,
   1.47776981, -8.86036094, 20.78591824,  4.04181711,  2.15413478,
 -13.94370233, 37.22688667, -1.76634717,  3.45424536,  8.79362904,
 -30.17966534,  0.72821053, -0.39825339, -0.07956026,  6.79233368,
  12.02035182, -0.80593234]

qfrc_actuator:
[-2.57365939e-05, 6.26151281e-05, 1.71734741e-04, 9.61477535e-05,
 -3.92229882e-05,-3.10208478e-04,-3.14047244e-04,-7.21626631e-05,
 -2.85665914e-05, 4.97997066e-04,-1.99160399e-05, 4.25197483e-05,
  1.68382022e-02,-1.27643736e-03, 2.32746062e-03,-2.50548418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002462979711001789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25382089e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.25382089e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176904, -0.06198286,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37706204e-07, 6.02553994e-06, 1.92856657e-05, 9.76739578e-06,
 -1.52196054e-05,-6.23421759e-05,-2.87854087e-05, 2.91785981e-05,
  2.37929390e-05,-2.96832073e-05,-8.37477189e-07, 6.68338968e-05,
 -1.00053979e-04, 3.74607918e-05,-2.04117543e-05,-1.51514198e-04,
  7.10013676e-07,-6.83012235e-07,-1.21643094e+00, 9.72388636e-05,
  1.44118969e-03,-2.17569473e-07]


--- Step 940 ---
qpos:
[ 2.99761981e-03,-3.32974552e-03, 1.18842324e-02, 4.17450360e-02,
 -2.20260143e-03,-1.89878638e-03,-1.73703036e-02, 2.86503609e-02,
  5.85394413e-03, 1.64564737e-02,-9.38842897e-03, 2.60012851e-02,
  1.17032906e+00,-1.16211767e-03, 9.12997916e-01, 6.41905429e-02,
  9.48914591e-02,-7.01104657e-02, 1.21779849e-01, 9.99971686e-01,
  1.69727646e-05,-6.79449433e-04, 7.49439609e-03]

qacc:
[ -5.94928215, -0.34707012, -1.46629219,  9.49996882, -4.58746626,
   1.13371966, -6.18828657, 13.33715883,  2.38978123,  0.47734668,
  -7.62047153, 27.27827893, -0.56728565,  0.63573274, 11.39821215,
 -40.02061491,  0.72481839, -0.39739431, -0.11957933,  6.7559209 ,
  11.99564121, -0.78303354]

qfrc_actuator:
[-6.07433849e-05, 2.00925786e-05, 1.78008130e-04, 1.18268222e-04,
 -6.56840818e-05,-3.14406460e-04,-3.23459949e-04,-5.26368527e-05,
 -1.52904067e-05, 4.61751595e-04,-1.90672455e-06, 9.94782831e-05,
  1.67903931e-02,-1.29566099e-03, 2.30973390e-03,-2.70153199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024128540310139335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.30064275e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.30064275e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176797, -0.06198245,  0.06199414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49919809e-05,-3.47656981e-05, 1.02188970e-05, 2.32329239e-05,
 -2.69167284e-05,-4.37513228e-05,-2.48108129e-05, 1.64312640e-05,
  1.39472956e-05,-5.01698124e-05, 1.40903107e-05, 5.69576956e-05,
 -9.96116792e-05,-3.38235255e-05,-5.05330496e-05,-2.08644172e-04,
  1.01923269e-06,-7.97773497e-07,-1.21642302e+00, 9.71702857e-05,
  1.44520017e-03,-1.39799645e-07]


--- Step 941 ---
qpos:
[ 2.99638809e-03,-3.33011549e-03, 1.18851738e-02, 4.17461915e-02,
 -2.20351715e-03,-1.89874324e-03,-1.73721354e-02, 2.86495464e-02,
  5.85451504e-03, 1.64569447e-02,-9.38914066e-03, 2.60025288e-02,
  1.17074433e+00,-1.16034220e-03, 9.13310455e-01, 6.41878050e-02,
  9.49069311e-02,-7.01133346e-02, 1.21781653e-01, 9.99971758e-01,
  4.17852409e-05,-5.49173747e-04, 7.49532687e-03]

qacc:
[ -0.58199008,  1.08948391, -5.27924849, 10.43152076,  3.34180167,
   0.65488909, -1.4661044 , -0.84814809,  1.37522527, -1.55660893,
   5.51442229, -7.2535782 , -0.42839796,  0.14092019, 17.93187895,
 -62.15582275,  0.72238441, -0.39675537, -0.15252139,  6.72805366,
  11.98006731, -0.76362871]

qfrc_actuator:
[-6.31206270e-05, 1.26453695e-05, 1.63356213e-04, 1.30898658e-04,
 -4.52226448e-05,-2.81213854e-04,-3.28335083e-04,-5.86372115e-05,
 -7.65354082e-06, 4.75584033e-04, 2.68578267e-05, 9.69331132e-05,
  1.67414424e-02,-1.32576478e-03, 2.31981576e-03,-2.99562749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023589817498090304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35318273e-13, -2.35318273e-13,  1.00000000e+00,  5.53746898e-26,
        1.00000000e+00,  2.35318273e-13, -1.00000000e+00,  0.00000000e+00,
        2.35318273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176687, -0.06198197,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38808092e-06,-2.37983933e-05,-1.97810101e-05, 1.19446557e-05,
  1.96792426e-05, 4.31891450e-06,-1.63784630e-05,-8.40784628e-06,
  8.01732825e-06,-8.87793584e-06, 2.21103839e-05,-3.10144176e-06,
 -1.17054151e-04,-5.84443163e-05,-4.12238708e-05,-3.13358658e-04,
  1.61548060e-06,-8.27135969e-07,-1.21641128e+00, 9.77260738e-05,
  1.45042320e-03,-5.35976896e-08]


--- Step 942 ---
qpos:
[ 2.99582672e-03,-3.33022428e-03, 1.18854607e-02, 4.17474655e-02,
 -2.20383590e-03,-1.89860823e-03,-1.73738019e-02, 2.86489813e-02,
  5.85517308e-03, 1.64572786e-02,-9.38893109e-03, 2.60033481e-02,
  1.17115891e+00,-1.15916583e-03, 9.13622723e-01, 6.41838064e-02,
  9.49252861e-02,-7.01177888e-02, 1.21782740e-01, 9.99971833e-01,
  7.98337274e-05,-3.94852444e-04, 7.49477198e-03]

qacc:
[  5.85900984,  2.40776333, -8.60319349, 11.52904723,  5.23972889,
   0.16226917, -1.47333622,  5.47707846,  0.79091261, -3.63104143,
  14.47280664,-23.18558737, -0.05043824, -0.67060655,  3.39315772,
 -12.48178354,  0.72076786, -0.39632271, -0.17953861,  6.70752511,
  11.97283415, -0.7469629 ]

qfrc_actuator:
[-2.85096181e-05, 4.39132741e-05, 1.36589992e-04, 1.37853735e-04,
 -1.50562513e-05,-2.61383231e-04,-3.12595261e-04,-4.40646470e-05,
 -3.39327826e-06, 4.83795311e-04, 7.96505549e-05, 7.71970058e-05,
  1.66971576e-02,-1.36203991e-03, 2.34122859e-03,-3.04323433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002302678553418036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41072082e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.41072082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176574, -0.06198146,  0.0619944 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45064897e-05, 1.43881588e-05,-3.37128101e-05, 5.48022898e-06,
  3.07298555e-05, 1.85310149e-05, 1.43455127e-05, 1.40323227e-05,
  4.48722424e-06, 7.67407661e-06, 5.35752187e-05,-1.94143431e-05,
 -1.28503959e-04,-7.33901568e-05,-3.82973210e-05,-7.17313524e-05,
  2.49741103e-06,-7.78238522e-07,-1.21639575e+00, 9.89048686e-05,
  1.45685596e-03, 4.09008196e-08]


--- Step 943 ---
qpos:
[ 2.99568447e-03,-3.33009048e-03, 1.18853688e-02, 4.17487957e-02,
 -2.20413530e-03,-1.89853636e-03,-1.73749025e-02, 2.86482414e-02,
  5.85553258e-03, 1.64572949e-02,-9.38853361e-03, 2.60043442e-02,
  1.17157271e+00,-1.15818085e-03, 9.13934001e-01, 6.41822827e-02,
  9.49465206e-02,-7.01238274e-02, 1.21783020e-01, 9.99971897e-01,
  1.31089617e-04,-2.16484889e-04, 7.49275922e-03]

qacc:
[  3.66271926,  1.48873329, -5.09197096,  6.50472743,  0.18848045,
  -2.02371136,  7.83206428,-11.71250674, -2.59250308, -0.57601552,
   0.70730983,  2.27554218, -0.25512682, -0.04489495, -8.92033585,
  29.108602  ,  0.71985214, -0.39608225, -0.20161271,  6.69333877,
  11.97323448, -0.73243499]

qfrc_actuator:
[-7.92067502e-06, 6.25608238e-05, 1.20808124e-04, 1.41446083e-04,
 -1.49397305e-05,-2.67346613e-04,-2.84831332e-04,-5.29973332e-05,
 -1.89052585e-05, 4.35412864e-04, 7.51843432e-05, 8.30348745e-05,
  1.66663505e-02,-1.36616346e-03, 2.31089452e-03,-2.90966888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022450109281997588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47264503e-13,  2.47264503e-13,  1.00000000e+00,  6.11397346e-26,
        1.00000000e+00, -2.47264503e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47264503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176461, -0.06198091,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15777377e-05, 1.99762152e-05,-1.67783995e-05, 3.14421378e-06,
  9.97758827e-07, 7.99026319e-06, 3.38622109e-05,-7.36565730e-06,
 -1.53805962e-05,-3.38690636e-05, 3.03845192e-06, 7.63955680e-06,
 -1.24777058e-04,-4.70334339e-05,-6.07503676e-05, 1.23539315e-04,
  3.66632199e-06,-6.57741207e-07,-1.21637644e+00, 1.00705716e-04,
  1.46449671e-03, 1.43668311e-07]


--- Step 944 ---
qpos:
[ 2.99579051e-03,-3.32990463e-03, 1.18851598e-02, 4.17498194e-02,
 -2.20408587e-03,-1.89834562e-03,-1.73757258e-02, 2.86477423e-02,
  5.85570369e-03, 1.64567842e-02,-9.38857090e-03, 2.60051289e-02,
  1.17198579e+00,-1.15731892e-03, 9.14244131e-01, 6.41843822e-02,
  9.49680055e-02,-7.01253608e-02, 1.21783209e-01, 9.99971926e-01,
  1.44676076e-04,-3.57913990e-05, 7.49165614e-03]

qacc:
[ 2.17470678e+00,-2.40133041e-01, 2.24144838e+00,-7.38738287e+00,
  3.06636527e+00,-1.28377968e-01,-3.41059564e-01, 3.98745439e+00,
 -1.64781095e+00, 8.67358648e-02,-4.22181926e-01,-2.15812072e+00,
 -2.09907476e-01,-4.77851358e-02,-1.26231059e+01, 4.17167026e+01,
  6.26223330e-02, 1.12630444e+00,-2.26473628e-02,-1.88253715e+01,
  1.30411454e+00, 4.58874814e-01]

qfrc_actuator:
[ 4.23812593e-06, 5.57976582e-05, 1.11603138e-04, 1.25283088e-04,
  2.99096188e-06,-2.53162876e-04,-2.68072283e-04,-4.02035391e-05,
 -2.81771162e-05, 3.71062150e-04, 3.67276169e-05, 6.82805071e-05,
  1.66383375e-02,-1.36891673e-03, 2.26556408e-03,-2.72388939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022292015267007248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24509046e-13,  2.49018093e-13,  1.00000000e+00,  3.10050052e-26,
        1.00000000e+00, -2.49018093e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24509046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500943, -0.09316719,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27803215e-05, 1.07783472e-06,-7.04076854e-06,-1.58306167e-05,
  1.79608615e-05, 2.53429237e-05, 2.23394642e-05, 1.41684579e-05,
 -9.72433918e-06,-8.23471690e-05,-4.48203360e-05,-1.59544244e-05,
 -1.13623151e-04,-3.96868581e-05,-6.22718122e-05, 1.84230474e-04,
  5.12583836e-06,-4.72142904e-07,-1.21635334e+00, 1.03128049e-04,
  1.47334464e-03, 2.54769323e-07]


--- Step 945 ---
qpos:
[ 2.99569674e-03,-3.32977579e-03, 1.18852024e-02, 4.17499393e-02,
 -2.20416683e-03,-1.89802620e-03,-1.73763673e-02, 2.86480962e-02,
  5.85576225e-03, 1.64555880e-02,-9.38869048e-03, 2.60053826e-02,
  1.17239809e+00,-1.15673481e-03, 9.14553259e-01, 6.41906733e-02,
  9.49897415e-02,-7.01224259e-02, 1.21782986e-01, 9.99971921e-01,
  1.20906526e-04, 1.47278193e-04, 7.49136202e-03]

qacc:
[ -1.74547015, -2.63787611, 13.11342523,-29.11543451, -1.13965703,
   1.41860264, -8.41007432, 22.78429141, -0.97290821, -1.76725701,
   7.2322945 ,-15.79067857, -0.08202625, -0.40343292,-14.13079863,
  47.28529002,  0.06276666,  1.11704225, -0.10293451,-18.6685624 ,
   1.32800451,  0.40510008]

qfrc_actuator:
[-6.41062237e-06, 5.16341814e-05, 1.23986520e-04, 7.98544504e-05,
 -4.23232621e-06,-2.44800250e-04,-2.57853885e-04, 3.03325029e-06,
 -3.36956430e-05, 3.32972247e-04, 3.16819850e-05, 4.14881280e-05,
  1.65907211e-02,-1.38859228e-03, 2.23258903e-03,-2.50891949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022331384571058766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500925, -0.09316715,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02839862e-05,-5.69560598e-06, 1.11883856e-05,-4.59370535e-05,
 -6.70397213e-06, 2.77659725e-05, 1.87029343e-05, 4.53733623e-05,
 -5.82503215e-06,-9.40665862e-05,-2.81229630e-05,-3.21827229e-05,
 -1.24784464e-04,-5.26754641e-05,-4.34063145e-05, 2.16700861e-04,
  4.99472234e-06, 1.53986851e-07,-1.21635739e+00, 1.03941285e-04,
  1.48218146e-03,-1.75365992e-07]


--- Step 946 ---
qpos:
[ 2.99478619e-03,-3.32953813e-03, 1.18853159e-02, 4.17495050e-02,
 -2.20467843e-03,-1.89761857e-03,-1.73770708e-02, 2.86482972e-02,
  5.85609837e-03, 1.64542803e-02,-9.38860047e-03, 2.60052182e-02,
  1.17280940e+00,-1.15554071e-03, 9.14862395e-01, 6.41938050e-02,
  9.50117305e-02,-7.01150529e-02, 1.21782083e-01, 9.99971879e-01,
  6.00338031e-05, 3.32771511e-04, 7.49178589e-03]

qacc:
[-7.16927531e+00,-1.18261000e+00, 6.78720859e+00,-1.65962077e+01,
 -3.78057638e+00,-1.70496040e-02, 8.88538925e-01,-3.51474411e+00,
  2.42904567e+00,-1.59858087e+00, 7.24318792e+00,-1.47234821e+01,
 -1.42848485e+00, 2.50622942e+00, 9.64360807e+00,-3.34960301e+01,
  6.32272078e-02, 1.10955594e+00,-1.70225725e-01,-1.85420383e+01,
  1.35085219e+00, 3.56244546e-01]

qfrc_actuator:
[-4.81477413e-05, 6.68713923e-05, 1.31248598e-04, 5.30915258e-05,
 -2.62083056e-05,-2.57740282e-04,-2.69328021e-04,-7.18333714e-06,
 -1.92100173e-05, 3.82018597e-04, 6.42570828e-05, 2.56298468e-05,
  1.65526752e-02,-1.34720665e-03, 2.19640364e-03,-2.68676376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002223844500624933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.7442693e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.7442693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500909, -0.09316748,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20310353e-05, 1.23867748e-05, 5.87235364e-06,-2.75141830e-05,
 -2.21600262e-05, 8.38709973e-06,-1.86189699e-06,-7.49628231e-06,
  1.42844463e-05,-1.07023103e-05, 8.58197177e-06,-2.14862215e-05,
 -1.24580156e-04, 3.14765168e-06,-3.51895372e-05,-1.72087947e-04,
  5.03420370e-06, 8.17859728e-07,-1.21635427e+00, 1.02903101e-04,
  1.49118587e-03,-5.10354859e-07]


--- Step 947 ---
qpos:
[ 2.99338238e-03,-3.32918925e-03, 1.18854775e-02, 4.17490995e-02,
 -2.20510452e-03,-1.89718881e-03,-1.73778224e-02, 2.86476919e-02,
  5.85694960e-03, 1.64536864e-02,-9.38881886e-03, 2.60044471e-02,
  1.17321992e+00,-1.15394596e-03, 9.15171013e-01, 6.41928485e-02,
  9.50310833e-02,-7.01114567e-02, 1.21782319e-01, 9.99971800e-01,
  3.04909652e-05, 4.95240196e-04, 7.49350348e-03]

qacc:
[ -4.32996461,  0.08006487, -0.17935229,  0.50408248,  0.74763693,
  -1.49618419,  8.77939083,-22.66905309,  4.47060726,  0.54770415,
   1.96251923,-12.47884451, -1.10281054,  1.8800495 , 11.64770611,
 -41.69228502, -0.65900925, -0.94420804,  0.28492769, 15.57804031,
 -11.62930646,  0.65287733]

qfrc_actuator:
[-7.23357234e-05, 7.58533731e-05, 1.35517986e-04, 5.52927061e-05,
 -2.11782414e-05,-2.65720281e-04,-2.75893793e-04,-4.88071884e-05,
  6.93300380e-06, 4.65294273e-04, 6.58877503e-05,-1.32112074e-06,
  1.65257466e-02,-1.32321893e-03, 2.14758575e-03,-2.89934317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022287935270651205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49063678e-13, -4.98127355e-13,  1.00000000e+00, -1.24065431e-25,
        1.00000000e+00,  4.98127355e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49063678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889083, -0.05159914,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53806876e-05, 1.59223072e-05, 6.59862767e-06, 2.40148269e-06,
  4.40172066e-06,-4.01052637e-06,-5.31819018e-06,-4.14735985e-05,
  2.65452123e-05, 7.81955403e-05,-2.52059450e-07,-2.75282646e-05,
 -1.01307599e-04,-2.86770288e-06,-9.00162228e-05,-2.28047611e-04,
  5.22119677e-06, 1.52077562e-06,-1.21634411e+00, 1.00026612e-04,
  1.50035279e-03,-7.51721881e-07]


--- Step 948 ---
qpos:
[ 2.99238920e-03,-3.32896295e-03, 1.18860747e-02, 4.17487266e-02,
 -2.20546702e-03,-1.89697107e-03,-1.73785680e-02, 2.86469649e-02,
  5.85776282e-03, 1.64537814e-02,-9.38934738e-03, 2.60030161e-02,
  1.17362991e+00,-1.15264709e-03, 9.15478589e-01, 6.41926140e-02,
  9.50478359e-02,-7.01115914e-02, 1.21783174e-01, 9.99971698e-01,
  3.18435176e-05, 6.35051249e-04, 7.49654810e-03]

qacc:
[  3.6200527 , -1.31948209,  4.31964324, -4.34908597,  0.56144307,
  -0.54824001,  2.06059447, -4.01937793, -0.35349026,  0.41923813,
   2.61401875,-14.04923279, -0.06488603, -0.34599631, -3.72113306,
  10.77228304, -0.65009056, -0.93273267,  0.15462465, 15.36203889,
 -11.44422844,  0.67158756]

qfrc_actuator:
[-5.04857695e-05, 6.32836373e-05, 1.55738625e-04, 5.67582820e-05,
 -1.80410775e-05,-2.88446095e-04,-2.79503834e-04,-5.53030506e-05,
  4.21661930e-06, 4.97316311e-04, 4.93859115e-05,-3.45718954e-05,
  1.64948524e-02,-1.34520984e-03, 2.13384165e-03,-2.84652896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022829660674897334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43153641e-13,  4.86307283e-13,  1.00000000e+00, -1.18247387e-25,
        1.00000000e+00, -4.86307283e-13, -1.00000000e+00,  0.00000000e+00,
        2.43153641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888989, -0.0516004 ,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11310478e-05,-2.21815578e-06, 2.44026908e-05, 2.42379249e-06,
  3.26317459e-06,-2.78482551e-05,-6.52360256e-06,-7.65700040e-06,
 -1.92929279e-06, 7.45554273e-05,-1.32200434e-06,-3.04416363e-05,
 -9.33685371e-05,-4.44119019e-05,-8.35048167e-05, 2.78451017e-05,
  4.14717256e-06, 5.14059545e-08,-1.21637139e+00, 9.87745664e-05,
  1.50842356e-03,-2.34452087e-07]


--- Step 949 ---
qpos:
[ 2.99166517e-03,-3.32856918e-03, 1.18865756e-02, 4.17476831e-02,
 -2.20544396e-03,-1.89721495e-03,-1.73789504e-02, 2.86461733e-02,
  5.85853778e-03, 1.64540619e-02,-9.38989115e-03, 2.60015879e-02,
  1.17403922e+00,-1.15129443e-03, 9.15785906e-01, 6.41928373e-02,
  9.50620183e-02,-7.01154192e-02, 1.21784209e-01, 9.99971582e-01,
  6.37345002e-05, 7.52510707e-04, 7.50095093e-03]

qacc:
[  2.35634431, -0.89625832,  6.33703678,-17.89888438,  3.40090121,
  -1.76410767,  5.66632425, -7.01224291, -0.33724518,  0.29444911,
  -0.70476979,  0.64031265, -0.52595484,  0.65266924, -1.73311516,
   5.58079082, -0.64251627, -0.92327892,  0.04510686, 15.184572  ,
 -11.28992092,  0.68918318]

qfrc_actuator:
[-3.72248943e-05, 7.34774625e-05, 1.49618261e-04, 2.22619893e-05,
  1.70070082e-06,-3.19794097e-04,-2.63622543e-04,-5.88367023e-05,
  2.28432013e-06, 4.80572984e-04, 3.98822910e-05,-3.58013241e-05,
  1.64615852e-02,-1.34099377e-03, 2.15185922e-03,-2.81517982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002313132617208502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888935, -0.05160109,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38596332e-05, 1.40939046e-05,-3.49765496e-06,-3.37014060e-05,
  1.98256563e-05,-4.85927200e-05, 9.06828504e-06,-5.09915949e-06,
 -1.96078555e-06, 2.33787289e-05, 4.68985940e-06, 1.33180122e-06,
 -9.98791095e-05,-2.48899876e-05,-1.89951320e-05, 2.17647989e-05,
  3.02166954e-06,-1.07905490e-06,-1.21639082e+00, 9.90041417e-05,
  1.51530876e-03, 8.76588125e-08]


--- Step 950 ---
qpos:
[ 2.99110578e-03,-3.32788948e-03, 1.18869252e-02, 4.17462231e-02,
 -2.20518447e-03,-1.89791799e-03,-1.73788308e-02, 2.86453356e-02,
  5.85893891e-03, 1.64542924e-02,-9.39068973e-03, 2.60002040e-02,
  1.17444783e+00,-1.14989229e-03, 9.16093101e-01, 6.41920783e-02,
  9.50736563e-02,-7.01229093e-02, 1.21785057e-01, 9.99971457e-01,
  1.25873220e-04, 8.47872820e-04, 7.50674142e-03]

qacc:
[  1.4351392 , -0.06070069,  2.51702264, -9.6877011 ,  2.09738313,
  -2.10729018,  6.82088544, -8.0739708 , -3.26755121,  0.74357809,
  -2.92337938,  4.1226445 , -0.59738731,  0.77424792,  2.81957677,
 -10.04429296, -0.63611497, -0.91557379, -0.04681999, 15.04004151,
 -11.16175477,  0.70593681]

qfrc_actuator:
[-2.91402618e-05, 9.70883949e-05, 1.45803419e-04, 2.38392571e-06,
  1.33052144e-05,-3.38228370e-04,-2.36406197e-04,-6.06014834e-05,
 -1.69147257e-05, 4.52550771e-04, 1.66541560e-05,-3.59693927e-05,
  1.64269271e-02,-1.33903747e-03, 2.14096879e-03,-2.86774486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002323913685693818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38869247e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.38869247e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888913, -0.05160133,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.48430186e-06, 2.93155319e-05,-2.50861817e-06,-2.00515297e-05,
  1.21525191e-05,-4.39306328e-05, 1.81282287e-05,-3.63034653e-06,
 -1.92472827e-05,-1.39216980e-05,-1.77680619e-05, 1.02600976e-06,
 -1.00092504e-04,-2.51061994e-05,-2.25105043e-05,-5.50218511e-05,
  1.83936998e-06,-1.87307433e-06,-1.21640275e+00, 1.00697312e-04,
  1.52102281e-03, 2.20307010e-07]


--- Step 951 ---
qpos:
[ 2.99099298e-03,-3.32739108e-03, 1.18876320e-02, 4.17455969e-02,
 -2.20478785e-03,-1.89884534e-03,-1.73787207e-02, 2.86441432e-02,
  5.85876201e-03, 1.64542774e-02,-9.39138374e-03, 2.59988299e-02,
  1.17485580e+00,-1.14871949e-03, 9.16399430e-01, 6.41927584e-02,
  9.50826359e-02,-7.01307943e-02, 1.21786915e-01, 9.99971333e-01,
  1.90990439e-04, 9.21164592e-04, 7.51316402e-03]

qacc:
[  3.93476674,  0.47285989, -5.56410669, 19.56717661,  1.20605497,
  -1.00175227,  4.63575157,-10.59041504, -5.03404042, -0.58669277,
   1.59660167, -1.43134918, -0.17883904, -0.14713803, -5.61751786,
  17.80487432, -0.66458852, -0.09871706,  0.25250626,  1.40610086,
 -11.04599583,  0.31868779]

qfrc_actuator:
[-6.41187193e-06, 7.53062544e-05, 1.61218001e-04, 4.45489609e-05,
  2.00222604e-05,-3.48732224e-04,-2.38178001e-04,-7.90502633e-05,
 -4.61229417e-05, 4.35675292e-04, 2.09422202e-05,-3.55432781e-05,
  1.63861334e-02,-1.35620686e-03, 2.10207897e-03,-2.79187509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002334153730640387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37821316e-13,  2.37821316e-13,  1.00000000e+00, -5.65589784e-26,
        1.00000000e+00, -2.37821316e-13, -1.00000000e+00,  0.00000000e+00,
        2.37821316e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885501, -0.06832463,  0.06199433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29789892e-05,-6.78665993e-06, 2.04584435e-05, 4.29443533e-05,
  7.04753370e-06,-3.14506401e-05,-8.73020729e-06,-1.97721548e-05,
 -2.97644680e-05,-2.82882093e-05,-7.29748713e-07,-7.60078268e-07,
 -1.06577557e-04,-4.42397532e-05,-6.08730722e-05, 6.86362730e-05,
  5.94447591e-07,-2.33378801e-06,-1.21640746e+00, 1.03839247e-04,
  1.52557744e-03, 1.67960111e-07]


--- Step 952 ---
qpos:
[ 2.99080857e-03,-3.32700006e-03, 1.18882410e-02, 4.17458484e-02,
 -2.20396879e-03,-1.89989467e-03,-1.73789820e-02, 2.86430966e-02,
  5.85892545e-03, 1.64545842e-02,-9.39201986e-03, 2.59977465e-02,
  1.17526298e+00,-1.14743770e-03, 9.16704547e-01, 6.41970288e-02,
  9.50889843e-02,-7.01390731e-02, 1.21789453e-01, 9.99971216e-01,
  2.59079278e-04, 9.72570384e-04, 7.52022482e-03]

qacc:
[ -0.62930545,  1.94187743,-10.82927768, 26.24712728,  3.69561037,
   1.16908993, -5.03084231,  8.25116402,  2.96489119,  0.85613195,
  -3.67290118,  8.38538124, -0.45477699,  0.52516659,-12.59600811,
  41.53531075, -0.6578251 , -0.09843237,  0.17000156,  1.40325641,
 -10.95378152,  0.3225254 ]

qfrc_actuator:
[-1.07503028e-05, 6.21463879e-05, 1.52217139e-04, 8.73507922e-05,
  4.15641930e-05,-3.54529012e-04,-2.57032070e-04,-7.16770809e-05,
 -2.77250314e-05, 4.96713849e-04, 4.14825517e-05,-1.69912420e-05,
  1.63470053e-02,-1.34908738e-03, 2.05711242e-03,-2.60546774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023336206605378829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37875642e-13, -7.13626925e-13,  1.00000000e+00, -1.69754463e-25,
        1.00000000e+00,  7.13626925e-13, -1.00000000e+00,  0.00000000e+00,
       -2.37875642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885515, -0.06832462,  0.06199433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69108930e-06,-1.09062003e-05,-6.41033713e-06, 4.40528005e-05,
  2.17330177e-05,-2.59969933e-05,-2.70978838e-05, 5.34269522e-06,
  1.75338932e-05, 4.50370871e-05, 1.45932062e-05, 1.73055774e-05,
 -1.13274315e-04,-2.51376271e-05,-6.81278375e-05, 1.81756304e-04,
 -1.39419596e-07,-1.96290491e-06,-1.21641588e+00, 1.07049027e-04,
  1.52913074e-03,-1.00088299e-07]


--- Step 953 ---
qpos:
[ 2.98988363e-03,-3.32639219e-03, 1.18886292e-02, 4.17462323e-02,
 -2.20324274e-03,-1.90124431e-03,-1.73788947e-02, 2.86428099e-02,
  5.85999759e-03, 1.64552123e-02,-9.39242445e-03, 2.59965353e-02,
  1.17566942e+00,-1.14609953e-03, 9.17008925e-01, 6.42021481e-02,
  9.50927234e-02,-7.01477450e-02, 1.21792396e-01, 9.99971108e-01,
  3.30137161e-04, 1.00224184e-03, 7.52793073e-03]

qacc:
[ -6.51056754,  1.18954802, -4.36228618,  6.82465813, -0.79916609,
   0.19376542, -4.47320061, 17.28623542,  7.92716187, -0.50097062,
   2.91532036, -5.70505642, -0.51811326,  0.6226649 , -3.6210306 ,
  11.15581936, -0.65230577, -0.09831283,  0.10109575,  1.40244058,
 -10.87794021,  0.3267712 ]

qfrc_actuator:
[-4.87418929e-05, 8.96637527e-05, 1.46631758e-04, 9.46520612e-05,
  3.61556367e-05,-3.57514168e-04,-2.32511808e-04,-3.14167622e-05,
  1.85493991e-05, 5.15268563e-04, 5.40264617e-05,-2.33537156e-05,
  1.63142387e-02,-1.34539381e-03, 2.01388792e-03,-2.56849621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023201155677966823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.98150713e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.98150713e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885547, -0.06832457,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81040150e-05, 2.19590002e-05,-7.11520151e-06, 7.46723343e-06,
 -4.79727160e-06,-2.28397211e-05, 1.60142562e-05, 3.83169520e-05,
  4.67915437e-05, 4.75011562e-05, 2.42489231e-05,-3.58825412e-06,
 -1.06426027e-04,-2.63811819e-05,-5.63401230e-05, 3.78751078e-05,
 -7.33498189e-07,-1.50581866e-06,-1.21642176e+00, 1.10379442e-04,
  1.53159991e-03,-3.85322010e-07]


--- Step 954 ---
qpos:
[ 2.98885537e-03,-3.32555070e-03, 1.18889109e-02, 4.17466904e-02,
 -2.20258694e-03,-1.90296121e-03,-1.73781616e-02, 2.86426499e-02,
  5.86127181e-03, 1.64555703e-02,-9.39212900e-03, 2.59956467e-02,
  1.17607497e+00,-1.14413906e-03, 9.17312325e-01, 6.42060867e-02,
  9.50938711e-02,-7.01568104e-02, 1.21795513e-01, 9.99971010e-01,
  4.04165309e-04, 1.01030199e-03, 7.53628940e-03]

qacc:
[ -0.91423915,  0.76129005, -2.57572866,  3.85277625, -0.58949649,
  -2.02737875,  5.99156507, -4.5615105 ,  1.78925681, -1.65284755,
   4.007203  ,  0.66273284, -1.22107208,  2.1944875 ,  2.20412376,
  -9.61227134, -0.64785481, -0.09833578,  0.04369996,  1.40341679,
 -10.81641789,  0.33138575]

qfrc_actuator:
[-5.29699230e-05, 1.05800911e-04, 1.43257643e-04, 9.87997161e-05,
  3.26758860e-05,-3.76337843e-04,-2.00291135e-04,-2.53544757e-05,
  2.75873581e-05, 4.72699452e-04, 7.93283626e-05,-8.85739413e-06,
  1.62746602e-02,-1.30824150e-03, 1.93975496e-03,-2.63763340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022964432655343814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20863320e-13,  4.83453278e-13,  1.00000000e+00,  5.84317680e-26,
        1.00000000e+00, -4.83453278e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20863320e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885593, -0.06832451,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30809039e-06, 2.72290633e-05, 5.33606294e-07, 4.98611848e-06,
 -3.62670751e-06,-2.65987159e-05, 3.08171289e-05, 6.38697735e-06,
  1.03962980e-05,-1.11465844e-05, 3.79758307e-05, 1.73016163e-05,
 -1.09576774e-04, 8.45760196e-06,-9.91132153e-05,-7.50407455e-05,
 -1.19068383e-06,-9.62480232e-07,-1.21642516e+00, 1.13830298e-04,
  1.53299234e-03,-6.87795877e-07]


--- Step 955 ---
qpos:
[ 2.98812907e-03,-3.32459318e-03, 1.18889162e-02, 4.17472216e-02,
 -2.20197834e-03,-1.90444104e-03,-1.73778099e-02, 2.86422121e-02,
  5.86230014e-03, 1.64556276e-02,-9.39144818e-03, 2.59953107e-02,
  1.17647967e+00,-1.14171519e-03, 9.17614485e-01, 6.42098315e-02,
  9.50924415e-02,-7.01662696e-02, 1.21798614e-01, 9.99970921e-01,
  4.81168307e-04, 9.96848741e-04, 7.54530912e-03]

qacc:
[ 2.63991202e+00, 1.07155913e+00,-3.91529113e+00, 5.54661647e+00,
 -4.30267179e-01, 8.08095726e-01,-1.25203404e+00,-3.12345233e+00,
 -2.12713117e+00,-3.32921199e-01,-1.71580511e+00, 1.08772060e+01,
 -9.84120770e-01, 1.68673160e+00,-1.17806164e+00, 1.61770165e+00,
 -6.44323911e-01,-9.84821366e-02,-3.96749123e-03, 1.40598053e+00,
 -1.07674681e+01, 3.36332745e-01]

qfrc_actuator:
[-3.72808097e-05, 9.72538136e-05, 1.23431826e-04, 1.01060633e-04,
  3.03678656e-05,-3.51219674e-04,-2.17144791e-04,-3.94817820e-05,
  1.46265599e-05, 4.47176799e-04, 9.39712894e-05, 1.77549306e-05,
  1.62310362e-02,-1.28710767e-03, 1.88440562e-03,-2.64447755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022649366071757215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.67633807e-13,  1.22544602e-13,  1.00000000e+00,  4.50515388e-26,
        1.00000000e+00, -1.22544602e-13, -1.00000000e+00,  0.00000000e+00,
       -3.67633807e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088565 , -0.06832443,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55441586e-05, 6.96983874e-06,-1.39761747e-05, 3.53970547e-06,
 -2.42219053e-06, 1.69362309e-05,-1.83186254e-05,-1.40738805e-05,
 -1.26676681e-05,-2.31767850e-05, 1.76118540e-05, 2.77857064e-05,
 -1.08216256e-04,-1.05544729e-06,-1.11089913e-04,-2.41872852e-05,
 -1.51365312e-06,-3.32543978e-07,-1.21642614e+00, 1.17401489e-04,
  1.53331402e-03,-1.00759221e-06]


--- Step 956 ---
qpos:
[ 2.98759642e-03,-3.32361138e-03, 1.18887428e-02, 4.17474360e-02,
 -2.20174721e-03,-1.90558243e-03,-1.73778102e-02, 2.86426292e-02,
  5.86316494e-03, 1.64558401e-02,-9.39101177e-03, 2.59949360e-02,
  1.17688394e+00,-1.14017138e-03, 9.17915999e-01, 6.42136416e-02,
  9.50912329e-02,-7.01712462e-02, 1.21801323e-01, 9.99970844e-01,
  5.21002912e-04, 9.86435806e-04, 7.55425479e-03]

qacc:
[  1.69341473, -0.12451426,  1.82135508, -7.02930759, -3.32691549,
   3.19506395,-14.34239192, 29.43822779, -1.4365291 ,  0.81167254,
  -2.42862791,  2.03209658,  0.46559154, -1.65912572, -1.19918496,
   2.69353607,  0.05526235,  1.12066632, -0.09802592,-18.57215209,
   1.66031249, -0.05632033]

qfrc_actuator:
[-2.77580077e-05, 9.16729196e-05, 1.11699995e-04, 8.44081932e-05,
  1.10153087e-05,-3.17946447e-04,-2.27168782e-04, 5.64155753e-06,
  6.58628465e-06, 4.67526060e-04, 8.45008677e-05, 1.57725765e-05,
  1.61956641e-02,-1.34668549e-03, 1.88299156e-03,-2.63221305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022303906608654722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64440662e-13,  2.48885328e-13,  1.00000000e+00,  6.58154009e-26,
        1.00000000e+00, -2.48885328e-13, -1.00000000e+00,  0.00000000e+00,
       -2.64440662e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501237, -0.09316883,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.96525084e-06,-4.44675881e-06,-1.19034495e-05,-1.67724369e-05,
 -1.94143639e-05, 3.84068060e-05,-9.25488496e-06, 4.49450096e-05,
 -8.41252466e-06, 1.22069209e-05,-1.11335378e-05,-1.82560326e-06,
 -1.01328754e-04,-8.33424002e-05,-5.60270772e-05,-3.55910412e-06,
 -1.70497550e-06, 3.84577914e-07,-1.21642473e+00, 1.21092990e-04,
  1.53256965e-03,-1.34481716e-06]


--- Step 957 ---
qpos:
[ 2.98787203e-03,-3.32264805e-03, 1.18884557e-02, 4.17471049e-02,
 -2.20140479e-03,-1.90656266e-03,-1.73778969e-02, 2.86439329e-02,
  5.86392643e-03, 1.64562856e-02,-9.39049825e-03, 2.59948532e-02,
  1.17728789e+00,-1.13992525e-03, 9.18217285e-01, 6.42135357e-02,
  9.50902541e-02,-7.01717764e-02, 1.21803372e-01, 9.99970782e-01,
  5.23913680e-04, 9.78975108e-04, 7.56321929e-03]

qacc:
[ 7.09097053e+00,-8.44507011e-01, 5.25199179e+00,-1.44661706e+01,
  9.71073140e-01, 2.27546223e+00,-1.15519609e+01, 2.69191430e+01,
 -9.02494483e-01, 6.94955276e-01,-3.25999032e+00, 8.01213706e+00,
  6.82754765e-01,-2.30670812e+00, 1.14090285e+01,-4.05777634e+01,
  5.74383518e-02, 1.11158977e+00,-1.65136752e-01,-1.84502424e+01,
  1.61553919e+00,-9.62728256e-03]

qfrc_actuator:
[ 1.35578183e-05, 8.79171017e-05, 1.04837522e-04, 5.67684803e-05,
  1.72904265e-05,-3.15481651e-04,-2.32971780e-04, 4.97884405e-05,
  1.51431118e-06, 4.97310118e-04, 9.65433359e-05, 3.25087841e-05,
  1.61705616e-02,-1.41802694e-03, 1.85002032e-03,-2.83944909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022217288404681457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40543805e-13,  2.49855654e-13,  1.00000000e+00,  3.51156644e-26,
        1.00000000e+00, -2.49855654e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40543805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501276, -0.09316928,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15963174e-05,-9.44844504e-06,-9.83726647e-06,-2.85711823e-05,
  5.73362628e-06, 2.39900933e-05, 2.55846984e-06, 4.63497218e-05,
 -5.30728076e-06, 3.42200649e-05, 1.31239481e-05, 1.68384724e-05,
 -1.05057599e-04,-1.10172209e-04,-6.22307751e-05,-2.15377119e-04,
 -8.69579943e-07, 2.72623112e-07,-1.21643579e+00, 1.23072668e-04,
  1.53225369e-03,-1.41026725e-06]


--- Step 958 ---
qpos:
[ 2.98898579e-03,-3.32189176e-03, 1.18881583e-02, 4.17464626e-02,
 -2.20133507e-03,-1.90717928e-03,-1.73783871e-02, 2.86454062e-02,
  5.86427640e-03, 1.64567623e-02,-9.38950179e-03, 2.59953141e-02,
  1.17769106e+00,-1.13968989e-03, 9.18518518e-01, 6.42088582e-02,
  9.50895119e-02,-7.01678894e-02, 1.21804536e-01, 9.99970735e-01,
  4.90097655e-04, 9.74396594e-04, 7.57227600e-03]

qacc:
[ 7.35998391e+00,-9.00901349e-01, 4.10351105e+00,-9.29463459e+00,
 -2.41047918e+00, 1.96097099e+00,-7.00321495e+00, 1.03072267e+01,
 -3.57432660e+00,-1.82418337e-01,-1.57338592e+00, 1.01750471e+01,
 -7.99005853e-01, 1.03335427e+00, 1.37657682e+01,-4.81682687e+01,
  5.91364107e-02, 1.10430552e+00,-2.21185962e-01,-1.83520097e+01,
  1.57995276e+00, 2.73153470e-02]

qfrc_actuator:
[ 5.55047432e-05, 6.75367323e-05, 1.00903079e-04, 4.06442804e-05,
  3.09913386e-06,-2.95954746e-04,-2.54119751e-04, 5.74704856e-05,
 -1.95241098e-05, 4.97109864e-04, 1.21269768e-04, 6.01611896e-05,
  1.61409757e-02,-1.40689375e-03, 1.85135835e-03,-3.06791461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002202626816231179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87570306e-14,  5.04044996e-13,  1.00000000e+00,  3.96970872e-26,
        1.00000000e+00, -5.04044996e-13, -1.00000000e+00,  0.00000000e+00,
       -7.87570306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501306, -0.09316999,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31272971e-05,-2.89368756e-05,-8.09548028e-06,-1.74280663e-05,
 -1.40215192e-05, 3.54926431e-05,-1.42644403e-05, 9.69994379e-06,
 -2.11779199e-05, 2.23469542e-05, 3.39841400e-05, 2.98991012e-05,
 -1.18320942e-04,-3.36354639e-05,-5.49660793e-05,-2.49350154e-04,
 -4.60752668e-08, 1.70271962e-07,-1.21643984e+00, 1.23229441e-04,
  1.53208692e-03,-1.38892675e-06]


--- Step 959 ---
qpos:
[ 2.98990415e-03,-3.32137399e-03, 1.18878122e-02, 4.17459842e-02,
 -2.20178090e-03,-1.90750774e-03,-1.73785627e-02, 2.86469199e-02,
  5.86402643e-03, 1.64575644e-02,-9.38854256e-03, 2.59954101e-02,
  1.17809320e+00,-1.13875201e-03, 9.18819336e-01, 6.42033882e-02,
  9.50890115e-02,-7.01596082e-02, 1.21804628e-01, 9.99970699e-01,
  4.19710201e-04, 9.72644761e-04, 7.58148292e-03]

qacc:
[ -1.71258808,  0.16216184, -1.72138568,  4.80549413, -4.51685603,
  -0.40614327,  1.84573692, -1.87879548, -5.23950292, -0.2064717 ,
   2.91837794, -9.43123481, -1.38237838,  2.47888983,  1.87532923,
  -7.22593586,  0.06046475,  1.09854983, -0.26792889,-18.27455332,
   1.5517948 ,  0.05655005]

qfrc_actuator:
[ 4.42192319e-05, 5.51302147e-05, 9.86675824e-05, 4.91661496e-05,
 -2.30325508e-05,-2.66457496e-04,-2.30865101e-04, 6.13885732e-05,
 -4.97928688e-05, 5.14532995e-04, 1.17664650e-04, 4.07368423e-05,
  1.60981008e-02,-1.36479627e-03, 1.86262275e-03,-3.09386419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021754187986512685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43535684e-13,  2.55174550e-13,  1.00000000e+00,  3.66266536e-26,
        1.00000000e+00, -2.55174550e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43535684e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501327, -0.0931709 ,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00681438e-05,-3.10176876e-05,-9.81951085e-06, 6.66134997e-06,
 -2.65188035e-05, 4.68339628e-05, 2.91745956e-05, 5.13410684e-06,
 -3.08680110e-05, 3.81846569e-05, 6.21431541e-06,-1.67122799e-05,
 -1.22109796e-04, 9.49716560e-06,-4.65688480e-05,-4.80091884e-05,
  7.90200139e-07, 7.28002245e-08,-1.21643702e+00, 1.21573630e-04,
  1.53207204e-03,-1.28046221e-06]


--- Step 960 ---
qpos:
[ 2.99033553e-03,-3.32107368e-03, 1.18874110e-02, 4.17459546e-02,
 -2.20219170e-03,-1.90755435e-03,-1.73781343e-02, 2.86477581e-02,
  5.86376025e-03, 1.64587892e-02,-9.38768421e-03, 2.59952647e-02,
  1.17849470e+00,-1.13817499e-03, 9.19119302e-01, 6.41996361e-02,
  9.50859389e-02,-7.01517398e-02, 1.21805251e-01, 9.99970674e-01,
  3.52272157e-04, 9.48815007e-04, 7.59128436e-03]

qacc:
[ -4.27216177,  0.79971801, -5.14671093, 13.14328843,  0.32096345,
  -2.70463309, 13.03606769,-25.89834548, -0.15183716,  0.34368703,
   0.6049678 , -4.93429453, -0.05143318, -0.46534016, -6.44732096,
  20.71533246, -0.64304321, -0.10318324,  0.13258055,  1.3906789 ,
 -11.04969723,  0.30328003]

qfrc_actuator:
[ 1.94451995e-05, 4.76223105e-05, 9.74939371e-05, 7.21248580e-05,
 -2.04712627e-05,-2.48800652e-04,-1.99278175e-04, 2.76044892e-05,
 -4.97415401e-05, 5.42223339e-04, 1.15140229e-04, 2.92626947e-05,
  1.60579536e-02,-1.39359233e-03, 1.83727125e-03,-3.00025462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021628343902482805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28329639e-13, -2.56659278e-13,  1.00000000e+00, -3.29369924e-26,
        1.00000000e+00,  2.56659278e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28329639e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885752, -0.06832384,  0.06199474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50727035e-05,-2.66159990e-05,-8.56089664e-06, 2.14208657e-05,
  1.82033353e-06, 5.00938410e-05, 4.50356642e-05,-3.06687744e-05,
 -8.16178617e-07, 4.95588563e-05, 5.53048429e-06,-9.95090808e-06,
 -1.11364395e-04,-5.39365373e-05,-5.66015245e-05, 8.39424061e-05,
  1.65739554e-06,-2.04870464e-08,-1.21642743e+00, 1.18113335e-04,
  1.53221080e-03,-1.08466115e-06]


--- Step 961 ---
qpos:
[ 2.99046647e-03,-3.32097926e-03, 1.18873100e-02, 4.17454833e-02,
 -2.20256864e-03,-1.90745015e-03,-1.73777543e-02, 2.86475569e-02,
  5.86384162e-03, 1.64602581e-02,-9.38711454e-03, 2.59957096e-02,
  1.17889558e+00,-1.13819397e-03, 9.19418516e-01, 6.41973471e-02,
  9.50803014e-02,-7.01442766e-02, 1.21806161e-01, 9.99970658e-01,
  2.87763658e-04, 9.03081156e-04, 7.60168142e-03]

qacc:
[ -2.62441382, -2.01640506,  8.66646662,-16.64688099,  0.29221271,
  -1.8035982 , 11.10832777,-29.12846288,  3.01838164,  2.33872328,
 -10.37337974, 20.8825623 ,  0.15065947, -0.98188922, -5.55108608,
  17.74859249, -0.64123603, -0.1013275 ,  0.07203069,  1.38130531,
 -10.96274677,  0.30301098]

qfrc_actuator:
[ 4.70041290e-06, 4.31279175e-05, 1.14735846e-04, 5.01373874e-05,
 -1.87911872e-05,-2.73862280e-04,-2.16365084e-04,-2.81011615e-05,
 -3.18419171e-05, 5.40341453e-04, 9.55901238e-05, 5.80865029e-05,
  1.60194461e-02,-1.42863689e-03, 1.80598172e-03,-2.92586615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021523591387756502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57908405e-13,  1.28954202e-13,  1.00000000e+00,  3.32583727e-26,
        1.00000000e+00, -1.28954202e-13, -1.00000000e+00,  0.00000000e+00,
       -2.57908405e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885748, -0.06832372,  0.06199477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54692992e-05,-2.02450359e-05, 1.14328806e-05,-2.30055700e-05,
  1.74890549e-06, 1.09341904e-05,-2.25990115e-06,-5.26002643e-05,
  1.78984390e-05, 2.64924983e-05,-9.00043175e-06, 3.09409729e-05,
 -1.17582943e-04,-7.04230646e-05,-5.08083824e-05, 7.11483972e-05,
  1.79036615e-06, 3.04821209e-07,-1.21642703e+00, 1.14659790e-04,
  1.53107587e-03,-7.89628463e-07]


--- Step 962 ---
qpos:
[ 2.99041938e-03,-3.32106939e-03, 1.18877102e-02, 4.17443898e-02,
 -2.20292233e-03,-1.90732091e-03,-1.73778053e-02, 2.86470792e-02,
  5.86448197e-03, 1.64619046e-02,-9.38704392e-03, 2.59968653e-02,
  1.17929556e+00,-1.13803964e-03, 9.19717161e-01, 6.41923457e-02,
  9.50721045e-02,-7.01372124e-02, 1.21807158e-01, 9.99970649e-01,
  2.26165528e-04, 8.35579006e-04, 7.61267263e-03]

qacc:
[-1.54400806e+00,-2.92486169e+00, 1.27033507e+01,-2.41375016e+01,
  1.89818165e-01, 6.68103142e-01,-1.16729713e+00,-2.94707336e+00,
  4.85718686e+00, 3.08339143e+00,-1.36709139e+01, 2.66575678e+01,
 -9.36621363e-01, 1.35384759e+00, 7.40389277e+00,-2.69899260e+01,
 -6.39858286e-01,-9.97479716e-02, 2.15063344e-02, 1.37213489e+00,
 -1.08948094e+01, 3.01488714e-01]

qfrc_actuator:
[-4.01856861e-06, 4.05170502e-05, 1.42694038e-04, 1.96458471e-05,
 -1.76526803e-05,-2.89031419e-04,-2.44492836e-04,-4.30678415e-05,
 -3.59058213e-06, 5.38478323e-04, 6.60527687e-05, 9.26012702e-05,
  1.59766177e-02,-1.41379317e-03, 1.74452223e-03,-3.07647421e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021328347197660524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30134676e-13, -2.60269353e-13,  1.00000000e+00, -3.38700680e-26,
        1.00000000e+00,  2.60269353e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30134676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885763, -0.0683236 ,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.16626283e-06,-1.25628536e-05, 2.43902219e-05,-3.14092837e-05,
  1.19445673e-06,-1.17829294e-05,-2.79729485e-05,-1.56006836e-05,
  2.87780266e-05, 1.23640868e-05,-2.41284415e-05, 3.59345503e-05,
 -1.29323157e-04,-2.52508981e-05,-8.00697738e-05,-1.53898977e-04,
  2.06195687e-06, 7.13682414e-07,-1.21642417e+00, 1.11325528e-04,
  1.52885645e-03,-5.13128118e-07]


--- Step 963 ---
qpos:
[ 2.99061282e-03,-3.32106664e-03, 1.18879951e-02, 4.17439824e-02,
 -2.20325987e-03,-1.90690248e-03,-1.73780820e-02, 2.86467228e-02,
  5.86580134e-03, 1.64633279e-02,-9.38657730e-03, 2.59980701e-02,
  1.17969478e+00,-1.13803549e-03, 9.20015124e-01, 6.41852020e-02,
  9.50613520e-02,-7.01305419e-02, 1.21808073e-01, 9.99970642e-01,
  1.67459421e-04, 7.46411935e-04, 7.62425455e-03]

qacc:
[ 2.10633852e+00, 1.85497802e+00,-9.33597620e+00, 2.13272056e+01,
  1.29697342e-01, 1.26147853e+00,-4.45590222e+00, 6.70214022e+00,
  5.93843463e+00,-1.31244735e+00, 4.02446286e+00,-3.62285530e+00,
 -5.04693301e-01, 4.34157045e-01, 5.48521888e+00,-2.05958594e+01,
 -6.38890004e-01,-9.83975832e-02,-2.05461328e-02, 1.36325778e+00,
 -1.08430853e+01, 2.98991433e-01]

qfrc_actuator:
[ 8.62832178e-06, 5.68499335e-05, 1.41255408e-04, 5.54194323e-05,
 -1.68420539e-05,-2.44941728e-04,-2.43337798e-04,-3.39382585e-05,
  3.05213185e-05, 5.18842588e-04, 8.41068036e-05, 9.46687088e-05,
  1.59418966e-02,-1.42280529e-03, 1.71822921e-03,-3.18096380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021063145093624946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95319533e-13,  1.31773178e-13,  1.00000000e+00,  5.20925111e-26,
        1.00000000e+00, -1.31773178e-13, -1.00000000e+00,  0.00000000e+00,
       -3.95319533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885793, -0.06832348,  0.06199488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23818391e-05, 1.29981663e-05,-2.11706379e-06, 3.54701382e-05,
  8.42340524e-07, 3.10515777e-05,-5.26419077e-06, 7.35396088e-06,
  3.49461181e-05,-1.62167300e-05, 1.88562835e-05, 2.45428516e-06,
 -1.18651358e-04,-4.24389155e-05,-8.33509093e-05,-1.24053454e-04,
  2.46809305e-06, 1.20596417e-06,-1.21641890e+00, 1.08109741e-04,
  1.52555920e-03,-2.54801476e-07]


--- Step 964 ---
qpos:
[ 2.99095593e-03,-3.32054858e-03, 1.18877798e-02, 4.17439784e-02,
 -2.20324009e-03,-1.90628368e-03,-1.73783322e-02, 2.86461262e-02,
  5.86717482e-03, 1.64645159e-02,-9.38553813e-03, 2.59985888e-02,
  1.18009330e+00,-1.13840181e-03, 9.20312180e-01, 6.41794443e-02,
  9.50480462e-02,-7.01242602e-02, 1.21808765e-01, 9.99970634e-01,
  1.11627906e-04, 6.35655509e-04, 7.63642218e-03]

qacc:
[  1.28942287,  2.90891977,-11.08968951, 18.49707547,  3.1311778 ,
  -0.30952185,  2.49161184, -6.82697243,  0.49344552, -3.32430093,
  14.29645016,-26.90892337, -0.10783479, -0.40396292, -5.52659071,
  17.37904254, -0.6383086 , -0.09723797, -0.05545208,  1.35473379,
 -10.80526912,  0.29573671]

qfrc_actuator:
[ 1.59947695e-05, 1.02098112e-04, 1.22594856e-04, 7.66350155e-05,
  1.52227719e-06,-2.36581432e-04,-2.42398680e-04,-4.61433174e-05,
  3.23006683e-05, 5.06625745e-04, 1.12267608e-04, 5.98926057e-05,
  1.59014061e-02,-1.44587675e-03, 1.70774088e-03,-3.09749355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020745005929302673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.67588023e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.67588023e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885834, -0.06832336,  0.06199496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.72203995e-06, 5.36000401e-05,-1.50122572e-05, 2.23893018e-05,
  1.83990847e-05, 2.49412353e-05, 6.95806805e-06,-1.09129180e-05,
  2.77977519e-06,-1.73284451e-05, 2.71936381e-05,-3.47789520e-05,
 -1.21934347e-04,-5.75033985e-05,-6.51938186e-05, 6.52716010e-05,
  3.00512628e-06, 1.78120499e-06,-1.21641124e+00, 1.05011699e-04,
  1.52118917e-03,-1.43350116e-08]


--- Step 965 ---
qpos:
[ 2.99138488e-03,-3.31978959e-03, 1.18876998e-02, 4.17442196e-02,
 -2.20334511e-03,-1.90568510e-03,-1.73784880e-02, 2.86457572e-02,
  5.86821438e-03, 1.64657439e-02,-9.38458132e-03, 2.59993874e-02,
  1.18049093e+00,-1.13873168e-03, 9.20608747e-01, 6.41713748e-02,
  9.50321881e-02,-7.01183636e-02, 1.21809121e-01, 9.99970616e-01,
  5.86545149e-05, 5.03361286e-04, 7.64916932e-03]

qacc:
[  0.75373189,  0.44417946, -2.15828343,  6.00873218, -1.09110189,
   0.18007984, -1.63856968,  5.4388155 , -2.91549713,  0.86480149,
  -4.17871359,  9.11404057, -0.78111228,  0.99361916,  6.30185503,
 -22.99051848, -0.63809052, -0.09623781, -0.08434193,  1.34660051,
 -10.77946005,  0.29189458]

qfrc_actuator:
[ 2.01875896e-05, 1.10977972e-04, 1.29537376e-04, 8.91238117e-05,
 -5.43405648e-06,-2.49685621e-04,-2.41751075e-04,-3.53309625e-05,
  1.50337829e-05, 5.16714261e-04, 1.10652269e-04, 7.47363170e-05,
  1.58574781e-02,-1.44159818e-03, 1.66417394e-03,-3.22346630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020387980844797926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.72273903e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.72273903e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885884, -0.06832323,  0.06199505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42972372e-06, 3.66966374e-05, 1.69353348e-05, 1.47000889e-05,
 -6.42299674e-06, 1.80065704e-06, 6.27509356e-06, 1.19093333e-05,
 -1.71879652e-05, 4.47413283e-06,-3.07459165e-06, 1.43592096e-05,
 -1.30211620e-04,-3.41799947e-05,-6.87856073e-05,-1.31271865e-04,
  3.66963783e-06, 2.43871381e-06,-1.21640121e+00, 1.02030736e-04,
  1.51575008e-03, 2.08545459e-07]


--- Step 966 ---
qpos:
[ 2.99220591e-03,-3.31908301e-03, 1.18881140e-02, 4.17449668e-02,
 -2.20353274e-03,-1.90468757e-03,-1.73793619e-02, 2.86455233e-02,
  5.86903959e-03, 1.64663847e-02,-9.38393671e-03, 2.60008003e-02,
  1.18088774e+00,-1.13903832e-03, 9.20904685e-01, 6.41634522e-02,
  9.50138823e-02,-7.01160407e-02, 1.21808338e-01, 9.99970578e-01,
  3.51971570e-05, 3.49189063e-04, 7.66294300e-03]

qacc:
[  3.45823512, -0.4150771 , -0.76670488,  8.78170315, -0.75392442,
   2.81212922, -9.83000411, 13.01810057, -1.86881808,  1.36474721,
  -8.57942346, 20.13540644, -0.59992753,  0.69486281, -1.3374302 ,
   3.41031815, -0.61193956, -0.89344874, -0.28443861, 14.67365108,
 -11.05152954,  0.52140098]

qfrc_actuator:
[ 4.02328288e-05, 9.81050999e-05, 1.51406410e-04, 1.14126171e-04,
 -9.49097238e-06,-2.22270178e-04,-2.76862066e-04,-2.88325636e-05,
  4.45818492e-06, 4.33489052e-04, 7.38444899e-05, 1.00907807e-04,
  1.58221797e-02,-1.43892096e-03, 1.65933848e-03,-3.20567184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020068033071934943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53229617e-13,  2.76614808e-13,  1.00000000e+00,  1.53031504e-25,
        1.00000000e+00, -2.76614808e-13, -1.00000000e+00,  0.00000000e+00,
       -5.53229617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888847, -0.05159337,  0.06199512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01805506e-05, 1.17487681e-05, 3.20343457e-05, 2.74441291e-05,
 -4.24012175e-06, 3.02075492e-05,-3.35581258e-05, 7.02456847e-06,
 -1.10621732e-05,-8.08031328e-05,-3.57910200e-05, 2.65305571e-05,
 -1.21608289e-04,-3.28257408e-05,-5.45806825e-05, 8.59448141e-07,
  4.45828176e-06, 3.17763876e-06,-1.21638883e+00, 9.91662405e-05,
  1.50924444e-03, 4.14079789e-07]


--- Step 967 ---
qpos:
[ 2.99326054e-03,-3.31795740e-03, 1.18880713e-02, 4.17460132e-02,
 -2.20342252e-03,-1.90341505e-03,-1.73812225e-02, 2.86457495e-02,
  5.87007664e-03, 1.64661569e-02,-9.38353796e-03, 2.60022039e-02,
  1.18128365e+00,-1.13878531e-03, 9.21198840e-01, 6.41612263e-02,
  9.49931207e-02,-7.01172793e-02, 1.21806280e-01, 9.99970510e-01,
  4.11374955e-05, 1.73248307e-04, 7.67776482e-03]

qacc:
[  2.02898443,  2.44425763, -9.18023243, 14.78757714,  2.57698505,
   4.06001591,-15.90086365, 25.24512432,  1.85469693, -0.48373287,
   0.09208826,  0.78580365, -0.7916921 ,  1.39565615,-19.76585429,
  65.46614733, -0.6139307 , -0.89037775, -0.31880508, 14.61482777,
 -10.99655935,  0.52968469]

qfrc_actuator:
[ 5.16963102e-05, 1.25635456e-04, 1.28560328e-04, 1.28525132e-04,
  5.95213397e-06,-2.24211928e-04,-3.32653459e-04,-7.16839621e-06,
  1.56639793e-05, 3.65897259e-04, 5.16892990e-05, 9.79243275e-05,
  1.57920856e-02,-1.40170064e-03, 1.59255953e-03,-2.90787221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019800018716661927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.60718169e-13, -2.80359085e-13,  1.00000000e+00, -1.57202433e-25,
        1.00000000e+00,  2.80359085e-13, -1.00000000e+00,  0.00000000e+00,
       -5.60718169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888853, -0.05159272,  0.06199519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20371333e-05, 4.18650266e-05,-1.55404798e-05, 1.65397880e-05,
  1.53338476e-05, 8.29276933e-06,-5.34432905e-05, 2.19347055e-05,
  1.08638135e-05,-1.19068718e-04,-4.23535263e-05,-7.17371390e-06,
 -1.10567898e-04, 3.74334537e-06,-9.52810308e-05, 2.90055532e-04,
  4.47635498e-06, 4.81737705e-06,-1.21637879e+00, 9.76872008e-05,
  1.50142615e-03, 2.64973428e-07]


--- Step 968 ---
qpos:
[ 2.99444448e-03,-3.31646094e-03, 1.18877875e-02, 4.17465247e-02,
 -2.20312759e-03,-1.90274165e-03,-1.73825302e-02, 2.86458945e-02,
  5.87158433e-03, 1.64655083e-02,-9.38331243e-03, 2.60031529e-02,
  1.18167862e+00,-1.13755159e-03, 9.21491653e-01, 6.41632405e-02,
  9.49711130e-02,-7.01180860e-02, 1.21804892e-01, 9.99970409e-01,
  4.36300589e-05,-1.25085356e-05, 7.69282265e-03]

qacc:
[  1.12079212,  0.0595054 ,  2.75154844,-11.88961364,  1.6476316 ,
  -2.50593678,  8.12372433, -9.96441217,  4.10620046, -1.01583735,
   4.7208259 ,-11.98730994, -1.26793464,  2.51929392,-14.67982571,
  48.70939184, -0.31153369,  0.10800343,  0.16735466, -1.76153926,
  -4.89465538,  0.11803092]

qfrc_actuator:
[ 5.80123915e-05, 1.41452010e-04, 1.15143910e-04, 1.01061121e-04,
  1.49951990e-05,-2.79308867e-04,-3.11534191e-04,-1.22890252e-05,
  3.95981636e-05, 3.79212402e-04, 5.61368296e-05, 7.78257560e-05,
  1.57598253e-02,-1.34430019e-03, 1.53134729e-03,-2.69621479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019514268990542688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.99560244e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.99560244e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10199258, -0.07226761,  0.06199526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66975135e-06, 3.66843211e-05,-6.12735740e-06,-2.58919410e-05,
  9.48428754e-06,-6.05781369e-05, 1.70137523e-05,-6.18737532e-06,
  2.42060246e-05,-6.23174072e-05,-2.56172140e-05,-2.68100222e-05,
 -9.76840624e-05, 3.36631668e-05,-7.27266548e-05, 2.15607040e-04,
  4.46279131e-06, 6.74812775e-06,-1.21636207e+00, 9.76205883e-05,
  1.49247992e-03,-5.96797198e-08]


--- Step 969 ---
qpos:
[ 2.99603996e-03,-3.31476582e-03, 1.18876945e-02, 4.17463500e-02,
 -2.20307145e-03,-1.90260859e-03,-1.73829707e-02, 2.86456024e-02,
  5.87302191e-03, 1.64650454e-02,-9.38363629e-03, 2.60034549e-02,
  1.18207278e+00,-1.13561047e-03, 9.21784697e-01, 6.41655746e-02,
  9.49492471e-02,-7.01143883e-02, 1.21803065e-01, 9.99970276e-01,
  8.94842934e-06,-1.95236606e-04, 7.70777950e-03]

qacc:
[  3.61449169, -1.69237489,  9.29694159,-21.60693764, -2.05814642,
  -4.03083942, 15.18937107,-23.74885755, -0.63216392,  0.45031253,
   1.48437417,-11.94258571, -1.20626325,  2.25897902, -0.53702212,
   2.58096926,  0.03545715,  1.12608094, -0.10983016,-18.5748966 ,
   1.65732606, -0.0501995 ]

qfrc_actuator:
[ 7.90035083e-05, 1.50120844e-04, 1.25104849e-04, 6.69464534e-05,
  2.43960861e-06,-2.94524298e-04,-2.63166038e-04,-3.31233215e-05,
  3.53205866e-05, 4.23218626e-04, 4.10664307e-05, 4.79071486e-05,
  1.57209749e-02,-1.31094183e-03, 1.56403795e-03,-2.67908587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019695366865159214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40924390e-13, -2.81848780e-13,  1.00000000e+00, -3.97193674e-26,
        1.00000000e+00,  2.81848780e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40924390e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501857, -0.09317934,  0.06199521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11906642e-05, 2.67545843e-05, 1.58707908e-05,-3.32636886e-05,
 -1.23068156e-05,-4.58476703e-05, 3.77438803e-05,-2.29614057e-05,
 -3.60493607e-06, 2.74939110e-06,-3.20224780e-05,-3.39992089e-05,
 -8.96926381e-05, 1.84663551e-05, 2.16570355e-05, 1.94442386e-05,
  5.10105333e-06, 7.14066420e-06,-1.21635321e+00, 9.75591229e-05,
  1.48334453e-03,-4.97267543e-08]


--- Step 970 ---
qpos:
[ 2.99787461e-03,-3.31284510e-03, 1.18874301e-02, 4.17457895e-02,
 -2.20351119e-03,-1.90281862e-03,-1.73828955e-02, 2.86454068e-02,
  5.87370738e-03, 1.64649030e-02,-9.38457079e-03, 2.60033820e-02,
  1.18246631e+00,-1.13352224e-03, 9.22078119e-01, 6.41657614e-02,
  9.49304523e-02,-7.01122925e-02, 1.21802777e-01, 9.99970132e-01,
 -1.13273550e-05,-3.52437102e-04, 7.72081635e-03]

qacc:
[ 2.08985971e+00,-2.14317414e-02, 2.12918799e+00,-8.68760096e+00,
 -4.32711219e+00,-1.68671531e+00, 4.96334098e+00,-3.87939288e+00,
 -6.58447248e+00, 1.37111887e+00,-2.66884198e+00,-3.10464696e+00,
 -7.17060571e-01, 1.07427987e+00, 7.08468724e+00,-2.38689310e+01,
  7.67774449e-01,-4.00483557e-01, 3.84952523e-01, 7.30090166e+00,
  1.27078801e+01,-9.61449545e-01]

qfrc_actuator:
[ 9.07130621e-05, 1.54524905e-04, 1.13251462e-04, 4.69592689e-05,
 -2.27255599e-05,-3.03382568e-04,-2.34489248e-04,-2.74921402e-05,
 -3.28419285e-06, 4.49696094e-04, 1.47307426e-05, 3.02233378e-05,
  1.56835190e-02,-1.30988033e-03, 1.56776451e-03,-2.79420257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020009700746180525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.77421197e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.77421197e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175703, -0.06198935,  0.06199514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23179593e-05, 2.11609988e-05,-5.54420230e-06,-1.89438690e-05,
 -2.55325366e-05,-2.76873736e-05, 2.30663290e-05, 4.52733652e-06,
 -3.87061823e-05, 1.99664195e-05,-3.08782746e-05,-1.93341657e-05,
 -8.64158115e-05,-1.53628973e-05, 8.45353300e-06,-1.12958433e-04,
  6.36844336e-06, 5.95603260e-06,-1.21635292e+00, 9.58247389e-05,
  1.47469659e-03, 4.54547317e-07]


--- Step 971 ---
qpos:
[ 2.99983562e-03,-3.31093825e-03, 1.18871430e-02, 4.17446693e-02,
 -2.20355924e-03,-1.90346667e-03,-1.73826747e-02, 2.86453183e-02,
  5.87358002e-03, 1.64647625e-02,-9.38547678e-03, 2.60034394e-02,
  1.18285924e+00,-1.13115817e-03, 9.22371680e-01, 6.41576901e-02,
  9.49146867e-02,-7.01117973e-02, 1.21803588e-01, 9.99969990e-01,
 -1.74505466e-05,-4.84411319e-04, 7.73203276e-03]

qacc:
[  1.10824241, -1.11089315,  6.29103903,-15.92329012,  3.44760576,
  -0.77184339,  1.44831502,  0.50749085, -7.08828794,  0.20491944,
  -1.25274502,  3.43383125, -1.10336922,  1.84683423, 25.19834606,
 -87.69968297,  0.7572913 , -0.40013359,  0.27461987,  7.17314797,
  12.55813857, -0.91254619]

qfrc_actuator:
[ 9.68614281e-05, 1.38511062e-04, 1.06348134e-04, 1.76700002e-05,
 -1.84597391e-06,-3.43912932e-04,-2.35375330e-04,-2.40931107e-05,
 -4.40226113e-05, 4.47694666e-04, 1.74221436e-05, 3.76198014e-05,
  1.56575638e-02,-1.29241436e-03, 1.50615893e-03,-3.23486410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020485505871166432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70977693e-13,  2.70977693e-13,  1.00000000e+00,  7.34289102e-26,
        1.00000000e+00, -2.70977693e-13, -1.00000000e+00,  0.00000000e+00,
       -2.70977693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175768, -0.06199036,  0.06199502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50190285e-06,-6.20396004e-06,-3.89131836e-06,-2.89467633e-05,
  2.01410102e-05,-5.10563505e-05,-3.60401032e-06, 3.10051370e-06,
 -4.18403339e-05, 1.96194514e-06, 2.35846279e-06, 6.81172730e-06,
 -8.10413088e-05,-4.77864867e-06,-7.74410348e-05,-4.47529143e-04,
  4.37795498e-06, 4.70624808e-06,-1.21637677e+00, 9.51594165e-05,
  1.46677580e-03, 2.58451662e-07]


--- Step 972 ---
qpos:
[ 3.00151024e-03,-3.30915898e-03, 1.18867904e-02, 4.17439156e-02,
 -2.20335714e-03,-1.90422036e-03,-1.73825849e-02, 2.86452480e-02,
  5.87330951e-03, 1.64649202e-02,-9.38594773e-03, 2.60038630e-02,
  1.18325162e+00,-1.12860762e-03, 9.22664102e-01, 6.41470855e-02,
  9.49019152e-02,-7.01129009e-02, 1.21805126e-01, 9.99969859e-01,
 -9.62599768e-06,-5.91412109e-04, 7.74150558e-03]

qacc:
[ -2.51335094,  0.77491037, -4.54455649, 11.07371266,  2.19163849,
   0.25954289, -1.21242222,  1.82288558, -1.2398227 , -0.06543445,
  -0.73731934,  6.15716871, -0.63921049,  1.00721779,  6.00664746,
 -23.36392661,  0.74855161, -0.39971948,  0.18196903,  7.06978643,
  12.43243458, -0.87498169]

qfrc_actuator:
[ 8.19376038e-05, 1.28148333e-04, 1.02334501e-04, 3.63855582e-05,
  1.04659795e-05,-3.32203852e-04,-2.36082656e-04,-2.20825279e-05,
 -5.01743920e-05, 4.99806678e-04, 5.48875410e-05, 5.97092342e-05,
  1.56332037e-02,-1.28304590e-03, 1.46927149e-03,-3.34905670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002076129903637175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.34756049e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.34756049e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081758  , -0.06199104,  0.06199495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47449696e-05,-1.59428383e-05,-6.79473496e-06, 1.77498960e-05,
  1.28682616e-05,-1.74249106e-05,-1.15855006e-05,-2.41491098e-07,
 -7.35218809e-06, 5.39887786e-05, 3.84105178e-05, 2.23916080e-05,
 -7.53190473e-05,-8.77544017e-06,-1.26611727e-04,-1.50072800e-04,
  2.76426078e-06, 3.62391024e-06,-1.21639609e+00, 9.51365174e-05,
  1.46013332e-03, 7.76698824e-08]


--- Step 973 ---
qpos:
[ 3.00230310e-03,-3.30754051e-03, 1.18863728e-02, 4.17440868e-02,
 -2.20369915e-03,-1.90468561e-03,-1.73821801e-02, 2.86454648e-02,
  5.87331172e-03, 1.64654618e-02,-9.38571130e-03, 2.60041713e-02,
  1.18364357e+00,-1.12646147e-03, 9.22955037e-01, 6.41420299e-02,
  9.48921091e-02,-7.01156018e-02, 1.21807082e-01, 9.99969747e-01,
  1.19816466e-05,-6.73650403e-04, 7.74929356e-03]

qacc:
[ -7.73845797,  1.89054985,-10.92389717, 27.11963287, -4.76704588,
   0.10122832, -1.00412904,  5.24033442,  2.39408793, -1.71154514,
   7.31727668,-10.71629605,  0.35606209, -1.10918748,-18.97485552,
  63.12013096,  0.74130629, -0.39931753,  0.10429282,  6.98669136,
  12.32753734, -0.8464172 ]

qfrc_actuator:
[ 3.69800229e-05, 1.21295540e-04, 1.00106732e-04, 8.32017853e-05,
 -1.78830351e-05,-2.71555647e-04,-2.00959105e-04,-3.10636375e-06,
 -3.59187296e-05, 5.30831928e-04, 9.50467630e-05, 5.48210690e-05,
  1.55991650e-02,-1.31406221e-03, 1.47395381e-03,-3.03900513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020875386451016387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.6591676e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.6591676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175806, -0.06199147,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.53887234e-05,-1.64802743e-05,-5.75963985e-06, 4.62425055e-05,
 -2.79878141e-05, 4.85318269e-05, 3.00963277e-05, 1.78249554e-05,
  1.40613673e-05, 7.01053318e-05, 5.68199277e-05,-8.09689526e-07,
 -8.24230315e-05,-4.86840799e-05,-7.03442665e-05, 2.85413103e-04,
  1.49754345e-06, 2.68636792e-06,-1.21641106e+00, 9.57524775e-05,
  1.45475307e-03,-8.97507083e-08]


--- Step 974 ---
qpos:
[ 3.00255069e-03,-3.30603106e-03, 1.18859386e-02, 4.17444621e-02,
 -2.20437815e-03,-1.90481522e-03,-1.73817366e-02, 2.86469550e-02,
  5.87382997e-03, 1.64660434e-02,-9.38505105e-03, 2.60041376e-02,
  1.18403522e+00,-1.12525949e-03, 9.23245628e-01, 6.41359938e-02,
  9.48852442e-02,-7.01198987e-02, 1.21809195e-01, 9.99969658e-01,
  4.72412853e-05,-7.31300709e-04, 7.75544117e-03]

qacc:
[ -4.78458698,  0.3321706 , -2.2382622 ,  5.85929444, -2.95945781,
   2.95977207,-15.27755027, 36.99639736,  4.51311488, -1.84450711,
   8.08205335,-14.69120032,  0.55087738, -1.78685769,  2.39600383,
  -9.25255063,  0.73534476, -0.39898061,  0.03928936,  6.92050783,
  12.24072368, -0.8249947 ]

qfrc_actuator:
[ 1.02173936e-05, 1.16632953e-04, 9.89760891e-05, 9.29154663e-05,
 -3.44291818e-05,-2.52906324e-04,-1.97988462e-04, 6.12782356e-05,
 -9.77721684e-06, 4.95742210e-04, 1.00870669e-04, 3.40813728e-05,
  1.55753071e-02,-1.36879307e-03, 1.43441514e-03,-3.10281819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020859846559191653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.66114859e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.66114859e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175792, -0.0619917 ,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80676109e-05,-1.31596912e-05,-3.65738211e-06, 9.70729686e-06,
 -1.73289470e-05, 5.27705718e-05, 1.73204969e-05, 6.78535220e-05,
  2.65688009e-05, 1.57976992e-05, 2.72653398e-05,-1.57881261e-05,
 -8.41718444e-05,-8.27104527e-05,-4.08182284e-05,-5.70975485e-05,
  5.55465724e-07, 1.87692209e-06,-1.21642184e+00, 9.70039844e-05,
  1.45062210e-03,-2.45302996e-07]


--- Step 975 ---
qpos:
[ 3.00282010e-03,-3.30467793e-03, 1.18852626e-02, 4.17446277e-02,
 -2.20559530e-03,-1.90461504e-03,-1.73817434e-02, 2.86485495e-02,
  5.87465840e-03, 1.64658739e-02,-9.38392483e-03, 2.60046473e-02,
  1.18442652e+00,-1.12524387e-03, 9.23535377e-01, 6.41309391e-02,
  9.48813014e-02,-7.01257905e-02, 1.21811248e-01, 9.99969594e-01,
  9.60499316e-05,-7.64505750e-04, 7.75998152e-03]

qacc:
[ 0.18654429, 0.03709827, 0.45224628,-3.57888035,-4.73965601, 1.91719341,
 -6.62799885, 8.89162604, 2.73299574,-1.18174748, 0.47007866, 8.75143735,
  0.83217978,-2.47833728,-4.28426029,12.99667604, 0.73048894,-0.39874408,
 -0.01500086, 6.86850185,12.1696935 ,-0.80923703]

qfrc_actuator:
[ 1.21405719e-05, 9.55444072e-05, 8.07286281e-05, 8.07184195e-05,
 -6.16357021e-05,-2.59618901e-04,-2.31912003e-04, 6.30435760e-05,
  5.39076473e-06, 4.03421240e-04, 1.03846619e-04, 5.73614924e-05,
  1.55415831e-02,-1.43705115e-03, 1.40024923e-03,-3.04934006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020741478477968867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175761, -0.06199177,  0.06199496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11447093e-06,-2.88480878e-05,-2.10927515e-05,-1.27004519e-05,
 -2.76855833e-05, 2.92722627e-05,-1.85485263e-05, 5.94336171e-06,
  1.59371571e-05,-7.85491496e-05, 9.03621358e-06, 2.45895617e-05,
 -1.03178364e-04,-1.03268616e-04,-6.30991961e-05, 4.41674448e-05,
 -7.83731318e-08, 1.18319803e-06,-1.21642855e+00, 9.88880679e-05,
  1.44773000e-03,-3.90115949e-07]


--- Step 976 ---
qpos:
[ 3.00345539e-03,-3.30386562e-03, 1.18845261e-02, 4.17450289e-02,
 -2.20712901e-03,-1.90437009e-03,-1.73819462e-02, 2.86487919e-02,
  5.87497283e-03, 1.64649629e-02,-9.38296545e-03, 2.60058216e-02,
  1.18481720e+00,-1.12624094e-03, 9.23823790e-01, 6.41269830e-02,
  9.48802649e-02,-7.01332768e-02, 1.21813060e-01, 9.99969556e-01,
  1.58328279e-04,-7.73380392e-04, 7.76293872e-03]

qacc:
[  3.21888566, -0.06650893, -1.80431734,  6.38616679, -2.78434167,
  -2.16905638, 13.53971236,-36.67211051, -4.47518026,  0.86313624,
  -7.29118149, 19.59134891,  0.51378229, -1.91374694, -5.34336585,
  15.69516586,  0.72658813, -0.39863048, -0.06024709,  6.82844104,
  12.11250108, -0.79796881]

qfrc_actuator:
[ 3.09262464e-05, 4.69385536e-05, 7.01957303e-05, 9.12124401e-05,
 -7.71498706e-05,-2.81677025e-04,-2.51993195e-04,-7.60812259e-06,
 -2.15311927e-05, 3.48547030e-04, 8.71494879e-05, 8.85523642e-05,
  1.54913036e-02,-1.49505306e-03, 1.32143210e-03,-2.99806763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002054260864882418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.7022445e-13, -8.1067335e-13,  1.0000000e+00, -2.1906376e-25,
        1.0000000e+00,  8.1067335e-13, -1.0000000e+00,  0.0000000e+00,
       -2.7022445e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175717, -0.06199172,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88051013e-05,-6.96804785e-05,-1.95376305e-05, 8.27921349e-06,
 -1.62926180e-05,-9.28612714e-06,-1.61187698e-05,-6.99262130e-05,
 -2.64931949e-05,-9.58790389e-05,-3.09708364e-05, 2.86121481e-05,
 -1.35761942e-04,-1.01439162e-04,-1.05096191e-04, 4.51214870e-05,
 -4.15589229e-07, 5.95921851e-07,-1.21643127e+00, 1.01402147e-04,
  1.44606849e-03,-5.25028528e-07]


--- Step 977 ---
qpos:
[ 3.00465595e-03,-3.30382575e-03, 1.18840746e-02, 4.17455590e-02,
 -2.20814700e-03,-1.90430532e-03,-1.73820230e-02, 2.86481931e-02,
  5.87496164e-03, 1.64641051e-02,-9.38279739e-03, 2.60066110e-02,
  1.18520699e+00,-1.12762810e-03, 9.24110936e-01, 6.41239907e-02,
  9.48821224e-02,-7.01423577e-02, 1.21814480e-01, 9.99969542e-01,
  2.34017074e-04,-7.58014965e-04, 7.76432976e-03]

qacc:
[  4.98395327, -1.56198572,  3.5272564 , -1.16621918,  4.52987001,
  -2.3282998 , 11.49300107,-26.10126995, -2.86573669,  1.49529011,
  -3.59415672, -1.85317588, -0.2273258 , -0.28698588, -4.77665543,
  13.99751144,  0.72351485, -0.39865302, -0.09787174,  6.79849932,
  12.06749865, -0.79025403]

qfrc_actuator:
[ 5.94766487e-05, 2.19721258e-08, 8.19595264e-05, 9.72070248e-05,
 -5.01496795e-05,-2.95036741e-04,-2.46090620e-04,-4.92847443e-05,
 -3.75017330e-05, 3.87442451e-04, 5.90949311e-05, 7.08930810e-05,
  1.54471048e-02,-1.51109513e-03, 1.26383109e-03,-2.94862821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020281777406419566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73699637e-13, -5.47399275e-13,  1.00000000e+00, -1.49822983e-25,
        1.00000000e+00,  5.47399275e-13, -1.00000000e+00,  0.00000000e+00,
       -2.73699637e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175664, -0.06199156,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90602499e-05,-8.95800474e-05,-4.75210831e-06, 2.49292797e-06,
  2.65360989e-05,-2.48913597e-05,-4.20930398e-07,-4.39931452e-05,
 -1.67650361e-05,-1.98811200e-05,-5.06861950e-05,-2.22844533e-05,
 -1.49076119e-04,-6.63318964e-05,-1.01173739e-04, 3.83969432e-05,
 -4.63876625e-07, 1.07998437e-07,-1.21643007e+00, 1.04544051e-04,
  1.44563111e-03,-6.50646860e-07]


--- Step 978 ---
qpos:
[ 3.00584438e-03,-3.30425778e-03, 1.18836781e-02, 4.17457887e-02,
 -2.20917876e-03,-1.90424842e-03,-1.73815638e-02, 2.86470482e-02,
  5.87475892e-03, 1.64630270e-02,-9.38262487e-03, 2.60064713e-02,
  1.18559574e+00,-1.12868603e-03, 9.24397680e-01, 6.41247084e-02,
  9.48868646e-02,-7.01530340e-02, 1.21815384e-01, 9.99969548e-01,
  3.23074145e-04,-7.18478078e-04, 7.76416600e-03]

qacc:
[ -0.09684059, -1.39681713,  5.34280852,-10.28169109, -0.10422529,
  -2.63051278, 11.67118871,-21.97369776, -1.667235  , -2.21311731,
  11.39696834,-27.32812656, -0.8637628 ,  1.27638195,-11.73185475,
  40.32165445,  0.7211613 , -0.39881827, -0.12908697,  6.77718041,
  12.03328985, -0.78534656]

qfrc_actuator:
[ 5.80348702e-05,-9.92782767e-06, 8.90273926e-05, 8.27617275e-05,
 -5.16044412e-05,-2.67465103e-04,-2.07088622e-04,-7.35465523e-05,
 -4.68842175e-05, 3.75585527e-04, 6.04223980e-05, 2.47074341e-05,
  1.54119266e-02,-1.48442618e-03, 1.30954009e-03,-2.74081953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019974323551803785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.55825093e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.55825093e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175603, -0.06199133,  0.06199515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.45006648e-07,-6.09088328e-05,-1.19330690e-05,-1.84001103e-05,
 -7.05198808e-07, 1.16892995e-05, 3.22869334e-05,-2.61990126e-05,
 -9.86941012e-06,-3.43780372e-05,-9.78642811e-06,-4.92246490e-05,
 -1.39946410e-04,-1.96484766e-05, 2.64356492e-06, 1.96779961e-04,
 -2.27654536e-07,-2.86185471e-07,-1.21642501e+00, 1.08312019e-04,
  1.44641290e-03,-7.67388587e-07]


--- Step 979 ---
qpos:
[ 3.00700633e-03,-3.30484267e-03, 1.18832249e-02, 4.17454644e-02,
 -2.20987489e-03,-1.90397252e-03,-1.73810277e-02, 2.86456231e-02,
  5.87479021e-03, 1.64613630e-02,-9.38201290e-03, 2.60057961e-02,
  1.18598358e+00,-1.12926226e-03, 9.24684329e-01, 6.41246185e-02,
  9.48918198e-02,-7.01592109e-02, 1.21816195e-01, 9.99969554e-01,
  3.74509686e-04,-6.76651924e-04, 7.76491663e-03]

qacc:
[ -0.23185898, -1.18479652,  6.26893164,-15.65214404,  2.94226885,
  -0.50746411,  3.40259665, -8.52462933,  2.06436919, -3.10892582,
  12.21550221,-21.74674084, -1.11400598,  1.88932288,  2.37459917,
  -8.3306417 ,  0.05323318,  1.12482748, -0.0233556 ,-18.80097646,
   1.29079614,  0.47032464]

qfrc_actuator:
[ 5.67017118e-05, 2.31088223e-06, 9.33936286e-05, 5.64302674e-05,
 -3.43036932e-05,-2.50940161e-04,-2.01945354e-04,-8.73179814e-05,
 -3.45650636e-05, 3.33529586e-04, 7.88998257e-05,-2.39061144e-06,
  1.53875333e-02,-1.45044656e-03, 1.27340650e-03,-2.79617376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019949735264412904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56518481e-13,  2.78255077e-13,  1.00000000e+00,  4.35520619e-26,
        1.00000000e+00, -2.78255077e-13, -1.00000000e+00,  0.00000000e+00,
       -1.56518481e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502183, -0.0931795 ,  0.06199515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36981423e-06,-2.50587864e-05,-1.03132226e-05,-2.97104907e-05,
  1.72845140e-05, 2.86026853e-05, 1.06248834e-05,-1.26617595e-05,
  1.20234308e-05,-6.53781092e-05, 8.47863560e-06,-2.98651994e-05,
 -1.11739281e-04,-1.60495818e-06,-1.86775874e-05,-4.53318993e-05,
  2.91446883e-07,-5.91289868e-07,-1.21641611e+00, 1.12704687e-04,
  1.44841022e-03,-8.75517322e-07]


--- Step 980 ---
qpos:
[ 3.00814336e-03,-3.30565101e-03, 1.18828038e-02, 4.17451749e-02,
 -2.21001332e-03,-1.90337414e-03,-1.73810790e-02, 2.86447677e-02,
  5.87531345e-03, 1.64594104e-02,-9.38158688e-03, 2.60051520e-02,
  1.18637063e+00,-1.12921141e-03, 9.24970660e-01, 6.41189821e-02,
  9.48969864e-02,-7.01609247e-02, 1.21816606e-01, 9.99969564e-01,
  3.88634570e-04,-6.32536480e-04, 7.76654902e-03]

qacc:
[-2.13924808e-01,-3.12953226e-01, 5.41366022e-01, 1.72580912e-01,
  4.86786605e+00, 3.22885578e+00,-1.33168822e+01, 2.38946752e+01,
  4.28980359e+00, 1.93923637e-01,-1.39067963e+00, 2.45421616e+00,
 -1.40010243e+00, 2.52703666e+00, 1.63659658e+01,-5.77185983e+01,
  5.28814378e-02, 1.11576700e+00,-9.98652456e-02,-1.86455750e+01,
  1.28963378e+00, 4.53044760e-01]

qfrc_actuator:
[ 5.54529203e-05,-7.77285943e-06, 9.62287176e-05, 5.88461718e-05,
 -6.09354175e-06,-2.41266957e-04,-2.34625272e-04,-5.93374465e-05,
 -9.57386397e-06, 3.27065781e-04, 7.17251848e-05,-3.05424529e-07,
  1.53589831e-02,-1.41236467e-03, 1.20413154e-03,-3.09515532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020105673086774634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93353015e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.93353015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502179, -0.09317913,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29252396e-06,-2.74764922e-05,-4.62751580e-06, 4.10140713e-07,
  2.87129198e-05, 2.73126788e-05,-2.59082770e-05, 2.93281748e-05,
  2.53091658e-05,-4.24932181e-05,-2.06550745e-05,-1.00103986e-06,
 -9.56623932e-05, 1.28900981e-05,-8.85039526e-05,-3.05189783e-04,
  1.81386913e-07,-4.29217438e-07,-1.21642895e+00, 1.15278010e-04,
  1.45042096e-03,-1.09225389e-06]


--- Step 981 ---
qpos:
[ 3.00891179e-03,-3.30680585e-03, 1.18824573e-02, 4.17452747e-02,
 -2.21015737e-03,-1.90249670e-03,-1.73812495e-02, 2.86442273e-02,
  5.87509758e-03, 1.64572414e-02,-9.38185706e-03, 2.60045642e-02,
  1.18675701e+00,-1.12896778e-03, 9.25256197e-01, 6.41107537e-02,
  9.49023638e-02,-7.01582050e-02, 1.21816361e-01, 9.99969582e-01,
  3.65701292e-04,-5.86130016e-04, 7.76903432e-03]

qacc:
[ -3.22682653,  0.14215578, -2.80265451,  9.66278053, -0.05765485,
   1.34958854, -5.607241  , 11.04406022, -6.46446127,  1.78833348,
  -7.00705314,  9.22949492, -0.75193124,  1.15073393,  6.69909181,
 -25.03035446,  0.05268344,  1.10839449, -0.16404615,-18.51935251,
   1.28955036,  0.43768873]

qfrc_actuator:
[ 3.65111583e-05,-3.11183242e-05, 9.80789794e-05, 7.81432881e-05,
 -7.19933332e-06,-2.18143245e-04,-2.36107603e-04,-4.25487841e-05,
 -4.83415085e-05, 3.06389067e-04, 3.18563007e-05, 1.18466474e-06,
  1.53226371e-02,-1.40766476e-03, 1.18423063e-03,-3.21570383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020129253474357456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93009367e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.93009367e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502175, -0.09317913,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89849523e-05,-3.96178199e-05,-4.36697826e-06, 1.79712279e-05,
 -2.77985733e-07, 3.42931055e-05, 1.97695365e-06, 1.76329692e-05,
 -3.80619837e-05,-4.86710245e-05,-5.12063857e-05,-1.06120157e-06,
 -9.17727106e-05,-1.33095827e-05,-9.77038220e-05,-1.49639882e-04,
  2.38624493e-07,-2.76688827e-07,-1.21643460e+00, 1.16011984e-04,
  1.45259789e-03,-1.21669803e-06]


--- Step 982 ---
qpos:
[ 3.00944721e-03,-3.30815057e-03, 1.18818437e-02, 4.17449182e-02,
 -2.21031325e-03,-1.90145094e-03,-1.73811425e-02, 2.86442240e-02,
  5.87441846e-03, 1.64552448e-02,-9.38286405e-03, 2.60046423e-02,
  1.18714276e+00,-1.12887185e-03, 9.25540493e-01, 6.41066959e-02,
  9.49079517e-02,-7.01510753e-02, 1.21815245e-01, 9.99969604e-01,
  3.05911787e-04,-5.37429124e-04, 7.77234663e-03]

qacc:
[ -2.05059778, -0.44072673,  3.13932556,-10.4759764 , -0.0976139 ,
   0.55166347, -3.91158062, 12.63750369, -4.0658318 ,  3.66567194,
 -15.53730648, 28.09711765, -0.08504127, -0.23892587,-14.41812163,
  47.78279269,  0.05261275,  1.10247947, -0.21783493,-18.41839779,
   1.29049995,  0.42385544]

qfrc_actuator:
[ 2.50598865e-05,-4.44557727e-05, 8.15303262e-05, 5.39427313e-05,
 -7.80181316e-06,-2.04787422e-04,-2.19104643e-04,-1.46958338e-05,
 -7.10722711e-05, 3.48238329e-04, 8.46076899e-06, 3.77853131e-05,
  1.52816295e-02,-1.42281057e-03, 1.18335679e-03,-2.98139165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020047345482576695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94206523e-13,  5.53800515e-13,  1.00000000e+00,  1.62931724e-25,
        1.00000000e+00, -5.53800515e-13, -1.00000000e+00,  0.00000000e+00,
       -2.94206523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950217 , -0.09317942,  0.06199513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20024261e-05,-3.55873960e-05,-2.46305728e-05,-2.56951080e-05,
 -5.99249694e-07, 3.36677090e-05, 2.49329158e-05, 2.97337975e-05,
 -2.38439395e-05, 4.07831018e-06,-3.97619226e-05, 3.27307412e-05,
 -9.98831506e-05,-3.76312263e-05,-6.41144690e-05, 2.13054031e-04,
  4.53908890e-07,-1.34713249e-07,-1.21643325e+00, 1.14919041e-04,
  1.45493839e-03,-1.24944428e-06]


--- Step 983 ---
qpos:
[ 3.00949622e-03,-3.30976246e-03, 1.18813267e-02, 4.17442594e-02,
 -2.21081981e-03,-1.90062168e-03,-1.73803693e-02, 2.86449222e-02,
  5.87416107e-03, 1.64536358e-02,-9.38379205e-03, 2.60054176e-02,
  1.18752790e+00,-1.12919058e-03, 9.25824216e-01, 6.41057148e-02,
  9.49137501e-02,-7.01395544e-02, 1.21813077e-01, 9.99969623e-01,
  2.09424015e-04,-4.86428775e-04, 7.77646237e-03]

qacc:
[ -4.26206146, -1.23807778,  5.19113873,-10.39369965, -3.05059619,
  -0.69754616, -0.880629  , 12.10822792,  3.67463728,  1.71976116,
  -8.34517316, 20.01509709,  0.07615715, -0.70573721,-10.14662793,
  34.23520922,  0.05264794,  1.09782507, -0.26287962,-18.33942393,
   1.29243132,  0.41122444]

qfrc_actuator:
[ 3.62123516e-07,-5.18064172e-05, 8.97595155e-05, 3.98388337e-05,
 -2.58464789e-05,-2.32798499e-04,-1.91359604e-04, 1.94477190e-05,
 -4.86558712e-05, 4.09548397e-04, 3.07735940e-05, 7.70675744e-05,
  1.52431721e-02,-1.44960044e-03, 1.17266483e-03,-2.82393092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001988232871707185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06047169e-13,  5.58396876e-13,  1.00000000e+00,  2.82575158e-25,
        1.00000000e+00, -5.58396876e-13, -1.00000000e+00,  0.00000000e+00,
       -5.06047169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502165, -0.09317995,  0.06199517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50450271e-05,-3.33885725e-05,-3.02073912e-06,-1.69752289e-05,
 -1.80522418e-05,-2.79936719e-06, 3.87858188e-05, 3.70252118e-05,
  2.17272390e-05, 5.68533895e-05, 1.94254672e-05, 3.87256153e-05,
 -1.06672427e-04,-5.65376292e-05,-1.79858254e-05, 1.60759693e-04,
  8.19952040e-07,-1.28136307e-09,-1.21642501e+00, 1.12009121e-04,
  1.45744036e-03,-1.19101295e-06]


--- Step 984 ---
qpos:
[ 3.00924858e-03,-3.31141111e-03, 1.18813295e-02, 4.17437222e-02,
 -2.21153871e-03,-1.89989037e-03,-1.73794977e-02, 2.86457036e-02,
  5.87382916e-03, 1.64523275e-02,-9.38413801e-03, 2.60062873e-02,
  1.18791225e+00,-1.12926944e-03, 9.26107506e-01, 6.41043555e-02,
  9.49197596e-02,-7.01236564e-02, 1.21809707e-01, 9.99969628e-01,
  7.63574874e-05,-4.33122385e-04, 7.78135979e-03]

qacc:
[ -2.58679262, -1.24627001,  3.86866882, -2.57879174, -1.85763062,
  -0.2298976 ,  0.2873497 ,  1.05866331, -0.63695213, -1.03402163,
   3.86758884, -3.39011924, -0.79812931,  1.20558859,  0.55515829,
  -2.74826811,  0.05277159,  1.09426318, -0.30058332,-18.27966454,
   1.29529115,  0.39953937]

qfrc_actuator:
[-1.41842879e-05,-1.99064933e-05, 1.30351067e-04, 4.95739604e-05,
 -3.62602527e-05,-2.49806938e-04,-1.93174127e-04, 2.14809279e-05,
 -5.31087548e-05, 4.28992837e-04, 6.22377197e-05, 8.21557791e-05,
  1.52115912e-02,-1.42979281e-03, 1.12411182e-03,-2.85517651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019652784579468618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.8245947e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.8245947e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502159, -0.09318066,  0.06199522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52648255e-05, 1.19349039e-05, 3.27628746e-05, 7.87719017e-06,
 -1.09324290e-05,-9.02281884e-06, 3.64637291e-06, 3.97144005e-06,
 -3.81853432e-06, 5.69835035e-05, 4.69673790e-05, 8.95339502e-06,
 -1.07775751e-04,-1.54832511e-05,-4.31113848e-05,-2.55581982e-05,
  1.33098624e-06, 1.28546567e-07,-1.21640997e+00, 1.07289992e-04,
  1.46010211e-03,-1.04185888e-06]


--- Step 985 ---
qpos:
[ 3.00917315e-03,-3.31275049e-03, 1.18811060e-02, 4.17433122e-02,
 -2.21168711e-03,-1.89927703e-03,-1.73786152e-02, 2.86465126e-02,
  5.87310133e-03, 1.64518080e-02,-9.38429093e-03, 2.60071748e-02,
  1.18829569e+00,-1.12856232e-03, 9.26390502e-01, 6.41048737e-02,
  9.49288012e-02,-7.01093945e-02, 1.21807262e-01, 9.99969636e-01,
 -4.28133955e-05,-3.54826527e-04, 7.78456204e-03]

qacc:
[ 1.49921919, 1.30060217,-4.58530634, 6.92441267, 5.00614586,-0.13931474,
  0.13700849, 0.42847435,-3.4604731 , 0.5467391 ,-0.50056968,-0.09133467,
 -1.24401212, 2.32850692,-6.0100551 ,20.60984798, 0.75800816,-0.40903677,
  0.23137221, 7.04447037,12.44022659,-0.85153664]

qfrc_actuator:
[-4.88245561e-06,-8.50157438e-08, 1.18887737e-04, 5.55569715e-05,
 -6.58828387e-06,-2.60245766e-04,-1.94670562e-04, 2.23384602e-05,
 -7.33556305e-05, 4.94260319e-04, 8.09053592e-05, 8.48043157e-05,
  1.51788491e-02,-1.38251534e-03, 1.14338859e-03,-2.74888487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019859930642950052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.79513319e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.79513319e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175447, -0.06199213,  0.06199517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.87488804e-06, 3.36565337e-05,-4.66888738e-06, 7.78684186e-06,
  2.93568838e-05,-1.46033811e-05,-2.79368420e-06, 6.69430543e-07,
 -2.03430473e-05, 1.07265550e-04, 3.65504124e-05, 6.89173318e-06,
 -1.00830462e-04, 2.02833059e-05,-7.42753350e-06, 9.84054624e-05,
  1.98243027e-06, 2.62592456e-07,-1.21638820e+00, 1.00767522e-04,
  1.46292226e-03,-8.02379102e-07]


--- Step 986 ---
qpos:
[ 3.00920999e-03,-3.31406524e-03, 1.18805886e-02, 4.17430189e-02,
 -2.21147870e-03,-1.89900794e-03,-1.73773659e-02, 2.86473301e-02,
  5.87248151e-03, 1.64518265e-02,-9.38438716e-03, 2.60081288e-02,
  1.18867851e+00,-1.12786852e-03, 9.26673798e-01, 6.41058946e-02,
  9.49408454e-02,-7.00967558e-02, 1.21805402e-01, 9.99969645e-01,
 -1.48264538e-04,-2.51695303e-04, 7.78615751e-03]

qacc:
[ 0.97586161, 1.09327935,-4.34677979, 6.82381493, 3.14701353,-1.46788041,
  4.52718693,-4.70030278, 0.93466533, 0.68748309,-1.70371072, 2.3712551 ,
 -0.42931299, 0.46413933,-1.04747213, 4.37038864, 0.75067308,-0.40577638,
  0.14609251, 6.95604327,12.36394005,-0.80526671]

qfrc_actuator:
[ 6.25490484e-07,-2.33472017e-05, 9.44822763e-05, 5.92345425e-05,
  1.09319569e-05,-2.84436239e-04,-1.78175334e-04, 2.25128346e-05,
 -6.72224466e-05, 4.97650000e-04, 7.42986553e-05, 8.60276881e-05,
  1.51454495e-02,-1.39040857e-03, 1.17141170e-03,-2.72194888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020095175414795718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.52482375e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.52482375e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175462, -0.06199252,  0.06199512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77689051e-06,-5.01688216e-06,-1.77402688e-05, 5.11333183e-06,
  1.83520319e-05,-3.29292387e-05, 1.31373177e-05,-5.41478442e-07,
  5.58409404e-06, 7.12277743e-05, 2.02968505e-05, 7.21918729e-06,
 -8.86001295e-05,-2.64321334e-05, 3.01375377e-05, 3.02276729e-05,
  1.78026513e-06, 6.66821023e-07,-1.21638879e+00, 9.48952775e-05,
  1.46666503e-03,-5.58705513e-07]


--- Step 987 ---
qpos:
[ 3.00931259e-03,-3.31522819e-03, 1.18800252e-02, 4.17423937e-02,
 -2.21175157e-03,-1.89891609e-03,-1.73762086e-02, 2.86474631e-02,
  5.87194047e-03, 1.64516538e-02,-9.38444540e-03, 2.60088414e-02,
  1.18906070e+00,-1.12698166e-03, 9.26957276e-01, 6.41046274e-02,
  9.49558693e-02,-7.00857287e-02, 1.21803840e-01, 9.99969650e-01,
 -2.40142663e-04,-1.23850041e-04, 7.78622281e-03]

qacc:
[  0.57295555, -0.35610741,  2.95943622, -8.74041953, -4.22163149,
  -1.37658876,  7.47324112,-19.05680883,  0.69138808, -0.85682031,
   3.70527885, -7.79939232, -0.76616042,  1.18064604,  7.22151574,
 -24.76259916,  0.74491067, -0.40291941,  0.07447794,  6.88232313,
  12.30391552, -0.76492818]

qfrc_actuator:
[ 3.84815888e-06,-1.28813316e-06, 9.79749359e-05, 4.37356275e-05,
 -1.43586200e-05,-2.98851617e-04,-1.86750637e-04,-1.32199171e-05,
 -6.33594116e-05, 4.28343204e-04, 5.25864850e-05, 6.85875893e-05,
  1.51169864e-02,-1.37766139e-03, 1.15138167e-03,-2.84851830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002018357117269387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.50062729e-13, -8.25094094e-13,  1.00000000e+00, -4.53853509e-25,
        1.00000000e+00,  8.25094094e-13, -1.00000000e+00,  0.00000000e+00,
       -5.50062729e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175456, -0.06199272,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39071383e-06, 1.58645428e-05, 4.70106964e-07,-1.62236528e-05,
 -2.47794622e-05,-3.01588620e-05,-1.37978520e-05,-3.67059111e-05,
  4.04697717e-06,-2.49755095e-05,-4.25139189e-06,-1.35472063e-05,
 -8.67938791e-05,-1.25260521e-05,-1.01816466e-05,-1.22719941e-04,
  1.91316814e-06, 1.15538366e-06,-1.21638524e+00, 8.96654710e-05,
  1.47166549e-03,-3.04129639e-07]


--- Step 988 ---
qpos:
[ 3.00945289e-03,-3.31591397e-03, 1.18793082e-02, 4.17418977e-02,
 -2.21232519e-03,-1.89905921e-03,-1.73753838e-02, 2.86465010e-02,
  5.87145007e-03, 1.64512416e-02,-9.38465789e-03, 2.60090157e-02,
  1.18944231e+00,-1.12596446e-03, 9.27240265e-01, 6.41035561e-02,
  9.49738551e-02,-7.00763033e-02, 1.21802335e-01, 9.99969647e-01,
 -3.18569812e-04, 2.86170643e-05, 7.78482525e-03]

qacc:
[ 3.17969513e-01, 1.32602941e+00,-4.35965096e+00, 6.49386693e+00,
 -2.64481047e+00,-1.62863798e+00, 9.99029402e+00,-2.82492516e+01,
  4.40560189e-01,-9.94813432e-01, 5.35942517e+00,-1.42534096e+01,
 -5.11447164e-01, 7.24555215e-01,-1.27882845e+00, 3.50345377e+00,
  7.40485424e-01,-4.00433842e-01, 1.44197049e-02, 6.82104805e+00,
  1.22583573e+01,-7.29247919e-01]

qfrc_actuator:
[ 5.70126495e-06, 4.78266753e-05, 1.00323551e-04, 5.26382688e-05,
 -2.91350389e-05,-3.25183865e-04,-2.10056182e-04,-6.98073728e-05,
 -6.08724414e-05, 4.04695430e-04, 3.95596732e-05, 4.02306180e-05,
  1.50915101e-02,-1.37048367e-03, 1.13447453e-03,-2.83381708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020154246360334915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75431541e-13,  5.50863081e-13,  1.00000000e+00, -1.51725067e-25,
        1.00000000e+00, -5.50863081e-13, -1.00000000e+00,  0.00000000e+00,
        2.75431541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175432, -0.06199277,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96025904e-06, 5.74393852e-05, 5.14335400e-06, 9.28773841e-06,
 -1.54911831e-05,-4.76459503e-05,-3.25186360e-05,-5.90737615e-05,
  2.59452710e-06,-3.90679307e-05,-1.91778506e-05,-2.98393808e-05,
 -8.02517428e-05,-1.45335310e-05,-4.13305818e-05, 5.14811003e-06,
  2.36734477e-06, 1.71807532e-06,-1.21637764e+00, 8.50741052e-05,
  1.47791411e-03,-3.94513514e-08]


--- Step 989 ---
qpos:
[ 3.00892474e-03,-3.31643922e-03, 1.18787158e-02, 4.17418787e-02,
 -2.21307186e-03,-1.89920263e-03,-1.73750058e-02, 2.86451914e-02,
  5.87099306e-03, 1.64508770e-02,-9.38516916e-03, 2.60088219e-02,
  1.18982360e+00,-1.12570048e-03, 9.27522544e-01, 6.41043206e-02,
  9.49891968e-02,-7.00706265e-02, 1.21801887e-01, 9.99969620e-01,
 -3.65768589e-04, 1.58059802e-04, 7.78464092e-03]

qacc:
[ -5.86582082,  0.85835748, -4.74420088, 12.65595771, -1.53209964,
   0.53582496, -0.43884766, -4.86579546,  0.28097952,  0.13995266,
   1.14558602, -7.07191649,  0.51763244, -1.59281948, -6.63734627,
  21.58295024, -0.66104651, -0.93712558,  0.26422794, 15.52407114,
 -11.63358124,  0.60346286]

qfrc_actuator:
[-2.87708742e-05, 4.17783109e-05, 1.02111617e-04, 7.58532293e-05,
 -3.75910042e-05,-3.05279719e-04,-2.24169875e-04,-8.49652745e-05,
 -5.92144781e-05, 4.26320712e-04, 3.19211409e-05, 2.34697782e-05,
  1.50625175e-02,-1.41992002e-03, 1.11416899e-03,-2.73592222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020803261033774945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.668387e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -2.668387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888112, -0.05159388,  0.06199494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43938507e-05, 2.75665792e-05, 1.46245740e-05, 2.60383012e-05,
 -8.91038765e-06,-1.59956074e-05,-3.00100618e-05,-1.94733553e-05,
  1.71922803e-06,-5.44556039e-06,-1.90968718e-05,-1.96785614e-05,
 -8.04030752e-05,-7.00189757e-05,-4.24522300e-05, 9.20116717e-05,
  3.13376312e-06, 2.34594746e-06,-1.21636606e+00, 8.11178263e-05,
  1.48540346e-03, 2.34753896e-07]


--- Step 990 ---
qpos:
[ 3.00798766e-03,-3.31678768e-03, 1.18779162e-02, 4.17418141e-02,
 -2.21391453e-03,-1.89899289e-03,-1.73750318e-02, 2.86436608e-02,
  5.86952479e-03, 1.64506034e-02,-9.38584102e-03, 2.60084130e-02,
  1.19020419e+00,-1.12538928e-03, 9.27804114e-01, 6.41072476e-02,
  9.50020030e-02,-7.00691807e-02, 1.21801715e-01, 9.99969584e-01,
 -3.77766947e-04, 2.65346616e-04, 7.78573325e-03]

qacc:
[ -3.5990629 ,  0.72615013, -2.04588166,  1.44674594, -0.86091829,
   1.1419835 , -2.45803582, -0.98676811, -8.82688728,  0.14318287,
   0.60199163, -4.16832599, -0.42008919,  0.45479664, -7.54987014,
  24.94936266, -0.63386421, -1.05775212,  0.06878734, 17.51333412,
 -11.21486948,  0.63707769]

qfrc_actuator:
[-4.88418337e-05, 3.82630623e-05, 8.55940750e-05, 7.17510788e-05,
 -4.22620816e-05,-2.57774427e-04,-2.32521273e-04,-9.33277502e-05,
 -1.11314838e-04, 4.39413045e-04, 2.77217964e-05, 1.37115960e-05,
  1.50260876e-02,-1.41373022e-03, 1.08653612e-03,-2.62533466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002139255071933813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59488230e-13,  1.64084009e-07,  1.00000000e+00, -4.25778691e-20,
        1.00000000e+00, -1.64084009e-07, -1.00000000e+00,  0.00000000e+00,
        2.59488230e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10862531, -0.0488093 ,  0.0619948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10403692e-05, 1.60517918e-05,-8.10622075e-06,-1.90432225e-06,
 -4.92862267e-06, 3.15279285e-05,-1.60252695e-05,-1.04625537e-05,
 -5.20531071e-05, 5.27787212e-06,-8.34714502e-06,-1.10330698e-05,
 -1.00433015e-04,-2.56704134e-05,-3.98143273e-05, 1.09573109e-04,
  2.47282088e-06, 1.00641884e-06,-1.21639225e+00, 7.89692757e-05,
  1.49189436e-03, 7.65643470e-07]


--- Step 991 ---
qpos:
[ 3.00716183e-03,-3.31690806e-03, 1.18774341e-02, 4.17420034e-02,
 -2.21446146e-03,-1.89894964e-03,-1.73747079e-02, 2.86420557e-02,
  5.86744392e-03, 1.64497068e-02,-9.38599542e-03, 2.60082807e-02,
  1.19058395e+00,-1.12493688e-03, 9.28085011e-01, 6.41078997e-02,
  9.50123020e-02,-7.00719246e-02, 1.21801392e-01, 9.99969548e-01,
 -3.54973415e-04, 3.50761332e-04, 7.78812052e-03]

qacc:
[  0.98282106, -0.06498662, -0.40508563,  4.12488062,  2.60767668,
  -1.35529402,  4.81854809, -6.53241913, -5.31603846, -1.68969412,
   3.68047004,  0.71828236, -0.8195141 ,  1.15374548,  5.92525137,
 -22.05399128, -0.62678784, -1.04744381, -0.03747087, 17.31009881,
 -11.07140108,  0.64793983]

qfrc_actuator:
[-4.25115780e-05, 7.16924950e-05, 1.11632952e-04, 8.70955470e-05,
 -2.69174242e-05,-2.82824937e-04,-2.19526662e-04,-9.76003051e-05,
 -1.41380981e-04, 3.76312891e-04, 4.33199216e-05, 2.59019810e-05,
  1.49745887e-02,-1.41016915e-03, 1.01192616e-03,-2.75672937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002175741253642869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55136732e-13,  2.08437270e-07,  1.00000000e+00, -5.31800037e-20,
        1.00000000e+00, -2.08437270e-07, -1.00000000e+00,  0.00000000e+00,
        2.55136732e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1086247 , -0.0488103 ,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.73891462e-06, 4.06674025e-05, 2.83054902e-05, 1.57182454e-05,
  1.52162556e-05,-1.11842149e-05, 1.71723019e-05,-3.67630638e-06,
 -3.15572174e-05,-6.23498979e-05, 1.52910271e-05, 1.19179271e-05,
 -1.17220419e-04,-2.39861584e-05,-8.41122464e-05,-1.31191087e-04,
  1.78131942e-06,-7.53940745e-08,-1.21641068e+00, 7.85182810e-05,
  1.49722538e-03, 1.12005458e-06]


--- Step 992 ---
qpos:
[ 3.00676302e-03,-3.31675109e-03, 1.18772079e-02, 4.17430628e-02,
 -2.21447515e-03,-1.89933656e-03,-1.73738116e-02, 2.86407762e-02,
  5.86570834e-03, 1.64478079e-02,-9.38545119e-03, 2.60086780e-02,
  1.19096302e+00,-1.12494779e-03, 9.28365027e-01, 6.41059770e-02,
  9.50201177e-02,-7.00788245e-02, 1.21800562e-01, 9.99969513e-01,
 -2.97721065e-04, 4.14538869e-04, 7.79182071e-03]

qacc:
[  3.75189655,  1.43750123, -8.27659314, 22.73212645,  4.70255282,
  -1.50658693,  3.1566003 ,  1.89687334,  3.05079914, -2.19292081,
   3.64980331,  5.15041239, -0.22494542, -0.2663794 ,  6.47033301,
 -24.52932082, -0.62083749, -1.03899248, -0.12677917, 17.14439782,
 -10.95267779,  0.65863398]

qfrc_actuator:
[-2.06972192e-05, 9.16614551e-05, 1.27258608e-04, 1.31579495e-04,
  8.33322217e-08,-3.15525274e-04,-1.94316764e-04,-8.17245651e-05,
 -1.22715497e-04, 3.03679844e-04, 7.01827097e-05, 5.08558611e-05,
  1.49247362e-02,-1.44380346e-03, 9.62409930e-04,-2.88771997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002192899231024939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53140456e-13, -2.30185427e-07,  1.00000000e+00, -5.82692440e-20,
        1.00000000e+00,  2.30185427e-07, -1.00000000e+00,  0.00000000e+00,
       -2.53140456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1086244 , -0.04881078,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19910561e-05, 4.92443122e-05, 2.80631514e-05, 4.75122349e-05,
  2.74300434e-05,-3.55615350e-05, 2.48865078e-05, 1.59212101e-05,
  1.77350153e-05,-1.03813220e-04, 1.62910745e-05, 2.30464982e-05,
 -1.26060619e-04,-6.42272308e-05,-1.05224280e-04,-1.49668769e-04,
  1.00293514e-06,-7.98736694e-07,-1.21642035e+00, 7.97414643e-05,
  1.50140174e-03, 1.26036433e-06]


--- Step 993 ---
qpos:
[ 3.00697370e-03,-3.31615924e-03, 1.18765748e-02, 4.17446728e-02,
 -2.21450997e-03,-1.89992226e-03,-1.73732197e-02, 2.86397285e-02,
  5.86455363e-03, 1.64460063e-02,-9.38501380e-03, 2.60092852e-02,
  1.19134137e+00,-1.12537136e-03, 9.28644095e-01, 6.41024354e-02,
  9.50253866e-02,-7.00893532e-02, 1.21799313e-01, 9.99969478e-01,
 -2.10475555e-04, 4.56316973e-04, 7.79680739e-03]

qacc:
[  5.32994318,  2.83659474,-11.61989575, 21.49549578, -0.1913432 ,
   1.06443155, -5.15475704,  9.79762085,  5.06143744,  0.84953076,
  -3.74610743,  7.49753945, -0.2180312 , -0.24065494,  3.48893554,
 -14.23724277, -0.63668834, -0.90718665, -0.10494729, 14.9101483 ,
 -11.11642388,  0.6461688 ]

qfrc_actuator:
[ 1.00473457e-05, 1.03413634e-04, 1.01065736e-04, 1.57324004e-04,
 -1.78331699e-06,-3.34732617e-04,-2.15397982e-04,-7.18826159e-05,
 -9.32765170e-05, 3.67976800e-04, 8.56635057e-05, 6.53514595e-05,
  1.48918681e-02,-1.46370169e-03, 9.27993028e-04,-2.96400038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021988921926467675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57351608e-13, -5.04901072e-13,  1.00000000e+00, -3.82387638e-25,
        1.00000000e+00,  5.04901072e-13, -1.00000000e+00,  0.00000000e+00,
       -7.57351608e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887912, -0.05159674,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13845348e-05, 4.71249426e-05,-1.09227252e-05, 2.97468335e-05,
 -1.09885079e-06,-3.32545902e-05,-2.48144087e-05, 9.48948799e-06,
  2.99041180e-05, 1.06589521e-05,-3.14676612e-06, 1.10600300e-05,
 -1.23753068e-04,-6.04980162e-05,-1.00705959e-04,-9.84265802e-05,
  1.34820345e-07,-1.16984098e-06,-1.21642155e+00, 8.26224293e-05,
  1.50443492e-03, 1.19146710e-06]


--- Step 994 ---
qpos:
[ 3.00686162e-03,-3.31533435e-03, 1.18760202e-02, 4.17462262e-02,
 -2.21560157e-03,-1.90055113e-03,-1.73729404e-02, 2.86384425e-02,
  5.86376043e-03, 1.64448506e-02,-9.38526512e-03, 2.60100297e-02,
  1.19171904e+00,-1.12608568e-03, 9.28921873e-01, 6.40996451e-02,
  9.50281268e-02,-7.01034908e-02, 1.21797380e-01, 9.99969438e-01,
 -9.34293776e-05, 4.76260339e-04, 7.80309382e-03]

qacc:
[ -2.83464948, -0.02205752,  0.77339128, -2.05812884, -9.27802644,
   0.34407365, -0.27217004, -3.35413174,  3.1206473 ,  3.05486825,
 -10.2434419 , 13.25448532, -0.17875879, -0.21138273, -4.17040618,
  11.82478527, -0.63219324, -0.90222399, -0.17097913, 14.81446119,
 -11.03334615,  0.65437777]

qfrc_actuator:
[-7.46115312e-06, 1.09967282e-04, 1.03599931e-04, 1.54043742e-04,
 -5.61345957e-05,-3.28150837e-04,-2.28100861e-04,-8.34500382e-05,
 -7.54997678e-05, 4.24969886e-04, 5.93358729e-05, 7.36799329e-05,
  1.48638903e-02,-1.47522361e-03, 8.81370219e-04,-2.91861757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021909570468564565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887925, -0.05159656,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66004753e-05, 3.19167090e-05, 1.19474513e-05,-1.06538753e-06,
 -5.43936003e-05,-1.67166805e-05,-2.22977434e-05,-1.36640973e-05,
  1.86321722e-05, 6.28431374e-05,-2.41185711e-05, 8.89183808e-06,
 -1.16490163e-04,-5.09172120e-05,-1.05086903e-04, 2.66897831e-05,
 -7.75134989e-07,-1.14357377e-06,-1.21641652e+00, 8.69378384e-05,
  1.50632349e-03, 9.17277987e-07]


--- Step 995 ---
qpos:
[ 3.00654083e-03,-3.31429428e-03, 1.18755754e-02, 4.17466926e-02,
 -2.21733627e-03,-1.90110669e-03,-1.73726119e-02, 2.86366420e-02,
  5.86284223e-03, 1.64439059e-02,-9.38649187e-03, 2.60102539e-02,
  1.19209591e+00,-1.12668371e-03, 9.29198501e-01, 6.40999927e-02,
  9.50283528e-02,-7.01212218e-02, 1.21794541e-01, 9.99969382e-01,
  5.32682591e-05, 4.74501538e-04, 7.81069363e-03]

qacc:
[ -1.83281737, -2.2599314 , 13.06171905,-32.21073551, -5.64056183,
  -1.08765071,  6.21056782,-15.26794869, -1.12469383,  1.93600774,
  -4.29720438, -3.30963405, -0.48297621,  0.57145948,-11.13701394,
  36.56910508, -0.62851977, -0.89837625, -0.22630418, 14.7402913 ,
 -10.96649592,  0.66277702]

qfrc_actuator:
[-1.77277599e-05, 1.13429684e-04, 1.05295272e-04, 9.82302143e-05,
 -8.76746594e-05,-3.06171687e-04,-2.17894160e-04,-1.07485771e-04,
 -8.24859779e-05, 3.88229954e-04,-9.20484015e-06, 4.27916251e-05,
  1.48335452e-02,-1.46392395e-03, 8.59443625e-04,-2.74870140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021727181807772167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55491723e-13, -5.10983447e-13,  1.00000000e+00, -1.30552041e-25,
        1.00000000e+00,  5.10983447e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55491723e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887954, -0.05159614,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07310807e-05, 2.37001249e-05, 9.71670727e-06,-5.40570378e-05,
 -3.30948853e-05, 7.44341088e-06, 3.54353986e-06,-2.57836505e-05,
 -6.43337861e-06,-6.15152533e-06,-5.82094144e-05,-2.88561414e-05,
 -1.12155377e-04,-2.46007147e-05,-6.75817988e-05, 1.57841101e-04,
 -1.74159106e-06,-7.98255236e-07,-1.21640465e+00, 9.26807886e-05,
  1.50706950e-03, 4.64193229e-07]


--- Step 996 ---
qpos:
[ 3.00644439e-03,-3.31318897e-03, 1.18749617e-02, 4.17461805e-02,
 -2.21874606e-03,-1.90170038e-03,-1.73721602e-02, 2.86349215e-02,
  5.86184763e-03, 1.64428850e-02,-9.38783868e-03, 2.60093945e-02,
  1.19247212e+00,-1.12745591e-03, 9.29475168e-01, 6.40995590e-02,
  9.50260767e-02,-7.01425349e-02, 1.21790612e-01, 9.99969298e-01,
  2.29505681e-04, 4.51145292e-04, 7.81962066e-03]

qacc:
[  1.96221793, -1.46186721,  9.45777295,-26.15691345,  2.85424426,
  -0.23522639,  0.41780003,  0.80994021, -0.66940128, -1.99448102,
  11.54270317,-30.05070825, -0.38679338,  0.2462762 ,  2.43498428,
  -8.39154346, -0.62556152, -0.89549811, -0.27261834, 14.68478071,
 -10.91371309,  0.67128604]

qfrc_actuator:
[-5.88154871e-06, 9.72093508e-05, 8.86718092e-05, 4.74552117e-05,
 -7.00136945e-05,-3.10558593e-04,-2.11931083e-04,-1.03125680e-04,
 -8.62354173e-05, 3.84189889e-04,-1.37480566e-05,-1.10240775e-05,
  1.48018135e-02,-1.47472734e-03, 8.68345867e-04,-2.79079460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021464587510838795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887997, -0.05159552,  0.06199478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15477618e-05,-3.31196065e-06,-1.24091007e-05,-5.04777316e-05,
  1.67211432e-05,-5.88771744e-07, 7.05293420e-06, 4.30581762e-06,
 -3.93665210e-06,-2.06977015e-05,-1.39578598e-05,-5.66505792e-05,
 -1.04324373e-04,-4.07324789e-05,-6.31982623e-06,-4.23656810e-05,
 -2.77111782e-06,-1.42379652e-07,-1.21638602e+00, 9.98436869e-05,
  1.50667891e-03,-1.65870743e-07]


--- Step 997 ---
qpos:
[ 3.00649078e-03,-3.31239414e-03, 1.18745731e-02, 4.17454308e-02,
 -2.21924361e-03,-1.90244300e-03,-1.73713581e-02, 2.86343011e-02,
  5.86081597e-03, 1.64414101e-02,-9.38915070e-03, 2.60089709e-02,
  1.19284760e+00,-1.12807864e-03, 9.29751451e-01, 6.40967114e-02,
  9.50239882e-02,-7.01591029e-02, 1.21788535e-01, 9.99969197e-01,
  3.66329957e-04, 4.30985176e-04, 7.82846345e-03]

qacc:
[  1.26603241, -1.53184882,  5.86378064,-10.09998526,  8.01537446,
   1.07116911, -8.77739076, 27.39418185, -0.31419826,  0.20057028,
  -3.42501934, 11.24585396, -0.78368832,  1.13251125,  6.76593037,
 -24.38368744,  0.04691167,  1.18625497,  0.46300265,-19.69345049,
   1.75210803, -0.05131554]

qfrc_actuator:
[ 1.13014675e-06, 6.92432595e-05, 9.67972532e-05, 3.55347756e-05,
 -2.35428769e-05,-3.12930379e-04,-1.90855171e-04,-4.66116076e-05,
 -8.80414086e-05, 3.46714685e-04,-1.58632236e-05, 1.09383029e-05,
  1.47692665e-02,-1.46304336e-03, 8.21118729e-04,-2.92192397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002196765519384969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52694931e-13,  5.05389863e-13,  1.00000000e+00,  1.27709457e-25,
        1.00000000e+00, -5.05389863e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52694931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502408, -0.09317563,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.33928100e-06,-3.45708945e-05, 4.16127331e-06,-1.34747421e-05,
  4.69467746e-05,-1.03371660e-06, 2.19769128e-05, 5.68201538e-05,
 -1.92791500e-06,-5.43102793e-05,-1.00411861e-05, 1.94970977e-05,
 -1.03929910e-04,-1.98463092e-05,-6.06342803e-05,-1.35637379e-04,
 -3.87167767e-06, 8.14586228e-07,-1.21636073e+00, 1.08420665e-04,
  1.50515608e-03,-9.71562173e-07]


--- Step 998 ---
qpos:
[ 3.00627613e-03,-3.31213005e-03, 1.18746849e-02, 4.17445535e-02,
 -2.21952512e-03,-1.90334065e-03,-1.73700254e-02, 2.86350412e-02,
  5.86046054e-03, 1.64391652e-02,-9.39034785e-03, 2.60095400e-02,
  1.19322233e+00,-1.12831228e-03, 9.30026354e-01, 6.40937508e-02,
  9.50220984e-02,-7.01710074e-02, 1.21787673e-01, 9.99969094e-01,
  4.64373282e-04, 4.13875978e-04, 7.83735147e-03]

qacc:
[-2.26654415e+00,-2.35947290e+00, 7.94081972e+00,-1.05679924e+01,
  1.91497602e+00, 1.10730795e+00,-9.99747244e+00, 3.28173616e+01,
  5.91537568e+00, 6.93366384e-01,-8.16029990e+00, 2.57462568e+01,
 -8.27181675e-01, 1.38604177e+00,-1.63726882e+00, 2.90157070e+00,
  4.97009269e-02, 1.16588548e+00, 3.03885433e-01,-1.93779459e+01,
  1.67721834e+00, 1.37108290e-02]

qfrc_actuator:
[-1.25197285e-05, 3.45793248e-05, 1.19445527e-04, 2.88248725e-05,
 -1.37613450e-05,-3.13967044e-04,-1.60988054e-04, 2.23902657e-05,
 -5.31848356e-05, 2.89586673e-04,-1.66283885e-05, 5.95289130e-05,
  1.47415867e-02,-1.43812095e-03, 7.45576548e-04,-2.92700375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000228078544372734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19444278e-13,  4.86772234e-13,  1.00000000e+00,  1.55496605e-25,
        1.00000000e+00, -4.86772234e-13, -1.00000000e+00,  0.00000000e+00,
       -3.19444278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502481, -0.09317347,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34544788e-05,-5.37338289e-05, 1.55503629e-05,-8.30862225e-06,
  1.11161090e-05, 5.39510309e-06, 3.43255558e-05, 7.08231129e-05,
  3.47758536e-05,-8.86715091e-05,-1.25133069e-05, 4.63022379e-05,
 -9.47778447e-05,-1.92952332e-06,-1.22018311e-04,-2.12286514e-05,
 -2.98112757e-06, 6.47068360e-07,-1.21639207e+00, 1.15185709e-04,
  1.50434838e-03,-1.25396134e-06]


--- Step 999 ---
qpos:
[ 3.00589944e-03,-3.31202531e-03, 1.18743435e-02, 4.17443119e-02,
 -2.21968714e-03,-1.90391995e-03,-1.73684623e-02, 2.86358712e-02,
  5.86086994e-03, 1.64365956e-02,-9.39111254e-03, 2.60099168e-02,
  1.19359647e+00,-1.12852991e-03, 9.30301021e-01, 6.40891935e-02,
  9.50204161e-02,-7.01783161e-02, 1.21787492e-01, 9.99968999e-01,
  5.24162344e-04, 3.99700797e-04, 7.84638693e-03]

qacc:
[ -1.43349973,  2.36942681,-11.42963758, 23.26385751,  1.04993974,
  -0.03989884,  0.36980241,  0.58672011,  6.68981629, -2.04673551,
   7.4645468 ,-11.22083788, -0.53003092,  0.65995137,  4.50179446,
 -16.18453726,  0.05183648,  1.14895689,  0.16999411,-19.11507568,
   1.61690147,  0.06508927]

qfrc_actuator:
[-2.04671668e-05, 3.17464074e-05, 9.71842560e-05, 6.07317263e-05,
 -7.90944019e-06,-2.78631710e-04,-1.43919271e-04, 2.71737675e-05,
 -1.47818234e-05, 3.09927679e-04, 1.88277127e-05, 5.23547330e-05,
  1.47115282e-02,-1.44106011e-03, 7.64990233e-04,-2.99981012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023347045273924838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.43016281e-14,  4.75530420e-13,  1.00000000e+00,  3.53326844e-26,
        1.00000000e+00, -4.75530420e-13, -1.00000000e+00,  0.00000000e+00,
       -7.43016281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502536, -0.09317213,  0.06199433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35047295e-06,-3.00377655e-05,-3.17340773e-05, 2.99832174e-05,
  6.16631108e-06, 4.84967047e-05, 2.48547378e-05, 7.57764876e-06,
  3.93592423e-05,-2.97401687e-05, 1.72378220e-05,-1.05010927e-05,
 -8.80262960e-05,-2.38700923e-05,-3.87339375e-05,-8.95814886e-05,
 -2.14609596e-06, 5.14185924e-07,-1.21641521e+00, 1.20035073e-04,
  1.50368570e-03,-1.44874067e-06]


--- Step 1000 ---
qpos:
[ 3.00577492e-03,-3.31166702e-03, 1.18732441e-02, 4.17444222e-02,
 -2.21943295e-03,-1.90379027e-03,-1.73673970e-02, 2.86360614e-02,
  5.86139113e-03, 1.64345339e-02,-9.39208283e-03, 2.60094499e-02,
  1.19396997e+00,-1.12872850e-03, 9.30575843e-01, 6.40826777e-02,
  9.50189476e-02,-7.01810849e-02, 1.21787540e-01, 9.99968919e-01,
  5.46133449e-04, 3.88365590e-04, 7.85565057e-03]

qacc:
[  2.18551619,  3.17564544,-12.32799064, 19.45110416,  3.62225868,
   1.00404149,  0.46861926,-11.25350659,  0.95942022, -0.49300755,
   6.2909008 ,-20.935241  , -0.60795625,  0.77189815,  6.17540521,
 -21.18941876,  0.05346884,  1.13496613,  0.05745808,-18.89729999,
   1.56836756,  0.10572313]

qfrc_actuator:
[-7.23509447e-06, 6.56056305e-05, 6.64833196e-05, 7.95910851e-05,
  1.33474418e-05,-2.39637155e-04,-1.69946638e-04,-5.84727958e-06,
 -1.01153083e-05, 3.76612801e-04, 2.23951454e-05, 1.25096456e-05,
  1.46747304e-02,-1.44274617e-03, 7.88066335e-04,-3.09397085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023641495433880666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46752432e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.46752432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502578, -0.09317145,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29838418e-05, 1.17906350e-05,-3.97724506e-05, 1.70597373e-05,
  2.14482557e-05, 7.15754377e-05,-1.27000040e-05,-2.99395591e-05,
  5.77522737e-06, 5.32811040e-05,-7.78969096e-07,-4.07224622e-05,
 -9.50524772e-05,-2.58881180e-05,-8.91483754e-06,-1.05093457e-04,
 -1.32396171e-06, 3.99385698e-07,-1.21643058e+00, 1.22995766e-04,
  1.50317308e-03,-1.55526374e-06]


--- Step 1001 ---
qpos:
[ 3.00546504e-03,-3.31129874e-03, 1.18721030e-02, 4.17447389e-02,
 -2.21892573e-03,-1.90304705e-03,-1.73674867e-02, 2.86359132e-02,
  5.86230919e-03, 1.64331176e-02,-9.39341865e-03, 2.60085017e-02,
  1.19434289e+00,-1.12896985e-03, 9.30849668e-01, 6.40771994e-02,
  9.50176980e-02,-7.01793597e-02, 1.21787441e-01, 9.99968856e-01,
  5.30645205e-04, 3.79794822e-04, 7.86520620e-03]

qacc:
[ -1.62844714,  0.55824063, -2.83577208,  6.45817925,  2.1723074 ,
   3.33628555, -9.29737596,  4.83946509,  3.43889188,  0.87726592,
   0.13024757, -8.33784669, -0.29705515,  0.22821183, -4.58740395,
  13.94649698,  0.05471521,  1.12348683, -0.03700633,-18.71829497,
   1.52938669,  0.13789616]

qfrc_actuator:
[-1.71499857e-05, 6.78730921e-05, 6.67099198e-05, 9.06513670e-05,
  2.57501745e-05,-2.34470319e-04,-2.38948499e-04,-2.53522084e-05,
  1.01616851e-05, 4.17143893e-04, 7.29444449e-06,-1.07044057e-05,
  1.46498926e-02,-1.44368980e-03, 7.33426373e-04,-3.04017005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023738402717972396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48460686e-13,  2.33845351e-13,  1.00000000e+00,  5.81013763e-26,
        1.00000000e+00, -2.33845351e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48460686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502609, -0.09317132,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.54009804e-06, 1.38095709e-06,-1.63836128e-06, 1.05220695e-05,
  1.30408432e-05, 4.12752449e-05,-5.68332874e-05,-1.74636539e-05,
  2.04552372e-05, 6.85108802e-05,-5.56293873e-06,-2.17425395e-05,
 -8.74464125e-05,-2.73115906e-05,-7.63454472e-05, 4.54514679e-05,
 -4.83633890e-07, 2.91765125e-07,-1.21643849e+00, 1.24090053e-04,
  1.50281375e-03,-1.57315141e-06]


--- Step 1002 ---
qpos:
[ 3.00469395e-03,-3.31108385e-03, 1.18715779e-02, 4.17455058e-02,
 -2.21827352e-03,-1.90178485e-03,-1.73687037e-02, 2.86355435e-02,
  5.86346328e-03, 1.64320870e-02,-9.39483458e-03, 2.60069511e-02,
  1.19471506e+00,-1.12865536e-03, 9.31122363e-01, 6.40730865e-02,
  9.50166710e-02,-7.01731780e-02, 1.21786876e-01, 9.99968807e-01,
  4.77989196e-04, 3.73927978e-04, 7.87510431e-03]

qacc:
[ -4.02594398, -0.98894084,  1.34565971,  5.55901444,  1.22722601,
   3.37639195,-10.11270823,  7.70194905,  2.04921578, -0.5106053 ,
   5.09732351,-15.67345227, -0.90792133,  1.64464436, -5.72356043,
  17.75283012,  0.05566672,  1.11415713, -0.11619092,-18.57273958,
   1.49817398,  0.16340432]

qfrc_actuator:
[-4.06163774e-05, 6.90802597e-05, 1.02832612e-04, 1.14789739e-04,
  3.28371056e-05,-2.14283001e-04,-2.97373321e-04,-3.67927613e-05,
  2.17225284e-05, 4.23889156e-04,-1.01233171e-06,-4.17174591e-05,
  1.46215958e-02,-1.40862851e-03, 6.80186947e-04,-2.97081557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023677271864448735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.66326722e-13,  7.03347306e-13,  1.00000000e+00,  2.57654913e-25,
        1.00000000e+00, -7.03347306e-13, -1.00000000e+00,  0.00000000e+00,
       -3.66326722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502631, -0.0931716 ,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37380702e-05, 2.08866036e-06, 3.65792699e-05, 2.43471373e-05,
  7.47607957e-06, 3.07597192e-05,-5.75121074e-05,-1.19797314e-05,
  1.21661648e-05, 4.30551678e-05, 4.44199733e-06,-2.86851151e-05,
 -8.71065312e-05, 1.03564114e-05,-8.47904192e-05, 6.17442746e-05,
  3.97622529e-07, 1.85199997e-07,-1.21643919e+00, 1.23336162e-04,
  1.50260974e-03,-1.50220021e-06]


--- Step 1003 ---
qpos:
[ 3.00399225e-03,-3.31073106e-03, 1.18714163e-02, 4.17461902e-02,
 -2.21788624e-03,-1.90008837e-03,-1.73706821e-02, 2.86353703e-02,
  5.86474746e-03, 1.64309143e-02,-9.39582512e-03, 2.60050744e-02,
  1.19508649e+00,-1.12787041e-03, 9.31394047e-01, 6.40717784e-02,
  9.50158696e-02,-7.01625695e-02, 1.21785582e-01, 9.99968766e-01,
  3.88398977e-04, 3.70716774e-04, 7.88538489e-03]

qacc:
[  0.61800276, -1.00538452,  4.19529802, -6.30515529, -2.35483228,
   3.10879755,-11.07418609, 15.36283305,  1.15007377, -2.05005193,
   8.40937933,-14.6219555 , -0.77491717,  1.34972297, -9.90011795,
  32.6016452 ,  0.05639411,  1.10666964, -0.18247288,-18.45614524,
   1.47329884,  0.18365963]

qfrc_actuator:
[-3.63584238e-05, 8.75632708e-05, 1.24346681e-04, 1.10943136e-04,
  1.89887558e-05,-1.85234250e-04,-3.31264999e-04,-2.56236740e-05,
  2.80557802e-05, 3.92611846e-04, 1.23706759e-05,-5.93435237e-05,
  1.45806079e-02,-1.38805104e-03, 6.54464732e-04,-2.82186109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023491084153755282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.38460373e-14,  4.72614639e-13,  1.00000000e+00,  3.49007182e-26,
        1.00000000e+00, -4.72614639e-13, -1.00000000e+00,  0.00000000e+00,
       -7.38460373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502646, -0.09317223,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57977680e-06, 2.82403131e-05, 2.72970514e-05,-2.01730164e-06,
 -1.36216930e-05, 3.38286098e-05,-3.50369979e-05, 1.02645933e-05,
  6.69300342e-06,-7.44708480e-06, 2.18639999e-05,-1.61768910e-05,
 -9.10374172e-05, 3.59121390e-06,-5.90120584e-05, 1.41248652e-04,
  1.33650436e-06, 7.77318865e-08,-1.21643286e+00, 1.20748870e-04,
  1.50256226e-03,-1.34232369e-06]


--- Step 1004 ---
qpos:
[ 3.00369154e-03,-3.30999762e-03, 1.18714568e-02, 4.17461121e-02,
 -2.21766742e-03,-1.89863781e-03,-1.73725458e-02, 2.86357043e-02,
  5.86609784e-03, 1.64292749e-02,-9.39623065e-03, 2.60040686e-02,
  1.19545742e+00,-1.12738691e-03, 9.31665138e-01, 6.40702511e-02,
  9.50152960e-02,-7.01475580e-02, 1.21783336e-01, 9.99968723e-01,
  2.62057689e-04, 3.70122920e-04, 7.89607966e-03]

qacc:
[  3.51913671, -1.64038882,  9.78227976,-23.56298349, -1.46945812,
   0.40109351, -4.03865914, 12.80930867,  0.60425765, -0.46028293,
  -2.93305108, 17.41639772, -0.09822892, -0.26915588, -0.21597375,
  -0.52294326,  0.05695221,  1.10076314, -0.23787828,-18.36471824,
   1.45361312,  0.19977192]

qfrc_actuator:
[-1.58119646e-05, 1.16181850e-04, 1.37101729e-04, 7.29057611e-05,
  1.06837865e-05,-2.22002049e-04,-3.32599271e-04,-1.21823352e-06,
  3.12640147e-05, 3.56647217e-04, 3.82940992e-05,-1.57150179e-05,
  1.45480101e-02,-1.41180607e-03, 6.13327959e-04,-2.84016391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002320729248531661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.47490677e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.47490677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502656, -0.09317312,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06561766e-05, 4.99535545e-05, 2.18773399e-05,-3.59243605e-05,
 -8.68045522e-06,-2.46908572e-05, 1.69671875e-06, 2.48442085e-05,
  3.39218332e-06,-3.62413839e-05, 2.65489354e-05, 4.37600412e-05,
 -8.61070862e-05,-4.32355572e-05,-5.46718560e-05,-1.84895715e-05,
  2.34536347e-06,-2.88577738e-08,-1.21641964e+00, 1.16339986e-04,
  1.50267197e-03,-1.09351036e-06]


--- Step 1005 ---
qpos:
[ 3.00363944e-03,-3.30892270e-03, 1.18716406e-02, 4.17459331e-02,
 -2.21754992e-03,-1.89753256e-03,-1.73740117e-02, 2.86356310e-02,
  5.86678585e-03, 1.64279497e-02,-9.39691050e-03, 2.60038977e-02,
  1.19582782e+00,-1.12716451e-03, 9.31935842e-01, 6.40704162e-02,
  9.50149520e-02,-7.01281616e-02, 1.21779953e-01, 9.99968663e-01,
  9.91044889e-05, 3.72116324e-04, 7.90721377e-03]

qacc:
[  2.18081848, -0.16132433,  1.64783347, -3.86468657, -0.8704652 ,
  -2.40341433,  9.63055959,-17.06381468, -5.79075941,  2.91194513,
 -13.2853179 , 27.91976686, -0.07605122, -0.29460572, -5.68099123,
  19.04067361,  0.05738338,  1.09621564, -0.28413479,-18.29524766,
   1.43819422,  0.21261315]

qfrc_actuator:
[-3.60440198e-06, 1.32831236e-04, 1.44617254e-04, 6.83246531e-05,
  5.71435700e-06,-2.44495402e-04,-3.14970425e-04,-2.25181497e-05,
 -2.89618711e-06, 4.07014768e-04, 3.59067192e-05, 2.80945161e-05,
  1.45204502e-02,-1.42607163e-03, 6.26850753e-04,-2.74388735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002284866879499331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58135818e-13,  2.42951358e-13,  1.00000000e+00,  6.27144477e-26,
        1.00000000e+00, -2.42951358e-13, -1.00000000e+00,  0.00000000e+00,
       -2.58135818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502662, -0.09317421,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28116065e-05, 4.75447821e-05, 1.92757317e-05,-2.38597965e-06,
 -5.22658110e-06,-3.49199014e-05, 1.36019299e-05,-2.18152907e-05,
 -3.40843073e-05, 3.75323123e-05,-5.06192597e-06, 4.40336293e-05,
 -8.91018472e-05,-4.19722674e-05,-1.65119154e-05, 8.75625289e-05,
  3.43344407e-06,-1.29338175e-07,-1.21639964e+00, 1.10118753e-04,
  1.50293922e-03,-7.55793782e-07]


--- Step 1006 ---
qpos:
[ 3.00373434e-03,-3.30764824e-03, 1.18717104e-02, 4.17457370e-02,
 -2.21749327e-03,-1.89636793e-03,-1.73753790e-02, 2.86345810e-02,
  5.86671385e-03, 1.64272030e-02,-9.39775282e-03, 2.60038651e-02,
  1.19619752e+00,-1.12680566e-03, 9.32206105e-01, 6.40704430e-02,
  9.50119846e-02,-7.01091887e-02, 1.21777970e-01, 9.99968582e-01,
 -6.09742672e-05, 3.51230500e-04, 7.91882049e-03]

qacc:
[  1.28327867,  0.54431193, -1.48972171,  1.23185107, -0.53229209,
  -2.20456046, 12.10092126,-29.20723285, -6.64371696,  1.51639638,
  -4.85940862,  7.06398253, -0.62648722,  0.86863832, -0.19325253,
  -0.1769117 , -0.65582392, -0.10585833,  0.34971679,  1.34663439,
 -11.45059234,  0.23805419]

qfrc_actuator:
[ 3.59180453e-06, 1.24433381e-04, 1.31214455e-04, 6.57080736e-05,
  2.74648728e-06,-2.22721062e-04,-3.04045486e-04,-7.05296610e-05,
 -4.10227170e-05, 4.55329417e-04, 3.49108261e-05, 3.61950802e-05,
  1.44852829e-02,-1.41681062e-03, 5.87959434e-04,-2.75821341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002254218765836563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46254499e-13,  2.46254499e-13,  1.00000000e+00, -6.06412782e-26,
        1.00000000e+00, -2.46254499e-13, -1.00000000e+00,  0.00000000e+00,
        2.46254499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885299, -0.06832137,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.57347328e-06, 2.20324699e-05,-1.30541762e-06, 3.76420095e-08,
 -3.12867767e-06, 4.09719677e-06, 4.63734689e-06,-4.94607412e-05,
 -3.90969644e-05, 7.01909641e-05, 7.68295344e-06, 1.03972121e-05,
 -9.76042968e-05,-1.91821944e-05,-4.10836582e-05,-1.25740558e-05,
  4.60778657e-06,-2.15220372e-07,-1.21637291e+00, 1.02092194e-04,
  1.50336415e-03,-3.29231413e-07]


--- Step 1007 ---
qpos:
[ 3.00391503e-03,-3.30645894e-03, 1.18717642e-02, 4.17455416e-02,
 -2.21781754e-03,-1.89524272e-03,-1.73765913e-02, 2.86329724e-02,
  5.86687501e-03, 1.64267059e-02,-9.39845744e-03, 2.60036060e-02,
  1.19656654e+00,-1.12633251e-03, 9.32475909e-01, 6.40689765e-02,
  9.50064556e-02,-7.00940006e-02, 1.21777006e-01, 9.99968482e-01,
 -1.89964484e-04, 3.07035769e-04, 7.93121226e-03]

qacc:
[  0.75391059, -0.06755073,  0.07154983,  0.03364514, -3.33580352,
  -1.62719557,  8.0967509 ,-17.99511447,  2.03353712, -0.52523264,
   3.30102792, -7.61800771, -0.66441838,  0.9226787 ,  3.8705255 ,
 -14.4304725 , -0.64041569, -0.94620476,  0.2549869 , 15.45135332,
 -11.77720004,  0.39733525]

qfrc_actuator:
[ 7.78336636e-06, 1.01012524e-04, 1.23213192e-04, 6.42269275e-05,
 -1.67730117e-05,-2.27910568e-04,-2.97002786e-04,-9.83305603e-05,
 -2.79085726e-05, 4.48764587e-04, 3.47477024e-05, 2.32327777e-05,
  1.44509109e-02,-1.41147944e-03, 5.54918965e-04,-2.83774725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023197262278870645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39300442e-13, -2.39300442e-13,  1.00000000e+00, -5.72647017e-26,
        1.00000000e+00,  2.39300442e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39300442e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887178, -0.05159795,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.41094481e-06,-1.14124925e-05,-3.62553597e-06,-5.84710795e-07,
 -1.96053773e-05,-4.08516816e-06, 6.75368909e-06,-2.84245077e-05,
  1.20140052e-05, 3.47420602e-05, 1.56620174e-05,-9.48090359e-06,
 -9.70762395e-05,-2.02205756e-05,-5.70943107e-05,-8.63793181e-05,
  4.81363710e-06,-7.69668412e-08,-1.21637416e+00, 9.40443345e-05,
  1.50243904e-03, 3.83499083e-07]


--- Step 1008 ---
qpos:
[ 3.00379980e-03,-3.30558429e-03, 1.18718477e-02, 4.17453571e-02,
 -2.21837325e-03,-1.89411047e-03,-1.73780290e-02, 2.86314090e-02,
  5.86753618e-03, 1.64270383e-02,-9.39968285e-03, 2.60031649e-02,
  1.19693487e+00,-1.12577350e-03, 9.32744752e-01, 6.40724978e-02,
  9.49983784e-02,-7.00825443e-02, 1.21776557e-01, 9.99968372e-01,
 -2.88284036e-04, 2.39918511e-04, 7.94446288e-03]

qacc:
[ -2.59106941, -0.47155039,  1.04104271, -0.67929459, -2.03705238,
   0.73568804, -2.79388076,  3.92401781,  4.33063652,  2.16860623,
  -5.38743181,  2.47393405, -0.29398473,  0.26902186,-16.45417897,
  55.54882059, -0.63705873, -0.93295993,  0.12852166, 15.2438148 ,
 -11.58261063,  0.43198592]

qfrc_actuator:
[-7.57807265e-06, 6.87827579e-05, 1.18400519e-04, 6.34158815e-05,
 -2.81264496e-05,-2.31450707e-04,-3.10137854e-04,-9.62798574e-05,
 -2.49181140e-06, 5.15885289e-04, 1.70964255e-05, 1.56949531e-05,
  1.44170400e-02,-1.40853856e-03, 5.62687048e-04,-2.56443765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002364532867643182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.34765826e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.34765826e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088705 , -0.05159881,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52434008e-05,-3.94278501e-05,-7.65121804e-06,-1.43929793e-06,
 -1.19127911e-05,-5.67760066e-06,-1.41250553e-05, 1.56074416e-06,
  2.57706617e-05, 8.94091029e-05,-8.85945254e-06,-5.68878109e-06,
 -9.67962199e-05,-2.25512473e-05,-3.13697717e-05, 2.60408957e-04,
  4.39987188e-06, 4.16511602e-07,-1.21639299e+00, 8.74938935e-05,
  1.50017474e-03, 9.43448742e-07]


--- Step 1009 ---
qpos:
[ 3.00281134e-03,-3.30479338e-03, 1.18715272e-02, 4.17448198e-02,
 -2.21906075e-03,-1.89317034e-03,-1.73795342e-02, 2.86298974e-02,
  5.86815200e-03, 1.64281961e-02,-9.40090169e-03, 2.60026000e-02,
  1.19730257e+00,-1.12543030e-03, 9.33013396e-01, 6.40768947e-02,
  9.49877640e-02,-7.00747757e-02, 1.21776196e-01, 9.99968255e-01,
 -3.56280315e-04, 1.50190196e-04, 7.95862320e-03]

qacc:
[ -7.67628837,  0.30697241,  0.25927256, -5.68378537, -1.15471137,
   0.04346596, -0.73800835,  1.87851333, -0.40935869,  0.81854111,
  -0.81167262, -1.9503153 , -0.23613846, -0.0294754 , -2.92909768,
   9.83960791, -0.63427234, -0.92192632,  0.02222167, 15.07123081,
 -11.42575167,  0.45523836]

qfrc_actuator:
[-5.20765578e-05, 6.70364589e-05, 9.77090646e-05, 4.52439228e-05,
 -3.45773680e-05,-2.51784550e-04,-3.17308634e-04,-9.44512327e-05,
 -5.55885469e-06, 5.73279672e-04, 2.50609207e-05, 1.14579356e-05,
  1.43781690e-02,-1.42480179e-03, 5.41744108e-04,-2.52912148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023864107168880544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886972, -0.05159917,  0.0619942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49488716e-05,-2.54736238e-05,-2.98376881e-05,-2.01547085e-05,
 -6.79196118e-06,-2.63843915e-05,-1.00218716e-05, 1.13162619e-06,
 -2.29686787e-06, 1.05333031e-04, 2.51561741e-05,-8.20683199e-07,
 -1.01235797e-04,-4.26404100e-05,-9.23880310e-06, 4.51390020e-05,
  4.04053274e-06, 1.19880590e-06,-1.21640416e+00, 8.24230511e-05,
  1.49673756e-03, 1.31127223e-06]


--- Step 1010 ---
qpos:
[ 3.00129698e-03,-3.30406347e-03, 1.18711299e-02, 4.17450791e-02,
 -2.21982028e-03,-1.89247616e-03,-1.73811238e-02, 2.86291185e-02,
  5.86907191e-03, 1.64294703e-02,-9.40115516e-03, 2.60020131e-02,
  1.19766968e+00,-1.12554243e-03, 9.33282361e-01, 6.40783176e-02,
  9.49746999e-02,-7.00711748e-02, 1.21775333e-01, 9.99968133e-01,
 -3.89880188e-04, 3.85456211e-05, 7.97370685e-03]

qacc:
[ -4.61693993,  1.7844335 , -9.82330406, 23.75478859, -0.62976771,
   1.41909032, -8.62413476, 21.62004252,  2.68038075, -2.59463629,
   9.55802128,-11.5564392 , -0.22180468, -0.21576236,  9.45297917,
 -32.37867596, -0.61246115, -1.04191695, -0.12557481, 17.1103747 ,
 -11.09482071,  0.4603504 ]

qfrc_actuator:
[-7.78563220e-05, 8.34751841e-05, 1.03417525e-04, 8.80252566e-05,
 -3.80938456e-05,-2.64245631e-04,-3.20968504e-04,-5.72751839e-05,
  1.01344214e-05, 5.53500049e-04, 6.58284832e-05, 9.21596232e-06,
  1.43416433e-02,-1.45232015e-03, 5.40821111e-04,-2.68774233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023899687927241033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.42466467e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.42466467e-08, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10861362, -0.04881408,  0.06199419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70689504e-05,-4.86882660e-06,-3.92717284e-06, 4.02675550e-05,
 -3.71892854e-06,-2.92522464e-05,-1.02947311e-05, 3.57255325e-05,
  1.56655220e-05, 4.42591744e-05, 6.55983674e-05, 3.12806463e-06,
 -1.06297756e-04,-5.89035012e-05,-5.18828877e-06,-1.58467752e-04,
  3.70871256e-06, 2.27428411e-06,-1.21640798e+00, 7.88134428e-05,
  1.49213862e-03, 1.49223876e-06]


--- Step 1011 ---
qpos:
[ 2.99982991e-03,-3.30344282e-03, 1.18708305e-02, 4.17454968e-02,
 -2.22027134e-03,-1.89184434e-03,-1.73828450e-02, 2.86291160e-02,
  5.87051779e-03, 1.64309464e-02,-9.40141633e-03, 2.60014613e-02,
  1.19803592e+00,-1.12538618e-03, 9.33550614e-01, 6.40792644e-02,
  9.49592827e-02,-7.00722580e-02, 1.21773313e-01, 9.99968003e-01,
 -3.84705201e-04,-9.42722957e-05, 7.98969586e-03]

qacc:
[  0.42015029, -0.09186181, -0.55223249,  3.22102438,  2.70301241,
   1.87643401,-10.0977125 , 23.79871447,  4.58396594,  0.35180931,
  -1.0308448 ,  1.51903966, -0.86885061,  1.30583475,  0.44329241,
  -2.94489911, -0.58824165, -1.17102476, -0.28943033, 19.30237843,
 -10.74109947,  0.44931121]

qfrc_actuator:
[-7.46502681e-05, 7.53304292e-05, 1.07047483e-04, 9.53598113e-05,
 -2.21040682e-05,-2.54099744e-04,-3.22477937e-04,-1.73450693e-05,
  3.67526110e-05, 5.41052768e-04, 5.43059226e-05, 8.11871760e-06,
  1.43012179e-02,-1.43300786e-03, 4.98612467e-04,-2.71068896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023847707153869246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10832888, -0.0457163 ,  0.0619942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42988520e-06,-9.98071756e-06, 3.53213733e-06, 7.77407635e-06,
  1.58724907e-05,-6.81344921e-06,-7.57117671e-06, 3.90194798e-05,
  2.70835456e-05, 2.59535315e-05, 5.79752887e-06, 3.12865446e-06,
 -1.17259404e-04,-1.63606799e-05,-6.84696541e-05,-3.38951978e-05,
  3.19802294e-06, 3.69712891e-06,-1.21640574e+00, 7.68702065e-05,
  1.48636643e-03, 1.44552580e-06]


--- Step 1012 ---
qpos:
[ 2.99841230e-03,-3.30272158e-03, 1.18699976e-02, 4.17449805e-02,
 -2.22087242e-03,-1.89109540e-03,-1.73843486e-02, 2.86288534e-02,
  5.87227198e-03, 1.64323780e-02,-9.40198330e-03, 2.60016452e-02,
  1.19840131e+00,-1.12499033e-03, 9.33818125e-01, 6.40795756e-02,
  9.49415150e-02,-7.00779928e-02, 1.21769865e-01, 9.99967858e-01,
 -3.41028673e-04,-2.48088315e-04, 8.00662215e-03]

qacc:
[  0.41508863, -0.30163929,  5.20725137,-20.58812001, -1.31123634,
  -0.98536844,  4.84091444, -9.78085198,  2.68085664,  2.30473713,
 -11.41812318, 24.6804098 , -0.84165188,  1.24325474,  0.8774831 ,
  -4.53558595, -0.58765799, -1.16288853, -0.35674866, 19.16631151,
 -10.65270428,  0.46284316]

qfrc_actuator:
[-7.21681845e-05, 7.02608713e-05, 7.37812948e-05, 4.62403960e-05,
 -3.02674962e-05,-2.30474905e-04,-3.04863511e-04,-2.93570261e-05,
  5.18295918e-05, 5.15120111e-04, 2.97488387e-05, 4.31652687e-05,
  1.42584989e-02,-1.42164400e-03, 4.63668594e-04,-2.74230270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023663580578073273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10832883, -0.04571567,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54560751e-06,-9.60261040e-06,-3.46269757e-05,-4.92748490e-05,
 -7.71469079e-06, 1.99258782e-05, 1.66367233e-05,-1.18047499e-05,
  1.58662804e-05,-1.01227825e-05,-1.83862714e-05, 3.64179337e-05,
 -1.16717240e-04,-1.79737731e-05,-7.28090054e-05,-4.28942444e-05,
  2.44291670e-06, 5.48122464e-06,-1.21639558e+00, 7.68131438e-05,
  1.47944377e-03, 1.13996010e-06]


--- Step 1013 ---
qpos:
[ 2.99772545e-03,-3.30210875e-03, 1.18690819e-02, 4.17442211e-02,
 -2.22156654e-03,-1.89026903e-03,-1.73853819e-02, 2.86291266e-02,
  5.87384910e-03, 1.64331775e-02,-9.40201352e-03, 2.60026108e-02,
  1.19876611e+00,-1.12503877e-03, 9.34085007e-01, 6.40804255e-02,
  9.49267764e-02,-7.00853091e-02, 1.21768275e-01, 9.99967715e-01,
 -2.82831869e-04,-3.75813289e-04, 8.02174643e-03]

qacc:
[ 6.4132505 ,-0.42537188, 2.31238056,-6.28223371,-0.80217564,-0.10774498,
 -1.72744135,10.19011263,-1.51643691,-0.72306786,-1.92987936,15.06291043,
 -0.01912034,-0.55568018,-2.56443539, 7.597782  , 0.75731443,-0.39537873,
  0.46444157, 7.36413238,12.98728171,-0.89834367]

qfrc_actuator:
[-3.46363040e-05, 6.68702897e-05, 7.22274587e-05, 3.52883838e-05,
 -3.48350992e-05,-2.16669843e-04,-2.76071333e-04,-7.97823751e-07,
  4.22364819e-05, 4.63509393e-04, 5.09301203e-05, 8.14309418e-05,
  1.42250853e-02,-1.45063306e-03, 4.54415132e-04,-2.70775611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024044401012460193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61738691e-13, -2.30869345e-13,  1.00000000e+00, -1.06601309e-25,
        1.00000000e+00,  2.30869345e-13, -1.00000000e+00,  0.00000000e+00,
       -4.61738691e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175817, -0.06200665,  0.06199416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76031569e-05,-1.80332646e-05,-9.50350383e-06,-1.35191857e-05,
 -4.78073094e-06, 2.78663964e-05, 3.45585738e-05, 2.97616376e-05,
 -9.13864008e-06,-5.95432350e-05, 1.80763529e-05, 3.79017807e-05,
 -1.07512975e-04,-5.85078213e-05,-4.99036220e-05, 2.22570028e-05,
  1.62010281e-06, 7.58075313e-06,-1.21637581e+00, 7.86217757e-05,
  1.47142074e-03, 6.06988222e-07]


--- Step 1014 ---
qpos:
[ 2.99714908e-03,-3.30205574e-03, 1.18688989e-02, 4.17433376e-02,
 -2.22196502e-03,-1.88955636e-03,-1.73857015e-02, 2.86304378e-02,
  5.87529911e-03, 1.64334708e-02,-9.40171450e-03, 2.60029900e-02,
  1.19913030e+00,-1.12545879e-03, 9.34350301e-01, 6.40831611e-02,
  9.49150341e-02,-7.00942092e-02, 1.21768029e-01, 9.99967581e-01,
 -2.10393166e-04,-4.77864837e-04, 8.03514315e-03]

qacc:
[ 1.00243496e+00,-3.04667438e+00, 1.03092107e+01,-1.32137012e+01,
  2.61801315e+00,-1.39499220e-02,-4.56070613e+00, 2.14791964e+01,
 -1.09010837e+00,-2.79419173e+00, 1.14714987e+01,-2.17772950e+01,
  3.21362140e-02,-5.86843822e-01,-8.04724513e+00, 2.47176910e+01,
  7.49055923e-01,-3.95961243e-01, 3.35973901e-01, 7.22336903e+00,
  1.27794225e+01,-8.62837922e-01]

qfrc_actuator:
[-3.00335141e-05, 2.91505841e-05, 1.07216361e-04, 2.91667723e-05,
 -1.94895633e-05,-2.26516445e-04,-2.40912262e-04, 5.14121704e-05,
  3.59560114e-05, 4.32602363e-04, 6.33289260e-05, 5.02771189e-05,
  1.41972628e-02,-1.46774054e-03, 3.59402417e-04,-2.61668079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002444387762231409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817591 , -0.06200769,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66763213e-06,-5.03405005e-05, 2.96301415e-05,-7.48515902e-06,
  1.52163552e-05, 1.41297190e-05, 4.62037282e-05, 5.51792372e-05,
 -6.56280015e-06,-5.88747419e-05, 3.62808712e-06,-3.23455959e-05,
 -1.05377077e-04,-5.29402290e-05,-1.18428678e-04, 8.52202513e-05,
  1.47884429e-07, 5.96466513e-06,-1.21639059e+00, 8.18289593e-05,
  1.46499966e-03, 3.37132358e-07]


--- Step 1015 ---
qpos:
[ 2.99628761e-03,-3.30229228e-03, 1.18690692e-02, 4.17423790e-02,
 -2.22217661e-03,-1.88870418e-03,-1.73861498e-02, 2.86317000e-02,
  5.87666223e-03, 1.64335299e-02,-9.40079809e-03, 2.60025926e-02,
  1.19949369e+00,-1.12553652e-03, 9.34614314e-01, 6.40875854e-02,
  9.49062601e-02,-7.01046948e-02, 1.21768696e-01, 9.99967462e-01,
 -1.23934594e-04,-5.54587855e-04, 8.04686747e-03]

qacc:
[ -2.48652298, -1.51999801,  5.18893599, -6.84778833,  1.63272273,
   0.4395864 , -1.09823543,  0.35788445, -0.73508056, -3.63250253,
  15.78473866,-30.04424238, -0.75098691,  1.18527742, -6.93594913,
  21.63780916,  0.74205644, -0.39638099,  0.22808388,  7.11106804,
  12.60770779, -0.83691276]

qfrc_actuator:
[-4.48602220e-05, 2.45860909e-05, 1.27843219e-04, 2.59217268e-05,
 -1.03002315e-05,-2.32641251e-04,-2.55622464e-04, 4.60855840e-05,
  3.16839881e-05, 4.49749847e-04, 1.05956330e-04, 1.40323194e-05,
  1.41674906e-02,-1.44210881e-03, 3.08907288e-04,-2.52875604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002461767681493504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25493054e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.25493054e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175958, -0.06200835,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46835371e-05,-2.69093570e-05, 1.36231616e-05,-4.51967645e-06,
  9.62383184e-06, 1.36650302e-05,-4.19916113e-06,-2.05293076e-06,
 -4.47816107e-06,-1.64250040e-05, 2.97876767e-05,-3.92734074e-05,
 -1.05356948e-04,-8.27572194e-06,-9.44796981e-05, 7.76769744e-05,
 -9.66174834e-07, 4.50607889e-06,-1.21640076e+00, 8.56875146e-05,
  1.45987370e-03, 8.17101714e-08]


--- Step 1016 ---
qpos:
[ 2.99594488e-03,-3.30255034e-03, 1.18693584e-02, 4.17417157e-02,
 -2.22227613e-03,-1.88779507e-03,-1.73872546e-02, 2.86325918e-02,
  5.87796337e-03, 1.64336176e-02,-9.39979737e-03, 2.60021114e-02,
  1.19985655e+00,-1.12592208e-03, 9.34878545e-01, 6.40898049e-02,
  9.49004307e-02,-7.01167674e-02, 1.21769912e-01, 9.99967358e-01,
 -2.36314150e-05,-6.06265692e-04, 8.05695916e-03]

qacc:
[ 4.55755055e+00, 2.38883298e-01,-2.15411424e+00, 7.10592667e+00,
  9.61177885e-01, 1.14541186e+00,-2.41413288e+00,-2.98596239e+00,
 -5.38579284e-01,-3.69015957e-01, 1.72576698e+00,-3.33190587e+00,
 -2.56803624e-01,-1.93512566e-02, 6.98288288e+00,-2.39465596e+01,
  7.36182762e-01,-3.96741099e-01, 1.37649129e-01, 7.02239464e+00,
  1.24665855e+01,-8.18634807e-01]

qfrc_actuator:
[-1.77353261e-05, 3.98683620e-05, 1.39939320e-04, 4.21557755e-05,
 -4.81412965e-06,-2.54493343e-04,-2.99697347e-04, 2.46615601e-05,
  2.86276591e-05, 4.60155194e-04, 1.13043131e-04, 1.06630926e-05,
  1.41419146e-02,-1.46240932e-03, 3.38410181e-04,-2.63855780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024610337520127035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51120601e-13, -4.51120601e-13,  1.00000000e+00, -2.03509796e-25,
        1.00000000e+00,  4.51120601e-13, -1.00000000e+00,  0.00000000e+00,
       -4.51120601e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175969, -0.06200873,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66976797e-05, 2.86116773e-06, 8.06379907e-06, 1.54678639e-05,
  5.76544653e-06,-1.51911452e-05,-4.18485560e-05,-2.10277886e-05,
 -3.18893283e-06, 5.68119150e-06, 5.99512956e-06,-3.80758742e-06,
 -9.06940392e-05,-4.52485511e-05,-5.84615774e-06,-1.17741602e-04,
 -1.74677807e-06, 3.18440070e-06,-1.21640655e+00, 9.01919964e-05,
  1.45602367e-03,-1.61304503e-07]


--- Step 1017 ---
qpos:
[ 2.99592972e-03,-3.30275406e-03, 1.18697345e-02, 4.17415895e-02,
 -2.22265382e-03,-1.88702304e-03,-1.73888378e-02, 2.86335788e-02,
  5.87887306e-03, 1.64335360e-02,-9.39890574e-03, 2.60016326e-02,
  1.20021881e+00,-1.12652026e-03, 9.35142842e-01, 6.40893459e-02,
  9.48975267e-02,-7.01304285e-02, 1.21771377e-01, 9.99967269e-01,
  9.03800838e-05,-6.33129389e-04, 8.06544573e-03]

qacc:
[  2.87736034,  0.92990662, -5.48608206, 14.60817477, -2.45245428,
   1.35572804, -5.49076751,  7.9944725 , -3.4147158 ,  0.09259057,
  -0.65345728,  0.98127376, -0.41023408,  0.2802002 ,  8.2012776 ,
 -28.50713467,  0.7313134 , -0.39711462,  0.06200812,  6.95341283,
  12.3514653 , -0.80646185]

qfrc_actuator:
[-1.63454289e-06, 4.91538640e-05, 1.47009968e-04, 6.97369428e-05,
 -1.93025406e-05,-2.68002406e-04,-3.25306411e-04, 2.94252886e-05,
  8.55796925e-06, 4.30840890e-04, 9.90917172e-05, 8.88423504e-06,
  1.41082087e-02,-1.47425070e-03, 3.35936282e-04,-2.77501435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024459116525937796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.2695485e-13,  2.2695485e-13,  1.0000000e+00,  5.1508504e-26,
        1.0000000e+00, -2.2695485e-13, -1.0000000e+00,  0.0000000e+00,
       -2.2695485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175951, -0.06200888,  0.06199406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68618894e-05, 1.32314978e-05, 9.19046595e-06, 2.82842301e-05,
 -1.43268079e-05,-3.15691429e-05,-3.46292994e-05, 2.25367094e-06,
 -2.01579849e-05,-2.50729382e-05,-1.21813998e-05,-1.40302716e-06,
 -9.80668826e-05,-4.12363347e-05,-2.41175814e-05,-1.45134586e-04,
 -2.21140950e-06, 1.98418893e-06,-1.21640813e+00, 9.53376880e-05,
  1.45343416e-03,-3.93395032e-07]


--- Step 1018 ---
qpos:
[ 2.99610809e-03,-3.30309191e-03, 1.18700351e-02, 4.17414851e-02,
 -2.22320190e-03,-1.88686770e-03,-1.73899315e-02, 2.86339192e-02,
  5.87919057e-03, 1.64328184e-02,-9.39769605e-03, 2.60015129e-02,
  1.20058027e+00,-1.12668901e-03, 9.35406271e-01, 6.40870368e-02,
  9.48975319e-02,-7.01456797e-02, 1.21772838e-01, 9.99967192e-01,
  2.17996222e-04,-6.35365332e-04, 8.07234485e-03]

qacc:
[ 1.69864369e+00, 7.57799531e-02,-6.25557937e-01, 1.23056061e+00,
 -1.46896299e+00,-3.50905206e+00, 1.40653788e+01,-2.55900312e+01,
 -5.14415706e+00,-9.80311161e-01, 7.77086107e-01, 5.37820522e+00,
 -1.01581077e+00, 1.70176702e+00, 4.37056679e+00,-1.69942344e+01,
  7.27338462e-01,-3.97552043e-01,-1.11054606e-03, 6.90091105e+00,
  1.22585424e+01,-7.99162195e-01]

qfrc_actuator:
[ 7.83544857e-06, 1.92687923e-05, 1.33297111e-04, 6.82613221e-05,
 -2.76776070e-05,-3.11839664e-04,-3.04246228e-04,-3.67366512e-06,
 -2.13654904e-05, 3.77881330e-04, 1.08182298e-04, 2.57596285e-05,
  1.40749762e-02,-1.44548342e-03, 2.71675750e-04,-2.87285017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002419509254604768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29431448e-13, -2.29431448e-13,  1.00000000e+00, -5.26387894e-26,
        1.00000000e+00,  2.29431448e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29431448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175911, -0.06200885,  0.06199412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.95361972e-06,-1.93669185e-05,-8.87153811e-06,-4.10315494e-08,
 -8.79315523e-06,-6.85636151e-05, 1.03596565e-05,-3.56060013e-05,
 -3.05088927e-05,-6.95674155e-05, 2.35581529e-06, 1.53523956e-05,
 -1.01274856e-04,-1.38063024e-06,-9.66171614e-05,-1.10206797e-04,
 -2.37183251e-06, 8.93737287e-07,-1.21640563e+00, 1.01120597e-04,
  1.45209293e-03,-6.15624589e-07]


--- Step 1019 ---
qpos:
[ 2.99639879e-03,-3.30355193e-03, 1.18699285e-02, 4.17410411e-02,
 -2.22350134e-03,-1.88729199e-03,-1.73904336e-02, 2.86331578e-02,
  5.87983630e-03, 1.64317685e-02,-9.39673316e-03, 2.60012515e-02,
  1.20094117e+00,-1.12708682e-03, 9.35669071e-01, 6.40824861e-02,
  9.49004338e-02,-7.01625233e-02, 1.21774084e-01, 9.99967123e-01,
  3.59140727e-04,-6.13121614e-04, 8.07766641e-03]

qacc:
[  0.97506756,  0.27482503,  0.21555321, -5.34807559,  2.20858663,
  -4.68832021, 20.25040854,-39.82692071,  2.86072145, -0.04652897,
   0.11746989, -1.92033438, -0.31502751,  0.12288738,  5.85100781,
 -21.79020107,  0.72415932, -0.39808708, -0.05364656,  6.86226328,
  12.18465614, -0.79575086]

qfrc_actuator:
[ 1.33299773e-05, 1.55336354e-06, 1.07241853e-04, 4.96518880e-05,
 -1.46285464e-05,-3.37834153e-04,-2.73713732e-04,-5.87864329e-05,
 -3.58599246e-06, 3.64526864e-04, 9.52092958e-05, 1.79647000e-05,
  1.40420672e-02,-1.46391848e-03, 2.50311908e-04,-2.98277586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023844107054424302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175853, -0.06200868,  0.06199421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77241863e-06,-3.03677767e-05,-3.11496016e-05,-1.97469392e-05,
  1.27755548e-05,-6.37178649e-05, 1.64250901e-05,-5.83838652e-05,
  1.68789421e-05,-5.11099806e-05,-2.65256648e-05,-1.03953898e-05,
 -9.43926196e-05,-4.08595481e-05,-7.94122117e-05,-1.28782001e-04,
 -2.23519837e-06,-9.59891700e-08,-1.21639915e+00, 1.07537428e-04,
  1.45199036e-03,-8.28728868e-07]


--- Step 1020 ---
qpos:
[ 2.99640796e-03,-3.30370020e-03, 1.18689479e-02, 4.17413903e-02,
 -2.22364245e-03,-1.88786312e-03,-1.73907886e-02, 2.86324073e-02,
  5.88034438e-03, 1.64310589e-02,-9.39628696e-03, 2.60011757e-02,
  1.20130144e+00,-1.12789826e-03, 9.35931525e-01, 6.40788122e-02,
  9.49035111e-02,-7.01747845e-02, 1.21776068e-01, 9.99967048e-01,
  4.61825209e-04,-5.88264049e-04, 8.08354006e-03]

qacc:
[ -2.50346353,  4.49573949,-18.76807704, 33.64994376,  1.39587997,
  -0.58480646,  1.75292248, -1.68584773, -1.22249569,  2.27811025,
  -8.24977111, 12.03257768, -0.06298092, -0.47008435, -3.16336734,
  10.30944018,  0.04384607,  1.14561579,  0.18446697,-19.21865196,
   1.46231177,  0.2873744 ]

qfrc_actuator:
[-1.30961584e-06, 4.44393050e-05, 7.41429711e-05, 9.21255263e-05,
 -6.82851449e-06,-3.17408081e-04,-2.55548426e-04,-5.53832692e-05,
 -1.11261574e-05, 4.28143967e-04, 8.71884283e-05, 3.12299527e-05,
  1.39987081e-02,-1.49243559e-03, 2.81324586e-04,-2.92129764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002424426019490139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28793464e-13,  4.57932317e-13,  1.00000000e+00,  5.89786895e-26,
        1.00000000e+00, -4.57932317e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28793464e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503777, -0.09317271,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44820458e-05, 1.86442964e-05,-4.38843367e-05, 3.97125005e-05,
  8.14372093e-06,-1.42867563e-05, 5.01927256e-06, 1.07849942e-07,
 -7.07507369e-06, 2.91466345e-05,-2.22036463e-05, 9.95504739e-06,
 -1.09658171e-04,-5.74826473e-05,-2.18823831e-05, 4.36323294e-05,
 -1.80486954e-06,-9.92157633e-07,-1.21638875e+00, 1.14585540e-04,
  1.45311902e-03,-1.03318648e-06]


--- Step 1021 ---
qpos:
[ 2.99624203e-03,-3.30409607e-03, 1.18680154e-02, 4.17425984e-02,
 -2.22368912e-03,-1.88826523e-03,-1.73910903e-02, 2.86316681e-02,
  5.88075789e-03, 1.64310151e-02,-9.39592094e-03, 2.60015306e-02,
  1.20166093e+00,-1.12850282e-03, 9.36193425e-01, 6.40752725e-02,
  9.49067700e-02,-7.01825174e-02, 1.21778326e-01, 9.99966979e-01,
  5.26536747e-04,-5.60861535e-04, 8.09000796e-03]

qacc:
[ -1.53080176,  1.31122532, -8.76742712, 23.72675254,  0.82709213,
   0.09559392, -0.06714809,  0.05548516, -0.83837636,  1.99238861,
  -7.64268141, 14.73150161, -0.72874209,  1.05517026, -1.17635152,
   3.03627385,  0.0453902 ,  1.13206356,  0.06853917,-18.97538681,
   1.42604917,  0.30767642]

qfrc_actuator:
[-9.92812832e-06, 1.67852431e-05, 7.29529961e-05, 1.34746766e-04,
 -2.18705316e-06,-2.87083253e-04,-2.44595401e-04,-5.30477210e-05,
 -1.57708922e-05, 5.01899226e-04, 1.00260069e-04, 5.68606983e-05,
  1.39704085e-02,-1.47346782e-03, 2.42570395e-04,-2.91897245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002451942418361108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97145583e-13,  2.26396635e-13,  1.00000000e+00,  6.72727601e-26,
        1.00000000e+00, -2.26396635e-13, -1.00000000e+00,  0.00000000e+00,
       -2.97145583e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503809, -0.09317195,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.02297334e-06,-2.45805666e-05,-1.35690756e-06, 4.26767439e-05,
  4.86839896e-06, 2.34065214e-05, 8.63626384e-06, 1.90247455e-06,
 -4.83868607e-06, 8.59141688e-05, 1.67059388e-05, 2.63064270e-05,
 -1.06521861e-04,-1.73628888e-05,-4.82121343e-05, 9.77496549e-07,
 -1.40404470e-06,-8.78187266e-07,-1.21641201e+00, 1.19677785e-04,
  1.45439813e-03,-1.34096387e-06]


--- Step 1022 ---
qpos:
[ 2.99631894e-03,-3.30480488e-03, 1.18674350e-02, 4.17439499e-02,
 -2.22367969e-03,-1.88857050e-03,-1.73912241e-02, 2.86306183e-02,
  5.88111249e-03, 1.64314881e-02,-9.39505897e-03, 2.60014770e-02,
  1.20201983e+00,-1.12922384e-03, 9.36454934e-01, 6.40710854e-02,
  9.49102154e-02,-7.01857668e-02, 1.21780469e-01, 9.99966924e-01,
  5.53676704e-04,-5.30968028e-04, 8.09710100e-03]

qacc:
[  2.14817574, -1.10648001,  2.7324605 , -0.57520699,  0.49553539,
  -0.98065271,  4.99276808,-10.70718511, -0.50743724, -1.54294851,
   8.21871151,-16.46265906, -0.35895214,  0.26990856,  1.39426426,
  -5.67629623,  0.04664847,  1.12086772, -0.0286886 ,-18.77492261,
   1.39760119,  0.3223855 ]

qfrc_actuator:
[ 2.82483870e-06, 4.99711487e-07, 9.03356991e-05, 1.41568299e-04,
  5.59829505e-07,-2.86581548e-04,-2.37935004e-04,-6.91101127e-05,
 -1.86664000e-05, 5.28017725e-04, 1.25757384e-04, 3.63335182e-05,
  1.39458551e-02,-1.47972211e-03, 2.25896819e-04,-2.95174724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024591774738097483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39838722e-13,  2.25730562e-13,  1.00000000e+00,  5.41389294e-26,
        1.00000000e+00, -2.25730562e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39838722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503832, -0.09317178,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24876389e-05,-2.84632866e-05, 1.36284818e-05, 6.55310595e-06,
  2.89339388e-06, 1.54774959e-05, 1.26344814e-05,-1.47204222e-05,
 -3.00568937e-06, 7.87365414e-05, 4.62080457e-05,-1.57566129e-05,
 -9.20775731e-05,-3.35114909e-05,-4.20053202e-05,-3.96503632e-05,
 -9.17229957e-07,-7.68018164e-07,-1.21642764e+00, 1.22898555e-04,
  1.45583709e-03,-1.55735812e-06]


--- Step 1023 ---
qpos:
[ 2.99654777e-03,-3.30548282e-03, 1.18672346e-02, 4.17449809e-02,
 -2.22329202e-03,-1.88921703e-03,-1.73913574e-02, 2.86297983e-02,
  5.88143031e-03, 1.64317092e-02,-9.39378539e-03, 2.60012836e-02,
  1.20237815e+00,-1.13002798e-03, 9.36715667e-01, 6.40659235e-02,
  9.49138516e-02,-7.01845694e-02, 1.21782172e-01, 9.99966883e-01,
  5.43572960e-04,-4.98625267e-04, 8.10484117e-03]

qacc:
[ 1.34466079e+00,-1.68506941e+00, 7.41467455e+00,-1.35866921e+01,
  3.32342239e+00, 1.42901664e-02,-1.68747876e+00, 5.92900821e+00,
 -3.03768131e-01,-1.77037422e+00, 6.42031069e+00,-9.31227023e+00,
 -3.79908318e-01, 3.34093960e-01, 1.81789750e+00,-7.97779197e+00,
  4.76891014e-02, 1.11170461e+00,-1.10097764e-01,-1.86111506e+01,
  1.37555265e+00, 3.32700295e-01]

qfrc_actuator:
[ 1.03001393e-05, 2.67049382e-05, 1.18538876e-04, 1.27281880e-04,
  1.99231511e-05,-3.39474425e-04,-2.51738564e-04,-6.03885542e-05,
 -2.05101940e-05, 4.54426408e-04, 1.22660782e-04, 2.42837222e-05,
  1.39182343e-02,-1.48311640e-03, 1.74544766e-04,-3.00485409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002450222660858592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41597211e-14, -2.26555538e-13,  1.00000000e+00, -3.20796323e-27,
        1.00000000e+00,  2.26555538e-13, -1.00000000e+00,  0.00000000e+00,
       -1.41597211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503848, -0.09317206,  0.06199405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.82280189e-06, 1.34178065e-05, 2.42408042e-05,-1.49071751e-05,
  1.94513006e-05,-4.22429973e-05,-9.55224830e-06, 9.53874678e-06,
 -1.90131289e-06,-2.07187080e-05, 1.82988128e-05,-7.38607090e-06,
 -9.03016771e-05,-3.06280520e-05,-7.86442423e-05,-6.15258685e-05,
 -3.31328459e-07,-6.68047249e-07,-1.21643593e+00, 1.24267643e-04,
  1.45743611e-03,-1.68258223e-06]


--- Step 1024 ---
qpos:
[ 2.99651969e-03,-3.30624439e-03, 1.18676829e-02, 4.17461734e-02,
 -2.22233023e-03,-1.89023257e-03,-1.73918957e-02, 2.86294675e-02,
  5.88206899e-03, 1.64311154e-02,-9.39245599e-03, 2.60007018e-02,
  1.20273576e+00,-1.13032543e-03, 9.36975075e-01, 6.40621951e-02,
  9.49176821e-02,-7.01789548e-02, 1.21783162e-01, 9.99966856e-01,
  4.96490177e-04,-4.63864973e-04, 8.11324346e-03]

qacc:
[ -2.23313563, -1.58704788,  4.82398831, -3.01302446,  5.02938892,
   1.63950788, -8.63644145, 18.03928742,  2.81405813, -2.03832351,
   7.33597538,-13.53910796, -0.83319546,  1.48157912, -6.22268775,
  19.06753528,  0.04856508,  1.10429602, -0.17814343,-18.47894944,
   1.35876435,  0.33956041]

qfrc_actuator:
[-3.14999256e-06, 2.49280975e-05, 1.53065576e-04, 1.36242641e-04,
  4.89117690e-05,-3.70746780e-04,-2.77720222e-04,-3.72129323e-05,
 -3.96889439e-06, 3.57076428e-04, 1.02293797e-04,-5.37599360e-07,
  1.38941194e-02,-1.44927617e-03, 1.18411597e-04,-2.92755281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024284924449602396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.14321133e-14,  4.57165525e-13,  1.00000000e+00,  3.26562996e-26,
        1.00000000e+00, -4.57165525e-13, -1.00000000e+00,  0.00000000e+00,
       -7.14321133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503858, -0.0931727 ,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32208401e-05, 1.01214883e-05, 3.97754892e-05, 1.00834249e-05,
  2.95283090e-05,-5.64251551e-05,-3.55435268e-05, 2.12231870e-05,
  1.64811092e-05,-1.05494785e-04,-2.26650441e-05,-2.52225570e-05,
 -8.54939500e-05, 7.81550411e-06,-1.00872900e-04, 6.33804051e-05,
  3.62745142e-07,-5.81050949e-07,-1.21643710e+00, 1.23801193e-04,
  1.45919497e-03,-1.71690129e-06]


--- Step 1025 ---
qpos:
[ 2.99633055e-03,-3.30677544e-03, 1.18681677e-02, 4.17474658e-02,
 -2.22102868e-03,-1.89121449e-03,-1.73926393e-02, 2.86290059e-02,
  5.88290061e-03, 1.64300970e-02,-9.39094828e-03, 2.59997693e-02,
  1.20309306e+00,-1.13111991e-03, 9.37233662e-01, 6.40609562e-02,
  9.49217098e-02,-7.01689467e-02, 1.21783213e-01, 9.99966837e-01,
  4.12638411e-04,-4.26710617e-04, 8.12231738e-03]

qacc:
[ -1.41636737,  0.41149443, -1.44171451,  2.9369895 ,  2.97291642,
   0.34319549, -0.61691932, -1.33285744,  1.69535119, -1.78468139,
   7.02372693,-13.05820825,  0.35112942, -1.09493657, -8.75880379,
  28.80320988,  0.04931744,  1.09840288, -0.23491942,-18.37401617,
   1.34631775,  0.34370185]

qfrc_actuator:
[-1.10546884e-05, 4.19694313e-05, 1.55460397e-04, 1.41045183e-04,
  6.55757567e-05,-3.35624676e-04,-2.75098357e-04,-4.12213854e-05,
  5.50788879e-06, 3.70403420e-04, 1.25013611e-04,-1.49645391e-05,
  1.38774669e-02,-1.48241498e-03, 1.12745132e-04,-2.79177766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023968275361971325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44751631e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.44751631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503865, -0.09317363,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.27803285e-06, 3.13641444e-05, 9.73502180e-06, 6.80734179e-06,
  1.74865297e-05,-2.80862477e-06,-1.26591319e-05,-7.24037528e-06,
  9.91371544e-06,-5.14139780e-05,-2.74330811e-06,-2.02238502e-05,
 -6.63636460e-05,-5.02260554e-05,-4.50774991e-05, 1.26345855e-04,
  1.17122481e-06,-5.06496720e-07,-1.21643132e+00, 1.21512225e-04,
  1.46111326e-03,-1.66060391e-06]


--- Step 1026 ---
qpos:
[ 2.99604802e-03,-3.30705151e-03, 1.18687098e-02, 4.17481104e-02,
 -2.21988218e-03,-1.89221421e-03,-1.73933968e-02, 2.86288377e-02,
  5.88383905e-03, 1.64291756e-02,-9.38949345e-03, 2.59993091e-02,
  1.20344987e+00,-1.13199492e-03, 9.37492402e-01, 6.40595525e-02,
  9.49259375e-02,-7.01545632e-02, 1.21782134e-01, 9.99966817e-01,
  2.92180373e-04,-3.87178847e-04, 8.13206806e-03]

qacc:
[ -0.82275569, -1.15665179,  7.34765962,-18.8361513 , -1.35979152,
   0.62111828, -3.48326397,  8.59127041,  0.92876741,  1.2465143 ,
  -6.25587645, 14.44692847, -0.31043947,  0.25872908,  0.73937527,
  -2.21974786,  0.04997791,  1.09381997, -0.28221219,-18.2927296 ,
   1.3374711 ,  0.34570077]

qfrc_actuator:
[-1.56252216e-05, 5.22683439e-05, 1.56681524e-04, 1.07844567e-04,
  5.70970386e-05,-3.31931448e-04,-2.73104564e-04,-2.56107007e-05,
  1.07455539e-05, 4.14567058e-04, 1.37935438e-04, 1.24679358e-05,
  1.38546294e-02,-1.48392961e-03, 1.32035197e-04,-2.80007376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023575828474604876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41483567e-14,  7.06373708e-13,  1.00000000e+00, -3.11852384e-26,
        1.00000000e+00, -7.06373708e-13, -1.00000000e+00,  0.00000000e+00,
        4.41483567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503868, -0.09317478,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79510952e-06, 3.01485631e-05, 9.13230689e-06,-3.13901405e-05,
 -7.98044406e-06,-7.50882022e-07,-3.75640994e-07, 1.49155634e-05,
  5.50297934e-06, 1.40067026e-05, 1.26071016e-06, 2.47413954e-05,
 -7.38301718e-05,-2.64196600e-05, 1.04433804e-05,-7.55841677e-06,
  2.09833542e-06,-4.40749318e-07,-1.21641872e+00, 1.17411054e-04,
  1.46319042e-03,-1.51398292e-06]


--- Step 1027 ---
qpos:
[ 2.99571288e-03,-3.30713179e-03, 1.18692859e-02, 4.17483616e-02,
 -2.21919086e-03,-1.89343459e-03,-1.73937555e-02, 2.86288552e-02,
  5.88448797e-03, 1.64286725e-02,-9.38861504e-03, 2.59988298e-02,
  1.20380575e+00,-1.13193592e-03, 9.37751445e-01, 6.40553961e-02,
  9.49303674e-02,-7.01358182e-02, 1.21779770e-01, 9.99966781e-01,
  1.35237536e-04,-3.45280638e-04, 8.14249723e-03]

qacc:
[ -0.46421867, -0.6462775 ,  4.34056625,-11.34703805, -3.97595352,
  -1.01569752,  2.4278438 ,  0.29672509, -2.55042278,  2.12934977,
  -6.70014966,  6.97123185, -1.63958228,  3.06952181,  8.87688706,
 -30.12399184,  0.05057095,  1.09037135, -0.32154606,-18.23203858,
   1.33162451,  0.34600779]

qfrc_actuator:
[-1.81984876e-05, 5.84051244e-05, 1.57162972e-04, 8.80549836e-05,
  3.38915980e-05,-3.47057578e-04,-2.53844390e-04,-1.63530521e-05,
 -4.30395405e-06, 4.41375594e-04, 1.09633063e-04, 1.10754596e-05,
  1.38068045e-02,-1.43118217e-03, 1.28960546e-04,-2.94641220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023127024590557932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35015304e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.35015304e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503869, -0.09317609,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69818781e-06, 2.35390321e-05, 6.74330227e-06,-1.87949846e-05,
 -2.34337862e-05,-1.49415834e-05, 1.95962211e-05, 9.50739931e-06,
 -1.48894850e-05, 3.59841302e-05,-2.44022106e-05,-2.67308589e-07,
 -9.74699361e-05, 3.08207563e-05,-5.10664440e-06,-1.46802622e-04,
  3.14690397e-06,-3.77200119e-07,-1.21639938e+00, 1.11505662e-04,
  1.46542588e-03,-1.27732250e-06]


--- Step 1028 ---
qpos:
[ 2.99534949e-03,-3.30699748e-03, 1.18695755e-02, 4.17483937e-02,
 -2.21878338e-03,-1.89455940e-03,-1.73936950e-02, 2.86285957e-02,
  5.88495116e-03, 1.64290233e-02,-9.38862929e-03, 2.59986484e-02,
  1.20416066e+00,-1.13088524e-03, 9.38009672e-01, 6.40496648e-02,
  9.49350018e-02,-7.01127217e-02, 1.21775989e-01, 9.99966712e-01,
 -5.81047057e-05,-3.01022229e-04, 8.15360385e-03]

qacc:
[ -0.26081067,  0.63345065, -0.9217573 , -2.57018785, -2.47820071,
  -1.60920078,  7.09914044,-12.64115966, -1.66217657,  4.24002535,
 -14.73308389, 20.68218607, -1.61040408,  3.04425725,  3.66591391,
 -14.30158037,  0.0511154 ,  1.08790632, -0.35422134,-18.18937005,
   1.32829212,  0.34497502]

qfrc_actuator:
[-1.95768320e-05, 6.20018357e-05, 1.39448356e-04, 7.63167970e-05,
  1.99649190e-05,-3.20007441e-04,-2.24631450e-04,-2.86694887e-05,
 -1.34195117e-05, 5.10668805e-04, 7.48934921e-05, 2.81958807e-05,
  1.37546966e-02,-1.38236508e-03, 6.45158838e-05,-3.03090101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022637835139222018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45214045e-13,  2.45214045e-13,  1.00000000e+00,  6.01299278e-26,
        1.00000000e+00, -2.45214045e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45214045e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503867, -0.09317751,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44685311e-06, 1.73432557e-05,-1.26782447e-05,-1.08639053e-05,
 -1.46010464e-05, 2.31903051e-05, 2.88889677e-05,-1.20892073e-05,
 -9.52957906e-06, 8.43695596e-05,-3.03235079e-05, 1.78139297e-05,
 -1.03044618e-04, 3.33614619e-05,-8.95604016e-05,-9.47838278e-05,
  4.31880264e-06,-3.06339555e-07,-1.21637336e+00, 1.03801994e-04,
  1.46781906e-03,-9.50889986e-07]


--- Step 1029 ---
qpos:
[ 2.99497241e-03,-3.30665621e-03, 1.18693788e-02, 4.17479548e-02,
 -2.21820125e-03,-1.89555772e-03,-1.73935718e-02, 2.86282111e-02,
  5.88530164e-03, 1.64298609e-02,-9.38927587e-03, 2.59990477e-02,
  1.20451480e+00,-1.12924069e-03, 9.38267246e-01, 6.40438596e-02,
  9.49427604e-02,-7.00912637e-02, 1.21773794e-01, 9.99966628e-01,
 -2.37276557e-04,-2.31546346e-04, 8.16284253e-03]

qacc:
[-1.39338061e-01, 6.63007229e-01, 2.03564421e-02,-7.54443951e+00,
  1.53159914e+00,-2.68156007e-01, 1.72173057e+00,-4.07391899e+00,
 -1.01077333e+00, 3.60802196e+00,-1.43794440e+01, 2.50780205e+01,
 -1.04714638e+00, 1.88611843e+00,-6.63329607e-01, 1.09905884e+00,
  7.81038288e-01,-4.09647317e-01, 3.96709180e-01, 7.18748477e+00,
  1.25505994e+01,-9.35283355e-01]

qfrc_actuator:
[-2.02415310e-05, 6.39773853e-05, 1.11122976e-04, 5.16398996e-05,
  2.93688613e-05,-3.21137405e-04,-2.25132010e-04,-3.57893816e-05,
 -1.89626872e-05, 5.16086823e-04, 3.68384131e-05, 5.61145050e-05,
  1.37213594e-02,-1.35409011e-03, 5.92033799e-05,-3.02509898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023106379672946376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40241665e-13,  2.40241665e-13,  1.00000000e+00, -5.77160576e-26,
        1.00000000e+00, -2.40241665e-13, -1.00000000e+00,  0.00000000e+00,
        2.40241665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175369, -0.06201046,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.99619284e-07, 8.58213625e-06,-2.66851444e-05,-2.45850684e-05,
  8.99517895e-06, 1.73227361e-05, 7.44341659e-06,-5.35818227e-06,
 -5.78534699e-06, 4.70836642e-05,-2.37486615e-05, 3.08318243e-05,
 -8.77422763e-05, 1.24430963e-05,-5.88110493e-05,-1.13617371e-05,
  5.61526944e-06,-2.15786983e-07,-1.21634070e+00, 9.43042170e-05,
  1.47036941e-03,-5.34930962e-07]


--- Step 1030 ---
qpos:
[ 2.99493503e-03,-3.30591790e-03, 1.18687165e-02, 4.17471977e-02,
 -2.21785599e-03,-1.89644493e-03,-1.73933970e-02, 2.86270567e-02,
  5.88558365e-03, 1.64302137e-02,-9.38989966e-03, 2.59991688e-02,
  1.20486849e+00,-1.12782506e-03, 9.38524700e-01, 6.40370480e-02,
  9.49535960e-02,-7.00714275e-02, 1.21772719e-01, 9.99966532e-01,
 -4.02531888e-04,-1.37041564e-04, 8.17035617e-03]

qacc:
[  2.96013981,  1.16483558, -2.05961058, -2.98192816, -2.07828415,
  -1.57646825,  9.09230559,-22.58755759, -0.58843817, -1.27625067,
   4.79762085, -9.29537343, -0.19601929, -0.03347686,  2.86557417,
 -10.27048684,  0.76927753, -0.40545703,  0.27989697,  7.05997987,
  12.45743615, -0.86107769]

qfrc_actuator:
[-2.72866703e-06, 1.00407290e-04, 9.44982980e-05, 3.72919423e-05,
  1.69209493e-05,-3.21491956e-04,-2.25519226e-04,-7.53377183e-05,
 -2.23611572e-05, 4.29947337e-04, 1.46433916e-05, 3.68522508e-05,
  1.36939749e-02,-1.37364453e-03, 6.80815741e-05,-3.07250921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023437606982713854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36846497e-13, -2.36846497e-13,  1.00000000e+00, -5.60962634e-26,
        1.00000000e+00,  2.36846497e-13, -1.00000000e+00,  0.00000000e+00,
       -2.36846497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175375, -0.06201106,  0.0619943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74972397e-05, 3.46558807e-05,-1.89897870e-05,-1.53815554e-05,
 -1.21855409e-05, 1.06789823e-05, 3.93312502e-06,-3.86502495e-05,
 -3.54612649e-06,-6.34189197e-05,-1.43301154e-05,-1.74672165e-05,
 -7.70521439e-05,-3.64082314e-05,-2.21127952e-05,-5.61935499e-05,
  4.78294164e-06, 6.35918167e-08,-1.21634684e+00, 8.55541180e-05,
  1.47356430e-03,-2.17657663e-07]


--- Step 1031 ---
qpos:
[ 2.99476290e-03,-3.30498012e-03, 1.18684427e-02, 4.17462398e-02,
 -2.21835206e-03,-1.89767186e-03,-1.73927642e-02, 2.86258131e-02,
  5.88616738e-03, 1.64303669e-02,-9.39085894e-03, 2.59990477e-02,
  1.20522160e+00,-1.12657078e-03, 9.38781318e-01, 6.40298153e-02,
  9.49644482e-02,-7.00564806e-02, 1.21772959e-01, 9.99966428e-01,
 -5.26749499e-04,-4.35326797e-05, 8.17696050e-03]

qacc:
[-1.17415123e+00,-1.23398283e+00, 5.63251603e+00,-9.87723075e+00,
 -7.35897285e+00,-1.89715939e+00, 6.51470137e+00,-8.56639694e+00,
  2.62446415e+00, 1.70377419e-01, 2.34497177e-02,-3.52160287e+00,
 -2.87025826e-01, 1.16268418e-01, 4.88657257e-02,-1.93798375e+00,
  4.14394585e-03,-1.22231516e+00, 3.28677362e-01, 2.05140416e+01,
 -6.65396333e-01,-4.57623947e-01]

qfrc_actuator:
[-1.01624538e-05, 1.21731694e-04, 1.20572985e-04, 2.91769159e-05,
 -2.60490460e-05,-3.56921734e-04,-2.08099787e-04,-8.03904214e-05,
 -6.71932636e-06, 4.31671387e-04, 1.56222397e-06, 2.54134360e-05,
  1.36541844e-02,-1.38580609e-03, 1.08887382e-05,-3.09762692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023708494106002383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.28707297e-07, -7.02421052e-13,  1.00000000e+00, -2.30890925e-19,
        1.00000000e+00,  7.02421052e-13, -1.00000000e+00,  0.00000000e+00,
       -3.28707297e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09629393, -0.04599101,  0.06199424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.92342829e-06, 3.61116364e-05, 3.03619396e-05,-7.58626308e-06,
 -4.33121598e-05,-3.02735365e-05, 1.87838147e-05,-5.20647126e-06,
  1.55198690e-05,-3.74549139e-05,-2.85473285e-05,-1.49918248e-05,
 -9.40374955e-05,-3.67088507e-05,-7.80708967e-05,-3.21070460e-05,
  4.34586864e-06, 4.34895229e-07,-1.21634863e+00, 7.74535960e-05,
  1.47803948e-03, 1.11785380e-07]


--- Step 1032 ---
qpos:
[ 2.99450326e-03,-3.30399825e-03, 1.18685242e-02, 4.17459047e-02,
 -2.21901442e-03,-1.89929141e-03,-1.73915762e-02, 2.86245190e-02,
  5.88658908e-03, 1.64303744e-02,-9.39203630e-03, 2.59987751e-02,
  1.20557420e+00,-1.12599009e-03, 9.39037058e-01, 6.40249301e-02,
  9.49728431e-02,-7.00464407e-02, 1.21773820e-01, 9.99966321e-01,
 -6.10459229e-04, 2.77660158e-05, 8.18435586e-03]

qacc:
[-7.57281097e-01, 3.49892031e-01,-3.78722605e+00, 1.39579277e+01,
 -1.43442826e+00,-2.17054592e+00, 7.20489456e+00,-8.68249293e+00,
 -1.41770365e+00, 1.07636382e-01,-1.83858569e-02,-2.15436490e+00,
  3.53298302e-01,-1.30774927e+00,-8.41923360e+00, 2.74825714e+01,
 -6.14341601e-01,-1.22675732e+00, 1.55248804e-01, 2.01624707e+01,
 -1.12705457e+01, 3.88789618e-01]

qfrc_actuator:
[-1.44730162e-05, 1.16278904e-04, 1.36094203e-04, 6.03167332e-05,
 -3.33751870e-05,-3.77484993e-04,-1.80423430e-04,-8.28710933e-05,
 -1.55013887e-05, 4.32764246e-04,-5.70146189e-06, 1.87438498e-05,
  1.36176300e-02,-1.42901319e-03, 0.00000000e+00,-2.96753070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002452785707231786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.26318798e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.26318798e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10831766, -0.04571448,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49856992e-06, 2.06568005e-05, 2.64521716e-05, 3.35905915e-05,
 -8.57183930e-06,-3.38105785e-05, 2.35683819e-05,-3.22351621e-06,
 -8.34901834e-06,-2.63782593e-05,-1.90257868e-05,-9.55268357e-06,
 -1.01433097e-04,-7.14430244e-05,-5.18976666e-05, 1.17941297e-04,
  3.30419475e-06, 1.48615957e-07,-1.21637906e+00, 7.13146992e-05,
  1.48247790e-03, 7.89971765e-07]


--- Step 1033 ---
qpos:
[ 2.99453880e-03,-3.30284639e-03, 1.18682067e-02, 4.17463272e-02,
 -2.21941522e-03,-1.90094352e-03,-1.73899131e-02, 2.86231640e-02,
  5.88621283e-03, 1.64298881e-02,-9.39288399e-03, 2.59984313e-02,
  1.20592619e+00,-1.12590128e-03, 9.39292480e-01, 6.40215497e-02,
  9.49788070e-02,-7.00412355e-02, 1.21774741e-01, 9.99966223e-01,
 -6.54250330e-04, 7.72518719e-05, 8.19263919e-03]

qacc:
[ 2.57591156e+00, 2.89701939e+00,-1.32072669e+01, 2.68375525e+01,
  2.30962927e+00,-1.49970606e+00, 5.53408547e+00,-7.31309067e+00,
 -6.94123846e+00,-1.70688823e+00, 5.46300915e+00,-6.88325978e+00,
  3.85612115e-02,-6.94615017e-01,-5.02557470e+00, 1.68659988e+01,
 -6.07754515e-01,-1.20866370e+00, 1.49998868e-02, 1.98693708e+01,
 -1.10696777e+01, 4.37824663e-01]

qfrc_actuator:
[ 8.49636271e-07, 1.12588030e-04, 1.09655885e-04, 9.65136619e-05,
 -1.96535153e-05,-3.53434296e-04,-1.46873307e-04,-8.38115074e-05,
 -5.63473497e-05, 3.97999114e-04, 8.29474134e-06, 1.49420900e-05,
  1.35830302e-02,-1.45476557e-03, 0.00000000e+00,-2.88892747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002504232025243164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43338722e-13,  4.43338722e-13,  1.00000000e+00, -1.96549222e-25,
        1.00000000e+00, -4.43338722e-13, -1.00000000e+00,  0.00000000e+00,
        4.43338722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1083165 , -0.04571584,  0.06199392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51961362e-05, 1.47265885e-05,-1.77624007e-05, 3.86496054e-05,
  1.34647188e-05, 9.91871357e-06, 2.93663373e-05,-1.63239420e-06,
 -4.10945440e-05,-5.38428980e-05, 5.88850632e-06,-5.77275347e-06,
 -1.11251629e-04,-6.30808385e-05,-1.27607186e-05, 7.80541454e-05,
  2.29757966e-06,-4.35752661e-07,-1.21640948e+00, 6.71817164e-05,
  1.48593827e-03, 1.42875921e-06]


--- Step 1034 ---
qpos:
[ 2.99441267e-03,-3.30150916e-03, 1.18673519e-02, 4.17461526e-02,
 -2.21930371e-03,-1.90240593e-03,-1.73882501e-02, 2.86221574e-02,
  5.88569460e-03, 1.64290510e-02,-9.39387131e-03, 2.59980591e-02,
  1.20627733e+00,-1.12557360e-03, 9.39547995e-01, 6.40174328e-02,
  9.49823621e-02,-7.00408051e-02, 1.21775250e-01, 9.99966142e-01,
 -6.58610329e-04, 1.05251563e-04, 8.20188679e-03]

qacc:
[ -1.43949164,  0.51904213,  1.02877914,-10.64309598,  4.49025036,
   0.95861929, -4.54068486, 10.44675394, -1.23670671, -0.12957018,
  -0.08651542,  0.07117318, -0.87822363,  1.29890415,  2.41835748,
  -8.12524125, -0.60216605, -1.19369968, -0.1028924 , 19.6268395 ,
 -10.90455818,  0.47654729]

qfrc_actuator:
[-7.90072933e-06, 1.09810767e-04, 7.64067199e-05, 6.43503326e-05,
  6.33549401e-06,-3.38323494e-04,-1.45446210e-04,-6.60446422e-05,
 -6.24730175e-05, 3.77630797e-04,-9.18891866e-07, 1.28412548e-05,
  1.35496324e-02,-1.43445213e-03, 0.00000000e+00,-2.93007935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002529738037246737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19434386e-13,  2.19434386e-13,  1.00000000e+00,  4.81514496e-26,
        1.00000000e+00, -2.19434386e-13, -1.00000000e+00,  0.00000000e+00,
       -2.19434386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10831581, -0.04571646,  0.06199385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.31669758e-06, 3.41078631e-06,-3.10690439e-05,-3.13982152e-05,
  2.63751594e-05, 2.67013858e-05, 7.03908740e-06, 1.91787199e-05,
 -7.32484055e-06,-4.94958706e-05,-1.97924342e-05,-4.31144928e-06,
 -1.13609618e-04,-1.77286002e-05,-1.61111467e-06,-3.94493585e-05,
  1.28555972e-06,-6.99078870e-07,-1.21642896e+00, 6.49900856e-05,
  1.48826342e-03, 1.81894357e-06]


--- Step 1035 ---
qpos:
[ 2.99383800e-03,-3.30028607e-03, 1.18662064e-02, 4.17456162e-02,
 -2.21888134e-03,-1.90371325e-03,-1.73871534e-02, 2.86221064e-02,
  5.88510648e-03, 1.64279497e-02,-9.39532453e-03, 2.59983671e-02,
  1.20662803e+00,-1.12594166e-03, 9.39803493e-01, 6.40125119e-02,
  9.49835274e-02,-7.00451003e-02, 1.21774952e-01, 9.99966079e-01,
 -6.23939501e-04, 1.12032188e-04, 8.21215865e-03]

qacc:
[ -3.94442707, -0.07597672,  1.59146985, -7.31634448,  2.70664353,
   3.74653756,-17.10577442, 34.44262695, -0.61918066,  2.35436147,
 -11.77128614, 24.48079886,  0.21761716, -1.06884419,  2.3707171 ,
  -8.40282431, -0.59747375, -1.18140931, -0.20187645, 19.42768646,
 -10.76957508,  0.50710018]

qfrc_actuator:
[-3.07561257e-05, 8.97456583e-05, 5.71214538e-05, 4.54804914e-05,
  2.15769147e-05,-3.46538498e-04,-1.80760357e-04,-1.96856468e-05,
 -6.58559435e-05, 3.65955144e-04,-2.37209947e-05, 4.72519744e-05,
  1.35276500e-02,-1.47579636e-03, 0.00000000e+00,-2.97043446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002534365261843141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10831551, -0.04571647,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30918550e-05,-2.59607260e-05,-2.34987440e-05,-2.04103562e-05,
  1.60014695e-05, 9.03732727e-06,-2.82693431e-05, 4.81208047e-05,
 -3.61290955e-06,-4.35887182e-05,-3.55912631e-05, 3.15259711e-05,
 -9.32980587e-05,-7.05908010e-05,-1.10248888e-05,-4.40951796e-05,
  2.37804836e-07,-6.30387268e-07,-1.21643797e+00, 6.47125974e-05,
  1.48946346e-03, 1.96801747e-06]


--- Step 1036 ---
qpos:
[ 2.99299383e-03,-3.29928842e-03, 1.18648318e-02, 4.17455588e-02,
 -2.21862434e-03,-1.90473943e-03,-1.73868075e-02, 2.86222630e-02,
  5.88448150e-03, 1.64273599e-02,-9.39693244e-03, 2.59999983e-02,
  1.20697830e+00,-1.12709360e-03, 9.40058805e-01, 6.40077924e-02,
  9.49823184e-02,-7.00540811e-02, 1.21773514e-01, 9.99966030e-01,
 -5.50563045e-04, 9.78104355e-05, 8.22350175e-03]

qacc:
[ -2.36858084,  1.3346386 , -7.20311042, 16.01402347, -1.47871485,
   2.89837939,-10.66793666, 15.24993645, -0.33427429,  3.83290959,
 -18.27156909, 41.04228791,  0.34808893, -1.35528284, -0.9234661 ,
   2.73668024, -0.59358213, -1.17140411, -0.28488658, 19.26586496,
 -10.66009615,  0.5311582 ]

qfrc_actuator:
[-4.39703741e-05, 7.72858461e-05, 4.61829350e-05, 7.00954830e-05,
  1.26136705e-05,-3.33285003e-04,-2.19800326e-04,-1.01757603e-05,
 -6.76085222e-05, 4.66064611e-04,-1.03617210e-06, 1.20624961e-04,
  1.35018587e-02,-1.51779086e-03, 0.00000000e+00,-2.95669146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002522345563681777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.40155005e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.40155005e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1083155 , -0.04571599,  0.06199387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38818278e-05,-3.27410562e-05,-1.98995682e-05, 2.22946015e-05,
 -8.50483781e-06, 1.45705687e-05,-3.89885273e-05, 9.85546492e-06,
 -1.87614094e-06, 6.97866083e-05, 1.04167149e-05, 7.08921281e-05,
 -9.73218291e-05,-7.73492631e-05,-1.48976449e-05, 8.73953496e-06,
 -8.69158220e-07,-2.25347864e-07,-1.21643691e+00, 6.63272315e-05,
  1.48954724e-03, 1.88181815e-06]


--- Step 1037 ---
qpos:
[ 2.99234240e-03,-3.29840200e-03, 1.18635682e-02, 4.17454127e-02,
 -2.21847686e-03,-1.90517456e-03,-1.73873651e-02, 2.86218126e-02,
  5.88418451e-03, 1.64279406e-02,-9.39831758e-03, 2.60016913e-02,
  1.20732784e+00,-1.12819135e-03, 9.40313953e-01, 6.40035779e-02,
  9.49787477e-02,-7.00677154e-02, 1.21770658e-01, 9.99965986e-01,
 -4.38741340e-04, 6.27601657e-05, 8.23595268e-03]

qacc:
[  1.69700157, -0.64390305,  2.45086778, -4.07525691, -0.99946099,
   2.05801078, -3.63750697, -5.86584551,  2.8478238 ,  1.04602776,
  -1.75512939,  1.61605089, -0.55642616,  0.6702464 , -1.73140307,
   5.78610331, -0.59040327, -1.16335283, -0.35442354, 19.13627663,
 -10.5722873 ,  0.55002908]

qfrc_actuator:
[-3.36469267e-05, 8.72987964e-05, 5.80598105e-05, 6.68473911e-05,
  7.23214912e-06,-2.89585849e-04,-2.60664868e-04,-4.01624199e-05,
 -5.06353251e-05, 5.79317267e-04, 3.10633336e-05, 1.27697064e-04,
  1.34737981e-02,-1.50655119e-03, 0.00000000e+00,-2.92892616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024972074683814183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22292909e-13, -4.44585818e-13,  1.00000000e+00, -9.88282747e-26,
        1.00000000e+00,  4.44585818e-13, -1.00000000e+00,  0.00000000e+00,
       -2.22292909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10831574, -0.04571514,  0.06199393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.91476113e-06,-1.14733103e-05, 3.44050449e-06,-4.90344537e-06,
 -5.61770042e-06, 4.42460203e-05,-4.23085633e-05,-3.05179475e-05,
  1.69371999e-05, 1.57501385e-04, 5.02723665e-05, 1.18040829e-05,
 -1.03452800e-04,-2.64506693e-05,-1.03260875e-05, 2.53187663e-05,
 -2.05426125e-06, 5.14788980e-07,-1.21642607e+00, 6.98162999e-05,
  1.48852228e-03, 1.56483780e-06]


--- Step 1038 ---
qpos:
[ 2.99181974e-03,-3.29783582e-03, 1.18625618e-02, 4.17449001e-02,
 -2.21839489e-03,-1.90535122e-03,-1.73884085e-02, 2.86220560e-02,
  5.88374900e-03, 1.64289263e-02,-9.39918755e-03, 2.60021524e-02,
  1.20767673e+00,-1.12921259e-03, 9.40568995e-01, 6.39997030e-02,
  9.49728256e-02,-7.00859775e-02, 1.21766152e-01, 9.99965930e-01,
 -2.88678619e-04, 7.01870608e-06, 8.24953970e-03]

qacc:
[  1.14380152, -1.89968956,  7.70106769,-14.21337932, -0.59380022,
   3.12612179,-13.57933026, 26.17124086, -1.19974538, -3.43799801,
  18.24009381,-40.68508621, -0.52887033,  0.67262328, -1.14783538,
   3.86710918, -0.58785698, -1.15697295, -0.41262059, 19.03461406,
 -10.50296756,  0.56473254]

qfrc_actuator:
[-2.73079182e-05, 5.75134739e-05, 6.56246636e-05, 4.72575654e-05,
  4.00995728e-06,-2.81299566e-04,-2.84418355e-04,-4.35206278e-06,
 -5.82820321e-05, 5.39818430e-04, 3.29908002e-05, 6.02155894e-05,
  1.34497431e-02,-1.49940080e-03, 0.00000000e+00,-2.91088407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002461883630823225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25482434e-13, -2.25482434e-13,  1.00000000e+00, -5.08423279e-26,
        1.00000000e+00,  2.25482434e-13, -1.00000000e+00,  0.00000000e+00,
       -2.25482434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10831616, -0.045714  ,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61598506e-06,-3.57120719e-05, 5.45408317e-06,-2.00568088e-05,
 -3.36390200e-06, 2.30031266e-05,-2.08689272e-05, 3.56521460e-05,
 -7.10804420e-06, 5.94635621e-05, 4.10667302e-05,-5.87654162e-05,
 -9.13158326e-05,-2.15559309e-05,-6.88485602e-06, 1.70042028e-05,
 -3.33358674e-06, 1.58389276e-06,-1.21640567e+00, 7.51657575e-05,
  1.48639485e-03, 1.02046870e-06]


--- Step 1039 ---
qpos:
[ 2.99103244e-03,-3.29776610e-03, 1.18617228e-02, 4.17448769e-02,
 -2.21800708e-03,-1.90574941e-03,-1.73886990e-02, 2.86227021e-02,
  5.88322634e-03, 1.64292392e-02,-9.39942483e-03, 2.60015895e-02,
  1.20802501e+00,-1.13015782e-03, 9.40823496e-01, 6.39997378e-02,
  9.49643600e-02,-7.01078474e-02, 1.21760845e-01, 9.99965842e-01,
 -1.08979745e-04,-7.05284090e-05, 8.26430757e-03]

qacc:
[ -2.30895153, -0.11131518, -2.61160158, 11.16771605,  2.71020393,
  -1.57260607,  3.47309767,  2.46611234, -0.72949601, -4.76381232,
  20.02140134,-38.26154999, -0.30288713,  0.30474724,-12.57916418,
  42.89550424, -0.6358915 , -0.90193831, -0.20021796, 14.72761937,
 -11.02486905,  0.58749832]

qfrc_actuator:
[-4.11253572e-05, 2.18553132e-05, 7.04119219e-05, 7.14338746e-05,
  1.98357911e-05,-2.94164849e-04,-2.44703812e-04, 1.66204421e-05,
 -6.26127414e-05, 4.26718701e-04, 3.41861657e-05, 2.52871990e-06,
  1.34227850e-02,-1.49474797e-03, 0.00000000e+00,-2.70343372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024250931241849571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28903174e-13, -2.28903174e-13,  1.00000000e+00, -5.23966629e-26,
        1.00000000e+00,  2.28903174e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28903174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886012, -0.05159483,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36415078e-05,-5.53645871e-05,-2.60491357e-06, 2.24468128e-05,
  1.57373324e-05,-2.76771263e-06, 4.31428083e-05, 2.19323995e-05,
 -4.51058952e-06,-7.39131989e-05, 1.65007388e-05,-5.48624013e-05,
 -8.59021294e-05,-2.02757917e-05,-6.36076882e-06, 2.06355263e-04,
 -4.72160824e-06, 2.97139487e-06,-1.21637585e+00, 8.23646448e-05,
  1.48316999e-03, 2.51198198e-07]


--- Step 1040 ---
qpos:
[ 2.99043028e-03,-3.29780698e-03, 1.18613536e-02, 4.17450725e-02,
 -2.21777771e-03,-1.90618816e-03,-1.73882563e-02, 2.86235721e-02,
  5.88334568e-03, 1.64287618e-02,-9.39922267e-03, 2.60007158e-02,
  1.20837248e+00,-1.13045142e-03, 9.41077982e-01, 6.40015564e-02,
  9.49588850e-02,-7.01312983e-02, 1.21756921e-01, 9.99965731e-01,
  8.50645067e-05,-1.22171124e-04, 8.27734158e-03]

qacc:
[  1.64195489, -1.01185749,  2.46721873,  0.65357121, -1.36585538,
  -1.63829348,  4.82285995, -2.09342491,  5.62660254, -2.92369962,
  10.20225432,-15.68176264, -1.06026006,  1.9267407 , -5.32844115,
  18.7934966 ,  0.74765117, -0.3952531 ,  0.34559698,  7.27942273,
  12.89257415, -0.86590693]

qfrc_actuator:
[-3.11894721e-05, 5.39883052e-05, 1.09024635e-04, 8.56552805e-05,
  1.12400247e-05,-2.83839189e-04,-2.03457952e-04, 2.87039281e-05,
 -2.94445558e-05, 3.76889942e-04, 5.23713204e-05,-1.34912512e-05,
  1.33887798e-02,-1.45611853e-03, 0.00000000e+00,-2.61682853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024097352312617282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175549, -0.0620158 ,  0.06199414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.52782873e-06, 1.60159714e-06, 2.76432244e-05, 1.21991549e-05,
 -8.15079936e-06, 1.86511404e-05, 4.67534085e-05, 1.38839417e-05,
  3.30153650e-05,-9.01146321e-05, 3.05150650e-06,-1.96830637e-05,
 -8.90844128e-05, 1.50160853e-05, 1.59257404e-05, 9.63459839e-05,
 -5.89658008e-06, 4.67758737e-06,-1.21634404e+00, 9.09765189e-05,
  1.47887232e-03,-6.77966345e-07]


--- Step 1041 ---
qpos:
[ 2.98995131e-03,-3.29733326e-03, 1.18608994e-02, 4.17450482e-02,
 -2.21765323e-03,-1.90623439e-03,-1.73880279e-02, 2.86245900e-02,
  5.88351640e-03, 1.64279396e-02,-9.39897474e-03, 2.59996267e-02,
  1.20871929e+00,-1.13053462e-03, 9.41332700e-01, 6.40027356e-02,
  9.49535371e-02,-7.01499529e-02, 1.21755280e-01, 9.99965593e-01,
  2.39230216e-04,-1.70540981e-04, 8.29018167e-03]

qacc:
[  1.06963964,  0.4624829 ,  0.26119853, -4.302488  , -0.93328951,
   1.42294486, -4.94221592,  7.55058961,  0.45525302, -1.02785318,
   3.91157258, -7.45691755, -0.71500681,  1.07980117,  2.32203018,
  -7.51079488,  0.03178797,  1.19908328,  0.57098691,-19.92505374,
   1.80140715, -0.09454449]

qfrc_actuator:
[-2.50981684e-05, 1.08856071e-04, 1.14305501e-04, 7.62260257e-05,
  6.08588832e-06,-2.59691328e-04,-2.14832718e-04, 3.54716595e-05,
 -2.77292100e-05, 3.83163168e-04, 6.29378783e-05,-2.25672467e-05,
  1.33505854e-02,-1.45096704e-03, 0.00000000e+00,-2.65542626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024686492050132736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12432238e-13,  2.24864477e-13,  1.00000000e+00, -2.52820165e-26,
        1.00000000e+00, -2.24864477e-13, -1.00000000e+00,  0.00000000e+00,
        1.12432238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09504706, -0.09317344,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36208992e-06, 6.20063506e-05, 9.44317445e-06,-8.16643216e-06,
 -5.38242834e-06, 4.48356275e-05,-1.28445613e-06, 9.45333157e-06,
  2.62945654e-06,-4.43038260e-05,-8.34909556e-06,-1.32140581e-05,
 -8.70379673e-05,-1.19724368e-05, 1.19600012e-05,-3.25772384e-05,
 -6.05916425e-06, 2.81352655e-06,-1.21633895e+00, 1.00802990e-04,
  1.47632376e-03,-1.03876291e-06]


--- Step 1042 ---
qpos:
[ 2.98989414e-03,-3.29640560e-03, 1.18602251e-02, 4.17449280e-02,
 -2.21690174e-03,-1.90581433e-03,-1.73881823e-02, 2.86243022e-02,
  5.88370635e-03, 1.64270246e-02,-9.39846726e-03, 2.59983891e-02,
  1.20906563e+00,-1.13084283e-03, 9.41587601e-01, 6.40021167e-02,
  9.49483336e-02,-7.01639028e-02, 1.21755203e-01, 9.99965443e-01,
  3.54238504e-04,-2.15837444e-04, 8.30302208e-03]

qacc:
[ 3.68759609e+00, 1.01069486e+00,-2.34079287e+00, 7.12476036e-01,
  5.47847444e+00,-1.01040193e+00, 9.99213689e+00,-3.23004396e+01,
  1.77405795e-01,-1.15413514e+00, 4.56378836e+00,-7.48038592e+00,
 -2.66090946e-01, 8.05493474e-02, 5.70579149e+00,-1.95486320e+01,
  3.60988994e-02, 1.17615902e+00, 3.90695427e-01,-1.95652962e+01,
  1.69895404e+00, 3.17750113e-03]

qfrc_actuator:
[-3.57307706e-06, 1.23525861e-04, 9.99539851e-05, 7.07100500e-05,
  3.85118098e-05,-2.45419625e-04,-2.39373002e-04,-3.19740751e-05,
 -2.67991120e-05, 4.05215487e-04, 8.69038162e-05,-2.74479801e-05,
  1.33258708e-02,-1.46572173e-03, 0.00000000e+00,-2.74968355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40872899, -0.93061612,  4.30939032, -0.93061612, 21.69748682,
        3.73352041,  4.30939032,  3.73352041,  5.21498557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025563843708900635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.17147123e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.17147123e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09504806, -0.09317117,  0.06199379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17268717e-05, 5.09364613e-05,-6.63278790e-07,-2.69227884e-06,
  3.22878027e-05, 3.94783703e-05,-1.51146160e-05,-6.53872260e-05,
  9.88333551e-07,-4.98278805e-06, 1.33380002e-05,-7.32175934e-06,
 -7.88238273e-05,-3.68115211e-05,-4.48504967e-06,-9.60036775e-05,
 -4.70250866e-06, 2.41232327e-06,-1.21637463e+00, 1.08425364e-04,
  1.47422717e-03,-1.29441414e-06]


--- Step 1043 ---
qpos:
[ 2.99009556e-03,-3.29526900e-03, 1.18597255e-02, 4.17454377e-02,
 -2.21645685e-03,-1.90560319e-03,-1.73883966e-02, 2.86239647e-02,
  5.88390559e-03, 1.64265256e-02,-9.39824358e-03, 2.59977644e-02,
  1.20941149e+00,-1.13133445e-03, 9.41842359e-01, 6.40010345e-02,
  9.49432876e-02,-7.01732245e-02, 1.21756081e-01, 9.99965295e-01,
  4.30691010e-04,-2.58221555e-04, 8.31601742e-03]

qacc:
[  2.27205171,  1.0815088 , -6.11976512, 16.59194088, -2.68734619,
  -0.20584824,  0.55234899, -1.17309059,  0.06543064,  2.60456118,
 -11.0770773 , 21.83235303, -0.21876213,  0.03147677,  1.19560047,
  -4.47098478,  0.03937928,  1.15707255,  0.2390116 ,-19.26511747,
   1.61621849,  0.08110283]

qfrc_actuator:
[ 9.11176406e-06, 1.31684300e-04, 1.09497539e-04, 1.03011383e-04,
  2.17853003e-05,-2.90562306e-04,-2.53805672e-04,-3.60377487e-05,
 -2.63285784e-05, 4.54373789e-04, 8.31720206e-05, 5.71301996e-06,
  1.33039251e-02,-1.47431626e-03, 0.00000000e+00,-2.76940620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42328069, -1.23658126,  4.24691404, -1.23658126, 40.21301468,
       10.42095837,  4.24691404, 10.42095837,  7.45756905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026103503211072354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19620046e-13,  4.25315719e-13,  1.00000000e+00,  5.08762859e-26,
        1.00000000e+00, -4.25315719e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19620046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09504882, -0.09316983,  0.06199366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33193740e-05, 3.63721538e-05, 1.98863178e-05, 3.44066646e-05,
 -1.57890435e-05,-2.89921520e-05,-1.04063053e-05,-4.16864103e-06,
  4.94270972e-07, 4.88441799e-05,-3.36385946e-06, 3.32701482e-05,
 -7.71883907e-05,-3.37174179e-05,-1.83368948e-05,-2.69456773e-05,
 -3.45641492e-06, 2.07921752e-06,-1.21640179e+00, 1.14108840e-04,
  1.47226523e-03,-1.46435303e-06]


--- Step 1044 ---
qpos:
[ 2.98975786e-03,-3.29411113e-03, 1.18594568e-02, 4.17463506e-02,
 -2.21621532e-03,-1.90583826e-03,-1.73889621e-02, 2.86243235e-02,
  5.88376381e-03, 1.64267819e-02,-9.39881689e-03, 2.59975331e-02,
  1.20975677e+00,-1.13164261e-03, 9.42097020e-01, 6.39993549e-02,
  9.49384090e-02,-7.01779811e-02, 1.21757405e-01, 9.99965156e-01,
  4.69087219e-04,-2.97823509e-04, 8.32929117e-03]

qacc:
[ -4.72497616,  0.22280263, -2.43905985,  9.01531179, -1.78664583,
   1.82687182,-10.30425536, 23.23816988, -3.0119847 ,  4.04138043,
 -14.61225889, 22.12764163, -0.62586758,  0.93712099,  1.70269597,
  -6.06576144,  0.04185929,  1.14126377,  0.11157272,-19.0158866 ,
   1.54932969,  0.14347845]

qfrc_actuator:
[-1.90183181e-05, 1.18246732e-04, 1.15318718e-04, 1.21810437e-04,
  1.17553889e-05,-3.35359648e-04,-2.80096278e-04,-2.80585940e-06,
 -4.38841577e-05, 5.01571410e-04, 4.55084891e-05, 2.54917523e-05,
  1.32783321e-02,-1.46141365e-03, 0.00000000e+00,-2.79828148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026369257530316215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21001611e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.21001611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950494 , -0.09316923,  0.06199359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77434400e-05, 1.24507561e-05, 1.69646110e-05, 2.17118256e-05,
 -1.04894982e-05,-6.33477377e-05,-3.37037235e-05, 3.15496486e-05,
 -1.75270935e-05, 7.52601482e-05,-2.68324467e-05, 2.24050389e-05,
 -7.91655004e-05,-1.12024272e-05,-1.59392305e-05,-3.37766660e-05,
 -2.25485928e-06, 1.78875937e-06,-1.21642093e+00, 1.17885312e-04,
  1.47044677e-03,-1.54727068e-06]


--- Step 1045 ---
qpos:
[ 2.98908586e-03,-3.29311675e-03, 1.18594092e-02, 4.17471616e-02,
 -2.21575122e-03,-1.90630757e-03,-1.73901840e-02, 2.86247269e-02,
  5.88410264e-03, 1.64274381e-02,-9.39941609e-03, 2.59968423e-02,
  1.21010134e+00,-1.13148366e-03, 9.42351436e-01, 6.39983177e-02,
  9.49337054e-02,-7.01782246e-02, 1.21758749e-01, 9.99965031e-01,
  4.69838978e-04,-3.34748694e-04, 8.34294238e-03]

qacc:
[-2.92460779e+00,-1.03848936e+00, 3.82913645e+00,-5.83750892e+00,
  1.93548376e+00, 1.61183727e+00,-6.39132133e+00, 8.39065332e+00,
  4.18412087e+00,-3.53276060e-01, 3.95301847e+00,-1.21449862e+01,
 -8.74819728e-01, 1.51977123e+00,-2.23832309e+00, 7.45186345e+00,
  4.37188841e-02, 1.12825719e+00, 4.67478786e-03,-1.88103678e+01,
  1.49520392e+00, 1.93642948e-01]

qfrc_actuator:
[-3.54378163e-05, 9.19556445e-05, 1.18780262e-04, 1.14730034e-04,
  2.35154836e-05,-3.44123668e-04,-3.13186367e-04,-1.18067880e-06,
 -1.86509152e-05, 5.11581692e-04, 4.13705185e-05, 1.71018135e-06,
  1.32452527e-02,-1.43590626e-03, 0.00000000e+00,-2.76131855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026414609939066913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23287788e-13,  2.10153212e-13,  1.00000000e+00,  4.69246458e-26,
        1.00000000e+00, -2.10153212e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23287788e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09504983, -0.09316923,  0.06199358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72105228e-05,-1.49439050e-05, 8.86312936e-06,-5.54018541e-06,
  1.14390325e-05,-4.97868440e-05,-4.92258124e-05,-1.64034675e-06,
  2.47574456e-05, 4.75051312e-05, 8.88308570e-06,-2.10468182e-05,
 -8.26378288e-05, 5.56469581e-06,-1.59020414e-05, 3.19265612e-05,
 -1.04945046e-06, 1.52310818e-06,-1.21643243e+00, 1.19781045e-04,
  1.46877775e-03,-1.54227730e-06]


--- Step 1046 ---
qpos:
[ 2.98856709e-03,-3.29247541e-03, 1.18595287e-02, 4.17479104e-02,
 -2.21480498e-03,-1.90708055e-03,-1.73915350e-02, 2.86251189e-02,
  5.88508627e-03, 1.64282058e-02,-9.39993065e-03, 2.59959018e-02,
  1.21044522e+00,-1.13097007e-03, 9.42605514e-01, 6.39993713e-02,
  9.49291821e-02,-7.01739976e-02, 1.21759753e-01, 9.99964917e-01,
  4.33282720e-04,-3.69082504e-04, 8.35705088e-03]

qacc:
[  1.35620896, -1.06495762,  3.3778422 , -4.45696919,  4.22994501,
  -0.0724004 , -0.29056685,  0.53924889,  5.62462937, -0.61414794,
   3.4383227 , -7.95507817, -0.69342452,  1.13599165, -6.7592812 ,
  23.04021244,  0.0450986 ,  1.11764845, -0.08483475,-18.6424731 ,
   1.45138162,  0.2342201 ]

qfrc_actuator:
[-2.70675046e-05, 5.81287037e-05, 1.20743652e-04, 1.10218593e-04,
  4.80049949e-05,-3.49053812e-04,-3.14405170e-04,-3.93676429e-07,
  1.38177607e-05, 4.99332756e-04, 3.91429526e-05,-1.20066633e-05,
  1.32077126e-02,-1.42094567e-03, 0.00000000e+00,-2.65034818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026284334490624117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.59983792e-14,  6.33584441e-13,  1.00000000e+00,  4.18155462e-26,
        1.00000000e+00, -6.33584441e-13, -1.00000000e+00,  0.00000000e+00,
       -6.59983792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505015, -0.09316971,  0.06199361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.87150776e-06,-4.06313240e-05,-2.34882619e-07,-4.95579756e-06,
  2.48002568e-05,-4.29744853e-05,-1.76044201e-05,-3.07940086e-06,
  3.31967290e-05, 1.52436996e-05, 7.95139565e-06,-1.17828404e-05,
 -8.51695099e-05,-2.40581909e-06,-8.36913335e-06, 1.09653033e-04,
  1.95430040e-07, 1.27061687e-06,-1.21643657e+00, 1.19817562e-04,
  1.46726211e-03,-1.44877751e-06]


--- Step 1047 ---
qpos:
[ 2.98849738e-03,-3.29213532e-03, 1.18597347e-02, 4.17475627e-02,
 -2.21322773e-03,-1.90798864e-03,-1.73927187e-02, 2.86254743e-02,
  5.88645218e-03, 1.64286173e-02,-9.40084330e-03, 2.59959352e-02,
  1.21078837e+00,-1.12995970e-03, 9.42859866e-01, 6.39987052e-02,
  9.49248433e-02,-7.01653342e-02, 1.21760118e-01, 9.99964812e-01,
  3.59689763e-04,-4.00894173e-04, 8.37168142e-03]

qacc:
[  3.94883729, -2.90770905, 14.40118677,-33.27434855,  5.5419103 ,
  -0.73168374,  2.48592616, -3.26762926,  3.32867138,  2.6403111 ,
 -14.22015656, 31.98555446, -1.06542354,  1.84895251,  5.67027715,
 -19.07332596,  0.04610806,  1.10909337, -0.15964368,-18.5070657 ,
   1.4158989 ,  0.26727127]

qfrc_actuator:
[-4.17711212e-06, 3.77878311e-05, 1.21773573e-04, 5.39916470e-05,
  7.97835457e-05,-3.33767871e-04,-2.96766020e-04,-7.14811610e-08,
  3.25186392e-05, 4.38351603e-04, 2.45618491e-06, 3.35470818e-05,
  1.31728461e-02,-1.39463491e-03, 0.00000000e+00,-2.74521556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002601579783915037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33398093e-13,  4.26749559e-13,  1.00000000e+00,  1.42277489e-25,
        1.00000000e+00, -4.26749559e-13, -1.00000000e+00,  0.00000000e+00,
       -3.33398093e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505038, -0.09317056,  0.06199368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30983320e-05,-4.33446469e-05,-7.57341528e-06,-5.80755988e-05,
  3.24713154e-05,-1.24618323e-05, 6.51056211e-06,-2.18569841e-06,
  1.96596174e-05,-5.13242385e-05,-3.29674793e-05, 4.62531587e-05,
 -8.55878986e-05, 6.59715257e-06, 3.76115477e-06,-9.08861127e-05,
  1.50616837e-06, 1.02483080e-06,-1.21643360e+00, 1.18012360e-04,
  1.46590249e-03,-1.26638019e-06]


--- Step 1048 ---
qpos:
[ 2.98870247e-03,-3.29185918e-03, 1.18595357e-02, 4.17468930e-02,
 -2.21162679e-03,-1.90881619e-03,-1.73935205e-02, 2.86257871e-02,
  5.88768741e-03, 1.64281259e-02,-9.40110497e-03, 2.59972036e-02,
  1.21113086e+00,-1.12861493e-03, 9.43113956e-01, 6.39989225e-02,
  9.49206918e-02,-7.01522616e-02, 1.21759595e-01, 9.99964706e-01,
  2.49275032e-04,-4.30239851e-04, 8.38688694e-03]

qacc:
[  2.40026712,  0.37961719, -0.1261687 , -4.7401508 ,  0.21838992,
  -1.04847079,  4.07221651, -5.47821143, -1.10346477, -0.46835909,
  -5.2726155 , 26.26748554, -0.72078302,  1.17806795, -3.00285517,
  10.0618377 ,  0.04683265,  1.10229889, -0.22204593,-18.39980236,
   1.38718598,  0.29441532]

qfrc_actuator:
[ 9.31557568e-06, 4.33806515e-05, 1.04504621e-04, 3.88051068e-05,
  8.00885416e-05,-3.06399368e-04,-2.68056711e-04, 1.67885491e-09,
  2.52107917e-05, 3.84059275e-04, 3.43059368e-05, 9.57869029e-05,
  1.31396121e-02,-1.37955067e-03, 0.00000000e+00,-2.69432195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002564008518372296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75907412e-13,  4.33002861e-13,  1.00000000e+00,  7.61684129e-26,
        1.00000000e+00, -4.33002861e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75907412e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505054, -0.0931717 ,  0.06199377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41369704e-05,-2.27032231e-05,-2.91708394e-05,-1.84372103e-05,
  1.22606101e-06, 2.17084186e-05, 2.68840541e-05,-2.75621453e-07,
 -6.76246077e-06,-8.78140129e-05, 1.87941751e-05, 5.98003058e-05,
 -8.23929298e-05,-2.75282694e-06,-1.46891547e-05, 4.48648570e-05,
  2.90249974e-06, 7.83781432e-07,-1.21642367e+00, 1.14379499e-04,
  1.46470060e-03,-9.94833309e-07]


--- Step 1049 ---
qpos:
[ 2.98941294e-03,-3.29182548e-03, 1.18591277e-02, 4.17467464e-02,
 -2.21003456e-03,-1.90933197e-03,-1.73937627e-02, 2.86253645e-02,
  5.88813547e-03, 1.64271247e-02,-9.40049306e-03, 2.59984506e-02,
  1.21147277e+00,-1.12708783e-03, 9.43367626e-01, 6.40020572e-02,
  9.49167296e-02,-7.01348009e-02, 1.21757976e-01, 9.99964587e-01,
  1.02204427e-04,-4.57165046e-04, 8.40271105e-03]

qacc:
[  4.4338534 ,  1.33328476, -7.4393568 , 17.01623556, -0.06466104,
  -2.66329715, 13.19982492,-27.0494101 , -6.82980897, -3.14589298,
  10.35237885,-11.76752706, -0.42061384,  0.59558016, -9.39399366,
  32.03638251,  0.04733883,  1.09701548, -0.2740002 ,-18.31700525,
   1.36398686,  0.31692306]

qfrc_actuator:
[ 3.49169007e-05, 2.89116235e-05, 9.44658518e-05, 6.56594541e-05,
  7.96169471e-05,-2.71942947e-04,-2.32986954e-04,-3.55592274e-05,
 -1.50948531e-05, 3.87727517e-04, 8.86351310e-05, 9.63771877e-05,
  1.31127037e-02,-1.37123868e-03, 0.00000000e+00,-2.54013433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025182960388456244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.20431396e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.20431396e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505064, -0.09317307,  0.06199388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59974661e-05,-3.39817059e-05,-1.89593110e-05, 2.45142269e-05,
 -4.30142830e-07, 5.21761601e-05, 4.28741505e-05,-3.37028377e-05,
 -4.05349370e-05,-3.89734182e-05, 4.05815665e-05,-1.35943639e-06,
 -7.62510005e-05,-1.07564816e-05,-6.31921868e-06, 1.53753804e-04,
  4.39939132e-06, 5.49491913e-07,-1.21640691e+00, 1.08930098e-04,
  1.46365760e-03,-6.33976947e-07]


--- Step 1050 ---
qpos:
[ 2.99042482e-03,-3.29205625e-03, 1.18589216e-02, 4.17462060e-02,
 -2.20846026e-03,-1.90951519e-03,-1.73941770e-02, 2.86252579e-02,
  5.88844117e-03, 1.64264175e-02,-9.40006586e-03, 2.59986282e-02,
  1.21181424e+00,-1.12575709e-03, 9.43621200e-01, 6.40069863e-02,
  9.49159091e-02,-7.01189654e-02, 1.21757936e-01, 9.99964475e-01,
 -3.05718676e-05,-4.59058617e-04, 8.41647918e-03]

qacc:
[  2.65626489, -1.73109164,  7.31662831,-14.24744706, -0.16810193,
   1.57045006, -6.29549232, 11.79249269, -1.25323151, -1.29425003,
   9.69849074,-28.13383363, -0.06299597, -0.22208814, -5.5602868 ,
  19.2434012 ,  0.78541809, -0.40627974,  0.39462656,  7.25159887,
  12.45521015, -1.03253187]

qfrc_actuator:
[ 4.96902776e-05, 2.03621924e-05, 1.06483871e-04, 4.60116613e-05,
  7.87023290e-05,-2.69002467e-04,-2.47689283e-04,-2.07802861e-05,
 -2.12325396e-05, 4.26140085e-04, 8.49584722e-05, 4.29874814e-05,
  1.30896070e-02,-1.38472435e-03, 0.00000000e+00,-2.45062601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025054114341714617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.21565011e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.21565011e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817533 , -0.06202174,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55020797e-05,-3.04073775e-05, 3.51497109e-06,-2.12823169e-05,
 -9.08995640e-07, 3.95511947e-05, 1.99846323e-07, 1.78451995e-05,
 -7.31702849e-06, 2.49564094e-05,-6.77184867e-06,-5.36823156e-05,
 -7.03529121e-05,-3.29472539e-05, 9.86104105e-06, 9.62573473e-05,
  6.00841528e-06, 3.27636316e-07,-1.21638341e+00, 1.01672734e-04,
  1.46277427e-03,-1.83709617e-07]


--- Step 1051 ---
qpos:
[ 2.99160609e-03,-3.29239954e-03, 1.18585147e-02, 4.17454428e-02,
 -2.20725383e-03,-1.90962079e-03,-1.73949706e-02, 2.86264132e-02,
  5.88901536e-03, 1.64259427e-02,-9.39945228e-03, 2.59984917e-02,
  1.21215512e+00,-1.12426935e-03, 9.43874859e-01, 6.40122824e-02,
  9.49181754e-02,-7.01047431e-02, 1.21759000e-01, 9.99964375e-01,
 -1.49318243e-04,-4.36102850e-04, 8.42834929e-03]

qacc:
[  1.48229609, -0.04921959,  0.89457275, -4.33990179, -3.23900043,
   3.76294916,-18.58663195, 40.96233578,  2.34356596, -0.86483121,
   4.84721277,-10.74257693, -0.56710895,  0.81421248, -0.94514632,
   3.57646225,  0.77168982, -0.40332071,  0.27602655,  7.11884695,
  12.36521833, -0.95186256]

qfrc_actuator:
[ 5.79687069e-05, 1.54835209e-05, 9.59032738e-05, 3.46753754e-05,
  5.97819585e-05,-2.85117067e-04,-2.73994215e-04, 4.11980787e-05,
 -7.19937571e-06, 4.49294062e-04, 1.00445058e-04, 2.92769449e-05,
  1.30581534e-02,-1.37547760e-03, 0.00000000e+00,-2.43547466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025281965850278143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19568176e-13,  2.19568176e-13,  1.00000000e+00,  4.82101838e-26,
        1.00000000e+00, -2.19568176e-13, -1.00000000e+00,  0.00000000e+00,
       -2.19568176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175301, -0.06202236,  0.06199386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.71114871e-06,-2.20539340e-05,-1.71602131e-05,-1.29301249e-05,
 -1.89332287e-05, 6.81984908e-06,-1.74860909e-05, 6.40291662e-05,
  1.38328826e-05, 3.34290470e-05, 1.79536028e-05,-1.39195144e-05,
 -8.02661384e-05,-1.34627576e-05, 9.93680143e-06, 2.05374398e-05,
  4.61084382e-06,-8.42048353e-08,-1.21639536e+00, 9.53312959e-05,
  1.46242186e-03,-2.02816737e-08]


--- Step 1052 ---
qpos:
[ 2.99253290e-03,-3.29325159e-03, 1.18584071e-02, 4.17449116e-02,
 -2.20662854e-03,-1.90966186e-03,-1.73957529e-02, 2.86279317e-02,
  5.88940834e-03, 1.64257008e-02,-9.39868637e-03, 2.59985389e-02,
  1.21249536e+00,-1.12263768e-03, 9.44128608e-01, 6.40170566e-02,
  9.49234843e-02,-7.00921234e-02, 1.21760770e-01, 9.99964288e-01,
 -2.54253821e-04,-3.88449407e-04, 8.43845156e-03]

qacc:
[-2.21526922,-1.02723529, 1.71609245, 2.18387329,-5.09741762, 0.81104385,
 -4.28503968,10.48814955,-1.57967485, 0.26335701,-1.26281978, 4.02190131,
 -0.63072348, 0.89496027, 1.75101434,-5.83425034, 0.76064731,-0.4006314 ,
  0.17662782, 7.00884806,12.2903314 ,-0.88511304]

qfrc_actuator:
[ 4.46089906e-05,-2.27441183e-05, 1.07590840e-04, 4.60651789e-05,
  3.04152620e-05,-2.77037522e-04,-2.71479645e-04, 5.94132214e-05,
 -1.69228847e-05, 4.63236944e-04, 1.09379748e-04, 3.90462704e-05,
  1.30217162e-02,-1.37061884e-03, 0.00000000e+00,-2.46422773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002531061300210663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19319663e-13,  2.19319663e-13,  1.00000000e+00,  4.81011147e-26,
        1.00000000e+00, -2.19319663e-13, -1.00000000e+00,  0.00000000e+00,
       -2.19319663e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175251, -0.06202269,  0.06199385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31164153e-05,-5.46404084e-05, 4.58013312e-06, 9.60239468e-06,
 -2.99059659e-05, 1.10293039e-05, 3.99350080e-06, 1.91487003e-05,
 -9.31639619e-06, 3.57656282e-05, 1.75683685e-05, 1.15517490e-05,
 -8.67659088e-05,-1.60472250e-05, 9.44445085e-07,-2.77098463e-05,
  3.61116110e-06,-3.57395980e-07,-1.21640298e+00, 8.96344514e-05,
  1.46334218e-03, 1.55641868e-07]


--- Step 1053 ---
qpos:
[ 2.99225784e-03,-3.29486504e-03, 1.18591310e-02, 4.17448620e-02,
 -2.20636052e-03,-1.90929439e-03,-1.73966374e-02, 2.86292746e-02,
  5.88933669e-03, 1.64262248e-02,-9.39886703e-03, 2.59983651e-02,
  1.21283518e+00,-1.12151679e-03, 9.44382650e-01, 6.40187660e-02,
  9.49318005e-02,-7.00810965e-02, 1.21762915e-01, 9.99964215e-01,
 -3.45559949e-04,-3.16221779e-04, 8.44689424e-03]

qacc:
[-10.50983039, -2.31787263,  4.80790601,  2.71699236, -3.14394863,
   0.46990119, -0.13973113, -3.04918446, -4.09541157,  3.21060955,
  -9.03134418,  6.13854723, -0.05920675, -0.45649276,  9.67181534,
 -33.23354227,  0.75184751, -0.39822278,  0.09349862,  6.91784567,
  12.2293619 , -0.82934669]

qfrc_actuator:
[-1.68827794e-05,-6.27872540e-05, 1.49972026e-04, 7.07250216e-05,
  1.28938021e-05,-2.36706824e-04,-2.69664683e-04, 5.17642922e-05,
 -4.05580862e-05, 5.07064966e-04, 6.10849039e-05, 2.70261082e-05,
  1.29929654e-02,-1.40394788e-03, 0.00000000e+00,-2.62509712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002518065441359518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.40903166e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.40903166e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175184, -0.0620228 ,  0.06199388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18821074e-05,-6.92149537e-05, 3.20033753e-05, 2.26684024e-05,
 -1.83710342e-05, 4.81406002e-05, 5.25506803e-06,-6.66573340e-06,
 -2.38909226e-05, 6.79500986e-05,-3.83487973e-05,-9.65556376e-06,
 -8.36875305e-05,-5.61737998e-05,-8.38026531e-06,-1.63626673e-04,
  2.97543824e-06,-5.14245978e-07,-1.21640642e+00, 8.45778592e-05,
  1.46552060e-03, 3.42822646e-07]


--- Step 1054 ---
qpos:
[ 2.99124751e-03,-3.29664164e-03, 1.18598755e-02, 4.17450873e-02,
 -2.20630466e-03,-1.90887515e-03,-1.73970420e-02, 2.86298300e-02,
  5.88863781e-03, 1.64269249e-02,-9.39970296e-03, 2.59981051e-02,
  1.21317432e+00,-1.12044581e-03, 9.44636628e-01, 6.40185270e-02,
  9.49430965e-02,-7.00716541e-02, 1.21765155e-01, 9.99964153e-01,
 -4.23386318e-04,-2.19517614e-04, 8.45376828e-03]

qacc:
[-6.45022936e+00, 3.06003380e-01,-2.54145312e+00, 7.36058061e+00,
 -1.84699881e+00,-2.88788738e+00, 1.37284811e+01,-2.81690444e+01,
 -5.49429091e+00, 1.89749288e+00,-6.04563693e+00, 5.45224903e+00,
 -5.70272741e-01, 6.29890552e-01, 5.81984902e+00,-2.04213526e+01,
  7.44925776e-01,-3.96094755e-01, 2.41397821e-02, 6.84276747e+00,
  1.21811728e+01,-7.82237585e-01]

qfrc_actuator:
[-5.29467013e-05,-5.02056563e-05, 1.56859694e-04, 8.52517801e-05,
  2.48809227e-06,-2.48405783e-04,-2.50408018e-04, 1.12378890e-05,
 -7.21843950e-05, 4.79434734e-04, 1.49955665e-05, 2.00161906e-05,
  1.29528526e-02,-1.40633457e-03, 0.00000000e+00,-2.72046364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002492598520634909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175103, -0.06202273,  0.06199394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78485098e-05,-1.85126889e-05,-2.66946848e-06, 1.31153275e-05,
 -1.09125069e-05, 1.60085893e-05, 2.96207965e-05,-3.84123096e-05,
 -3.22840021e-05, 2.00758632e-06,-3.71136074e-05,-5.61218416e-06,
 -1.02801522e-04,-3.26153561e-05,-2.77276546e-05,-1.06887062e-04,
  2.67862086e-06,-5.71992907e-07,-1.21640578e+00, 8.01575821e-05,
  1.46894549e-03, 5.40316550e-07]


--- Step 1055 ---
qpos:
[ 2.99050193e-03,-3.29819765e-03, 1.18602526e-02, 4.17451167e-02,
 -2.20602886e-03,-1.90876508e-03,-1.73970104e-02, 2.86299456e-02,
  5.88791019e-03, 1.64273291e-02,-9.40005145e-03, 2.59977453e-02,
  1.21351274e+00,-1.11939649e-03, 9.44890307e-01, 6.40181088e-02,
  9.49563285e-02,-7.00668207e-02, 1.21766753e-01, 9.99964113e-01,
 -4.62556048e-04,-1.06947370e-04, 8.45853673e-03]

qacc:
[  2.30832824,  0.91052292, -2.00501045, -0.94974754,  1.94768788,
  -2.53474426, 10.29558406,-18.36753293, -0.23051972, -1.95843141,
   6.83791208, -9.1280408 , -0.51132275,  0.5411729 ,  0.12874807,
  -1.02361332,  0.48401556, -1.15226756, -0.16068962, 19.39446413,
   7.76980558, -1.05374095]

qfrc_actuator:
[-3.82344968e-05,-2.40955356e-05, 1.42929551e-04, 7.59601638e-05,
  1.41022421e-05,-2.91129176e-04,-2.38980119e-04,-1.28275920e-05,
 -7.27516648e-05, 4.62470931e-04, 4.13274031e-05, 1.59658989e-05,
  1.29166131e-02,-1.40816502e-03, 0.00000000e+00,-2.72316105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024713336442613865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49240444e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49240444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651194, -0.04622782,  0.06199399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36320987e-05, 1.58133342e-05,-1.76148484e-05,-9.91810343e-06,
  1.13090817e-05,-2.93148200e-05, 1.70531639e-05,-2.31029098e-05,
 -1.48889277e-06,-2.37764500e-05, 2.19837715e-05,-5.35555687e-06,
 -1.04873894e-04,-3.15517015e-05,-2.93168367e-05,-1.32911967e-05,
  2.70267461e-06,-5.44313223e-07,-1.21640115e+00, 7.63701575e-05,
  1.47360774e-03, 7.47421060e-07]


--- Step 1056 ---
qpos:
[ 2.98993817e-03,-3.29959092e-03, 1.18607385e-02, 4.17446633e-02,
 -2.20527147e-03,-1.90848409e-03,-1.73973295e-02, 2.86304559e-02,
  5.88787061e-03, 1.64277513e-02,-9.39992184e-03, 2.59972993e-02,
  1.21385059e+00,-1.11867845e-03, 9.45143500e-01, 6.40199534e-02,
  9.49671525e-02,-7.00667810e-02, 1.21768027e-01, 9.99964071e-01,
 -4.62151029e-04,-1.60110544e-05, 8.46415858e-03]

qacc:
[ 1.59637060e+00,-1.08758771e+00, 6.22099393e+00,-1.48629351e+01,
  4.21025830e+00, 2.00852327e+00,-8.51463637e+00, 1.57934611e+01,
  6.01590639e+00,-1.50158495e+00, 5.73194945e+00,-7.97878859e+00,
 -1.94314043e-02,-4.56614113e-01,-7.55378803e+00, 2.53683869e+01,
 -6.02010590e-01,-1.19841704e+00,-8.11885252e-02, 1.96952138e+01,
 -1.09841455e+01, 4.19572310e-01]

qfrc_actuator:
[-2.92677866e-05,-7.93940398e-06, 1.52393675e-04, 5.27382945e-05,
  3.85810851e-05,-2.63363846e-04,-2.50150330e-04, 8.45596183e-06,
 -3.72784669e-05, 4.87813717e-04, 7.47260594e-05, 1.37395713e-05,
  1.28880502e-02,-1.42742265e-03, 0.00000000e+00,-2.60023628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024664433990836954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25065579e-13, -2.25065579e-13,  1.00000000e+00, -5.06545150e-26,
        1.00000000e+00,  2.25065579e-13, -1.00000000e+00,  0.00000000e+00,
       -2.25065579e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10830312, -0.04570998,  0.06199401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.36617390e-06, 2.09946881e-05, 1.02315757e-05,-2.33449576e-05,
  2.47912498e-05, 1.39041710e-05,-1.59264621e-05, 2.01666505e-05,
  3.54224137e-05, 1.63458100e-05, 3.10092303e-05,-2.58821861e-06,
 -9.80049367e-05,-4.93241180e-05,-1.90934307e-05, 1.17471533e-04,
  2.35685494e-06,-6.59451992e-07,-1.21640423e+00, 7.44060184e-05,
  1.47898700e-03, 1.10739418e-06]


--- Step 1057 ---
qpos:
[ 2.98948647e-03,-3.30081231e-03, 1.18613172e-02, 4.17439348e-02,
 -2.20457154e-03,-1.90794948e-03,-1.73976175e-02, 2.86318699e-02,
  5.88825660e-03, 1.64282752e-02,-9.40003466e-03, 2.59979049e-02,
  1.21418778e+00,-1.11817746e-03, 9.45396334e-01, 6.40248861e-02,
  9.49755883e-02,-7.00714844e-02, 1.21768568e-01, 9.99964032e-01,
 -4.22583073e-04, 5.35922975e-05, 8.47073168e-03]

qacc:
[  0.98332154, -0.60100605,  3.62931992, -8.65976554, -0.50679843,
   2.10770989,-10.84366923, 26.24562   ,  3.70312579,  2.96950873,
 -14.84591342, 33.373094  , -0.13619628, -0.2090979 , -9.84901645,
  33.69265666, -0.59703093, -1.18578876, -0.18311706, 19.4904908 ,
 -10.83205914,  0.4703605 ]

qfrc_actuator:
[-2.37713571e-05, 2.21392654e-06, 1.57812454e-04, 3.92762671e-05,
  3.49238419e-05,-2.29166961e-04,-2.38761786e-04, 5.62904893e-05,
 -1.63915499e-05, 4.85087096e-04, 5.89212970e-05, 6.58917962e-05,
  1.28534555e-02,-1.43906568e-03, 0.00000000e+00,-2.43981372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002478219218029487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47992259e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.47992259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10830263, -0.04571018,  0.06199398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77509837e-06, 2.30577977e-05, 1.02195340e-05,-1.26603567e-05,
 -2.94591688e-06, 3.95476819e-05, 1.29947732e-05, 4.82697074e-05,
  2.19081813e-05, 1.27049476e-05,-8.70534732e-06, 5.38735726e-05,
 -1.03706942e-04,-4.39824349e-05, 4.53462907e-07, 1.63627798e-04,
  1.26105213e-06,-1.27173786e-06,-1.21641919e+00, 7.44698447e-05,
  1.48337842e-03, 1.39794455e-06]


--- Step 1058 ---
qpos:
[ 2.98910419e-03,-3.30164867e-03, 1.18615791e-02, 4.17430515e-02,
 -2.20426541e-03,-1.90740033e-03,-1.73976399e-02, 2.86335146e-02,
  5.88854574e-03, 1.64285030e-02,-9.40017401e-03, 2.59998582e-02,
  1.21452438e+00,-1.11811393e-03, 9.45649854e-01, 6.40256582e-02,
  9.49816531e-02,-7.00808899e-02, 1.21768034e-01, 9.99963994e-01,
 -3.44187242e-04, 1.02109339e-04, 8.47833671e-03]

qacc:
[ 5.92683845e-01, 1.07455428e+00,-2.44215782e+00,-9.36237386e-03,
 -3.44570625e+00,-2.41183768e-01,-7.51501634e-02, 3.62219879e+00,
 -8.39573965e-01, 2.45886767e+00,-1.50224752e+01, 3.86045245e+01,
 -3.17339157e-01,-3.79883320e-02, 1.35789709e+01,-4.60155631e+01,
 -5.92788448e-01,-1.17551915e+00,-2.68621469e-01, 1.93239032e+01,
 -1.07074441e+01, 5.12521577e-01]

qfrc_actuator:
[-2.03600468e-05, 2.64439964e-05, 1.43023981e-04, 3.16555228e-05,
  1.47313703e-05,-2.44520108e-04,-2.31832122e-04, 6.61307559e-05,
 -2.20217564e-05, 4.47675337e-04, 4.96290122e-05, 1.31815148e-04,
  1.28205952e-02,-1.46387429e-03, 0.00000000e+00,-2.66693352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024724624509932236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24517671e-13, -6.73553014e-13,  1.00000000e+00, -1.51224554e-25,
        1.00000000e+00,  6.73553014e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24517671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10830247, -0.04570988,  0.06199399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58738473e-06, 3.87351192e-05,-9.19578678e-06,-6.52297306e-06,
 -2.02651770e-05, 1.14943411e-05, 1.83633491e-05, 1.29205334e-05,
 -4.99804356e-06,-2.98067067e-05,-5.88271863e-06, 6.72119615e-05,
 -1.03812301e-04,-5.75100844e-05, 1.36901720e-05,-2.19039529e-04,
  1.21088572e-07,-1.57257752e-06,-1.21642391e+00, 7.64374275e-05,
  1.48665031e-03, 1.45025723e-06]


--- Step 1059 ---
qpos:
[ 2.98842099e-03,-3.30231917e-03, 1.18622871e-02, 4.17420588e-02,
 -2.20420359e-03,-1.90690498e-03,-1.73977017e-02, 2.86339141e-02,
  5.88876527e-03, 1.64285241e-02,-9.40009905e-03, 2.60018678e-02,
  1.21486040e+00,-1.11838250e-03, 9.45903552e-01, 6.40227296e-02,
  9.49852635e-02,-7.00944315e-02, 1.21766635e-01, 9.99963949e-01,
 -2.31725130e-04, 1.29099620e-04, 8.48704426e-03]

qacc:
[ -2.63012222, -1.24834369,  5.23900946, -7.97659284, -2.14385158,
  -2.51776233, 14.14062   ,-35.59848825, -0.59694942, -0.75516437,
   2.06073539, -1.2797615 , -0.36429358,  0.11567056, 11.44566666,
 -39.63128796, -0.61356353, -1.03403452, -0.21632646, 16.94121448,
 -10.90759543,  0.54930631]

qfrc_actuator:
[-3.59546314e-05, 4.10855572e-05, 1.69741453e-04, 2.75292261e-05,
  2.72972007e-06,-2.71713012e-04,-2.45577344e-04, 2.27994290e-07,
 -2.54574366e-05, 4.43067416e-04, 6.18779369e-05, 1.34273949e-04,
  1.27941185e-02,-1.47852240e-03, 0.00000000e+00,-2.85427579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024531829480730185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26282150e-13, -8.49071724e-08,  1.00000000e+00,  1.92129775e-20,
        1.00000000e+00,  8.49071724e-08, -1.00000000e+00,  0.00000000e+00,
        2.26282150e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10859016, -0.04880625,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54756890e-05, 3.41550904e-05, 3.33689564e-05,-2.90906882e-06,
 -1.25765736e-05,-1.64489995e-05,-8.67099595e-06,-6.45273447e-05,
 -3.59094050e-06,-1.96226565e-05, 7.68806251e-06, 2.28167333e-06,
 -1.01196391e-04,-4.98661518e-05,-2.53698005e-05,-1.99479306e-04,
 -1.08950041e-06,-1.55489740e-06,-1.21641870e+00, 8.02888255e-05,
  1.48880928e-03, 1.26940969e-06]


--- Step 1060 ---
qpos:
[ 2.98755619e-03,-3.30275508e-03, 1.18635175e-02, 4.17420456e-02,
 -2.20394121e-03,-1.90666813e-03,-1.73975724e-02, 2.86338773e-02,
  5.88894145e-03, 1.64288922e-02,-9.40012193e-03, 2.60038411e-02,
  1.21519572e+00,-1.11857100e-03, 9.46156888e-01, 6.40192197e-02,
  9.49863441e-02,-7.01115955e-02, 1.21764559e-01, 9.99963888e-01,
 -8.95102716e-05, 1.34157721e-04, 8.49688620e-03]

qacc:
[ -1.5810105 ,  0.87156295, -6.78415152, 22.7174875 ,  1.76922116,
  -1.77605825,  7.67307512,-15.33023217, -0.38714502,  0.65809435,
  -1.52658922,  0.79820542, -0.60879132,  0.78184566,  1.25855885,
  -5.09139353, -0.63246247, -0.90558782, -0.16934598, 14.78269236,
 -11.09208101,  0.56662207]

qfrc_actuator:
[-4.48575566e-05, 6.77918075e-05, 2.02973720e-04, 7.87740669e-05,
  1.34032189e-05,-2.88194613e-04,-2.36023419e-04,-2.09736000e-05,
 -2.75648876e-05, 4.93676120e-04, 6.90687250e-05, 1.34911659e-04,
  1.27661677e-02,-1.46925194e-03, 0.00000000e+00,-2.87452617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024336238735789273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.56201567e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.56201567e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884898, -0.05159019,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.33142438e-06, 5.25886683e-05, 4.42995757e-05, 5.38088382e-05,
  1.03123025e-05,-3.02587822e-05, 2.85002753e-06,-2.34636959e-05,
 -2.21709383e-06, 4.13147666e-05, 4.15811583e-06, 1.02709002e-07,
 -9.97314394e-05,-2.35733813e-05,-3.90052996e-05,-3.58084170e-05,
 -2.30313062e-06,-1.16557722e-06,-1.21640649e+00, 8.57831280e-05,
  1.48985496e-03, 8.63230310e-07]


--- Step 1061 ---
qpos:
[ 2.98624612e-03,-3.30249660e-03, 1.18641354e-02, 4.17426658e-02,
 -2.20320812e-03,-1.90668460e-03,-1.73973657e-02, 2.86342845e-02,
  5.88874613e-03, 1.64294800e-02,-9.39972416e-03, 2.60050954e-02,
  1.21553032e+00,-1.11864844e-03, 9.46409815e-01, 6.40167679e-02,
  9.49849090e-02,-7.01323632e-02, 1.21761569e-01, 9.99963797e-01,
  8.23181082e-05, 1.17427298e-04, 8.50789514e-03]

qacc:
[ -3.93927291,  3.94343091,-15.38636001, 26.79837321,  4.13555196,
   0.35419218, -3.6371481 , 11.39726227, -3.23123982, -2.35908119,
  11.87921026,-25.16816112, -0.5539023 ,  0.70934717, -3.76257795,
  12.36810626, -0.62892268, -0.90091905, -0.22848061, 14.71357908,
 -11.01972991,  0.58461603]

qfrc_actuator:
[-6.74970659e-05, 1.01601806e-04, 1.68849615e-04, 1.08938537e-04,
  3.73346617e-05,-2.98023216e-04,-2.30457543e-04, 2.08710243e-06,
 -4.66264464e-05, 5.05933287e-04, 9.12036835e-05, 9.90214704e-05,
  1.27320380e-02,-1.46366232e-03, 0.00000000e+00,-2.81391306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002403333856207529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30975614e-13, -6.92926841e-13,  1.00000000e+00, -1.60049202e-25,
        1.00000000e+00,  6.92926841e-13, -1.00000000e+00,  0.00000000e+00,
       -2.30975614e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884941, -0.05158941,  0.06199416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28908404e-05, 7.46737198e-05,-1.59514385e-05, 3.49963177e-05,
  2.42156950e-05,-2.71725678e-05,-1.14963980e-06, 2.14047606e-05,
 -1.91093369e-05, 3.62062733e-05, 3.11766350e-05,-3.39788489e-05,
 -9.88244898e-05,-2.15716158e-05,-2.56395735e-05, 5.27644521e-05,
 -3.48633988e-06,-4.29773267e-07,-1.21638927e+00, 9.27040998e-05,
  1.48977656e-03, 2.64763456e-07]


--- Step 1062 ---
qpos:
[ 2.98432988e-03,-3.30160207e-03, 1.18641056e-02, 4.17429626e-02,
 -2.20184896e-03,-1.90685272e-03,-1.73970913e-02, 2.86342614e-02,
  5.88901353e-03, 1.64304448e-02,-9.39910346e-03, 2.60055577e-02,
  1.21586416e+00,-1.11837057e-03, 9.46662148e-01, 6.40183597e-02,
  9.49836273e-02,-7.01483833e-02, 1.21760427e-01, 9.99963686e-01,
  2.14688866e-04, 1.03866336e-04, 8.51881052e-03]

qacc:
[-5.35202355e+00, 1.99548698e+00,-4.51274217e+00,-5.34011025e-01,
  5.49553502e+00,-1.28525669e+00, 6.09021639e+00,-1.35124158e+01,
  4.03591163e+00,-1.76288775e+00, 1.03391231e+01,-2.46651753e+01,
 -6.39646634e-01, 1.00830397e+00,-1.30355194e+01, 4.44404562e+01,
  3.83441588e-02, 1.18688002e+00, 4.62188853e-01,-1.97146078e+01,
  1.75252057e+00,-4.91395915e-02]

qfrc_actuator:
[-9.80422034e-05, 1.21367773e-04, 1.30742829e-04, 9.09038775e-05,
  6.88704923e-05,-3.03761799e-04,-2.27247059e-04,-2.00109155e-05,
 -2.22571000e-05, 5.30673334e-04, 1.04073159e-04, 5.96643825e-05,
  1.26995527e-02,-1.44259156e-03, 0.00000000e+00,-2.59967301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024203352182727844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29353152e-13,  2.29353152e-13,  1.00000000e+00,  5.26028685e-26,
        1.00000000e+00, -2.29353152e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29353152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505501, -0.09317639,  0.06199412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11734513e-05, 5.97060208e-05,-2.34457236e-05,-1.47088238e-05,
  3.22157658e-05,-2.02478854e-05,-1.80723592e-06,-2.28880566e-05,
  2.38369133e-05, 4.99346210e-05, 2.29989876e-05,-3.73922775e-05,
 -9.58715165e-05,-5.63297610e-06,-9.89035892e-06, 2.12986081e-04,
 -4.72001243e-06, 5.91804481e-07,-1.21636531e+00, 1.01046277e-04,
  1.48856049e-03,-5.10271964e-07]


--- Step 1063 ---
qpos:
[ 2.98240734e-03,-3.30047697e-03, 1.18642819e-02, 4.17437249e-02,
 -2.20046709e-03,-1.90722353e-03,-1.73965020e-02, 2.86343084e-02,
  5.88991549e-03, 1.64322071e-02,-9.39908824e-03, 2.60055480e-02,
  1.21619735e+00,-1.11787207e-03, 9.46914360e-01, 6.40224686e-02,
  9.49825135e-02,-7.01597385e-02, 1.21760487e-01, 9.99963569e-01,
  3.08244326e-04, 9.33148018e-05, 8.52978158e-03]

qacc:
[-5.25635554e-02, 6.88428628e-01,-3.97604546e+00, 1.15316345e+01,
  2.12498375e-01,-1.00330329e+00, 2.89193878e+00,-2.03114969e+00,
  5.50193219e+00, 1.76350175e+00,-2.78367061e+00,-4.98695469e+00,
 -5.35665964e-01, 7.85839609e-01,-7.73654912e+00, 2.68978963e+01,
  4.19824142e-02, 1.16625101e+00, 3.00358955e-01,-1.93941282e+01,
  1.66999578e+00, 2.55259009e-02]

qfrc_actuator:
[-9.74864644e-05, 1.32487919e-04, 1.43784511e-04, 1.15663677e-04,
  6.91200510e-05,-3.07046713e-04,-2.07718616e-04,-1.52497283e-05,
  9.73255271e-06, 5.80410444e-04, 7.59075461e-05, 3.63403882e-05,
  1.26734107e-02,-1.43027345e-03, 0.00000000e+00,-2.47419194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39211968, -1.09596467,  4.25318431, -1.09596467, 30.77417641,
        6.79815403,  4.25318431,  6.79815403,  6.14387462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024929502571077733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22672519e-13,  4.45345037e-13,  1.00000000e+00,  9.91661010e-26,
        1.00000000e+00, -4.45345037e-13, -1.00000000e+00,  0.00000000e+00,
       -2.22672519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505582, -0.09317455,  0.06199394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12625300e-07, 3.89974255e-05, 2.19699030e-05, 2.62187860e-05,
  1.16182197e-06,-1.59474806e-05, 1.43290899e-05, 3.38396024e-06,
  3.26947323e-05, 8.07751303e-05,-1.63321876e-05,-2.11215216e-05,
 -8.36490173e-05,-1.06582112e-05, 1.50986573e-05, 1.35155709e-04,
 -3.60489849e-06, 4.43058717e-07,-1.21639568e+00, 1.07596168e-04,
  1.48812197e-03,-7.96328904e-07]


--- Step 1064 ---
qpos:
[ 2.98085114e-03,-3.29932266e-03, 1.18647071e-02, 4.17451460e-02,
 -2.20012735e-03,-1.90797875e-03,-1.73953625e-02, 2.86354548e-02,
  5.89015979e-03, 1.64345196e-02,-9.39963633e-03, 2.60052877e-02,
  1.21653003e+00,-1.11751559e-03, 9.47166881e-01, 6.40257124e-02,
  9.49815789e-02,-7.01664971e-02, 1.21761204e-01, 9.99963456e-01,
  3.63519227e-04, 8.56444482e-05, 8.54092567e-03]

qacc:
[  3.22331064,  0.69424635, -5.20898914, 16.19898451, -9.11561076,
   0.23424063, -6.18402191, 24.58118183, -5.76328641,  1.79724345,
  -4.2759281 ,  0.41512822, -0.31905707,  0.21600747,  3.08178113,
 -10.08315855,  0.04480388,  1.14912315,  0.16426885,-19.12730319,
   1.60382672,  0.08426489]

qfrc_actuator:
[-7.86275877e-05, 1.20818982e-04, 1.51415387e-04, 1.47687927e-04,
  1.54455251e-05,-3.26500350e-04,-1.78673529e-04, 4.08039978e-05,
 -2.50730681e-05, 5.91316696e-04, 4.16127399e-05, 2.26331697e-05,
  1.26457656e-02,-1.44096699e-03, 0.00000000e+00,-2.52632544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002535581923341357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36830403e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36830403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505644, -0.09317352,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88577178e-05, 1.57610038e-05, 1.92842632e-05, 3.49611211e-05,
 -5.36476934e-05,-2.52598249e-05, 2.76305009e-05, 5.59313093e-05,
 -3.38331613e-05, 5.17477092e-05,-2.03732331e-05,-1.12269607e-05,
 -7.89960361e-05,-3.19609952e-05, 1.63576578e-05,-4.39639563e-05,
 -2.55727904e-06, 3.29054447e-07,-1.21641786e+00, 1.12228902e-04,
  1.48782638e-03,-9.94506978e-07]


--- Step 1065 ---
qpos:
[ 2.97987795e-03,-3.29809862e-03, 1.18649733e-02, 4.17469634e-02,
 -2.20008861e-03,-1.90903586e-03,-1.73940949e-02, 2.86365920e-02,
  5.88998589e-03, 1.64367466e-02,-9.40007053e-03, 2.60052460e-02,
  1.21686223e+00,-1.11753151e-03, 9.47419861e-01, 6.40249794e-02,
  9.49808323e-02,-7.01687159e-02, 1.21762121e-01, 9.99963352e-01,
  3.80956115e-04, 8.07526306e-05, 8.55233504e-03]

qacc:
[ 5.11133167e+00, 1.34361149e+00,-6.34550620e+00, 1.34232394e+01,
 -2.63082168e+00,-7.70723288e-01, 2.21698295e+00,-2.36837589e+00,
 -3.64249457e+00, 2.57336025e-02,-1.16618127e+00, 4.81635606e+00,
 -2.82451674e-01,-8.67933018e-03, 1.26880954e+01,-4.33881650e+01,
  4.69925045e-02, 1.13498532e+00, 4.99835332e-02,-1.89064622e+01,
  1.55085093e+00, 1.30470064e-01]

qfrc_actuator:
[-4.91569594e-05, 1.13338377e-04, 1.37921874e-04, 1.65938768e-04,
  1.48281996e-06,-3.55392439e-04,-1.79784966e-04, 3.78128168e-05,
 -4.56595685e-05, 5.61100044e-04, 3.93457168e-05, 3.24158330e-05,
  1.26119034e-02,-1.46519312e-03, 0.00000000e+00,-2.73591040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002553947378646504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35846454e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.35846454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950569 , -0.09317315,  0.06199379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00066516e-05, 6.77535059e-06,-6.67384504e-06, 2.02666634e-05,
 -1.55041820e-05,-3.49204091e-05,-9.95059868e-07,-2.03033021e-06,
 -2.15302157e-05,-6.05628651e-06, 5.50587883e-06, 1.10749432e-05,
 -8.76985751e-05,-4.86668091e-05,-3.80792018e-06,-2.11432785e-04,
 -1.52742739e-06, 2.33214418e-07,-1.21643226e+00, 1.14971943e-04,
  1.48767971e-03,-1.10409980e-06]


--- Step 1066 ---
qpos:
[ 2.97995555e-03,-3.29687129e-03, 1.18651195e-02, 4.17489916e-02,
 -2.19987301e-03,-1.91037070e-03,-1.73933626e-02, 2.86373832e-02,
  5.88956625e-03, 1.64390308e-02,-9.40028383e-03, 2.60052962e-02,
  1.21719378e+00,-1.11753347e-03, 9.47673339e-01, 6.40173899e-02,
  9.49802805e-02,-7.01664409e-02, 1.21762855e-01, 9.99963259e-01,
  3.60918276e-04, 7.85573751e-05, 8.56408219e-03]

qacc:
[ 9.21957829e+00, 7.56362779e-01,-3.61095218e+00, 7.48224177e+00,
  1.53897496e+00, 4.13873804e-01,-5.52882801e-01,-4.36835114e+00,
 -2.13730057e+00,-3.48687870e-01, 9.72343822e-01, 2.13919450e-01,
 -8.74208073e-01, 1.19861735e+00, 2.14825570e+01,-7.39681892e+01,
  4.86920407e-02, 1.12340372e+00,-4.58405058e-02,-1.87251622e+01,
  1.50854372e+00, 1.66809973e-01]

qfrc_actuator:
[ 4.07015609e-06, 1.08318562e-04, 1.29814723e-04, 1.75924550e-04,
  1.10229362e-05,-3.89876338e-04,-2.16541068e-04, 1.78161381e-05,
 -5.76909838e-05, 5.77635794e-04, 5.58434792e-05, 3.81709721e-05,
  1.25796533e-02,-1.46174636e-03, 0.00000000e+00,-3.08976633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025528379731978856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31039333e-13,  2.17448784e-13,  1.00000000e+00,  5.02392219e-26,
        1.00000000e+00, -2.17448784e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31039333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505725, -0.09317331,  0.0619938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40790771e-05,-1.77934642e-06,-6.85008583e-06, 1.04311538e-05,
  9.08611021e-06,-5.42882939e-05,-4.41662806e-05,-2.15695164e-05,
 -1.26447405e-05, 1.46774309e-05, 1.62879395e-05, 5.89860195e-06,
 -9.55791728e-05,-2.61855938e-05,-3.14896240e-05,-3.67568382e-04,
 -4.79164218e-07, 1.44798625e-07,-1.21643921e+00, 1.15847892e-04,
  1.48768587e-03,-1.12468940e-06]


--- Step 1067 ---
qpos:
[ 2.98067080e-03,-3.29581455e-03, 1.18652702e-02, 4.17507924e-02,
 -2.20023492e-03,-1.91177794e-03,-1.73932322e-02, 2.86385981e-02,
  5.88900555e-03, 1.64414313e-02,-9.40032167e-03, 2.60054099e-02,
  1.21752464e+00,-1.11747058e-03, 9.47926276e-01, 6.40086025e-02,
  9.49799287e-02,-7.01597100e-02, 1.21763084e-01, 9.99963174e-01,
  3.03700621e-04, 7.89934373e-05, 8.57622406e-03]

qacc:
[  5.59992692, -0.71811732,  3.17387252, -6.97104849, -5.08256119,
   2.46648729,-10.7050818 , 19.03155074, -1.22683837, -0.20318254,
   0.68316023,  0.04732646, -0.61485573,  0.7820821 ,  2.85401662,
 -11.05968841,  0.05001465,  1.11400973, -0.12605007,-18.57797362,
   1.47488695,  0.19538318]

qfrc_actuator:
[ 3.53449118e-05, 8.70611283e-05, 1.24963924e-04, 1.63225560e-04,
 -1.89506199e-05,-3.74360840e-04,-2.38566470e-04, 4.12144226e-05,
 -6.45945410e-05, 5.86609296e-04, 6.56949108e-05, 4.15489130e-05,
  1.25430765e-02,-1.45968590e-03, 0.00000000e+00,-3.13515648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002536259441410921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87267086e-13, -2.18870161e-13,  1.00000000e+00, -6.28741934e-26,
        1.00000000e+00,  2.18870161e-13, -1.00000000e+00,  0.00000000e+00,
       -2.87267086e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950575 , -0.09317389,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28098666e-05,-2.32525847e-05,-5.72394030e-06,-1.28190400e-05,
 -2.97308240e-05,-2.48482119e-05,-3.94207000e-05, 1.91229713e-05,
 -7.25475581e-06, 2.07124233e-05, 1.50693104e-05, 4.68101819e-06,
 -9.99603100e-05,-2.44296565e-05,-6.11183424e-05,-7.12258818e-05,
  6.13866944e-07, 5.79617853e-08,-1.21643894e+00, 1.14875222e-04,
  1.48784731e-03,-1.05605475e-06]


--- Step 1068 ---
qpos:
[ 2.98141085e-03,-3.29495806e-03, 1.18653859e-02, 4.17524339e-02,
 -2.20095347e-03,-1.91297775e-03,-1.73933003e-02, 2.86403638e-02,
  5.88905664e-03, 1.64434629e-02,-9.40002128e-03, 2.60059601e-02,
  1.21785501e+00,-1.11795375e-03, 9.48178476e-01, 6.40022530e-02,
  9.49797811e-02,-7.01485531e-02, 1.21762541e-01, 9.99963090e-01,
  2.09538897e-04, 8.20091514e-05, 8.58880533e-03]

qacc:
[  0.2198661 , -0.49517545,  2.0527349 , -4.60457469, -3.13753092,
   1.96772869, -8.93448974, 18.62220084,  5.35311331, -0.54488883,
  -0.62566077,  7.93017931,  0.2502753 , -1.02435072, -8.47486597,
  28.00120803,  0.05104777,  1.10648987, -0.19307238,-18.46031051,
   1.44826541,  0.21783956]

qfrc_actuator:
[ 3.56884402e-05, 7.39863295e-05, 1.21990388e-04, 1.55022345e-04,
 -3.64434856e-05,-3.28939946e-04,-2.33720104e-04, 7.22659488e-05,
 -3.29224933e-05, 5.37705455e-04, 7.15156375e-05, 6.12446436e-05,
  1.25145830e-02,-1.49401895e-03, 0.00000000e+00,-2.99838313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002507551166154448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24523970e-13,  4.42751893e-13,  1.00000000e+00,  5.51332233e-26,
        1.00000000e+00, -4.42751893e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24523970e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505767, -0.0931748 ,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26683969e-06,-2.78439377e-05,-8.94523229e-06,-9.65507424e-06,
 -1.83482147e-05, 2.42393359e-05,-4.46685865e-06, 2.89961968e-05,
  3.14781103e-05,-3.40989929e-05, 1.20890701e-05, 2.11905257e-05,
 -9.37788551e-05,-6.16044944e-05,-3.87374692e-05, 1.24358134e-04,
  1.77091795e-06,-2.89033885e-08,-1.21643166e+00, 1.12068873e-04,
  1.48816552e-03,-8.98106186e-07]


--- Step 1069 ---
qpos:
[ 2.98214938e-03,-3.29420369e-03, 1.18656935e-02, 4.17539356e-02,
 -2.20153145e-03,-1.91407778e-03,-1.73930067e-02, 2.86421164e-02,
  5.88914233e-03, 1.64450066e-02,-9.39980711e-03, 2.60067879e-02,
  1.21818486e+00,-1.11863059e-03, 9.48430578e-01, 6.39961758e-02,
  9.49798410e-02,-7.01329939e-02, 1.21761003e-01, 9.99962996e-01,
  7.86174623e-05, 8.75639065e-05, 8.60186103e-03]

qacc:
[-5.55654524e-03,-9.60139413e-01, 3.81720705e+00,-6.46834002e+00,
  1.24264891e+00,-9.08277367e-01, 3.48179200e+00,-4.35788904e+00,
  3.07628294e-01, 1.66876455e-01,-2.70383048e+00, 8.00613199e+00,
 -2.05197125e-01,-1.57052409e-02,-9.57690498e-01, 3.15957163e+00,
  5.18594270e-02, 1.10057746e+00,-2.48978518e-01,-1.83682920e+01,
  1.42738478e+00, 2.35475881e-01]

qfrc_actuator:
[ 3.55836622e-05, 8.36716418e-05, 1.37933748e-04, 1.49539401e-04,
 -2.86851585e-05,-3.19084569e-04,-2.12913272e-04, 7.21073598e-05,
 -3.20593989e-05, 4.90019238e-04, 5.69323451e-05, 7.25801347e-05,
  1.25015971e-02,-1.49634524e-03, 0.00000000e+00,-2.98625261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024694877794528836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24788119e-13,  6.74364356e-13,  1.00000000e+00,  1.51589095e-25,
        1.00000000e+00, -6.74364356e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24788119e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505779, -0.09317596,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.08039863e-08,-8.18422621e-06, 8.74037910e-06,-7.17916044e-06,
  7.24274624e-06, 2.37640141e-05, 2.62783080e-05, 1.28959727e-06,
  1.75895767e-06,-6.34164721e-05,-1.94343869e-05, 1.06971678e-05,
 -8.25652770e-05,-3.61951576e-05,-6.58863632e-06, 1.34988329e-05,
  3.00612113e-06,-1.13619471e-07,-1.21641749e+00, 1.07440761e-04,
  1.48864135e-03,-6.50838387e-07]


--- Step 1070 ---
qpos:
[ 2.98288080e-03,-3.29345914e-03, 1.18661420e-02, 4.17553508e-02,
 -2.20166684e-03,-1.91549602e-03,-1.73922284e-02, 2.86435536e-02,
  5.88854805e-03, 1.64465524e-02,-9.40046625e-03, 2.60067013e-02,
  1.21851406e+00,-1.11882300e-03, 9.48682767e-01, 6.39889344e-02,
  9.49801109e-02,-7.01130505e-02, 1.21758282e-01, 9.99962878e-01,
 -8.89241140e-05, 9.56261248e-05, 8.61541857e-03]

qacc:
[ -0.05792101, -0.58459412,  2.43001763, -4.14286129,  3.90220769,
  -2.42989985,  9.3722081 ,-15.35384634, -5.9585373 ,  0.57290743,
   1.84245339,-16.29564958, -0.96985141,  1.69492343,  3.71024391,
 -12.63289117,  0.05250253,  1.09604571, -0.29553626,-18.29862988,
   1.41120675,  0.24931096]

qfrc_actuator:
[ 3.52262887e-05, 8.92423438e-05, 1.47261463e-04, 1.45732868e-04,
 -6.13068936e-06,-3.66049103e-04,-2.00763689e-04, 5.35665218e-05,
 -6.71018456e-05, 4.96588092e-04, 1.26431731e-05, 2.56258723e-05,
  1.24819583e-02,-1.46184882e-03, 0.00000000e+00,-3.04771731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024243657859754353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.28971847e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.28971847e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505786, -0.09317731,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65585193e-07, 2.45528184e-06, 8.44882541e-06,-4.00027497e-06,
  2.27681018e-05,-2.81574308e-05, 2.03449826e-05,-1.65904941e-05,
 -3.50085450e-05,-3.25094034e-05,-5.94347296e-05,-5.01420190e-05,
 -7.66535711e-05, 8.41616148e-06,-6.43421498e-06,-6.26745828e-05,
  4.32993926e-06,-1.90531335e-07,-1.21639654e+00, 1.01000185e-04,
  1.48927524e-03,-3.14297025e-07]


--- Step 1071 ---
qpos:
[ 2.98360224e-03,-3.29268232e-03, 1.18661484e-02, 4.17563992e-02,
 -2.20153085e-03,-1.91710824e-03,-1.73913020e-02, 2.86447657e-02,
  5.88788310e-03, 1.64482202e-02,-9.40122269e-03, 2.60056377e-02,
  1.21884272e+00,-1.11888565e-03, 9.48934917e-01, 6.39806639e-02,
  9.49778115e-02,-7.00969488e-02, 1.21757070e-01, 9.99962737e-01,
 -2.25040675e-04, 7.98858580e-05, 8.62948146e-03]

qacc:
[ -0.10222668,  0.52254715, -0.25332921, -5.41094138,  2.3881272 ,
  -1.13771656,  4.62748518, -8.60907631, -0.62212879, -1.57697563,
   9.98443053,-26.83152418, -0.56034564,  0.8065025 ,  3.08653733,
 -10.79506381, -0.64230231, -0.96041282,  0.3774146 , 15.60936518,
 -12.03619205,  0.25320917]

qfrc_actuator:
[ 3.47235680e-05, 7.45402104e-05, 1.17088971e-04, 1.25182054e-04,
  7.19060131e-06,-3.75716960e-04,-1.94075993e-04, 4.20562904e-05,
 -6.97289935e-05, 5.35415048e-04, 2.23625720e-05,-1.97160693e-05,
  1.24530344e-02,-1.45911729e-03, 0.00000000e+00,-3.09875374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002455053632861026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884259, -0.05158864,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15547262e-07,-1.17931583e-05,-2.87809788e-05,-2.02371022e-05,
  1.39603360e-05,-2.18749481e-05, 2.80708377e-06,-1.23385788e-05,
 -3.63328379e-06, 6.15947375e-06,-6.06085049e-06,-4.97678984e-05,
 -7.23417900e-05,-1.26629329e-05,-1.54301563e-05,-5.65979937e-05,
  5.75022433e-06,-2.50706921e-07,-1.21636887e+00, 9.27541786e-05,
  1.49006739e-03, 1.11444782e-07]


--- Step 1072 ---
qpos:
[ 2.98396728e-03,-3.29216254e-03, 1.18658890e-02, 4.17575643e-02,
 -2.20158166e-03,-1.91797401e-03,-1.73909707e-02, 2.86450696e-02,
  5.88753643e-03, 1.64499123e-02,-9.40136803e-03, 2.60046914e-02,
  1.21917087e+00,-1.11912964e-03, 9.49186445e-01, 6.39758352e-02,
  9.49729572e-02,-7.00846252e-02, 1.21756776e-01, 9.99962583e-01,
 -3.30208560e-04, 4.08230824e-05, 8.64417557e-03]

qacc:
[-3.13222148e+00, 6.50322469e-01,-3.29299328e+00, 5.91461841e+00,
 -1.67052720e+00, 7.83587790e-01, 2.47821603e+00,-1.78011884e+01,
  2.79472081e+00,-1.43963354e+00, 4.67468729e+00,-3.62778146e+00,
 -2.13702730e-02,-3.09438969e-01,-1.13112214e+01, 3.82286488e+01,
 -6.38739914e-01,-9.44548033e-01, 2.29134776e-01, 1.53731044e+01,
 -1.17944259e+01, 3.14263692e-01]

qfrc_actuator:
[ 1.63867118e-05, 4.76362100e-05, 9.92480894e-05, 1.30404937e-04,
 -2.78649087e-06,-2.91993247e-04,-2.08275445e-04,-7.04857013e-07,
 -5.32442685e-05, 5.57970879e-04, 6.40604259e-05,-1.04042637e-05,
  1.24185512e-02,-1.47528380e-03, 0.00000000e+00,-2.91241832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.3973046 , -0.2777627 ,  4.38852317, -0.2777627 , 36.12157998,
        2.00792386,  4.38852317,  2.00792386,  4.52439208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025129712102124613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.20898477e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.20898477e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088409 , -0.05158971,  0.06199389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83563269e-05,-4.03434461e-05,-2.45341954e-05, 3.32365439e-06,
 -9.58638770e-06, 7.15922040e-05,-1.87941971e-05,-4.38433640e-05,
  1.63893464e-05, 2.25629832e-05, 4.04928181e-05, 8.39784962e-06,
 -8.02880900e-05,-3.49060673e-05,-1.82178534e-05, 1.80107970e-04,
  4.90340000e-06, 1.35028169e-07,-1.21639248e+00, 8.58544315e-05,
  1.48915981e-03, 7.68202332e-07]


--- Step 1073 ---
qpos:
[ 2.98376465e-03,-3.29185519e-03, 1.18656677e-02, 4.17587560e-02,
 -2.20175147e-03,-1.91818452e-03,-1.73911752e-02, 2.86452108e-02,
  5.88739040e-03, 1.64514017e-02,-9.40148005e-03, 2.60046235e-02,
  1.21949842e+00,-1.11949472e-03, 9.49437809e-01, 6.39732268e-02,
  9.49656374e-02,-7.00765557e-02, 1.21756694e-01, 9.99962425e-01,
 -4.00357053e-04,-2.07278083e-05, 8.65955387e-03]

qacc:
[ -4.9777999 , -0.32303878,  0.64925814, -0.11285634, -1.07182945,
   2.02997027, -5.29086082,  2.84407948,  1.75500057,  1.44398364,
  -9.25264882, 24.559539  , -0.23646493,  0.04828105, -6.93198052,
  23.92762949, -0.61637852, -1.06350227,  0.05328719, 17.41183052,
 -11.39510661,  0.33910388]

qfrc_actuator:
[-1.23002055e-05, 4.91927483e-05, 1.06559508e-04, 1.33002596e-04,
 -8.64033138e-06,-2.59613210e-04,-2.34323297e-04,-8.18558312e-06,
 -4.34057283e-05, 5.17555037e-04, 5.32653550e-05, 3.09962036e-05,
  1.23807490e-02,-1.48477731e-03, 0.00000000e+00,-2.80075063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002542894955348421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18299034e-13, -2.14167070e-07,  1.00000000e+00, -4.67524645e-20,
        1.00000000e+00,  2.14167070e-07, -1.00000000e+00,  6.01853108e-36,
       -2.18299034e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10858036, -0.04880609,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92245973e-05,-2.59547712e-05,-3.93378747e-06, 8.27850632e-08,
 -6.09952990e-06, 6.66768984e-05,-1.50862932e-05,-5.91527658e-06,
  1.03192403e-05,-1.91270918e-05,-8.73245594e-07, 4.39298246e-05,
 -9.29657207e-05,-3.49035391e-05, 8.23741369e-06, 1.18589814e-04,
  4.17830504e-06, 7.81157848e-07,-1.21640811e+00, 8.04546971e-05,
  1.48707310e-03, 1.22761582e-06]


--- Step 1074 ---
qpos:
[ 2.98321949e-03,-3.29165359e-03, 1.18654939e-02, 4.17596093e-02,
 -2.20199008e-03,-1.91794140e-03,-1.73916835e-02, 2.86459616e-02,
  5.88736388e-03, 1.64523370e-02,-9.40090682e-03, 2.60043626e-02,
  1.21982519e+00,-1.11940835e-03, 9.49689036e-01, 6.39729793e-02,
  9.49559514e-02,-7.00732536e-02, 1.21756080e-01, 9.99962268e-01,
 -4.31108716e-04,-1.03909183e-04, 8.67563828e-03]

qacc:
[ -3.00339501, -0.96422641,  4.67264043,-10.53678762, -0.62027219,
   2.70248721,-11.33845682, 22.03713624,  1.07313984, -3.04710925,
  10.61352309,-14.63834116, -0.82684147,  1.38729549, -7.26722391,
  25.27409114, -0.5915565 , -1.19187402, -0.1331573 , 19.60402719,
 -10.98555647,  0.34830068]

qfrc_actuator:
[-2.90907049e-05, 5.01311906e-05, 1.11011979e-04, 1.16315955e-04,
 -1.20133135e-05,-2.40494141e-04,-2.49548641e-04, 2.28723930e-05,
 -3.75645732e-05, 4.75078782e-04, 8.23183988e-05, 1.98312417e-05,
  1.23516349e-02,-1.45474947e-03, 0.00000000e+00,-2.68078097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002560232464264983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16820746e-13,  2.16820746e-13,  1.00000000e+00,  4.70112358e-26,
        1.00000000e+00, -2.16820746e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16820746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10829087, -0.0457098 ,  0.06199378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76327831e-05,-1.44052408e-05,-1.39252309e-06,-1.79345271e-05,
 -3.52272380e-06, 5.30426530e-05,-3.51114732e-06, 3.32791721e-05,
  6.13306842e-06,-5.15193726e-05, 2.64980146e-05,-1.11632881e-05,
 -9.15786861e-05, 1.60986581e-06, 1.17187732e-05, 1.26436275e-04,
  3.34047271e-06, 1.72691630e-06,-1.21641793e+00, 7.67574088e-05,
  1.48379512e-03, 1.46475744e-06]


--- Step 1075 ---
qpos:
[ 2.98247705e-03,-3.29154403e-03, 1.18653202e-02, 4.17609479e-02,
 -2.20192219e-03,-1.91750407e-03,-1.73922404e-02, 2.86467492e-02,
  5.88740737e-03, 1.64532027e-02,-9.39987477e-03, 2.60039232e-02,
  1.22015126e+00,-1.11872817e-03, 9.49940346e-01, 6.39735032e-02,
  9.49439055e-02,-7.00746710e-02, 1.21754554e-01, 9.99962108e-01,
 -4.22853790e-04,-2.08446270e-04, 8.69250988e-03]

qacc:
[ -1.72984719,  0.88198741, -5.36256588, 13.82144829,  2.68328504,
   0.4629288 , -1.44263628,  2.02376521,  0.62600747, -1.74299051,
   6.83294794,-10.60233645, -0.99192625,  1.79226355, -2.1319921 ,
   7.80997553, -0.58994531, -1.17985636, -0.22801612, 19.40996138,
 -10.84682649,  0.38695791]

qfrc_actuator:
[-3.87414265e-05, 5.06770717e-05, 1.13724489e-04, 1.41670981e-04,
  3.85224527e-06,-2.47144759e-04,-2.58298300e-04, 2.30884708e-05,
 -3.41209831e-05, 5.02809298e-04, 1.16862412e-04, 1.33524846e-05,
  1.23277698e-02,-1.41928554e-03, 0.00000000e+00,-2.64562203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025587469579710365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33893247e-13, -2.16946623e-13,  1.00000000e+00, -9.41316747e-26,
        1.00000000e+00,  2.16946623e-13, -1.00000000e+00,  0.00000000e+00,
       -4.33893247e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1082904 , -0.04570961,  0.06199378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01578046e-05,-8.57700417e-06,-1.05601646e-06, 2.43395391e-05,
  1.57824109e-05, 2.37059095e-05, 2.92709301e-06, 3.01446773e-06,
  3.60430876e-06, 3.87777346e-06, 2.67621765e-05,-7.99002430e-06,
 -7.70584606e-05, 1.49184729e-05, 1.38460954e-05, 4.24315408e-05,
  2.32010970e-06, 2.99937517e-06,-1.21642015e+00, 7.49797823e-05,
  1.47935289e-03, 1.44991037e-06]


--- Step 1076 ---
qpos:
[ 2.98196932e-03,-3.29134035e-03, 1.18650770e-02, 4.17629056e-02,
 -2.20166451e-03,-1.91712489e-03,-1.73927461e-02, 2.86472142e-02,
  5.88783628e-03, 1.64548397e-02,-9.39969906e-03, 2.60040821e-02,
  1.22047682e+00,-1.11791823e-03, 9.50191880e-01, 6.39727805e-02,
  9.49338111e-02,-7.00807081e-02, 1.21753048e-01, 9.99961977e-01,
 -3.74910654e-04,-2.96715193e-04, 8.70718118e-03]

qacc:
[ 2.05681505e+00, 1.59048570e+00,-8.10837623e+00, 1.88682625e+01,
  1.66706006e+00,-8.86492697e-01, 4.40585934e+00,-1.00207900e+01,
  3.32207329e+00, 4.63791677e+00,-1.75952774e+01, 2.87637194e+01,
 -5.62313703e-01, 8.20384340e-01, 4.13025727e+00,-1.38825160e+01,
  4.87835894e-01,-1.15493483e+00, 5.10397639e-03, 1.99138358e+01,
  7.96174693e+00,-1.10093223e+00]

qfrc_actuator:
[-2.63638753e-05, 6.87686273e-05, 1.15421453e-04, 1.73809940e-04,
  1.31605318e-05,-2.69179216e-04,-2.63296114e-04, 5.12838076e-06,
 -1.43615978e-05, 5.72400948e-04, 8.36428050e-05, 4.52533872e-05,
  1.23017506e-02,-1.41638818e-03, 0.00000000e+00,-2.71396214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025752746294484263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15554297e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.15554297e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650125, -0.04623785,  0.06199374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20838348e-05, 1.41136413e-05, 6.36440207e-07, 3.22065502e-05,
  9.76619370e-06,-8.04997629e-06, 3.62612301e-07,-1.67863757e-05,
  1.98670192e-05, 7.69047735e-05,-2.94200469e-05, 3.28341846e-05,
 -6.77457229e-05,-1.14731860e-05, 4.99965878e-06,-6.55935391e-05,
  1.28871286e-06, 4.58790066e-06,-1.21641237e+00, 7.50948186e-05,
  1.47380125e-03, 1.20141691e-06]


--- Step 1077 ---
qpos:
[ 2.98161373e-03,-3.29105583e-03, 1.18651532e-02, 4.17648621e-02,
 -2.20198732e-03,-1.91636277e-03,-1.73934389e-02, 2.86463844e-02,
  5.88849881e-03, 1.64571942e-02,-9.39995924e-03, 2.60042537e-02,
  1.22080184e+00,-1.11701941e-03, 9.50443277e-01, 6.39722537e-02,
  9.49267221e-02,-7.00883239e-02, 1.21752848e-01, 9.99961865e-01,
 -3.12801055e-04,-3.59348401e-04, 8.72015741e-03]

qacc:
[  1.34398223, -0.7913348 ,  2.97712407, -3.5643966 , -5.10458242,
  -1.62475449, 12.01328304,-34.4257014 ,  2.01181455,  2.18870936,
  -6.48788288,  6.8818701 , -0.46700047,  0.61482269, -0.76358373,
   2.44768901,  0.75138436, -0.39466673,  0.32653541,  7.19432171,
  12.75601537, -0.8448717 ]

qfrc_actuator:
[-1.88750882e-05, 7.94856156e-05, 1.34331180e-04, 1.74186156e-04,
 -1.69767133e-05,-2.29258779e-04,-2.66123262e-04,-5.88980657e-05,
 -2.90878039e-06, 6.13038407e-04, 6.41545653e-05, 4.62187062e-05,
  1.22691202e-02,-1.41505159e-03, 0.00000000e+00,-2.70067132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025909296610690524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14251865e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.14251865e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174827, -0.06203371,  0.0619937 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.83575192e-06, 2.01173154e-05, 2.30139215e-05, 1.62506879e-06,
 -2.98609848e-05, 3.47689385e-05,-5.02601627e-06,-6.46867388e-05,
  1.20543379e-05, 7.89196530e-05,-6.11202327e-06, 3.87691645e-06,
 -7.52485358e-05,-1.62262441e-05,-1.09283018e-05, 8.90771246e-06,
 -6.37413716e-07, 3.88039351e-06,-1.21641473e+00, 7.76808973e-05,
  1.46906721e-03, 8.07438242e-07]


--- Step 1078 ---
qpos:
[ 2.98100578e-03,-3.29065037e-03, 1.18654549e-02, 4.17668089e-02,
 -2.20301367e-03,-1.91523693e-03,-1.73942141e-02, 2.86447885e-02,
  5.88860466e-03, 1.64593520e-02,-9.39949034e-03, 2.60041272e-02,
  1.22112622e+00,-1.11602230e-03, 9.50694695e-01, 6.39708603e-02,
  9.49226103e-02,-7.00975187e-02, 1.21753521e-01, 9.99961773e-01,
 -2.36744447e-04,-3.96671624e-04, 8.73149969e-03]

qacc:
[ -2.21003198, -0.48590435,  2.01211153, -2.63526733, -6.17982037,
  -0.85229045,  6.99219556,-20.40784463, -4.82937143, -2.90178646,
  11.24347879,-17.43853836, -0.61507288,  0.82456145,  2.68689034,
  -9.26271462,  0.74429005, -0.39475763,  0.21821483,  7.0833014 ,
  12.59395934, -0.81558765]

qfrc_actuator:
[-3.20834891e-05, 8.57535011e-05, 1.45454918e-04, 1.73630087e-04,
 -5.23342698e-05,-2.05841128e-04,-2.67430237e-04,-9.62050487e-05,
 -3.19475405e-05, 5.65037981e-04, 8.83324972e-05, 2.89690661e-05,
  1.22272190e-02,-1.41466250e-03, 0.00000000e+00,-2.74586158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002599232155404557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13567500e-13, -4.27134999e-13,  1.00000000e+00, -9.12221538e-26,
        1.00000000e+00,  4.27134999e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13567500e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174853, -0.06203426,  0.06199368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29805507e-05, 2.23290392e-05, 1.81613360e-05, 1.12822663e-06,
 -3.61937123e-05, 3.90219462e-05, 3.01961718e-06,-3.72468230e-05,
 -2.86583841e-05,-5.04074729e-06, 3.98365086e-05,-1.40090576e-05,
 -9.00419670e-05,-1.98840399e-05,-8.79008426e-06,-4.71942652e-05,
 -1.47210258e-06, 2.59205978e-06,-1.21642055e+00, 8.09918566e-05,
  1.46588337e-03, 6.16101368e-07]


--- Step 1079 ---
qpos:
[ 2.98058909e-03,-3.28988082e-03, 1.18655352e-02, 4.17683883e-02,
 -2.20445561e-03,-1.91435033e-03,-1.73948279e-02, 2.86442002e-02,
  5.88905200e-03, 1.64609144e-02,-9.39846356e-03, 2.60038595e-02,
  1.22144982e+00,-1.11444847e-03, 9.50946528e-01, 6.39649014e-02,
  9.49214522e-02,-7.01082929e-02, 1.21754704e-01, 9.99961700e-01,
 -1.46914440e-04,-4.08950939e-04, 8.74125365e-03]

qacc:
[  1.66530975,  0.33930733,  1.03285031, -7.2986874 , -3.63519841,
   1.3120884 , -9.37968923, 26.72154013,  3.00595055, -2.64267505,
   8.8673703 ,-11.75498353, -1.31881812,  2.29401302, 14.484447  ,
 -49.56852357,  0.73841314, -0.39483909,  0.12748726,  6.99545929,
  12.46153583, -0.79397384]

qfrc_actuator:
[-2.18613039e-05, 1.07032107e-04, 1.34120593e-04, 1.54770826e-04,
 -7.27161380e-05,-2.45717002e-04,-2.67854824e-04,-4.64807643e-05,
 -1.35738629e-05, 4.99987449e-04, 1.02214239e-04, 1.88486589e-05,
  1.21957616e-02,-1.37938159e-03, 0.00000000e+00,-2.98492989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002589845002515384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14341596e-13, -8.57366386e-13,  1.00000000e+00, -1.83769280e-25,
        1.00000000e+00,  8.57366386e-13, -1.00000000e+00,  0.00000000e+00,
       -2.14341596e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174845, -0.06203454,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.85750355e-06, 3.75394938e-05,-4.45769493e-06,-1.72576463e-05,
 -2.13985217e-05,-1.90682473e-05, 6.71966730e-06, 5.07804711e-05,
  1.75567134e-05,-6.03339128e-05, 1.72333178e-05,-9.23504643e-06,
 -8.92213420e-05, 1.08729555e-05,-1.45704964e-05,-2.44037279e-04,
 -1.98389648e-06, 1.43168635e-06,-1.21642208e+00, 8.49483687e-05,
  1.46397328e-03, 4.36690470e-07]


--- Step 1080 ---
qpos:
[ 2.98029797e-03,-3.28871993e-03, 1.18652040e-02, 4.17690485e-02,
 -2.20578572e-03,-1.91407200e-03,-1.73952121e-02, 2.86442559e-02,
  5.88971600e-03, 1.64620115e-02,-9.39783168e-03, 2.60038686e-02,
  1.22177266e+00,-1.11218486e-03, 9.51198102e-01, 6.39574514e-02,
  9.49232285e-02,-7.01206470e-02, 1.21756094e-01, 9.99961643e-01,
 -4.34463979e-05,-3.96401557e-04, 8.74945269e-03]

qacc:
[  1.08209058, -0.22845722,  5.43812907,-20.96528384,  0.99890518,
  -0.12222606, -3.45375321, 14.68481647,  1.8853395 ,  1.05476336,
  -5.82851017, 11.60026524, -1.206356  ,  2.1988342 ,  4.20614645,
 -15.06501444,  0.73361296, -0.39497361,  0.05167117,  6.92695631,
  12.3543836 , -0.77847216]

qfrc_actuator:
[-1.56760676e-05, 1.19273005e-04, 1.09668004e-04, 1.07538770e-04,
 -6.63664959e-05,-3.05358886e-04,-2.67960932e-04,-1.70153689e-05,
 -2.93349231e-06, 4.60689332e-04, 7.42925836e-05, 3.07209296e-05,
  1.21652793e-02,-1.34143598e-03, 0.00000000e+00,-3.05223754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025664948096698614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16291695e-13, -2.16291695e-13,  1.00000000e+00, -4.67820973e-26,
        1.00000000e+00,  2.16291695e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16291695e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817481 , -0.06203459,  0.06199376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47718023e-06, 3.15454566e-05,-1.78583049e-05,-4.61199833e-05,
  5.73063723e-06,-6.67718074e-05,-1.46097119e-06, 2.98705998e-05,
  1.11282125e-05,-6.99336321e-05,-3.86112816e-05, 9.69744243e-06,
 -8.11212837e-05, 2.03447136e-05,-3.99876672e-05,-8.41706787e-05,
 -2.18834729e-06, 3.84106406e-07,-1.21641945e+00, 8.95456102e-05,
  1.46332218e-03, 2.67883433e-07]


--- Step 1081 ---
qpos:
[ 2.98008376e-03,-3.28773459e-03, 1.18645089e-02, 4.17695535e-02,
 -2.20737451e-03,-1.91442947e-03,-1.73952015e-02, 2.86439666e-02,
  5.88946772e-03, 1.64630342e-02,-9.39798172e-03, 2.60036514e-02,
  1.22209487e+00,-1.10946086e-03, 9.51448888e-01, 6.39535405e-02,
  9.49279239e-02,-7.01345818e-02, 1.21757438e-01, 9.99961597e-01,
  7.35563451e-05,-3.59195133e-04, 8.75612037e-03]

qacc:
[ 6.66448327e-01, 4.64239402e-01,-1.33895872e+00,-6.33954839e-01,
 -2.24578913e+00,-2.64786053e+00, 9.68661733e+00,-1.58277687e+01,
 -7.97995839e+00, 1.63695300e+00,-4.99656583e+00, 2.35528496e+00,
 -6.47693566e-01, 1.14652694e+00,-1.17941874e+01, 3.96900918e+01,
  7.29764361e-01,-3.95203206e-01,-1.15240434e-02, 6.87465560e+00,
  1.22688733e+01,-7.67839040e-01]

qfrc_actuator:
[-1.19238286e-05, 7.26604857e-05, 7.76232440e-05, 9.72395358e-05,
 -7.98444008e-05,-3.40890387e-04,-2.50256003e-04,-3.52500903e-05,
 -5.02027530e-05, 4.72456149e-04, 3.97711430e-05, 1.99219174e-05,
  1.21354081e-02,-1.31998793e-03, 0.00000000e+00,-2.85796332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002532286257338895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.19213571e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.19213571e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174754, -0.06203447,  0.06199385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94691237e-06,-3.46729965e-05,-2.93355334e-05,-1.04672599e-05,
 -1.33390409e-05,-7.18955822e-05, 4.76739787e-06,-2.05655853e-05,
 -4.69693963e-05,-3.49417553e-05,-5.34074614e-05,-1.49474386e-05,
 -7.35150300e-05, 7.65642440e-06,-3.16971799e-05, 1.83566800e-04,
 -2.09549137e-06,-5.62396956e-07,-1.21641280e+00, 9.47795285e-05,
  1.46391838e-03, 1.08750717e-07]


--- Step 1082 ---
qpos:
[ 2.98026129e-03,-3.28711114e-03, 1.18635076e-02, 4.17702973e-02,
 -2.20911254e-03,-1.91527756e-03,-1.73949979e-02, 2.86431113e-02,
  5.88865492e-03, 1.64638450e-02,-9.39800589e-03, 2.60032606e-02,
  1.22241655e+00,-1.10649218e-03, 9.51700059e-01, 6.39468945e-02,
  9.49355263e-02,-7.01500989e-02, 1.21758525e-01, 9.99961554e-01,
  2.04017402e-04,-2.97465858e-04, 8.76127250e-03]

qacc:
[  3.43523133,  0.86300471, -4.78974345,  9.69004942, -1.29472314,
  -2.34870323,  9.82850503,-19.57593353, -4.91622523, -0.97991063,
   3.8371271 , -6.90562889, -0.75531909,  1.21730465,  8.87503305,
 -30.10366968,  0.72675655, -0.39555479, -0.064056  ,  6.83598876,
  12.20197821, -0.76108077]

qfrc_actuator:
[ 8.11969280e-06, 4.44041672e-05, 5.88928346e-05, 1.08703792e-04,
 -8.71404132e-05,-3.61684812e-04,-2.39874183e-04,-6.36208359e-05,
 -7.79176350e-05, 4.79151686e-04, 5.50927128e-05, 1.36651355e-05,
  1.21112464e-02,-1.30848493e-03, 0.00000000e+00,-3.00824730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024897968086895483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68863632e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.68863632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174681, -0.06203421,  0.06199395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01429512e-05,-5.41798527e-05,-2.98721263e-05, 8.75826603e-06,
 -7.70066722e-06,-6.08860745e-05,-4.58760836e-06,-3.16851468e-05,
 -2.90676122e-05,-2.45686817e-05, 1.00032851e-06,-9.89259328e-06,
 -6.56444998e-05,-3.49671166e-06, 2.98222022e-06,-1.44767463e-04,
 -1.71090735e-06,-1.41710415e-06,-1.21640219e+00, 1.00646804e-04,
  1.46575279e-03,-4.13307597e-08]


--- Step 1083 ---
qpos:
[ 2.98067744e-03,-3.28661469e-03, 1.18624458e-02, 4.17711252e-02,
 -2.21057979e-03,-1.91642630e-03,-1.73950367e-02, 2.86419284e-02,
  5.88751588e-03, 1.64643826e-02,-9.39785665e-03, 2.60031469e-02,
  1.22273791e+00,-1.10393955e-03, 9.51950962e-01, 6.39405165e-02,
  9.49433132e-02,-7.01610275e-02, 1.21760365e-01, 9.99961499e-01,
  2.95956017e-04,-2.33087386e-04, 8.76691721e-03]

qacc:
[  2.09478487,  0.17051554, -1.21286159,  2.8641517 ,  2.37218655,
  -0.39832649,  2.21874385, -7.26955414, -2.83513898, -0.26949795,
  -0.7235375 ,  5.43417827,  0.12408338, -0.65003253, -1.22118208,
   3.65680584,  0.04611657,  1.14714521,  0.18812795,-19.24880097,
   1.4933487 ,  0.25179805]

qfrc_actuator:
[ 1.98397457e-05, 6.29233917e-05, 6.59913703e-05, 1.15141493e-04,
 -7.29806425e-05,-3.73527866e-04,-2.51594957e-04,-7.99615453e-05,
 -9.38827291e-05, 4.65219309e-04, 6.42198060e-05, 2.79242261e-05,
  1.20851968e-02,-1.33842268e-03, 0.00000000e+00,-2.98760245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002507842816515671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21350201e-13,  4.42700403e-13,  1.00000000e+00,  9.79918232e-26,
        1.00000000e+00, -4.42700403e-13, -1.00000000e+00,  0.00000000e+00,
       -2.21350201e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506689, -0.09317666,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22746186e-05,-1.75793022e-05,-7.46700412e-06, 3.25202008e-06,
  1.39205203e-05,-4.81682483e-05,-2.59487085e-05,-1.97216940e-05,
 -1.68040426e-05,-2.79295573e-05, 3.82502618e-06, 1.30484733e-05,
 -6.57481757e-05,-4.53182543e-05,-2.09580309e-05, 1.15403155e-05,
 -1.03650059e-06,-2.18762238e-06,-1.21638769e+00, 1.07144804e-04,
  1.46881846e-03,-1.82743068e-07]


--- Step 1084 ---
qpos:
[ 2.98088595e-03,-3.28619704e-03, 1.18616996e-02, 4.17719904e-02,
 -2.21186613e-03,-1.91783308e-03,-1.73947292e-02, 2.86408575e-02,
  5.88653876e-03, 1.64650147e-02,-9.39830681e-03, 2.60032113e-02,
  1.22305891e+00,-1.10199201e-03, 9.52201413e-01, 6.39367356e-02,
  9.49512916e-02,-7.01674221e-02, 1.21762486e-01, 9.99961441e-01,
  3.49864306e-04,-1.66116800e-04, 8.77308061e-03]

qacc:
[ -1.81122636, -0.90600666,  2.92751473, -2.73417358,  1.60205551,
  -1.08123057,  2.88243521, -1.30269355,  1.39207219,  2.1638099 ,
  -8.29014821, 12.26404711,  0.39236011, -1.24476426, -8.54750216,
  28.84022439,  0.04788714,  1.13347251,  0.07031996,-19.00300737,
   1.46278766,  0.2633912 ]

qfrc_actuator:
[ 8.80951384e-06, 7.39125490e-05, 8.84641902e-05, 1.18622565e-04,
 -6.40603440e-05,-3.62241181e-04,-2.22961194e-04,-7.13437071e-05,
 -8.50577948e-05, 4.74561314e-04, 3.40270493e-05, 3.63588448e-05,
  1.20580161e-02,-1.37490938e-03, 0.00000000e+00,-2.84855669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025318018619741034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78145103e-13, -4.38511023e-13,  1.00000000e+00, -7.81185914e-26,
        1.00000000e+00,  4.38511023e-13, -1.00000000e+00,  0.00000000e+00,
       -1.78145103e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506718, -0.093176  ,  0.06199385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06872332e-05,-2.48684131e-07, 1.80384194e-05, 2.53180198e-06,
  9.30216098e-06,-2.18042009e-05, 1.48216653e-05, 5.27664103e-06,
  8.33463932e-06,-4.95750891e-06,-3.50476347e-05, 7.62321128e-06,
 -7.65096169e-05,-6.06326719e-05,-1.22745494e-05, 1.36099128e-04,
 -6.11636952e-07,-1.90043343e-06,-1.21640838e+00, 1.11731863e-04,
  1.47204779e-03,-5.53148342e-07]


--- Step 1085 ---
qpos:
[ 2.98061571e-03,-3.28574201e-03, 1.18612000e-02, 4.17725345e-02,
 -2.21303567e-03,-1.91924779e-03,-1.73939420e-02, 2.86402008e-02,
  5.88601965e-03, 1.64658548e-02,-9.39921193e-03, 2.60033515e-02,
  1.22337927e+00,-1.09991005e-03, 9.52451988e-01, 6.39326050e-02,
  9.49594676e-02,-7.01693280e-02, 1.21764494e-01, 9.99961385e-01,
  3.66147320e-04,-9.65970060e-05, 8.77977858e-03]

qacc:
[-4.19525674e+00,-1.29391458e+00, 6.05350684e+00,-1.20462824e+01,
  1.03987253e+00,-5.00507361e-01, 1.68362348e-02, 6.39501691e+00,
  3.97682034e+00, 1.69473393e+00,-5.97746470e+00, 7.87842226e+00,
 -6.16682898e-01, 8.55682266e-01, 1.28121309e+00,-4.11875257e+00,
  4.94000375e-02, 1.12219027e+00,-2.84699349e-02,-1.88006862e+01,
  1.43969358e+00, 2.69940416e-01]

qfrc_actuator:
[-1.55200791e-05, 8.03862688e-05, 1.02057010e-04, 1.02590064e-04,
 -5.83021735e-05,-3.36998999e-04,-1.88359131e-04,-4.80591607e-05,
 -6.17165136e-05, 4.97609597e-04, 1.64511012e-05, 4.12870742e-05,
  1.20301708e-02,-1.36171209e-03, 0.00000000e+00,-2.87169101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025353608624452406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.231581e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.231581e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506739, -0.09317592,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46356464e-05, 1.01562966e-05, 1.58529543e-05,-1.53704735e-05,
  6.01490088e-06, 1.63900880e-05, 3.21215520e-05, 2.29701347e-05,
  2.35811082e-05, 1.33451740e-05,-2.26566868e-05, 3.65036857e-06,
 -8.66893807e-05,-1.67922254e-05, 5.73323422e-06,-1.79913880e-05,
 -1.08026823e-07,-1.61870175e-06,-1.21642145e+00, 1.14444900e-04,
  1.47543825e-03,-8.30995850e-07]


--- Step 1086 ---
qpos:
[ 2.98005595e-03,-3.28529020e-03, 1.18606372e-02, 4.17725639e-02,
 -2.21447220e-03,-1.92029170e-03,-1.73932010e-02, 2.86401605e-02,
  5.88543943e-03, 1.64669904e-02,-9.40009589e-03, 2.60028139e-02,
  1.22369889e+00,-1.09739355e-03, 9.52702304e-01, 6.39302421e-02,
  9.49678465e-02,-7.01667819e-02, 1.21766056e-01, 9.99961334e-01,
  3.45135470e-04,-2.45592642e-05, 8.78701892e-03]

qacc:
[ -2.5435569 , -0.88336358,  5.32309133,-14.13426133, -2.34909552,
   1.89133454, -8.62772084, 19.08712294, -0.53770046, -1.0627375 ,
   7.21942294,-19.2027406 , -0.81474837,  1.36256496, -5.659831  ,
  19.38279264,  0.05071754,  1.11296999, -0.1111687 ,-18.63563299,
   1.422745  ,  0.27250239]

qfrc_actuator:
[-2.97224900e-05, 6.63134234e-05, 9.25118893e-05, 7.51929614e-05,
 -7.22021660e-05,-3.03530415e-04,-1.85953237e-04,-1.63216287e-05,
 -6.55315266e-05, 5.28730387e-04, 2.42931884e-05, 8.63716322e-06,
  1.19966393e-02,-1.33695454e-03, 0.00000000e+00,-2.77719370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002522672029652423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.12591916e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.12591916e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506753, -0.09317631,  0.06199387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49015977e-05,-5.79693440e-06,-6.02600391e-06,-2.67127376e-05,
 -1.37250711e-05, 5.02988847e-05, 1.05514660e-05, 3.40010342e-05,
 -3.13188845e-06, 3.40463113e-05, 7.93333659e-06,-3.27921666e-05,
 -8.83714251e-05, 1.61471056e-06,-5.22042854e-06, 9.28977753e-05,
  4.84043081e-07,-1.34597939e-06,-1.21642719e+00, 1.15303629e-04,
  1.47898933e-03,-1.01682220e-06]


--- Step 1087 ---
qpos:
[ 2.97967504e-03,-3.28482663e-03, 1.18597002e-02, 4.17719397e-02,
 -2.21606416e-03,-1.92086477e-03,-1.73927430e-02, 2.86401588e-02,
  5.88481864e-03, 1.64678779e-02,-9.40038114e-03, 2.60019190e-02,
  1.22401802e+00,-1.09515359e-03, 9.52952776e-01, 6.39269967e-02,
  9.49764329e-02,-7.01598138e-02, 1.21766898e-01, 9.99961283e-01,
  2.87094954e-04, 4.99747630e-05, 8.79480305e-03]

qacc:
[  1.55761209, -0.2881431 ,  3.80143114,-14.51307166, -1.38012278,
   1.49470514, -4.58558794,  5.35592046, -0.33113164, -2.73612276,
  10.78976823,-17.74919845, -0.19399814, -0.08710257,  2.90013172,
  -9.79805521,  0.05188802,  1.10552913, -0.18027157,-18.50264297,
   1.41087413,  0.27190673]

qfrc_actuator:
[-2.00936798e-05, 5.76909262e-05, 6.92952586e-05, 4.12991562e-05,
 -7.98073538e-05,-2.83254180e-04,-2.02530933e-04,-1.53854166e-05,
 -6.75517865e-05, 4.93513427e-04, 4.70919615e-05,-1.03311073e-05,
  1.19650539e-02,-1.35887258e-03, 0.00000000e+00,-2.82712655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002497199107848874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.94667666e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.94667666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506762, -0.09317706,  0.06199393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.20284142e-06,-1.42663655e-05,-2.60781628e-05,-3.48697303e-05,
 -7.98070969e-06, 5.20644110e-05,-3.70783769e-06, 4.11992882e-06,
 -2.09452378e-06,-1.59771117e-05, 2.96718138e-05,-1.78722744e-05,
 -8.30681736e-05,-4.16662720e-05, 3.09790993e-06,-4.65230071e-05,
  1.17072397e-06,-1.08251002e-06,-1.21642581e+00, 1.14324109e-04,
  1.48270023e-03,-1.11117382e-06]


--- Step 1088 ---
qpos:
[ 2.97941219e-03,-3.28415457e-03, 1.18583277e-02, 4.17715839e-02,
 -2.21739006e-03,-1.92092199e-03,-1.73930568e-02, 2.86398519e-02,
  5.88417894e-03, 1.64680005e-02,-9.40012956e-03, 2.60015662e-02,
  1.22433666e+00,-1.09318591e-03, 9.53203471e-01, 6.39211699e-02,
  9.49852312e-02,-7.01484472e-02, 1.21766788e-01, 9.99961225e-01,
  1.92236523e-04, 1.26991358e-04, 8.80312732e-03]

qacc:
[  1.01910322,  2.04393867, -8.02281574, 13.21188608,  2.30027485,
   2.20444975, -5.58948528,  1.16593361, -0.13481883, -1.39495364,
   1.21826211,  7.86946159, -0.28905051,  0.0737331 ,  8.12951334,
 -27.9414054 ,  0.05294895,  1.0996248 , -0.23790761,-18.39734067,
   1.40321648,  0.26880444]

qfrc_actuator:
[-1.42713506e-05, 8.78301999e-05, 5.59646500e-05, 5.71099282e-05,
 -6.58877941e-05,-2.71141718e-04,-2.47996229e-04,-3.25989091e-05,
 -6.84912858e-05, 4.18919219e-04, 6.05260955e-05, 1.43655490e-05,
  1.19399664e-02,-1.37275348e-03, 0.00000000e+00,-2.96177443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002461822304551664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95953066e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.95953066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506767, -0.09317809,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08159191e-06, 1.52812841e-05,-2.06890442e-05, 1.36206267e-05,
  1.37102168e-05, 4.06501613e-05,-3.50236675e-05,-1.50297831e-05,
 -1.00322202e-06,-7.81949863e-05, 1.31645601e-05, 2.46914386e-05,
 -8.36030441e-05,-4.13502487e-05,-9.43664698e-06,-1.38147998e-04,
  1.95562355e-06,-8.25464105e-07,-1.21641748e+00, 1.11519256e-04,
  1.48656995e-03,-1.11458663e-06]


--- Step 1089 ---
qpos:
[ 2.97887641e-03,-3.28345372e-03, 1.18567973e-02, 4.17721141e-02,
 -2.21853887e-03,-1.92052627e-03,-1.73939328e-02, 2.86393351e-02,
  5.88353283e-03, 1.64676242e-02,-9.40002879e-03, 2.60015266e-02,
  1.22465481e+00,-1.09142419e-03, 9.53453750e-01, 6.39164404e-02,
  9.49942451e-02,-7.01327004e-02, 1.21765534e-01, 9.99961151e-01,
  6.07228599e-05, 2.06483404e-04, 8.81198399e-03]

qacc:
[ -2.40061788,  2.31094867,-11.9135462 , 27.46665909,  1.527565  ,
   1.73452685, -4.43539188,  1.37458107, -0.05194268,  0.40679272,
  -3.7290537 ,  9.75640611, -0.12352175, -0.15190549, -3.92182601,
  12.8357881 ,  0.05392931,  1.09504842, -0.28589421,-18.31604184,
   1.39907087,  0.26370618]

qfrc_actuator:
[-2.84962789e-05, 8.77672253e-05, 4.87764715e-05, 1.02082981e-04,
 -5.71653378e-05,-2.46408227e-04,-2.74686893e-04,-4.26210161e-05,
 -6.87877579e-05, 3.92325229e-04, 5.04112243e-05, 2.89993725e-05,
  1.19187954e-02,-1.38170571e-03, 0.00000000e+00,-2.89666254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024189277211351945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29486606e-13,  2.29486606e-13,  1.00000000e+00,  5.26641022e-26,
        1.00000000e+00, -2.29486606e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29486606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506768, -0.09317934,  0.06199412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40467604e-05, 4.78783434e-06,-6.09967976e-06, 4.51790257e-05,
  9.12949298e-06, 3.95978367e-05,-2.31239815e-05,-9.78344849e-06,
 -3.53496197e-07,-6.65526176e-05,-2.37954809e-05, 1.22187481e-05,
 -8.02322339e-05,-3.63203039e-05,-2.52039985e-05, 5.49449811e-05,
  2.84054615e-06,-5.69085464e-07,-1.21640232e+00, 1.06899270e-04,
  1.49059744e-03,-1.02757310e-06]


--- Step 1090 ---
qpos:
[ 2.97817435e-03,-3.28280025e-03, 1.18555278e-02, 4.17728144e-02,
 -2.21991867e-03,-1.92026678e-03,-1.73943468e-02, 2.86387070e-02,
  5.88288806e-03, 1.64668473e-02,-9.40007397e-03, 2.60013046e-02,
  1.22497264e+00,-1.09037673e-03, 9.53703466e-01, 6.39154882e-02,
  9.50034785e-02,-7.01125871e-02, 1.21762978e-01, 9.99961044e-01,
 -1.07325197e-04, 2.88449304e-04, 8.82136212e-03]

qacc:
[-1.45038459e+00,-4.39028379e-01, 7.62280386e-01, 1.79087105e+00,
 -2.00911009e+00,-1.69573554e+00, 6.26240049e+00,-8.83509837e+00,
  1.39171638e-02,-4.97072373e-01, 1.77408140e+00,-4.40232059e+00,
  5.81590232e-01,-1.61875233e+00,-1.22868242e+01, 4.16523858e+01,
  5.48514320e-02, 1.09162107e+00,-3.25782620e-01,-1.82556406e+01,
  1.39786761e+00, 2.57012245e-01]

qfrc_actuator:
[-3.66531626e-05, 8.74318186e-05, 6.29231883e-05, 1.10570412e-04,
 -6.93312191e-05,-2.67503451e-04,-2.54508221e-04,-4.83017046e-05,
 -6.87033491e-05, 3.76818682e-04, 4.43924729e-05, 1.98550138e-05,
  1.18999919e-02,-1.42316343e-03, 0.00000000e+00,-2.69658826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002370483606042445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17088241e-13,  2.34176482e-13,  1.00000000e+00,  2.74193124e-26,
        1.00000000e+00, -2.34176482e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17088241e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506768, -0.09318075,  0.06199424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.55769795e-06, 3.00543127e-06, 1.59573456e-05, 9.36228787e-06,
 -1.18904844e-05,-4.14756476e-06, 2.51772663e-05,-4.97237793e-06,
  5.04069551e-08,-5.71044689e-05,-2.22715843e-05,-1.25813799e-05,
 -7.45104303e-05,-6.71026906e-05,-9.14801967e-06, 1.99063480e-04,
  3.82603045e-06,-3.04773608e-07,-1.21638041e+00, 1.00472001e-04,
  1.49478162e-03,-8.50614644e-07]


--- Step 1091 ---
qpos:
[ 2.97806963e-03,-3.28217744e-03, 1.18549650e-02, 4.17742681e-02,
 -2.22108838e-03,-1.92030819e-03,-1.73943975e-02, 2.86380440e-02,
  5.88224893e-03, 1.64660787e-02,-9.40038219e-03, 2.60005845e-02,
  1.22529001e+00,-1.08980839e-03, 9.53953274e-01, 6.39152305e-02,
  9.50100948e-02,-7.00963467e-02, 1.21762329e-01, 9.99960912e-01,
 -2.43602492e-04, 3.46628656e-04, 8.83151659e-03]

qacc:
[  5.26630814, -0.47366725, -1.56622491, 13.51413452,  1.8591877 ,
  -1.48719373,  4.86643005, -5.8200772 ,  0.04045499, -0.27938881,
   3.11513999,-11.32173702,  0.07952446, -0.67792468, -1.9767872 ,
   7.07557045, -0.65426825, -0.96824425,  0.4770591 , 15.77973441,
 -12.03297903,  0.39157457]

qfrc_actuator:
[-5.66143695e-06, 1.04750251e-04, 1.07267723e-04, 1.50786049e-04,
 -5.81876045e-05,-2.97935277e-04,-2.42512686e-04,-5.13920258e-05,
 -6.83956083e-05, 4.03571167e-04, 4.08868598e-05,-3.18600350e-06,
  1.18719588e-02,-1.44802849e-03, 0.00000000e+00,-2.66719234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002469047803633495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49656351e-13, -2.24828175e-13,  1.00000000e+00, -1.01095417e-25,
        1.00000000e+00,  2.24828175e-13, -1.00000000e+00,  0.00000000e+00,
       -4.49656351e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883509, -0.05158518,  0.061994  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07470866e-05, 2.26850217e-05, 4.72614288e-05, 4.10791079e-05,
  1.08024188e-05,-2.77710713e-05, 1.40718340e-05,-2.49142891e-06,
  2.88130703e-07,-1.02932185e-05,-1.84704256e-05,-2.65014580e-05,
 -8.70207689e-05,-5.58481349e-05, 1.43880012e-05, 3.84889028e-05,
  4.91174014e-06,-2.11187819e-08,-1.21635181e+00, 9.22432493e-05,
  1.49912143e-03,-5.84157539e-07]


--- Step 1092 ---
qpos:
[ 2.97833709e-03,-3.28166275e-03, 1.18552988e-02, 4.17761885e-02,
 -2.22177060e-03,-1.92057310e-03,-1.73945920e-02, 2.86377205e-02,
  5.88161804e-03, 1.64657886e-02,-9.40128658e-03, 2.59995554e-02,
  1.22560691e+00,-1.08982819e-03, 9.54203148e-01, 6.39150051e-02,
  9.50141216e-02,-7.00839114e-02, 1.21762931e-01, 9.99960770e-01,
 -3.48646503e-04, 3.81518542e-04, 8.84254120e-03]

qacc:
[  3.29708727, -1.69441624,  3.85420971,  2.87698646,  4.27508462,
   0.79569554, -4.71330286, 10.99600884,  0.04489015,  1.66269014,
  -3.70642621, -1.03954823,  0.13653401, -0.85226602, -0.02171733,
   0.16566534, -0.64736615, -0.95125607,  0.31248289, 15.51303913,
 -11.78230091,  0.43766572]

qfrc_actuator:
[ 1.26170826e-05, 9.71579493e-05, 1.51428190e-04, 1.73881860e-04,
 -3.34069767e-05,-3.15997266e-04,-2.53265640e-04,-3.52075439e-05,
 -6.79586910e-05, 4.55430417e-04, 2.13119741e-05,-1.64236993e-05,
  1.18437388e-02,-1.48064002e-03, 0.00000000e+00,-2.66762112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40495527, -0.72415421,  4.34502378, -0.72415421, 45.5170649 ,
        6.8518629 ,  4.34502378,  6.8518629 ,  5.54690652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002542148590089083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18363126e-13, -2.18363126e-13,  1.00000000e+00, -4.76824547e-26,
        1.00000000e+00,  2.18363126e-13, -1.00000000e+00,  0.00000000e+00,
       -2.18363126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088334 , -0.05158666,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91569068e-05, 1.66067098e-05, 5.60836521e-05, 2.64979583e-05,
  2.50783957e-05,-3.07843446e-05,-1.48398914e-05, 1.54340018e-05,
  4.40540607e-07, 4.11833179e-05,-2.48795583e-05,-1.48297878e-05,
 -9.20258090e-05,-6.40971182e-05, 5.09070280e-06, 2.22257576e-06,
  3.97228142e-06,-3.79178834e-07,-1.21638455e+00, 8.54662641e-05,
  1.50197139e-03, 2.26563728e-07]


--- Step 1093 ---
qpos:
[ 2.97847676e-03,-3.28111676e-03, 1.18562369e-02, 4.17773371e-02,
 -2.22215027e-03,-1.92129874e-03,-1.73945393e-02, 2.86379424e-02,
  5.88065248e-03, 1.64657829e-02,-9.40243113e-03, 2.59987208e-02,
  1.22592309e+00,-1.08968356e-03, 9.54452924e-01, 6.39154465e-02,
  9.50156598e-02,-7.00757567e-02, 1.21764014e-01, 9.99960633e-01,
 -4.18417996e-04, 3.93986542e-04, 8.85450204e-03]

qacc:
[ -1.10354792, -3.2368249 , 14.85897116,-29.20338223,  2.66954358,
  -0.1822138 , -2.5467102 , 11.94279845, -2.93112352,  1.45280592,
  -5.44524805,  8.97214888, -0.64029443,  0.88068126, -2.11514327,
   7.28911462, -0.62214725, -1.07015021,  0.12049224, 17.53625558,
 -11.36661661,  0.47090261]

qfrc_actuator:
[ 5.50127437e-06, 9.24615605e-05, 1.77253006e-04, 1.33433345e-04,
 -1.85582034e-05,-3.44347033e-04,-2.41800762e-04,-7.81839966e-06,
 -8.52017587e-05, 4.68622236e-04, 1.02865092e-05,-6.01673244e-06,
  1.18154235e-02,-1.46434087e-03, 0.00000000e+00,-2.63230226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025832550160726186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.66916339e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.66916339e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10857178, -0.04880361,  0.06199372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.57008095e-06, 1.72884683e-05, 3.70643918e-05,-3.72876920e-05,
  1.55528476e-05,-4.79467522e-05, 3.81739019e-06, 2.58574810e-05,
 -1.72164971e-05, 3.04685779e-05,-6.08045277e-06, 1.10271978e-05,
 -9.71237806e-05,-1.79770590e-05,-2.91979445e-06, 3.48227733e-05,
  3.10536415e-06,-4.56900498e-07,-1.21640900e+00, 8.01992312e-05,
  1.50362987e-03, 8.35560222e-07]


--- Step 1094 ---
qpos:
[ 2.97853031e-03,-3.28053867e-03, 1.18569679e-02, 4.17780492e-02,
 -2.22269365e-03,-1.92256538e-03,-1.73942969e-02, 2.86388507e-02,
  5.87948818e-03, 1.64653511e-02,-9.40285113e-03, 2.59983872e-02,
  1.22623857e+00,-1.08936077e-03, 9.54703092e-01, 6.39126100e-02,
  9.50148189e-02,-7.00723952e-02, 1.21764778e-01, 9.99960509e-01,
 -4.48572319e-04, 3.84919765e-04, 8.86744015e-03]

qacc:
[ -0.76325066, -0.27670899,  2.89203737,-10.13956079, -1.42008645,
   0.16961289, -4.53573968, 16.5038769 , -1.7031579 , -1.55298921,
   2.6096718 ,  5.2143514 , -0.86603746,  1.27190875, 10.52746851,
 -35.86046985, -0.59479613, -1.19829034, -0.07989927, 19.71227643,
 -10.94256698,  0.49185726]

qfrc_actuator:
[ 1.25258794e-06, 7.16539285e-05, 1.56504757e-04, 1.09167804e-04,
 -2.74312325e-05,-3.78542822e-04,-2.35091187e-04, 2.59515995e-05,
 -9.49605743e-05, 4.23111072e-04, 3.97784023e-05, 1.81973587e-05,
  1.17817649e-02,-1.45471789e-03, 0.00000000e+00,-2.80696661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000260818639457816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10828114, -0.04570782,  0.06199366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43264449e-06,-5.11737533e-06,-1.39221519e-05,-2.29739264e-05,
 -8.44765794e-06,-5.90802228e-05,-1.82233892e-06, 3.23509100e-05,
 -1.02432605e-05,-2.92499999e-05, 3.54332334e-05, 2.55289751e-05,
 -9.48485031e-05,-1.61751460e-05,-2.70646848e-06,-1.74298377e-04,
  2.14589202e-06,-2.55908461e-07,-1.21642723e+00, 7.66415431e-05,
  1.50410087e-03, 1.24032507e-06]


--- Step 1095 ---
qpos:
[ 2.97853235e-03,-3.27967545e-03, 1.18564989e-02, 4.17785023e-02,
 -2.22333905e-03,-1.92428688e-03,-1.73939967e-02, 2.86405002e-02,
  5.87856066e-03, 1.64645309e-02,-9.40284571e-03, 2.59983629e-02,
  1.22655356e+00,-1.08948578e-03, 9.54953215e-01, 6.39077034e-02,
  9.50116138e-02,-7.00737751e-02, 1.21764807e-01, 9.99960400e-01,
 -4.39540766e-04, 3.54606450e-04, 8.88142293e-03]

qacc:
[ -0.49494245,  3.19916381, -9.76483061,  6.99058562, -0.88479027,
   0.76363504, -6.72235488, 19.7899656 ,  2.08516943, -1.06984902,
   1.75697844,  3.20866958, -0.10593438, -0.35865409,  6.17884457,
 -21.72282964, -0.59104273, -1.18537843, -0.1836562 , 19.49776483,
 -10.79682594,  0.52501843]

qfrc_actuator:
[-1.26637140e-06, 7.66714762e-05, 9.06297692e-05, 9.45855448e-05,
 -3.24394820e-05,-3.98229043e-04,-2.31276227e-04, 6.31911244e-05,
 -8.24782689e-05, 3.96232709e-04, 5.72068145e-05, 3.25585077e-05,
  1.17502504e-02,-1.48468537e-03, 0.00000000e+00,-2.90866382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026127658358640615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12461256e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12461256e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10828072, -0.04570785,  0.06199365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64820020e-06,-1.73665361e-06,-6.94585147e-05,-1.57347718e-05,
 -5.27094320e-06,-5.16755841e-05,-7.48309135e-06, 3.52747903e-05,
  1.21741216e-05,-3.48078654e-05, 1.66440325e-05, 1.48333678e-05,
 -9.13535852e-05,-5.46637095e-05,-2.69358315e-05,-1.13197947e-04,
  1.02033172e-06, 2.55690617e-07,-1.21643745e+00, 7.50073283e-05,
  1.50341075e-03, 1.41314583e-06]


--- Step 1096 ---
qpos:
[ 2.97884917e-03,-3.27881159e-03, 1.18555497e-02, 4.17791094e-02,
 -2.22403992e-03,-1.92598262e-03,-1.73937999e-02, 2.86414961e-02,
  5.87847911e-03, 1.64639661e-02,-9.40313909e-03, 2.59981331e-02,
  1.22686802e+00,-1.08997080e-03, 9.55202667e-01, 6.39055919e-02,
  9.50060568e-02,-7.00798544e-02, 1.21763754e-01, 9.99960303e-01,
 -3.91675105e-04, 3.03278861e-04, 8.89650030e-03]

qacc:
[  2.74789616,  1.65566662, -6.56053994, 10.00235074, -0.49067841,
  -1.02033262,  6.44956991,-17.61763719,  7.3647115 ,  0.73503147,
  -1.28793205, -1.95360163,  0.07678405, -0.61150003, -9.44248531,
  31.56061231, -0.58795327, -1.1748114 , -0.27066085, 19.32277527,
 -10.6794147 ,  0.54949193]

qfrc_actuator:
[ 1.50049763e-05, 7.91656398e-05, 6.97650043e-05, 1.03562989e-04,
 -3.51250536e-05,-3.73573998e-04,-2.29142042e-04, 3.11723972e-05,
 -3.92546742e-05, 4.33924709e-04, 4.96538068e-05, 2.32467505e-05,
  1.17253546e-02,-1.50234719e-03, 0.00000000e+00,-2.75344587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002599881539342569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13514156e-13, -2.13514156e-13,  1.00000000e+00, -4.55882948e-26,
        1.00000000e+00,  2.13514156e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13514156e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10828063, -0.04570736,  0.06199368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61964272e-05,-1.35256312e-05,-3.03285583e-05, 6.19148793e-06,
 -2.85502185e-06,-4.22230344e-06,-8.22765954e-06,-3.38060023e-05,
  4.35565283e-05, 2.23319546e-05,-1.21715934e-05,-9.93765597e-06,
 -9.16812492e-05,-4.95362240e-05,-2.94258414e-05, 1.44432969e-04,
 -1.59021959e-07, 1.10570095e-06,-1.21643751e+00, 7.52707913e-05,
  1.50160202e-03, 1.34981098e-06]


--- Step 1097 ---
qpos:
[ 2.97970359e-03,-3.27830388e-03, 1.18550145e-02, 4.17801480e-02,
 -2.22476784e-03,-1.92737845e-03,-1.73937103e-02, 2.86413742e-02,
  5.87926119e-03, 1.64636959e-02,-9.40358783e-03, 2.59977780e-02,
  1.22718202e+00,-1.09121906e-03, 9.55451735e-01, 6.39066313e-02,
  9.49981580e-02,-7.00905986e-02, 1.21761326e-01, 9.99960208e-01,
 -3.05258584e-04, 2.31121930e-04, 8.91270828e-03]

qacc:
[  4.73810814, -0.74831174,  0.14910325,  6.93281802, -0.24629267,
  -1.60264878, 11.01057845,-30.40525391,  7.52233907,  0.55101826,
  -0.89643972, -1.21218402,  0.47449359, -1.53326208,-10.12381539,
  34.48556123, -0.58547092, -1.16625243, -0.34352636, 19.18183996,
 -10.58596317,  0.56704038]

qfrc_actuator:
[ 4.22048237e-05, 6.25635868e-05, 9.34192583e-05, 1.26366837e-04,
 -3.64227582e-05,-3.40365501e-04,-2.27878173e-04,-2.35502594e-05,
  3.95713943e-06, 4.56612605e-04, 4.54186293e-05, 1.78749792e-05,
  1.16937995e-02,-1.54803952e-03, 0.00000000e+00,-2.59013703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025732405506048717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15724687e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.15724687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10828081, -0.04570647,  0.06199375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76555304e-05,-3.01817557e-05, 1.73378732e-05, 2.12936354e-05,
 -1.37882087e-06, 2.77552702e-05,-1.77599715e-06,-5.58449645e-05,
  4.44669087e-05, 3.22753122e-05,-1.45653893e-06,-5.02870657e-06,
 -9.68705920e-05,-7.68099411e-05,-4.93476285e-07, 1.66886343e-04,
 -1.41557906e-06, 2.29390697e-06,-1.21642772e+00, 7.74130256e-05,
  1.49868245e-03, 1.05510159e-06]


--- Step 1098 ---
qpos:
[ 2.98087728e-03,-3.27793516e-03, 1.18550146e-02, 4.17807240e-02,
 -2.22550558e-03,-1.92849803e-03,-1.73942199e-02, 2.86409800e-02,
  5.88021061e-03, 1.64638617e-02,-9.40469085e-03, 2.59966870e-02,
  1.22749541e+00,-1.09298090e-03, 9.55701032e-01, 6.39072569e-02,
  9.49877295e-02,-7.01049609e-02, 1.21758179e-01, 9.99960098e-01,
 -1.89136089e-04, 1.37152983e-04, 8.93011070e-03]

qacc:
[  2.82136934, -2.63928729, 11.08472557,-19.83020263, -0.10993686,
   1.47883602, -3.59257838, -0.36860172,  1.43122667,  0.88724242,
   0.77524548,-12.78207819, -0.06698749, -0.52063174,  1.57729039,
  -5.04827584, -0.63241278, -0.90452198, -0.17977307, 14.7550538 ,
 -11.03813506,  0.59736101]

qfrc_actuator:
[ 5.78604065e-05, 7.03655873e-05, 1.25330121e-04, 1.03869574e-04,
 -3.68939974e-05,-3.37814642e-04,-2.62596667e-04,-3.79118451e-05,
  1.13005972e-05, 4.70156711e-04, 7.64497424e-06,-2.06361695e-05,
  1.16582609e-02,-1.57449767e-03, 0.00000000e+00,-2.61872646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002542502467586527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.36665466e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.36665466e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883232, -0.05158592,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64299091e-05,-4.58983403e-06, 2.85450189e-05,-2.27792245e-05,
 -4.98458881e-07, 1.53609517e-05,-3.11209231e-05,-1.43171588e-05,
  8.62823204e-06, 3.11101047e-05,-3.14519390e-05,-3.72755812e-05,
 -1.09836640e-04,-6.46645597e-05, 1.39985096e-05,-2.03584156e-05,
 -2.76796427e-06, 3.81467762e-06,-1.21640834e+00, 8.14190698e-05,
  1.49465870e-03, 5.32618384e-07]


--- Step 1099 ---
qpos:
[ 2.98188480e-03,-3.27766206e-03, 1.18551182e-02, 4.17810503e-02,
 -2.22658797e-03,-1.92957448e-03,-1.73953508e-02, 2.86404488e-02,
  5.88055172e-03, 1.64638815e-02,-9.40576363e-03, 2.59955166e-02,
  1.22780809e+00,-1.09481322e-03, 9.55950197e-01, 6.39088918e-02,
  9.49747839e-02,-7.01229214e-02, 1.21754078e-01, 9.99959958e-01,
 -4.34506169e-05, 2.14790863e-05, 8.94870051e-03]

qacc:
[ -1.45377391, -0.92785474,  4.18314549, -8.60475623, -3.0431309 ,
   1.51639116, -4.73590735,  3.31585856, -5.30215779, -0.43078557,
   1.60921637, -2.94433258, -0.42442372,  0.35087899, -3.21550976,
  11.02474123, -0.62929087, -0.89955094, -0.2387679 , 14.68390062,
 -10.98415231,  0.59378507]

qfrc_actuator:
[ 4.88400832e-05, 5.72300565e-05, 1.26402772e-04, 9.04183107e-05,
 -5.46283792e-05,-3.53754685e-04,-3.00616944e-04,-4.62076539e-05,
 -2.02787659e-05, 4.42449922e-04, 3.56719028e-06,-2.51122957e-05,
  1.16310144e-02,-1.57160705e-03, 0.00000000e+00,-2.56487158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002504738583310323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21624530e-13, -2.21624530e-13,  1.00000000e+00, -4.91174325e-26,
        1.00000000e+00,  2.21624530e-13, -1.00000000e+00,  0.00000000e+00,
       -2.21624530e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883293, -0.05158497,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.55543940e-06,-1.07944597e-05, 2.84475127e-06,-1.31065758e-05,
 -1.77413772e-05,-1.43445649e-05,-3.91562547e-05,-8.98840986e-06,
 -3.13191767e-05,-1.83887297e-05,-2.80129183e-06,-4.95228662e-06,
 -1.06562152e-04,-3.56571067e-05,-2.09275446e-06, 5.30755958e-05,
 -3.82928101e-06, 5.63476136e-06,-1.21638418e+00, 8.68392372e-05,
  1.48957693e-03,-1.38535254e-07]


--- Step 1100 ---
qpos:
[ 2.98312146e-03,-3.27736580e-03, 1.18546191e-02, 4.17815925e-02,
 -2.22752919e-03,-1.93127974e-03,-1.73958176e-02, 2.86398203e-02,
  5.88051185e-03, 1.64634364e-02,-9.40592185e-03, 2.59949719e-02,
  1.22811996e+00,-1.09611799e-03, 9.56199552e-01, 6.39091358e-02,
  9.49593304e-02,-7.01444650e-02, 1.21748824e-01, 9.99959767e-01,
  1.31691388e-04,-1.15820914e-04, 8.96846957e-03]

qacc:
[  1.99202058,  2.15699726, -8.56307541, 13.25162014,  1.269705  ,
  -2.88828938,  9.49997688,-11.77877541, -3.28593163, -1.87575146,
   3.1651997 ,  6.53468903, -1.11880775,  1.90467198,  4.55719304,
 -15.35034407, -0.62696146, -0.89576018, -0.28800809, 14.63090068,
 -10.94444304,  0.58967825]

qfrc_actuator:
[ 6.08772132e-05, 4.92968751e-05, 9.14375143e-05, 1.00119522e-04,
 -4.68766284e-05,-3.98419268e-04,-2.69346148e-04,-5.08905442e-05,
 -3.89978445e-05, 4.25905590e-04, 5.47893782e-05, 8.22313198e-06,
  1.16087749e-02,-1.53359219e-03, 0.00000000e+00,-2.64033392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024594485958830126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25705678e-13, -2.25705678e-13,  1.00000000e+00, -5.09430530e-26,
        1.00000000e+00,  2.25705678e-13, -1.00000000e+00,  0.00000000e+00,
       -2.25705678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883366, -0.05158386,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17890707e-05,-1.39612900e-05,-3.73038612e-05, 9.08071574e-06,
  7.24297736e-06,-6.11117395e-05, 2.32013871e-05,-6.82053128e-06,
 -1.96241888e-05,-2.76136988e-05, 4.69238884e-05, 3.23604179e-05,
 -9.29667605e-05, 6.31743630e-06,-2.36878262e-07,-7.39624402e-05,
 -4.94493404e-06, 7.73949720e-06,-1.21635337e+00, 9.36773066e-05,
  1.48336389e-03,-9.85231535e-07]


--- Step 1101 ---
qpos:
[ 2.98449275e-03,-3.27715058e-03, 1.18537041e-02, 4.17825928e-02,
 -2.22802556e-03,-1.93337861e-03,-1.73960003e-02, 2.86398272e-02,
  5.88059184e-03, 1.64633627e-02,-9.40576696e-03, 2.59944186e-02,
  1.22843098e+00,-1.09642878e-03, 9.56449039e-01, 6.39071334e-02,
  9.49439423e-02,-7.01611576e-02, 1.21746059e-01, 9.99959544e-01,
  2.66949725e-04,-2.49521434e-04, 8.98755389e-03]

qacc:
[ 1.17022605e+00, 1.99763010e+00,-9.21386714e+00, 1.78687770e+01,
  3.91764364e+00,-1.45854942e-02,-3.39955659e+00, 1.42475798e+01,
  1.04879489e+00,-4.04079707e-01, 2.18638870e+00,-3.10720664e+00,
 -1.59665593e+00, 3.00857386e+00, 7.09681982e+00,-2.42621756e+01,
  1.63410459e-02, 1.21274147e+00, 6.22175431e-01,-1.99249288e+01,
  1.97846868e+00,-3.40144583e-01]

qfrc_actuator:
[ 6.74673417e-05, 4.44045660e-05, 7.10196853e-05, 1.23346497e-04,
 -2.41811591e-05,-4.06405992e-04,-2.50795372e-04,-1.78851288e-05,
 -3.22321287e-05, 4.87446506e-04, 8.50372470e-05, 1.03141382e-05,
  1.15789207e-02,-1.47507264e-03, 0.00000000e+00,-2.75588495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025711191654201326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23854016e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.23854016e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950787 , -0.09317804,  0.06199375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92163336e-06,-2.00216661e-05,-2.75826013e-05, 2.15133880e-05,
  2.28799525e-05,-3.75888602e-05, 8.57644837e-06, 3.10624862e-05,
  6.18864430e-06, 5.71909346e-05, 3.14522773e-05, 3.16441369e-06,
 -8.31531581e-05, 3.88720545e-05,-1.43687854e-05,-1.21083044e-04,
 -6.12279016e-06, 1.01152375e-05,-1.21631595e+00, 1.01928236e-04,
  1.47602371e-03,-2.00654561e-06]


--- Step 1102 ---
qpos:
[ 2.98558751e-03,-3.27696303e-03, 1.18522248e-02, 4.17838671e-02,
 -2.22824648e-03,-1.93525167e-03,-1.73962440e-02, 2.86405183e-02,
  5.88075199e-03, 1.64639842e-02,-9.40630678e-03, 2.59949583e-02,
  1.22874123e+00,-1.09599019e-03, 9.56698172e-01, 6.39057501e-02,
  9.49286451e-02,-7.01731019e-02, 1.21745021e-01, 9.99959305e-01,
  3.63040344e-04,-3.79916957e-04, 9.00627710e-03]

qacc:
[-2.44429659e+00, 2.11060117e+00,-8.72519060e+00, 1.43785411e+01,
  2.41051111e+00, 1.87128255e+00,-9.13691784e+00, 2.09183493e+01,
  6.66227819e-01, 5.10902812e+00,-2.15009903e+01, 4.10194407e+01,
 -1.15340586e+00, 2.13402130e+00,-2.30375719e+00, 7.50487107e+00,
  2.27195072e-02, 1.18707275e+00, 4.31948620e-01,-1.95682578e+01,
  1.82839205e+00,-1.76025747e-01]

qfrc_actuator:
[ 5.30394968e-05, 4.14317204e-05, 4.16318892e-05, 1.36607679e-04,
 -1.06322389e-05,-3.56864426e-04,-2.39762383e-04, 1.92867216e-05,
 -2.82766075e-05, 5.24177613e-04, 4.96782525e-05, 6.50532149e-05,
  1.15392064e-02,-1.44043298e-03, 0.00000000e+00,-2.71655098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43742911,  0.03949377,  4.43725336,  0.03949377, 20.05844229,
       -0.13903483,  4.43725336, -0.13903483,  4.43866659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026614730335279557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08573037e-13,  2.08573037e-13,  1.00000000e+00,  4.35027116e-26,
        1.00000000e+00, -2.08573037e-13, -1.00000000e+00,  0.00000000e+00,
       -2.08573037e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508014, -0.0931759 ,  0.06199353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42374123e-05,-1.89459963e-05,-3.61719547e-05, 1.18666669e-05,
  1.41863622e-05, 3.17110289e-05, 5.42593002e-06, 3.64663972e-05,
  4.15128709e-06, 7.53496362e-05,-1.95617956e-05, 5.83406279e-05,
 -7.99851266e-05, 2.41979597e-05,-2.56889822e-05, 2.94665105e-05,
 -4.01453187e-06, 8.91382951e-06,-1.21634941e+00, 1.08644186e-04,
  1.46992814e-03,-2.00673716e-06]


--- Step 1103 ---
qpos:
[ 2.98650079e-03,-3.27667758e-03, 1.18503285e-02, 4.17849185e-02,
 -2.22830313e-03,-1.93688625e-03,-1.73963487e-02, 2.86409424e-02,
  5.88061373e-03, 1.64649138e-02,-9.40683746e-03, 2.59961508e-02,
  1.22905086e+00,-1.09534214e-03, 9.56947370e-01, 6.39027898e-02,
  9.49134577e-02,-7.01803830e-02, 1.21745072e-01, 9.99959058e-01,
  4.20561742e-04,-5.07247087e-04, 9.02490059e-03]

qacc:
[ -1.6078724 ,  0.83910947, -1.85871962, -1.40697831,  1.44083027,
  -0.62490877,  3.80813604, -8.82087538, -2.60712187,  1.73084317,
  -8.32802927, 19.37582806, -0.7294928 ,  1.09869841,  4.90338094,
 -16.90326486,  0.02746231,  1.16578352,  0.27188229,-19.27003978,
   1.7062976 , -0.04305488]

qfrc_actuator:
[ 4.41107995e-05, 5.73422238e-05, 2.49295087e-05, 1.26137671e-04,
 -2.57979085e-06,-3.44278369e-04,-2.33008468e-04, 5.39760249e-06,
 -4.37680754e-05, 5.27798043e-04, 4.68482391e-05, 9.70249417e-05,
  1.14989247e-02,-1.43802688e-03, 0.00000000e+00,-2.79928452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45302488, -0.18116833,  4.449338  , -0.18116833, 33.55800416,
        1.18509777,  4.449338  ,  1.18509777,  4.50127974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027163796345663904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.38615992e-14,  4.08714235e-13,  1.00000000e+00,  2.61011447e-26,
        1.00000000e+00, -4.08714235e-13, -1.00000000e+00,  0.00000000e+00,
       -6.38615992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508125, -0.09317469,  0.0619934 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.33920220e-06,-1.64803773e-06,-2.46486513e-05,-1.23018089e-05,
  8.46616456e-06, 3.30766830e-05, 1.52568321e-05,-1.16300947e-05,
 -1.53463029e-05, 4.42003534e-05, 1.23415220e-05, 3.56577981e-05,
 -8.18967948e-05,-1.04843927e-05,-1.26584429e-05,-8.53264026e-05,
 -2.13110204e-06, 7.89388840e-06,-1.21637429e+00, 1.13398563e-04,
  1.46394845e-03,-1.92706352e-06]


--- Step 1104 ---
qpos:
[ 2.98729970e-03,-3.27626733e-03, 1.18487753e-02, 4.17850888e-02,
 -2.22826269e-03,-1.93829287e-03,-1.73963411e-02, 2.86408549e-02,
  5.87994589e-03, 1.64663355e-02,-9.40712478e-03, 2.59966412e-02,
  1.22936015e+00,-1.09547203e-03, 9.57196253e-01, 6.39005140e-02,
  9.48983940e-02,-7.01830714e-02, 1.21745672e-01, 9.99958809e-01,
  4.40011510e-04,-6.31707655e-04, 9.04363692e-03]

qacc:
[ -0.99573047, -2.60858509, 13.26010618,-29.15018496,  0.85088452,
  -1.0663514 ,  6.39710129,-15.59560458, -4.62019285, -1.46619408,
   9.15176767,-22.07210409,  0.4464372 , -1.44363818, -2.5755371 ,
   8.22918903,  0.03092868,  1.14821058,  0.13738394,-19.0220577 ,
   1.60654205,  0.06547808]

qfrc_actuator:
[ 3.84971583e-05, 8.44682367e-05, 5.14220068e-05, 8.40634815e-05,
  2.17577720e-06,-3.36215995e-04,-2.28997605e-04,-2.06979634e-05,
 -7.05812481e-05, 5.64918772e-04, 6.31096546e-05, 6.20813614e-05,
  1.14689686e-02,-1.49022601e-03, 0.00000000e+00,-2.75803113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46060568,  0.46585012, -4.4362131 ,  0.46585012, 45.77019147,
        4.33795109, -4.4362131 ,  4.33795109,  4.91613722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027425482767873266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.32522494e-14,  4.04814396e-13,  1.00000000e+00,  2.56054211e-26,
        1.00000000e+00, -4.04814396e-13, -1.00000000e+00,  0.00000000e+00,
       -6.32522494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508211, -0.09317422,  0.06199334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87789086e-06, 2.05895376e-05, 2.27064070e-05,-4.32357206e-05,
  5.00831177e-06, 2.92744061e-05, 1.23390478e-05,-2.43739036e-05,
 -2.72369940e-05, 6.58793258e-05, 2.81386729e-05,-3.19313580e-05,
 -8.07730066e-05,-7.27777747e-05,-2.05239238e-05, 3.36818290e-05,
 -3.68284238e-07, 7.00691972e-06,-1.21639107e+00, 1.16227777e-04,
  1.45810020e-03,-1.76482046e-06]


--- Step 1105 ---
qpos:
[ 2.98837019e-03,-3.27604550e-03, 1.18479548e-02, 4.17847662e-02,
 -2.22851062e-03,-1.93913398e-03,-1.73967184e-02, 2.86404465e-02,
  5.87930667e-03, 1.64683498e-02,-9.40784325e-03, 2.59970883e-02,
  1.22966902e+00,-1.09597884e-03, 9.57444938e-01, 6.38990424e-02,
  9.48834639e-02,-7.01812245e-02, 1.21746370e-01, 9.99958560e-01,
  4.21800289e-04,-7.53459538e-04, 9.06266036e-03]

qacc:
[  2.40973228, -3.31811304, 13.53929198,-23.08951045, -2.55124325,
   1.16708091, -1.71308435, -3.65227254,  0.22607401,  1.89866235,
  -5.451416  ,  4.95599892,  0.04205484, -0.52251623, -2.73231583,
   9.10524934,  0.03339999,  1.13379537,  0.02455446,-18.81737974,
   1.52464617,  0.1548481 ]

qfrc_actuator:
[ 5.26306640e-05, 6.49996039e-05, 8.54855822e-05, 5.92796153e-05,
 -1.27979498e-05,-2.95447441e-04,-2.44414146e-04,-3.60133344e-05,
 -6.83316294e-05, 5.86327258e-04, 3.73301479e-05, 5.90929861e-05,
  1.14558556e-02,-1.50327414e-03, 0.00000000e+00,-2.71502691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027456073980369755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15908873e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.15908873e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508276, -0.09317436,  0.06199333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39744095e-05,-5.11851714e-06, 3.96294512e-05,-2.39555839e-05,
 -1.48202290e-05, 5.86958741e-05,-8.67680375e-06,-1.41051022e-05,
  1.49636717e-06, 6.26318084e-05,-9.82415331e-06, 1.84401391e-07,
 -7.74830069e-05,-4.65201023e-05,-9.50462713e-06, 4.13606850e-05,
  1.35097290e-06, 6.21773923e-06,-1.21640015e+00, 1.17161541e-04,
  1.45239422e-03,-1.51799580e-06]


--- Step 1106 ---
qpos:
[ 2.98960199e-03,-3.27631658e-03, 1.18477055e-02, 4.17848907e-02,
 -2.22962576e-03,-1.93964833e-03,-1.73972144e-02, 2.86398699e-02,
  5.87835487e-03, 1.64703010e-02,-9.40858253e-03, 2.59975529e-02,
  1.22997723e+00,-1.09587163e-03, 9.57693818e-01, 6.38957295e-02,
  9.48686743e-02,-7.01748894e-02, 1.21746788e-01, 9.99958309e-01,
  3.66263580e-04,-8.72635658e-04, 9.08211516e-03]

qacc:
[ 1.44258672e+00,-1.32978231e+00, 1.90535599e+00, 5.28355622e+00,
 -7.61512739e+00, 4.32309767e-01,-1.78973319e-01,-2.81022270e+00,
 -2.72586464e+00, 1.58320289e-02,-2.41823986e-01, 6.12859635e-01,
 -1.11211079e+00, 2.00996870e+00, 5.92744723e+00,-2.01275398e+01,
  3.50964053e-02, 1.12206648e+00,-6.99253729e-02,-1.86501363e+01,
  1.45705191e+00, 2.29200952e-01]

qfrc_actuator:
[ 6.05196283e-05, 1.78374734e-05, 1.05812302e-04, 8.03392776e-05,
 -5.70152440e-05,-2.88741798e-04,-2.53282218e-04,-4.48466305e-05,
 -8.44959775e-05, 5.44753186e-04, 2.24085286e-05, 5.71470719e-05,
  1.14422173e-02,-1.45741624e-03, 0.00000000e+00,-2.81338669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002730267592951918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16024973e-13,  2.03317621e-13,  1.00000000e+00,  4.39216835e-26,
        1.00000000e+00, -2.03317621e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16024973e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508325, -0.09317498,  0.06199337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28480593e-06,-4.28611660e-05, 2.33276865e-05, 2.17466444e-05,
 -4.46183298e-05, 3.71623190e-05, 1.71476745e-06,-6.88834676e-06,
 -1.60934832e-05,-8.63842975e-06,-3.20469661e-06, 3.97711745e-07,
 -6.98905261e-05, 1.85964311e-05,-4.24431682e-06,-9.83090236e-05,
  3.08405097e-06, 5.50161683e-06,-1.21640184e+00, 1.16224020e-04,
  1.44683808e-03,-1.18507910e-06]


--- Step 1107 ---
qpos:
[ 2.99022905e-03,-3.27710504e-03, 1.18480677e-02, 4.17852674e-02,
 -2.23126184e-03,-1.94049383e-03,-1.73972337e-02, 2.86392359e-02,
  5.87721721e-03, 1.64717406e-02,-9.40921009e-03, 2.59973497e-02,
  1.23028498e+00,-1.09577691e-03, 9.57942678e-01, 6.38909216e-02,
  9.48540293e-02,-7.01641038e-02, 1.21746611e-01, 9.99958048e-01,
  2.73671764e-04,-9.89346546e-04, 9.10212205e-03]

qacc:
[ -5.27972167, -1.86390126,  4.60730468, -0.86055082, -4.54837022,
  -1.87802269,  6.3190008 , -7.84567254, -1.60922231, -2.35967618,
  10.25715286,-21.6207588 , -0.40975005,  0.47807451,  4.5075564 ,
 -15.75605422,  0.03619008,  1.11262548, -0.14888628,-18.51534362,
   1.4009309 ,  0.29179389]

qfrc_actuator:
[ 2.91582364e-05,-1.00556191e-05, 1.35518054e-04, 9.26570561e-05,
 -8.25792523e-05,-3.37966618e-04,-2.40580790e-04,-4.98150769e-05,
 -9.36263137e-05, 4.83560900e-04, 1.37637470e-05, 2.02780044e-05,
  1.14123229e-02,-1.46581806e-03, 0.00000000e+00,-2.88772523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002700460300003593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15628519e-13, -2.05561812e-13,  1.00000000e+00, -2.37688079e-26,
        1.00000000e+00,  2.05561812e-13, -1.00000000e+00,  0.00000000e+00,
       -1.15628519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508362, -0.09317598,  0.06199344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11411360e-05,-4.60996992e-05, 2.44825541e-05, 1.17126465e-05,
 -2.68226902e-05,-2.83744820e-05, 2.03652995e-05,-3.44516087e-06,
 -9.58903916e-06,-6.67395496e-05,-1.08256675e-05,-3.73456632e-05,
 -6.68907866e-05,-2.01229575e-05,-1.86524627e-05,-8.16771827e-05,
  4.87412304e-06, 4.84222411e-06,-1.21639636e+00, 1.13434735e-04,
  1.44143712e-03,-7.64922290e-07]


--- Step 1108 ---
qpos:
[ 2.99013043e-03,-3.27810318e-03, 1.18481620e-02, 4.17854652e-02,
 -2.23284703e-03,-1.94162358e-03,-1.73973132e-02, 2.86382343e-02,
  5.87701335e-03, 1.64728407e-02,-9.40970793e-03, 2.59966836e-02,
  1.23059240e+00,-1.09628504e-03, 9.58190901e-01, 6.38892460e-02,
  9.48425337e-02,-7.01549355e-02, 1.21748250e-01, 9.99957810e-01,
  1.95583619e-04,-1.08106251e-03, 9.11985976e-03]

qacc:
[ -6.37464688,  0.11583126, -0.03895157, -2.49614525,  0.44908608,
  -0.96441463,  4.44474418,-10.50053136,  8.15394885, -1.78018167,
   7.6231452 ,-15.56230722,  0.44149197, -1.30724301,-10.43563018,
  35.04632046,  0.78731249, -0.40433862,  0.45426105,  7.36415894,
  12.4306316 , -1.14523845]

qfrc_actuator:
[-7.29921805e-06,-2.61656704e-05, 1.17324342e-04, 8.19930843e-05,
 -7.91980227e-05,-3.66964627e-04,-2.50990872e-04,-7.02607844e-05,
 -4.52800409e-05, 4.82081894e-04, 2.65135093e-05,-1.36155497e-06,
  1.13833316e-02,-1.50639482e-03, 0.00000000e+00,-2.71647658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002730411718676884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03306889e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03306889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174661, -0.06205066,  0.06199337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73599609e-05,-3.63197413e-05,-2.42902626e-05,-1.15622058e-05,
  2.60605337e-06,-4.07830586e-05,-1.38689024e-05,-2.10196147e-05,
  4.80539862e-05,-4.26880613e-05,-3.67163834e-06,-2.56022014e-05,
 -7.32748655e-05,-5.96859343e-05,-2.23233268e-05, 1.63234061e-04,
  6.75413468e-06, 4.23015384e-06,-1.21638390e+00, 1.08809298e-04,
  1.43619517e-03,-2.56637403e-07]


--- Step 1109 ---
qpos:
[ 2.98994017e-03,-3.27900890e-03, 1.18473308e-02, 4.17855411e-02,
 -2.23472477e-03,-1.94275463e-03,-1.73976614e-02, 2.86373193e-02,
  5.87739031e-03, 1.64738247e-02,-9.40987614e-03, 2.59953745e-02,
  1.23089931e+00,-1.09720486e-03, 9.58438656e-01, 6.38919246e-02,
  9.48341242e-02,-7.01473769e-02, 1.21751184e-01, 9.99957603e-01,
  1.31708128e-04,-1.14801016e-03, 9.13549401e-03]

qacc:
[ -0.83506062,  2.46010789, -8.07630105,  7.37457623, -2.5741474 ,
   0.93186487, -3.68218346,  5.60137281,  5.07765317, -2.40831833,
  11.06244442,-22.61465515,  0.20230104, -0.84843482,-13.85674278,
  47.42138912,  0.77154949, -0.40241868,  0.32333856,  7.21782924,
  12.3186353 , -1.0619335 ]

qfrc_actuator:
[-1.09461929e-05,-1.75540045e-05, 7.10259010e-05, 7.56228725e-05,
 -9.43183754e-05,-3.48235716e-04,-2.57169015e-04,-6.41543439e-05,
 -1.67510169e-05, 4.98710839e-04, 5.20373003e-05,-3.15537458e-05,
  1.13495619e-02,-1.53017591e-03, 0.00000000e+00,-2.49066810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027508940210499433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03586258e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.03586258e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174623, -0.06205139,  0.06199332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.71928584e-06,-1.71890171e-05,-5.71805746e-05,-8.98842682e-06,
 -1.50588631e-05,-7.79724243e-06,-1.70214067e-05, 3.47456464e-06,
  2.98956452e-05,-9.11447231e-06, 1.53601797e-05,-3.26487580e-05,
 -9.04780166e-05,-5.29066534e-05, 4.84405067e-06, 2.31330584e-04,
  4.77976438e-06, 3.00759890e-06,-1.21640330e+00, 1.05309769e-04,
  1.43140283e-03,-2.85973852e-07]


--- Step 1110 ---
qpos:
[ 2.99039732e-03,-3.27998528e-03, 1.18462081e-02, 4.17858622e-02,
 -2.23676916e-03,-1.94391273e-03,-1.73978516e-02, 2.86368029e-02,
  5.87741719e-03, 1.64745971e-02,-9.40996404e-03, 2.59933976e-02,
  1.23120554e+00,-1.09811400e-03, 9.58686413e-01, 6.38969383e-02,
  9.48287496e-02,-7.01414208e-02, 1.21754972e-01, 9.99957434e-01,
  8.18069880e-05,-1.19038192e-03, 9.14915735e-03]

qacc:
[  5.67478925,  1.21597256, -5.52446225, 10.30650402, -1.45593898,
   0.34545512, -2.96198045,  9.62255164, -3.04770301, -1.87261849,
   9.10067545,-20.64027612, -0.39741108,  0.38150216, -7.02111943,
  24.62529801,  0.75871365, -0.40063429,  0.21369724,  7.09800167,
  12.22348733, -0.99522877]

qfrc_actuator:
[ 2.25019672e-05,-1.20801628e-05, 6.18872722e-05, 8.95962143e-05,
 -1.02463963e-04,-3.36545173e-04,-2.42822774e-04,-4.24237966e-05,
 -3.56381459e-05, 4.72858961e-04, 4.94684421e-05,-6.65122020e-05,
  1.13182792e-02,-1.52607698e-03, 0.00000000e+00,-2.37661965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027495950213178577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03776926e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.03776926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174561, -0.06205179,  0.06199332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33141285e-05,-1.62928691e-05,-2.00224275e-05, 1.10873810e-05,
 -8.57702754e-06, 4.00538651e-06, 1.07792260e-05, 2.08810487e-05,
 -1.80299250e-05,-2.91941446e-05,-3.69676400e-06,-3.54530417e-05,
 -9.60872696e-05,-2.77934544e-05, 2.36079458e-05, 1.26553343e-04,
  3.20935478e-06, 1.98699922e-06,-1.21641832e+00, 1.02449862e-04,
  1.42787928e-03,-3.01421065e-07]


--- Step 1111 ---
qpos:
[ 2.99159675e-03,-3.28107803e-03, 1.18452488e-02, 4.17863220e-02,
 -2.23855056e-03,-1.94507475e-03,-1.73975797e-02, 2.86361809e-02,
  5.87756264e-03, 1.64752776e-02,-9.41050364e-03, 2.59927660e-02,
  1.23151096e+00,-1.09820119e-03, 9.58934531e-01, 6.39009581e-02,
  9.48263682e-02,-7.01370609e-02, 1.21759248e-01, 9.99957306e-01,
  4.56857498e-05,-1.20833899e-03, 9.16095604e-03]

qacc:
[  6.52247058, -0.33764744,  0.37404363,  1.87189408,  2.32100362,
  -1.51746658,  5.84150816, -8.39604234,  1.0225144 ,  3.90800513,
 -19.79345961, 43.86725172, -1.3577722 ,  2.50299641,  3.63530222,
 -11.70420822,  0.74832192, -0.39902987,  0.12210347,  7.00023317,
  12.14373544, -0.94167393]

qfrc_actuator:
[ 5.97521864e-05,-8.36291330e-06, 7.47806785e-05, 9.77045979e-05,
 -8.86809350e-05,-3.29051373e-04,-2.16481147e-04,-4.71706895e-05,
 -2.90184869e-05, 4.74918451e-04, 3.01614766e-05, 2.46723392e-06,
  1.12991736e-02,-1.47000249e-03, 0.00000000e+00,-2.43586554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027310084040604865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174481, -0.06205193,  0.06199336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81979425e-05,-8.99657291e-06, 7.46759506e-06, 6.93595557e-06,
  1.35386271e-05, 1.28974534e-05, 2.92365792e-05,-3.79135451e-06,
  6.09624499e-06,-1.65777184e-05,-2.70223027e-05, 6.69140963e-05,
 -8.14074158e-05, 2.81677920e-05, 1.88437882e-05,-5.05699115e-05,
  2.00475156e-06, 1.13716395e-06,-1.21642912e+00, 1.00226294e-04,
  1.42560807e-03,-3.04653915e-07]


--- Step 1112 ---
qpos:
[ 2.99288857e-03,-3.28205207e-03, 1.18443434e-02, 4.17868521e-02,
 -2.23980826e-03,-1.94593576e-03,-1.73973883e-02, 2.86355050e-02,
  5.87847565e-03, 1.64760568e-02,-9.41082233e-03, 2.59928935e-02,
  1.23181569e+00,-1.09739488e-03, 9.59183288e-01, 6.38995751e-02,
  9.48269468e-02,-7.01342915e-02, 1.21763707e-01, 9.99957223e-01,
  2.31865891e-05,-1.20201418e-03, 9.17097557e-03]

qacc:
[ 8.10700442e-01, 1.49803623e-01,-6.06275130e-01, 1.65407004e+00,
  4.58544822e+00, 5.02970539e-01,-1.00453322e+00,-2.72596698e-03,
  6.70007854e+00, 1.06300994e+00,-6.82938790e+00, 1.95688017e+01,
 -1.57526913e+00, 2.96012782e+00, 1.73679545e+01,-5.91173757e+01,
  7.39975959e-01,-3.97630974e-01, 4.57976482e-02, 6.92089464e+00,
  1.20780146e+01,-8.98532738e-01]

qfrc_actuator:
[ 6.34245507e-05, 1.21269916e-05, 8.28024422e-05, 1.02302581e-04,
 -6.21037146e-05,-3.06335300e-04,-2.18814796e-04,-4.97066316e-05,
  1.03292427e-05, 5.11442345e-04, 5.45694148e-05, 4.33004778e-05,
  1.12767586e-02,-1.41906345e-03, 0.00000000e+00,-2.72096140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026988845902256586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.05681827e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.05681827e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174387, -0.06205185,  0.06199344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76097495e-06, 1.73578727e-05, 7.34346541e-06, 4.60775997e-06,
  2.69666264e-05, 3.58499371e-05, 3.81185970e-06,-1.04256582e-06,
  3.95164773e-05, 2.45249262e-05, 1.99701713e-05, 4.04909478e-05,
 -6.35957514e-05, 3.83979851e-05,-3.88641253e-06,-2.87088912e-04,
  1.13742654e-06, 4.34681692e-07,-1.21643584e+00, 9.86358566e-05,
  1.42457605e-03,-2.96962210e-07]


--- Step 1113 ---
qpos:
[ 2.99352483e-03,-3.28275349e-03, 1.18432213e-02, 4.17867413e-02,
 -2.24039259e-03,-1.94644532e-03,-1.73975390e-02, 2.86348158e-02,
  5.87985341e-03, 1.64766642e-02,-9.41010986e-03, 2.59924511e-02,
  1.23211995e+00,-1.09625176e-03, 9.59431677e-01, 6.38974719e-02,
  9.48304587e-02,-7.01331079e-02, 1.21768097e-01, 9.99957183e-01,
  1.41823849e-05,-1.17151447e-03, 9.17928493e-03]

qacc:
[-5.76604737e+00,-3.43653723e-01, 4.47104648e+00,-1.54351940e+01,
  5.88890394e+00, 1.38074634e+00,-4.21284011e+00, 4.29066292e+00,
  4.08817828e+00,-4.29038516e+00, 1.73607143e+01,-2.87316828e+01,
 -6.47871704e-01, 1.12165354e+00, 1.67753156e+00,-6.54959419e+00,
  7.33346856e-01,-3.96449661e-01,-1.75774939e-02, 6.85701503e+00,
  1.20250567e+01,-8.63633939e-01]

qfrc_actuator:
[ 2.95505384e-05, 2.47393253e-05, 7.01927124e-05, 6.93018014e-05,
 -2.82158983e-05,-2.92541860e-04,-2.37995866e-04,-5.09255912e-05,
  3.31121452e-05, 4.97480486e-04, 1.04714379e-04, 1.40359495e-05,
  1.12523768e-02,-1.40711129e-03, 0.00000000e+00,-2.74620312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002656343246626447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17951643e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.17951643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174282, -0.06205162,  0.06199355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37289316e-05, 2.40753150e-05,-7.94118384e-06,-3.19108850e-05,
  3.46689189e-05, 3.46233209e-05,-1.13343509e-05, 4.30891379e-07,
  2.39238729e-05, 5.60485807e-06, 5.90653737e-05,-2.67373023e-05,
 -5.34636399e-05, 6.03116058e-06,-4.05337127e-05,-4.33034244e-05,
  5.86397944e-07,-1.38191860e-07,-1.21643859e+00, 9.76755713e-05,
  1.42477274e-03,-2.79323960e-07]


--- Step 1114 ---
qpos:
[ 2.99340550e-03,-3.28340248e-03, 1.18420516e-02, 4.17859077e-02,
 -2.24091086e-03,-1.94669426e-03,-1.73978783e-02, 2.86337734e-02,
  5.88114931e-03, 1.64770749e-02,-9.40956655e-03, 2.59920942e-02,
  1.23242394e+00,-1.09547000e-03, 9.59679228e-01, 6.38997003e-02,
  9.48368833e-02,-7.01335062e-02, 1.21772206e-01, 9.99957184e-01,
  1.85718657e-05,-1.11692341e-03, 9.18594012e-03]

qacc:
[ -6.63500125, -1.27453849,  7.71605416,-20.20848491,  0.56885961,
   0.14372554,  1.477166  , -7.4793707 , -0.71581873,  0.39030769,
  -2.1277845 ,  4.02119081,  0.34905578, -0.95705195,-14.34034896,
  48.30312008,  0.72816269, -0.39548855, -0.07003626,  6.8061572 ,
  11.98369671, -0.83525351]

qfrc_actuator:
[-8.38766478e-06, 1.46710834e-05, 6.32057125e-05, 3.21775954e-05,
 -2.58061244e-05,-2.84272844e-04,-2.49238996e-04,-6.91259129e-05,
  2.81993035e-05, 4.53458264e-04, 8.06397691e-05, 1.47488336e-05,
  1.12268190e-02,-1.43610459e-03, 0.00000000e+00,-2.51153785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026059693810759343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26030725e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.26030725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174168, -0.06205127,  0.06199367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88854612e-05, 4.12478902e-07,-4.07418553e-06,-3.69833205e-05,
  3.41055850e-06, 2.53415623e-05,-5.46489852e-06,-1.70987479e-05,
 -4.22380805e-06,-2.98496182e-05,-1.65808344e-05, 2.47375977e-06,
 -5.60769702e-05,-3.94386645e-05,-2.67883425e-05, 2.26276610e-04,
  3.36679041e-07,-5.95120600e-07,-1.21643744e+00, 9.73427844e-05,
  1.42618993e-03,-2.52463347e-07]


--- Step 1115 ---
qpos:
[ 2.99283236e-03,-3.28431021e-03, 1.18412208e-02, 4.17846493e-02,
 -2.24139582e-03,-1.94677257e-03,-1.73983263e-02, 2.86325272e-02,
  5.88168684e-03, 1.64773175e-02,-9.40985091e-03, 2.59917922e-02,
  1.23272760e+00,-1.09525530e-03, 9.59926489e-01, 6.39053273e-02,
  9.48462047e-02,-7.01354835e-02, 1.21775862e-01, 9.99957222e-01,
  3.62756210e-05,-1.03830328e-03, 9.19098686e-03]

qacc:
[ -3.96836736, -2.15734179,  9.00033182,-16.71437954,  0.28558556,
   0.10927876,  0.79686238, -4.27360235, -6.63716123,  2.21693842,
  -8.43585763, 10.80697   ,  0.42393057, -1.24204788,-10.72788514,
  36.81514406,  0.72419846, -0.39474389, -0.11329972,  6.7663184 ,
  11.95287366, -0.81202165]

qfrc_actuator:
[-3.06494952e-05,-8.89435022e-06, 7.72625735e-05, 1.06702281e-05,
 -2.41925979e-05,-2.79368232e-04,-2.55735914e-04,-7.94171766e-05,
 -1.07229098e-05, 4.26998718e-04, 3.05739185e-05, 1.52679681e-05,
  1.12005565e-02,-1.47134908e-03, 0.00000000e+00,-2.33872368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002549895446000705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.3539943e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.3539943e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174049, -0.06205082,  0.0619938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33641382e-05,-2.57346632e-05, 1.23853277e-05,-2.23430564e-05,
  1.72052370e-06, 1.72305631e-05,-2.51820824e-06,-9.72359616e-06,
 -3.90513456e-05,-4.64884173e-05,-5.81972510e-05,-1.28652219e-06,
 -6.81328925e-05,-5.62205993e-05, 1.04121798e-05, 1.81402617e-04,
  3.78116429e-07,-9.46880677e-07,-1.21643245e+00, 9.76352196e-05,
  1.42882126e-03,-2.16896746e-07]


--- Step 1116 ---
qpos:
[ 2.99234154e-03,-3.28552907e-03, 1.18408901e-02, 4.17831387e-02,
 -2.24151276e-03,-1.94667356e-03,-1.73986057e-02, 2.86314925e-02,
  5.88209847e-03, 1.64772884e-02,-9.41017145e-03, 2.59914575e-02,
  1.23303063e+00,-1.09485167e-03, 9.60174163e-01, 6.39096315e-02,
  9.48584112e-02,-7.01390377e-02, 1.21778922e-01, 9.99957290e-01,
  6.72328200e-05,-9.35697035e-04, 9.19446273e-03]

qacc:
[  0.74350883, -2.33069016,  8.77456144,-13.7069019 ,  3.23009667,
   0.19207784, -1.24873053,  4.52038971, -1.09463948, -0.32318938,
   0.77312569, -1.08542088, -0.73000405,  1.07238362,  4.65302784,
 -15.27533881,  0.72126788, -0.39420784, -0.1488377 ,  6.73585042,
  11.93162999, -0.79284933]

qfrc_actuator:
[-2.57524250e-05,-2.25152770e-05, 1.03578245e-04,-1.47603017e-06,
 -5.29784436e-06,-2.58743887e-04,-2.41637076e-04,-6.72186153e-05,
 -1.60836030e-05, 4.28879396e-04, 3.66500143e-05, 1.56673369e-05,
  1.11685581e-02,-1.45673617e-03, 0.00000000e+00,-2.41685151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002489871479014055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.22947858e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.22947858e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173927, -0.06205031,  0.06199395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.22701368e-06,-2.63715552e-05, 2.17770784e-05,-1.32472128e-05,
  1.89503183e-05, 2.93342912e-05, 1.70201457e-05, 1.26645094e-05,
 -6.49349714e-06,-3.62092112e-05,-1.07361824e-05,-3.62908026e-06,
 -8.44984946e-05,-1.28461961e-05, 2.03038309e-05,-6.77823916e-05,
  7.04518169e-07,-1.20225812e-06,-1.21642367e+00, 9.85510010e-05,
  1.43266197e-03,-1.72969299e-07]


--- Step 1117 ---
qpos:
[ 2.99225786e-03,-3.28679773e-03, 1.18407843e-02, 4.17814795e-02,
 -2.24140247e-03,-1.94626680e-03,-1.73984774e-02, 2.86302326e-02,
  5.88209731e-03, 1.64770208e-02,-9.41018142e-03, 2.59911010e-02,
  1.23333303e+00,-1.09428082e-03, 9.60422035e-01, 6.39119921e-02,
  9.48734946e-02,-7.01441673e-02, 1.21781271e-01, 9.99957379e-01,
  1.11398509e-04,-8.09130017e-04, 9.19639897e-03]

qacc:
[  3.58145416, -1.00773121,  4.11181487, -6.99157948,  2.00032177,
  -1.19945159,  5.81146825,-10.58006825, -3.58650027, -1.22119401,
   4.00105752, -4.71270344, -0.71563109,  1.04317834,  6.204153  ,
 -21.1731181 ,  0.71921667, -0.39387013, -0.17790451,  6.71339504,
  11.91910783, -0.77687008]

qfrc_actuator:
[-4.91461847e-06,-1.22609754e-05, 1.19199933e-04,-8.00818507e-06,
  5.86497103e-06,-2.28762639e-04,-2.15414490e-04,-7.73651054e-05,
 -3.71417588e-05, 4.30182464e-04, 5.81982266e-05, 1.60604704e-05,
  1.11384849e-02,-1.44824323e-03, 0.00000000e+00,-2.51791412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002427324993693608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57385405e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.57385405e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173803, -0.06204974,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09531696e-05,-5.07599002e-07, 1.24202089e-05,-7.15936615e-06,
  1.17120315e-05, 5.04518756e-05, 3.48201358e-05,-8.05204372e-06,
 -2.12568250e-05,-2.13139834e-05, 1.26262617e-05,-1.59881785e-06,
 -8.25234707e-05,-1.34156725e-05,-5.08377580e-06,-1.03826506e-04,
  1.31299888e-06,-1.36872545e-06,-1.21641111e+00, 1.00088658e-04,
  1.43770866e-03,-1.20884034e-07]


--- Step 1118 ---
qpos:
[ 2.99242479e-03,-3.28821730e-03, 1.18408769e-02, 4.17804605e-02,
 -2.24184882e-03,-1.94561514e-03,-1.73982917e-02, 2.86292386e-02,
  5.88115382e-03, 1.64766393e-02,-9.40998417e-03, 2.59907425e-02,
  1.23363494e+00,-1.09388417e-03, 9.60669969e-01, 6.39121102e-02,
  9.48914496e-02,-7.01508718e-02, 1.21782814e-01, 9.99957477e-01,
  1.68741381e-04,-6.58611549e-04, 9.19682177e-03]

qacc:
[  2.20891299,  0.56054644, -4.99522842, 15.87070587, -4.88425256,
   0.71984583, -3.20353334,  7.51586556, -8.21027409, -0.71751517,
   2.37595683, -2.68669206, -0.35550758,  0.24964235,  6.87835321,
 -23.89000355,  0.717917  , -0.39371925, -0.20156952,  6.69783189,
  11.91454386, -0.76339402]

qfrc_actuator:
[ 7.37725682e-06,-2.33236843e-05, 1.28480359e-04, 2.43305720e-05,
 -2.31230596e-05,-2.28873884e-04,-2.17729575e-04,-6.50612534e-05,
 -8.50337755e-05, 4.31214487e-04, 7.09448046e-05, 1.64520778e-05,
  1.11095878e-02,-1.46122876e-03, 0.00000000e+00,-2.63158764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002363412077556054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.34877158e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.34877158e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173679, -0.06204915,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28927536e-05,-9.02933278e-06, 1.04766334e-05, 3.26133347e-05,
 -2.86376327e-05, 3.49391614e-05, 1.21125879e-05, 1.55152187e-05,
 -4.85101499e-05,-8.34409087e-06, 9.84865134e-06,-1.13721485e-07,
 -8.06543797e-05,-3.43871286e-05,-1.95878589e-05,-1.21432196e-04,
  2.20348844e-06,-1.45295296e-06,-1.21639480e+00, 1.02247119e-04,
  1.44395907e-03,-6.07250267e-08]


--- Step 1119 ---
qpos:
[ 2.99273789e-03,-3.28960285e-03, 1.18410055e-02, 4.17801696e-02,
 -2.24263884e-03,-1.94483314e-03,-1.73986304e-02, 2.86288011e-02,
  5.88067778e-03, 1.64765464e-02,-9.41032951e-03, 2.59897010e-02,
  1.23393636e+00,-1.09365402e-03, 9.60918018e-01, 6.39088270e-02,
  9.49122736e-02,-7.01591513e-02, 1.21783474e-01, 9.99957572e-01,
  2.39241940e-04,-4.84136272e-04, 9.19575344e-03]

qacc:
[  1.28401585,  1.44255675, -8.15385448, 20.67428137, -3.03238684,
   2.78709826,-12.02779757, 22.38931491,  4.05465168,  0.48383487,
   1.69867314,-12.85089851, -0.41354   ,  0.35706172, 10.45728357,
 -36.29037331,  0.71726296, -0.39374331, -0.22074331,  6.68823599,
  11.91726322, -0.75187141]

qfrc_actuator:
[ 1.45352450e-05,-1.15503016e-05, 1.33892488e-04, 6.15100533e-05,
 -4.00033475e-05,-2.47100857e-04,-2.54732541e-04,-3.96882505e-05,
 -5.95682988e-05, 4.49807200e-04, 4.28842542e-05,-1.86736644e-05,
  1.10867338e-02,-1.46907422e-03, 0.00000000e+00,-2.80500932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022990609428440167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41451413e-13, -2.41451413e-13,  1.00000000e+00, -5.82987846e-26,
        1.00000000e+00,  2.41451413e-13, -1.00000000e+00,  0.00000000e+00,
       -2.41451413e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173555, -0.06204854,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.52487940e-06, 1.03417308e-05, 5.98309720e-06, 3.77947633e-05,
 -1.76855668e-05, 4.44413250e-06,-2.77636990e-05, 2.75929307e-05,
  2.40705508e-05, 1.59485400e-05,-2.85710561e-05,-3.51417148e-05,
 -7.85406942e-05,-3.31447589e-05,-2.73942520e-05,-1.83835315e-04,
  3.37836477e-06,-1.46119622e-06,-1.21637473e+00, 1.05025694e-04,
  1.45141198e-03, 7.52419237e-09]


--- Step 1120 ---
qpos:
[ 2.99313410e-03,-3.29033725e-03, 1.18406609e-02, 4.17799366e-02,
 -2.24293556e-03,-1.94383122e-03,-1.73991556e-02, 2.86282912e-02,
  5.88051035e-03, 1.64765727e-02,-9.41126223e-03, 2.59882721e-02,
  1.23423723e+00,-1.09326884e-03, 9.61165778e-01, 6.39044593e-02,
  9.49333161e-02,-7.01629147e-02, 1.21784194e-01, 9.99957635e-01,
  2.71934340e-04,-3.07411606e-04, 9.19561840e-03]

qacc:
[ 7.03435867e-01, 2.30192184e+00,-7.20514231e+00, 8.48728664e+00,
  4.31672320e+00, 6.54267881e-01,-1.62030558e+00, 5.20116997e-01,
  2.67101518e+00, 9.96388140e-01,-1.69757931e+00,-4.14622318e+00,
 -5.85665452e-01, 8.48757685e-01, 2.88487190e+00,-1.06238566e+01,
  5.46184984e-02, 1.12902118e+00, 1.52140932e-02,-1.88927054e+01,
  1.29858856e+00, 4.75656242e-01]

qfrc_actuator:
[ 1.86170915e-05, 4.93054281e-05, 1.19314037e-04, 6.57445583e-05,
 -1.41040553e-05,-2.22922787e-04,-2.58731608e-04,-4.23759808e-05,
 -4.43790651e-05, 4.43074189e-04, 8.75898054e-06,-3.89226801e-05,
  1.10675224e-02,-1.45602103e-03, 0.00000000e+00,-2.85245034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022747667615025113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44030079e-13,  7.32090237e-13,  1.00000000e+00,  1.78652038e-25,
        1.00000000e+00, -7.32090237e-13, -1.00000000e+00,  0.00000000e+00,
       -2.44030079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508564, -0.09318771,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30228382e-06, 6.95445707e-05,-1.03828562e-05, 5.62334204e-06,
  2.53966742e-05, 2.20813686e-05,-5.54982099e-06,-2.92020089e-06,
  1.58865430e-05,-5.20559202e-06,-3.55599633e-05,-2.12358491e-05,
 -7.35737411e-05,-1.13910524e-05,-3.78092864e-05,-6.22998689e-05,
  4.84218134e-06,-1.39959123e-06,-1.21635090e+00, 1.08424058e-04,
  1.46006702e-03, 8.39660416e-08]


--- Step 1121 ---
qpos:
[ 2.99357653e-03,-3.29079280e-03, 1.18402185e-02, 4.17804684e-02,
 -2.24257466e-03,-1.94291847e-03,-1.73990581e-02, 2.86277363e-02,
  5.87983690e-03, 1.64763906e-02,-9.41199164e-03, 2.59876350e-02,
  1.23453763e+00,-1.09276929e-03, 9.61413093e-01, 6.39011686e-02,
  9.49545791e-02,-7.01622019e-02, 1.21784628e-01, 9.99957669e-01,
  2.67166787e-04,-1.28397775e-04, 9.19632724e-03]

qacc:
[  0.3982844 ,  2.21790773,-10.60067238, 23.78710747,  5.78867681,
  -1.96115888,  6.99262487, -8.68025588, -4.40295536,  0.79509056,
  -6.5630752 , 20.08030172, -0.37237708,  0.50066192, -3.88214097,
  12.68621384,  0.05511568,  1.11904762, -0.07167931,-18.7185243 ,
   1.31687758,  0.42750399]

qfrc_actuator:
[ 2.08578521e-05, 5.02166729e-05, 1.10988763e-04, 1.03848997e-04,
  1.90108642e-05,-2.26701299e-04,-2.25303807e-04,-4.37412828e-05,
 -7.08889852e-05, 4.38952422e-04, 2.45146012e-05, 2.98978385e-06,
  1.10505196e-02,-1.44843621e-03, 0.00000000e+00,-2.78975399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022824738620573493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.43206076e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.43206076e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508552, -0.09318755,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39048147e-06, 3.79282794e-05, 4.96774258e-06, 4.08362642e-05,
  3.38469222e-05, 7.27762079e-06, 3.71986545e-05,-6.68845888e-07,
 -2.60551817e-05,-1.52700532e-05, 9.57856553e-06, 4.00502044e-05,
 -6.33016006e-05,-1.11851813e-05,-2.79747377e-05, 5.35357837e-05,
  4.74974403e-06,-7.97982008e-07,-1.21635874e+00, 1.10196359e-04,
  1.46870946e-03,-3.88750755e-07]


--- Step 1122 ---
qpos:
[ 2.99438758e-03,-3.29120032e-03, 1.18398450e-02, 4.17807807e-02,
 -2.24216426e-03,-1.94218881e-03,-1.73984750e-02, 2.86271909e-02,
  5.87954058e-03, 1.64762734e-02,-9.41259932e-03, 2.59867842e-02,
  1.23483749e+00,-1.09189968e-03, 9.61660006e-01, 6.39002743e-02,
  9.49760655e-02,-7.01570453e-02, 1.21784484e-01, 9.99957673e-01,
  2.25221826e-04, 5.29443552e-05, 9.19779809e-03]

qacc:
[  3.23669369, -0.58808004,  3.10419891, -7.03751307,  0.45250851,
  -1.57934746,  5.23873065, -5.71333937,  3.29174151, -0.70081952,
   3.51480766, -7.44478465, -0.56402129,  0.9753589 , -7.78436833,
  26.47139483,  0.05584743,  1.11093999, -0.14450802,-18.57715836,
   1.33514796,  0.38319942]

qfrc_actuator:
[ 3.97502355e-05, 3.30256962e-05, 1.06229264e-04, 9.05347052e-05,
  2.05882521e-05,-2.47032634e-04,-2.05659807e-04,-4.43114585e-05,
 -5.07166839e-05, 4.54429832e-04, 3.41377400e-05,-7.58829722e-06,
  1.10295289e-02,-1.42640112e-03, 0.00000000e+00,-2.66270296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022756697695920647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21966623e-13,  2.43933245e-13,  1.00000000e+00,  2.97517141e-26,
        1.00000000e+00, -2.43933245e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21966623e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508541, -0.09318779,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89735975e-05, 6.81381162e-06, 5.10843710e-06,-1.07221495e-05,
  2.54328508e-06,-8.62808641e-06, 2.56942456e-05, 1.01337296e-06,
  1.94165994e-05, 1.06385310e-05, 9.04692324e-06,-1.01171875e-05,
 -6.08973941e-05, 5.51091023e-06,-1.03858350e-05, 1.25645741e-04,
  4.83215462e-06,-1.67517587e-07,-1.21635932e+00, 1.10113744e-04,
  1.47752114e-03,-7.65725438e-07]


--- Step 1123 ---
qpos:
[ 2.99576371e-03,-3.29156454e-03, 1.18397197e-02, 4.17809197e-02,
 -2.24208288e-03,-1.94140187e-03,-1.73980179e-02, 2.86270001e-02,
  5.87983286e-03, 1.64764481e-02,-9.41371402e-03, 2.59851372e-02,
  1.23513675e+00,-1.09068950e-03, 9.61907139e-01, 6.38981989e-02,
  9.49977790e-02,-7.01474710e-02, 1.21783518e-01, 9.99957641e-01,
  1.46325303e-04, 2.36653825e-04, 9.19995490e-03]

qacc:
[  4.96708893, -1.00359415,  4.37500298, -7.78254886, -2.89028015,
   1.16259344, -5.5233211 , 11.80898343,  5.11231917,  0.15372578,
   3.35604885,-16.5218267 , -0.81449961,  1.3330627 ,  3.94783089,
 -13.20448755,  0.05676985,  1.10444211, -0.20546822,-18.46412608,
   1.35363467,  0.34188254]

qfrc_actuator:
[ 6.82927140e-05, 4.05979409e-05, 1.21234293e-04, 8.25530014e-05,
  3.58819567e-06,-2.41660805e-04,-2.12150594e-04,-2.66884570e-05,
 -2.09684178e-05, 4.63724166e-04, 4.57640171e-06,-4.89718253e-05,
  1.09901907e-02,-1.41374995e-03, 0.00000000e+00,-2.72957358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022573940253829694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45908116e-13,  4.91816232e-13,  1.00000000e+00,  1.20941603e-25,
        1.00000000e+00, -4.91816232e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45908116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950853 , -0.09318836,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90871282e-05, 1.20008967e-05, 1.66774692e-05,-7.72168947e-06,
 -1.69316487e-05, 5.86644651e-06,-5.08715320e-06, 1.81601875e-05,
  3.03074500e-05, 1.66977498e-05,-2.65902584e-05,-4.08088366e-05,
 -7.36532790e-05, 3.51517977e-08, 5.09135517e-06,-6.21457645e-05,
  5.06860744e-06, 4.92354155e-07,-1.21635283e+00, 1.08190600e-04,
  1.48649710e-03,-1.04849522e-06]


--- Step 1124 ---
qpos:
[ 2.99678170e-03,-3.29203880e-03, 1.18398168e-02, 4.17816742e-02,
 -2.24186092e-03,-1.94050309e-03,-1.73979652e-02, 2.86273797e-02,
  5.87979036e-03, 1.64762117e-02,-9.41465501e-03, 2.59837419e-02,
  1.23543537e+00,-1.08902173e-03, 9.62154386e-01, 6.38943398e-02,
  9.50197238e-02,-7.01334993e-02, 1.21781526e-01, 9.99957564e-01,
  3.06539040e-05, 4.22769973e-04, 9.20272612e-03]

qacc:
[ -3.13443831,  0.50708624, -4.60419924, 14.96504532,  1.21857641,
   2.44792253,-10.9270415 , 21.36704455, -2.90728523, -0.50498053,
  -0.04080544,  4.41162591, -0.95392002,  1.63817532,  5.620753  ,
 -19.25890253,  0.05784798,  1.09933455, -0.25643151,-18.37565828,
   1.37250174,  0.30287403]

qfrc_actuator:
[ 4.90234246e-05, 2.75083509e-05, 1.30138473e-04, 1.13317565e-04,
  1.13056448e-05,-2.38786857e-04,-2.33904909e-04, 1.50153112e-06,
 -3.90947950e-05, 4.15797907e-04, 5.34232373e-06,-3.71601775e-05,
  1.09611734e-02,-1.38909502e-03, 0.00000000e+00,-2.82141494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022301752162717792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24454686e-13,  4.97818744e-13,  1.00000000e+00,  6.19558754e-26,
        1.00000000e+00, -4.97818744e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24454686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950852 , -0.09318918,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84357187e-05,-3.24450437e-06, 1.31727885e-05, 3.17047072e-05,
  7.23629742e-06, 5.84249086e-06,-2.05543423e-05, 2.86171481e-05,
 -1.72499273e-05,-4.58083055e-05,-4.58364140e-07, 1.08175286e-05,
 -7.22616930e-05, 8.02335215e-06,-1.05550551e-05,-9.60205683e-05,
  5.44169116e-06, 1.18566540e-06,-1.21633941e+00, 1.04438377e-04,
  1.49563316e-03,-1.23840899e-06]


--- Step 1125 ---
qpos:
[ 2.99721611e-03,-3.29241341e-03, 1.18394639e-02, 4.17817754e-02,
 -2.24154833e-03,-1.93955071e-03,-1.73981613e-02, 2.86280910e-02,
  5.87918650e-03, 1.64752873e-02,-9.41515322e-03, 2.59828619e-02,
  1.23573340e+00,-1.08679342e-03, 9.62401499e-01, 6.38897275e-02,
  9.50390199e-02,-7.01233812e-02, 1.21781328e-01, 9.99957445e-01,
 -5.31926269e-05, 5.85489396e-04, 9.20669898e-03]

qacc:
[ -5.13854219,  0.05397872,  2.77123826,-13.44419309,  0.78641996,
   1.44617291, -6.45701341, 12.55747533, -4.87018476, -1.07663271,
   0.36021278,  8.33864959, -0.95068637,  1.71981141,  2.14796692,
  -7.63499886, -0.66219595, -0.96337478,  0.44857067, 15.80384901,
 -11.84427594,  0.60807976]

qfrc_actuator:
[ 1.95169167e-05, 1.99103359e-05, 9.98033822e-05, 7.78473969e-05,
  1.57629927e-05,-2.37489105e-04,-2.46735944e-04, 1.79214207e-05,
 -6.75053845e-05, 3.69630746e-04, 2.38266812e-05,-1.19134671e-05,
  1.09383724e-02,-1.35749111e-03, 0.00000000e+00,-2.85615335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022702137088113916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44519496e-13,  4.89038992e-13,  1.00000000e+00, -1.19579568e-25,
        1.00000000e+00, -4.89038992e-13, -1.00000000e+00,  0.00000000e+00,
        2.44519496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882403, -0.05157468,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00333411e-05,-5.32867415e-06,-2.82832743e-05,-3.45364198e-05,
  4.66529995e-06, 1.51405592e-06,-1.31782616e-05, 1.65127230e-05,
 -2.89234554e-05,-7.13980216e-05, 9.35739735e-06, 2.34847479e-05,
 -6.36122616e-05, 1.70951172e-05,-2.08948198e-05,-4.26660329e-05,
  5.93651852e-06, 1.91974894e-06,-1.21631915e+00, 9.88659803e-05,
  1.50492575e-03,-1.33665780e-06]


--- Step 1126 ---
qpos:
[ 2.99763849e-03,-3.29294260e-03, 1.18388602e-02, 4.17811254e-02,
 -2.24083953e-03,-1.93884720e-03,-1.73983210e-02, 2.86279770e-02,
  5.87859124e-03, 1.64740104e-02,-9.41582394e-03, 2.59826364e-02,
  1.23603099e+00,-1.08469778e-03, 9.62648539e-01, 6.38840268e-02,
  9.50557069e-02,-7.01170568e-02, 1.21782295e-01, 9.99957301e-01,
 -1.05739788e-04, 7.25259198e-04, 9.21192127e-03]

qacc:
[ -0.11126102, -1.05142766,  6.62158861,-19.10488431,  3.47983665,
  -2.13448656, 10.60701376,-24.75210811,  0.07603749,  1.36358743,
  -8.30141286, 20.16426322, -0.27181389,  0.1701901 ,  3.1904828 ,
 -11.28819545, -0.65227866, -0.94845201,  0.29102449, 15.54300741,
 -11.61843101,  0.63335197]

qfrc_actuator:
[ 1.97420223e-05,-2.31105880e-06, 8.20135667e-05, 3.91640598e-05,
  3.60106128e-05,-2.72628832e-04,-2.54206862e-04,-2.59680412e-05,
 -6.62207441e-05, 3.60465671e-04, 1.70982751e-05, 2.10300549e-05,
  1.09033439e-02,-1.37526166e-03, 0.00000000e+00,-2.91020470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023487343892586443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882261, -0.05157643,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.28081953e-07,-3.25169913e-05,-2.35600986e-05,-4.05600246e-05,
  2.03809800e-05,-3.63397224e-05,-8.22078778e-06,-4.39626753e-05,
  4.25674795e-07,-4.61227026e-05,-1.94923410e-05, 3.06708656e-05,
 -6.86847546e-05,-2.83643739e-05,-1.88562463e-05,-6.01346780e-05,
  4.81851466e-06, 4.48383394e-07,-1.21635565e+00, 9.49128905e-05,
  1.51303868e-03,-5.58950429e-07]


--- Step 1127 ---
qpos:
[ 2.99806028e-03,-3.29395542e-03, 1.18384170e-02, 4.17807218e-02,
 -2.23954839e-03,-1.93867217e-03,-1.73981316e-02, 2.86270077e-02,
  5.87836031e-03, 1.64726117e-02,-9.41672177e-03, 2.59834720e-02,
  1.23632811e+00,-1.08301137e-03, 9.62895317e-01, 6.38786943e-02,
  9.50698185e-02,-7.01144767e-02, 1.21783896e-01, 9.99957146e-01,
 -1.27423354e-04, 8.42451888e-04, 9.21843376e-03]

qacc:
[ 8.26161435e-03,-5.80253280e-01, 1.02281279e-01, 4.25914929e+00,
  5.12683943e+00,-3.44200420e+00, 1.48538561e+01,-2.98044654e+01,
  3.17330679e+00, 2.65172005e+00,-1.41797931e+01, 3.30089133e+01,
  2.02202829e-02,-5.22131886e-01,-1.51178964e+00, 4.69699460e+00,
 -6.43831525e-01,-9.36053788e-01, 1.58510008e-01, 1.53266814e+01,
 -1.14302947e+01, 6.55115616e-01]

qfrc_actuator:
[ 1.97153503e-05,-3.30920971e-05, 8.94842515e-05, 5.21700632e-05,
  6.53905691e-05,-3.11597381e-04,-2.40894744e-04,-6.95135697e-05,
 -4.74643842e-05, 3.73441408e-04, 1.34330225e-05, 7.59989452e-05,
  1.08663112e-02,-1.40443529e-03, 0.00000000e+00,-2.88644434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023975618088359352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.63063359e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.63063359e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882171, -0.0515775 ,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08507906e-08,-5.55422922e-05,-3.53690316e-06, 1.00122298e-05,
  2.99504086e-05,-6.28880609e-05, 3.26524634e-06,-4.62447200e-05,
  1.87472010e-05,-1.54755499e-05,-1.45095313e-05, 5.29195026e-05,
 -8.41665418e-05,-5.05581029e-05,-1.98404697e-05, 1.69644763e-05,
  3.67396800e-06,-6.94775528e-07,-1.21638386e+00, 9.24623067e-05,
  1.51995358e-03, 1.68732771e-08]


--- Step 1128 ---
qpos:
[ 2.99813357e-03,-3.29550827e-03, 1.18386852e-02, 4.17801005e-02,
 -2.23825970e-03,-1.93921901e-03,-1.73977903e-02, 2.86276351e-02,
  5.87835555e-03, 1.64714524e-02,-9.41754576e-03, 2.59845460e-02,
  1.23662459e+00,-1.08135876e-03, 9.63141572e-01, 6.38766620e-02,
  9.50813834e-02,-7.01155998e-02, 1.21785685e-01, 9.99956991e-01,
 -1.18602536e-04, 9.37376943e-04, 9.22627175e-03]

qacc:
[-3.02746760e+00,-3.14592500e+00, 1.11091724e+01,-1.56270635e+01,
 -3.34180911e-03, 1.90556223e+00,-1.49215281e+01, 4.28432385e+01,
  1.97085820e+00, 5.97104644e-01,-2.68302150e+00, 6.52211823e+00,
 -2.63079524e-01, 1.39261629e-01,-1.07160256e+01, 3.64063598e+01,
 -6.36674215e-01,-9.25828225e-01, 4.71969103e-02, 1.51483430e+01,
 -1.12740260e+01, 6.74158956e-01]

qfrc_actuator:
[ 1.77835697e-06,-5.08654168e-05, 1.29552914e-04, 4.22346494e-05,
  6.44000536e-05,-3.52484062e-04,-2.33192679e-04, 1.17757387e-05,
 -3.63368004e-05, 4.17364815e-04, 2.94819089e-05, 9.02567483e-05,
  1.08334200e-02,-1.40461586e-03, 0.00000000e+00,-2.71050244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024222962509967694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58334947e-13, -2.29167474e-13,  1.00000000e+00, -1.05035462e-25,
        1.00000000e+00,  2.29167474e-13, -1.00000000e+00,  0.00000000e+00,
       -4.58334947e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882122, -0.05157802,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79543613e-05,-4.90929012e-05, 2.85244947e-05,-1.22380052e-05,
 -1.56915772e-07,-7.73569213e-05,-6.48895405e-06, 7.78073186e-05,
  1.16527628e-05, 3.46051611e-05, 1.29201111e-05, 1.41249009e-05,
 -9.40606489e-05,-2.99183490e-05,-1.12943236e-05, 1.73415487e-04,
  2.49302982e-06,-1.50702368e-06,-1.21640424e+00, 9.14916329e-05,
  1.52568746e-03, 3.98049247e-07]


--- Step 1129 ---
qpos:
[ 2.99833579e-03,-3.29677184e-03, 1.18385480e-02, 4.17789899e-02,
 -2.23699217e-03,-1.94102591e-03,-1.73971371e-02, 2.86306715e-02,
  5.87813930e-03, 1.64705822e-02,-9.41792104e-03, 2.59854037e-02,
  1.23692045e+00,-1.07950179e-03, 9.63388282e-01, 6.38720284e-02,
  9.50904258e-02,-7.01203929e-02, 1.21787290e-01, 9.99956839e-01,
 -7.95709863e-05, 1.01029035e-03, 9.23546629e-03]

qacc:
[ 1.11381155e+00, 5.05426673e-01, 8.12911095e-01,-8.83880156e+00,
 -1.52730283e-01, 2.41890311e+00,-2.12140593e+01, 6.33353069e+01,
 -1.83547245e+00,-1.31337582e+00, 6.15633320e+00,-1.08344569e+01,
 -7.98159878e-01, 1.19924244e+00, 8.57603224e+00,-2.89035426e+01,
 -6.30647449e-01,-9.17473710e-01,-4.61677295e-02, 1.50025384e+01,
 -1.11447963e+01, 6.91084218e-01]

qfrc_actuator:
[ 8.94858151e-06,-7.32635596e-06, 1.17554648e-04, 1.88999048e-05,
  6.32917379e-05,-4.47374745e-04,-2.28799128e-04, 1.30350895e-04,
 -4.75466676e-05, 4.44038865e-04, 5.71491611e-05, 8.04861573e-05,
  1.08136986e-02,-1.38761232e-03, 0.00000000e+00,-2.85464127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002427632937434393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28663693e-13, -4.57327386e-13,  1.00000000e+00, -1.04574169e-25,
        1.00000000e+00,  4.57327386e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28663693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882105, -0.0515781 ,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64582526e-06, 2.15018751e-05,-1.90317060e-05,-2.46838668e-05,
 -1.14276565e-06,-1.36140016e-04,-9.69094365e-06, 1.16548807e-04,
 -1.08691852e-05, 4.93528707e-05, 3.69158682e-05,-7.56412700e-06,
 -8.15054881e-05,-1.08617344e-05, 1.01662119e-05,-1.36816317e-04,
  1.26727306e-06,-1.98747416e-06,-1.21641714e+00, 9.19822495e-05,
  1.53025444e-03, 5.90295743e-07]


--- Step 1130 ---
qpos:
[ 2.99931199e-03,-3.29749050e-03, 1.18377858e-02, 4.17779355e-02,
 -2.23540283e-03,-1.94408264e-03,-1.73963292e-02, 2.86351158e-02,
  5.87744541e-03, 1.64701938e-02,-9.41803569e-03, 2.59861256e-02,
  1.23721601e+00,-1.07810047e-03, 9.63635090e-01, 6.38650519e-02,
  9.50969657e-02,-7.01288289e-02, 1.21788397e-01, 9.99956691e-01,
 -1.05660064e-05, 1.06140256e-03, 9.24604508e-03]

qacc:
[ 6.76451100e+00, 2.57043762e+00,-8.37927476e+00, 9.97418228e+00,
  2.84966201e+00, 8.06110877e-01,-1.12259853e+01, 3.62744914e+01,
 -4.16611311e+00,-3.63505604e-01, 2.80794808e+00,-5.94727783e+00,
  2.70293442e-02,-4.96481821e-01, 7.20296001e+00,-2.50207517e+01,
 -6.25610871e-01,-9.10731543e-01,-1.24352216e-01, 1.48846969e+01,
 -1.10386016e+01, 7.06349133e-01]

qfrc_actuator:
[ 4.85977216e-05, 3.68815698e-05, 9.29012375e-05, 2.33895209e-05,
  7.98850686e-05,-5.20582986e-04,-2.26611333e-04, 1.98836022e-04,
 -7.18118387e-05, 4.77970500e-04, 7.36303950e-05, 7.44104008e-05,
  1.08019002e-02,-1.41378087e-03, 0.00000000e+00,-2.97321558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024174994081860302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59244383e-13, -4.59244383e-13,  1.00000000e+00, -2.10905404e-25,
        1.00000000e+00,  4.59244383e-13, -1.00000000e+00,  0.00000000e+00,
       -4.59244383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882114, -0.05157782,  0.06199413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98520913e-05, 5.12948921e-05,-2.33919715e-05, 4.27687634e-06,
  1.65087784e-05,-1.46293698e-04,-2.30867580e-05, 6.45795681e-05,
 -2.45636605e-05, 6.88608892e-05, 3.09738626e-05,-2.82938479e-06,
 -6.22187758e-05,-4.69037493e-05,-1.71779207e-05,-1.26404911e-04,
 -1.10266725e-08,-2.13681652e-06,-1.21642284e+00, 9.39188882e-05,
  1.53366608e-03, 5.98099985e-07]


--- Step 1131 ---
qpos:
[ 3.00041117e-03,-3.29805993e-03, 1.18373858e-02, 4.17772701e-02,
 -2.23362733e-03,-1.94789954e-03,-1.73957451e-02, 2.86416909e-02,
  5.87681057e-03, 1.64705921e-02,-9.41806721e-03, 2.59863962e-02,
  1.23751117e+00,-1.07699914e-03, 9.63881400e-01, 6.38596953e-02,
  9.51010198e-02,-7.01408864e-02, 1.21788745e-01, 9.99956545e-01,
  8.82237041e-05, 1.09088500e-03, 9.25803316e-03]

qacc:
[ 1.08854463e+00,-1.58707985e-02,-1.30251959e+00, 7.35005229e+00,
  1.63993333e+00, 4.00000904e+00,-2.47246867e+01, 6.25263412e+01,
  5.03927522e-01,-1.22395724e-01, 3.84852020e+00,-1.23679202e+01,
  5.20205110e-02,-4.69449862e-01,-5.63594984e+00, 1.86225610e+01,
 -6.21441150e-01,-9.05379800e-01,-1.89715743e-01, 1.47909776e+01,
 -1.09521130e+01, 7.20299439e-01]

qfrc_actuator:
[ 5.37797157e-05, 4.56142135e-05, 1.14294389e-04, 4.42240172e-05,
  8.90122367e-05,-5.27030082e-04,-2.25714724e-04, 3.08315226e-04,
 -6.80541636e-05, 5.33701097e-04, 8.34086155e-05, 5.28051580e-05,
  1.07788709e-02,-1.42976914e-03, 0.00000000e+00,-2.88039020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023951722700366052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31762667e-13, -4.63525333e-13,  1.00000000e+00, -1.07427867e-25,
        1.00000000e+00,  4.63525333e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31762667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882144, -0.05157727,  0.06199418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.33901892e-06, 3.28163959e-05, 2.92722259e-05, 2.23093574e-05,
  9.54494413e-06,-9.01579735e-05,-2.99145358e-05, 1.03662155e-04,
  3.07525327e-06, 1.00517877e-04, 2.77241268e-05,-1.76371990e-05,
 -7.07683272e-05,-3.97513402e-05,-2.66885889e-05, 8.24900689e-05,
 -1.34941710e-06,-1.95720090e-06,-1.21642156e+00, 9.72891211e-05,
  1.53593172e-03, 4.24944324e-07]


--- Step 1132 ---
qpos:
[ 3.00121942e-03,-3.29850064e-03, 1.18372435e-02, 4.17775600e-02,
 -2.23210340e-03,-1.94946319e-03,-1.73968819e-02, 2.86499297e-02,
  5.87588067e-03, 1.64717042e-02,-9.41796608e-03, 2.59864114e-02,
  1.23780582e+00,-1.07606318e-03, 9.64127430e-01, 6.38561061e-02,
  9.51024900e-02,-7.01549579e-02, 1.21789213e-01, 9.99956398e-01,
  2.03366887e-04, 1.09866862e-03, 9.27114542e-03]

qacc:
[-2.54711748e+00, 1.42348450e+00,-8.84875079e+00, 2.48580122e+01,
 -2.29790592e+00, 1.12089385e+01,-4.26640078e+01, 7.25356601e+01,
 -2.58161481e+00, 5.20711176e-02, 2.27042170e+00,-7.43762081e+00,
 -1.45252996e-01,-9.42407058e-02,-5.74193919e+00, 1.95007207e+01,
 -6.45989157e-01,-5.03503809e-01, 2.96449269e-02, 8.07532344e+00,
 -1.09245940e+01, 5.71945745e-01]

qfrc_actuator:
[ 3.86228198e-05, 5.09920377e-05, 1.27072852e-04, 9.22626286e-05,
  7.59140187e-05,-2.27120736e-04,-2.43028698e-04, 4.05599436e-04,
 -8.33336820e-05, 5.66508117e-04, 8.92382792e-05, 4.00044932e-05,
  1.07491234e-02,-1.43962264e-03, 0.00000000e+00,-2.78801897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023645107220391352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34768025e-13, -2.71021608e-07,  1.00000000e+00, -6.36272076e-20,
        1.00000000e+00,  2.71021608e-07, -1.00000000e+00,  0.00000000e+00,
       -2.34768025e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883451, -0.06014437,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49646612e-05, 3.07562199e-05, 2.39456466e-05, 5.08946790e-05,
 -1.28607100e-05, 2.47877114e-04,-3.60117335e-05, 9.43949515e-05,
 -1.51553993e-05, 9.39726026e-05, 2.93918970e-05,-7.87868684e-06,
 -8.05166404e-05,-3.42364075e-05,-6.37965187e-06, 9.27932338e-05,
 -2.75565630e-06,-1.45220623e-06,-1.21641344e+00, 1.02082943e-04,
  1.53705874e-03, 7.34857163e-08]


--- Step 1133 ---
qpos:
[ 3.00149499e-03,-3.29886905e-03, 1.18370665e-02, 4.17781058e-02,
 -2.23178569e-03,-1.94552687e-03,-1.74007928e-02, 2.86627155e-02,
  5.87477531e-03, 1.64730770e-02,-9.41757665e-03, 2.59863211e-02,
  1.23809996e+00,-1.07526564e-03, 9.64373453e-01, 6.38529581e-02,
  9.51013137e-02,-7.01694362e-02, 1.21790273e-01, 9.99956254e-01,
  3.21493469e-04, 1.08483918e-03, 9.28489130e-03]

qacc:
[-4.67791051e+00, 7.29564149e-01,-3.52655421e+00, 7.94102458e+00,
 -1.07575238e+01, 2.43865610e+01,-9.55732439e+01, 1.74608827e+02,
 -1.52576398e+00,-6.75601580e-01, 3.35945707e+00,-5.84431775e+00,
 -2.42705799e-01, 8.89021913e-02,-1.33163150e+00, 4.66905056e+00,
 -6.61613905e-01,-1.01683919e-01, 1.48336413e-01, 1.39109713e+00,
 -1.08198208e+01, 3.20621120e-01]

qfrc_actuator:
[ 1.16273008e-05, 3.65651466e-05, 1.16889634e-04, 1.02644149e-04,
  1.43385574e-05, 2.89398392e-04,-2.87435124e-04, 6.54955251e-04,
 -9.19523977e-05, 5.49813872e-04, 9.26160386e-05, 3.24712485e-05,
  1.07260211e-02,-1.44580990e-03, 0.00000000e+00,-2.76772626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023590903203579705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.94134304e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.94134304e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884698, -0.06829895,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74126230e-05, 9.90737065e-06, 8.86013721e-07, 1.35194320e-05,
 -6.18580306e-05, 6.51785781e-04, 5.63764959e-06, 2.60557802e-04,
 -9.01758084e-06, 4.15397496e-05, 2.61221555e-05,-2.64475381e-06,
 -7.80565203e-05,-3.17828463e-05, 2.95482463e-06, 2.36340184e-05,
 -3.71278092e-06,-5.56980035e-07,-1.21640672e+00, 1.07634131e-04,
  1.53718260e-03,-4.11924247e-07]


--- Step 1134 ---
qpos:
[ 3.00144481e-03,-3.29923358e-03, 1.18368470e-02, 4.17784367e-02,
 -2.23359275e-03,-1.93093137e-03,-1.74078623e-02, 2.86801563e-02,
  5.87392018e-03, 1.64747141e-02,-9.41763487e-03, 2.59858476e-02,
  1.23839347e+00,-1.07402250e-03, 9.64619403e-01, 6.38504084e-02,
  9.50975160e-02,-7.01843216e-02, 1.21791663e-01, 9.99956112e-01,
  4.42619142e-04, 1.04948694e-03, 9.29928569e-03]

qacc:
[-2.86069647e+00,-3.13613816e-01, 2.04182445e+00,-5.70563331e+00,
 -1.89139450e+01, 3.25142478e+01,-1.15087523e+02, 1.92772623e+02,
  2.16368844e+00, 8.07496729e-01,-7.61664517e-01,-5.34117535e+00,
 -8.10661637e-01, 1.38975116e+00,-1.85337768e+00, 6.46881381e+00,
 -6.55352502e-01,-1.01779913e-01, 8.23795579e-02, 1.39921006e+00,
 -1.07747521e+01, 3.29315698e-01]

qfrc_actuator:
[-4.36061915e-06, 2.80130025e-05, 1.10871391e-04, 9.07485006e-05,
 -9.30205971e-05, 1.21577746e-03,-2.93097557e-04, 9.20994531e-04,
 -7.88235818e-05, 5.39091840e-04, 5.88086756e-05, 1.02981361e-05,
  1.07069236e-02,-1.41425296e-03, 0.00000000e+00,-2.73680352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002340555748627099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18585407e-13,  1.18585407e-13,  1.00000000e+00,  1.40624988e-26,
        1.00000000e+00, -1.18585407e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18585407e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884756, -0.06829886,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67646066e-05,-2.24606029e-06,-3.38890712e-06,-1.11763399e-05,
 -1.08906069e-04, 1.30303998e-03, 1.38650337e-04, 2.99211511e-04,
  1.28886074e-05, 1.77290922e-05,-2.21219434e-05,-1.95441470e-05,
 -7.20814375e-05, 7.06767068e-06,-1.28394306e-06, 3.14130080e-05,
 -4.00848075e-06, 5.49931185e-07,-1.21640466e+00, 1.13296877e-04,
  1.53636871e-03,-9.29834177e-07]


--- Step 1135 ---
qpos:
[ 3.00120309e-03,-3.29953886e-03, 1.18368302e-02, 4.17782531e-02,
 -2.23944083e-03,-1.89597205e-03,-1.74191172e-02, 2.86973764e-02,
  5.87322937e-03, 1.64761897e-02,-9.41763403e-03, 2.59851328e-02,
  1.23868639e+00,-1.07240756e-03, 9.64864716e-01, 6.38529246e-02,
  9.50910930e-02,-7.01994587e-02, 1.21793201e-01, 9.99955969e-01,
  5.65453746e-04, 9.92545401e-04, 9.31429298e-03]

qacc:
[-1.67619259e+00,-1.54544246e+00, 7.79922255e+00,-1.70735929e+01,
 -3.59222872e+01, 3.82092766e+01,-9.61369017e+01, 8.38736379e+01,
  1.43757952e+00,-8.78144693e-01, 3.83522751e+00,-7.98173459e+00,
 -4.54532838e-01, 7.71076257e-01,-1.61937190e+01, 5.53744653e+01,
 -6.56343327e-01,-6.29353499e-02, 3.69502306e-02, 7.53723674e-01,
 -1.08019871e+01, 3.12117022e-01]

qfrc_actuator:
[-1.37378576e-05, 4.07778231e-05, 1.25126332e-04, 6.58550717e-05,
 -2.97459462e-04, 2.93104491e-03,-2.38514084e-04, 9.64333071e-04,
 -7.07543760e-05, 5.14092527e-04, 5.65687686e-05,-2.58644555e-06,
  1.06796071e-02,-1.39608341e-03, 0.00000000e+00,-2.46905220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023123162417245448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90217846e-07,  5.90218136e-07,  1.00000000e+00, -3.48357277e-13,
        1.00000000e+00, -5.90218136e-07, -1.00000000e+00,  0.00000000e+00,
        5.90217846e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893635, -0.06909213,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.85360686e-06, 1.03394227e-05, 1.29936850e-05,-2.53231986e-05,
 -2.07106639e-04, 2.48486235e-03, 3.51041133e-04, 1.09749760e-04,
  8.45157593e-06,-2.05479926e-05,-1.99755673e-06,-1.32737880e-05,
 -6.78539187e-05, 3.31572843e-06,-2.27190191e-06, 2.68157866e-04,
 -4.17758365e-06, 1.74042380e-06,-1.21640022e+00, 1.19079707e-04,
  1.53448710e-03,-1.46490684e-06]


--- Step 1136 ---
qpos:
[ 3.00085058e-03,-3.29964687e-03, 1.18372091e-02, 4.17773956e-02,
 -2.24874146e-03,-1.82648166e-03,-1.74376841e-02, 2.87143755e-02,
  5.87298610e-03, 1.64769034e-02,-9.41655449e-03, 2.59846213e-02,
  1.23897915e+00,-1.07193263e-03, 9.65109850e-01, 6.38592665e-02,
  9.50848395e-02,-7.02100023e-02, 1.21795171e-01, 9.99955833e-01,
  6.50449172e-04, 9.38878915e-04, 9.32888381e-03]

qacc:
[-9.63827246e-01,-2.23294798e+00, 1.11854274e+01,-2.36269989e+01,
 -3.11025840e+01, 6.56488127e+01,-1.66822942e+02, 1.49128061e+02,
  3.95011770e+00,-3.61102643e+00, 1.05425065e+01,-8.17283149e+00,
  1.02311676e+00,-2.57154782e+00,-1.19030787e+01, 4.10478314e+01,
  4.23845850e-02, 1.14836683e+00, 1.08277796e-01,-1.89032992e+01,
  1.81355738e+00,-2.27955648e-01]

qfrc_actuator:
[-1.91525885e-05, 6.62759194e-05, 1.51317057e-04, 3.35484859e-05,
 -4.68616824e-04, 5.67376127e-03,-2.16503508e-04, 1.03683839e-03,
 -4.79824861e-05, 4.63094401e-04, 1.08446956e-04, 7.86614055e-06,
  1.06473781e-02,-1.47481389e-03, 0.00000000e+00,-2.27694208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023242346529819824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13472591e-13,  9.55345041e-13,  1.00000000e+00,  2.99474486e-25,
        1.00000000e+00, -9.55345041e-13, -1.00000000e+00,  0.00000000e+00,
       -3.13472591e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509306, -0.09318925,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.69022837e-06, 3.28880684e-05, 2.90553435e-05,-3.19054398e-05,
 -1.76212749e-04, 4.20821052e-03, 5.82000375e-04, 1.93193799e-04,
  2.30121489e-05,-6.35212314e-05, 4.69116708e-05, 9.24238351e-06,
 -7.07051776e-05,-9.36414182e-05, 2.49301118e-05, 2.05873785e-04,
 -4.15603154e-06, 3.00972995e-06,-1.21639417e+00, 1.24918754e-04,
  1.53155127e-03,-2.00863117e-06]


--- Step 1137 ---
qpos:
[ 3.00147076e-03,-3.29969210e-03, 1.18379217e-02, 4.17768695e-02,
 -2.25658635e-03,-1.70794369e-03,-1.74649270e-02, 2.87309800e-02,
  5.87301779e-03, 1.64768626e-02,-9.41423402e-03, 2.59845718e-02,
  1.23927151e+00,-1.07210165e-03, 9.65355135e-01, 6.38672093e-02,
  9.50787702e-02,-7.02160104e-02, 1.21797167e-01, 9.99955713e-01,
  6.97975889e-04, 8.88327909e-04, 9.34323530e-03]

qacc:
[ 8.54746554e+00,-1.83582999e-01,-6.52253564e-01, 5.83852446e+00,
  1.16557350e+01, 8.81956069e+01,-2.18791218e+02, 1.89737901e+02,
  2.45005297e+00,-3.51874190e+00, 9.13992262e+00,-2.56068519e+00,
  3.16116166e-01,-1.14433344e+00,-4.64445740e+00, 1.64913610e+01,
  4.60767517e-02, 1.13390834e+00, 6.10951237e-03,-1.87188876e+01,
  1.73235668e+00,-1.38347953e-01]

qfrc_actuator:
[ 3.10639514e-05, 6.37469760e-05, 1.66642476e-04, 5.04171988e-05,
 -3.87993149e-04, 9.22366579e-03,-2.26988354e-04, 1.10917989e-03,
 -3.44905664e-05, 4.32667188e-04, 1.74000084e-04, 3.19729936e-05,
  1.06281622e-02,-1.50380552e-03, 0.00000000e+00,-2.20201351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023439419807493034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48017612e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48017612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509383, -0.09318902,  0.0619943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00662247e-05, 2.04974361e-05, 2.45925874e-05, 1.86634179e-05,
  7.70374143e-05, 6.02921607e-03, 9.36487371e-04, 2.76438002e-04,
  1.41303827e-05,-5.58924128e-05, 5.85089016e-05, 2.31838948e-05,
 -8.16083153e-05,-6.52290554e-05, 2.92809171e-05, 8.83970689e-05,
 -2.69084663e-06, 2.55445444e-06,-1.21641478e+00, 1.29135283e-04,
  1.52924839e-03,-2.08680017e-06]


--- Step 1138 ---
qpos:
[ 3.00372265e-03,-3.29947815e-03, 1.18384427e-02, 4.17772515e-02,
 -2.25617207e-03,-1.52932879e-03,-1.74991344e-02, 2.87460436e-02,
  5.87321084e-03, 1.64763863e-02,-9.41006596e-03, 2.59843819e-02,
  1.23956197e+00,-1.06765593e-03, 9.65601136e-01, 6.38713396e-02,
  9.50728965e-02,-7.02175300e-02, 1.21798844e-01, 9.99955613e-01,
  7.08339606e-04, 8.40763477e-04, 9.35748961e-03]

qacc:
[ 1.43123223e+01, 2.72224168e+00,-1.30874534e+01, 2.89663584e+01,
  7.12006380e+01, 9.55130903e+01,-2.19091365e+02, 1.59557689e+02,
  1.47241807e+00,-6.03107558e+00, 2.12563327e+01,-2.63117082e+01,
 -5.47369660e+00, 1.15175519e+01, 1.30118351e+01,-4.29410334e+01,
  4.88771330e-02, 1.12210035e+00,-7.95035426e-02,-1.85666890e+01,
  1.66678901e+00,-6.62282467e-02]

qfrc_actuator:
[ 1.13620080e-04, 7.99626703e-05, 1.57599808e-04, 9.60552417e-05,
  3.54508403e-05, 1.31407911e-02,-2.17176628e-04, 1.11067441e-03,
 -2.65730687e-05, 4.50385081e-04, 2.82669748e-04, 2.84270114e-05,
  1.06114542e-02,-1.20119915e-03, 0.00000000e+00,-2.40973087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023461050094103486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92245489e-13,  2.36609832e-13,  1.00000000e+00,  4.54871728e-26,
        1.00000000e+00, -2.36609832e-13, -1.00000000e+00,  0.00000000e+00,
       -1.92245489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509441, -0.09318923,  0.0619943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.39870495e-05, 3.35670194e-05,-1.14328339e-06, 4.77278299e-05,
  4.27694361e-04, 7.48993728e-03, 1.37898504e-03, 2.97416152e-04,
  8.30195236e-06,-4.78656931e-07, 1.05106031e-04,-3.47110574e-06,
 -7.90827116e-05, 2.69977424e-04, 1.70953979e-05,-2.00489524e-04,
 -1.32584183e-06, 2.14821986e-06,-1.21642800e+00, 1.31495555e-04,
  1.52708338e-03,-2.08030516e-06]


--- Step 1139 ---
qpos:
[ 3.00729173e-03,-3.29886470e-03, 1.18388094e-02, 4.17778113e-02,
 -2.23517143e-03,-1.28142484e-03,-1.75392436e-02, 2.87603939e-02,
  5.87349723e-03, 1.64759417e-02,-9.40503907e-03, 2.59845037e-02,
  1.23985001e+00,-1.05503618e-03, 9.65847316e-01, 6.38723198e-02,
  9.50672268e-02,-7.02145994e-02, 1.21799917e-01, 9.99955535e-01,
  6.81789584e-04, 7.96081303e-04, 9.37176140e-03]

qacc:
[ 1.15500854e+01, 1.30330150e+00,-4.66954321e+00, 7.74014747e+00,
  1.79234503e+02, 1.06205991e+02,-2.43413682e+02, 1.90119772e+02,
  8.40525228e-01,-1.71868815e+00, 4.87013050e+00,-8.69843541e-01,
 -8.73769434e+00, 1.92202849e+01, 1.05052042e+01,-3.46555090e+01,
  5.09833376e-02, 1.11254001e+00,-1.51133155e-01,-1.84425798e+01,
  1.61377240e+00,-7.89698033e-03]

qfrc_actuator:
[ 1.79026614e-04, 1.07203636e-04, 1.52080832e-04, 1.04987787e-04,
  1.08326445e-03, 1.73718689e-02,-2.11180475e-04, 1.14197559e-03,
 -2.19966110e-05, 4.61467645e-04, 3.27343141e-04, 4.42122297e-05,
  1.05910756e-02,-7.22387711e-04, 0.00000000e+00,-2.56923110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023343037069421813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45886318e-14,  7.13418109e-13,  1.00000000e+00, -3.18103374e-26,
        1.00000000e+00, -7.13418109e-13, -1.00000000e+00,  0.00000000e+00,
        4.45886318e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509485, -0.09318978,  0.06199433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78071931e-05, 4.78274528e-05, 2.91000724e-06, 1.12535067e-05,
  1.06255023e-03, 8.71104570e-03, 1.73148884e-03, 4.05411302e-04,
  4.81289057e-06, 3.23496716e-05, 5.73575693e-05, 1.93258034e-05,
 -4.45767023e-06, 5.18293664e-04,-2.34058640e-05,-1.70484811e-04,
 -9.90494080e-09, 1.77388178e-06,-1.21643407e+00, 1.32016815e-04,
  1.52506309e-03,-1.98815209e-06]


--- Step 1140 ---
qpos:
[ 3.01161795e-03,-3.29824347e-03, 1.18396124e-02, 4.17774473e-02,
 -2.18143031e-03,-9.52829509e-04,-1.75855455e-02, 2.87752408e-02,
  5.87349168e-03, 1.64756224e-02,-9.40060950e-03, 2.59852486e-02,
  1.24013672e+00,-1.03564881e-03, 9.66093301e-01, 6.38716844e-02,
  9.50617672e-02,-7.02072493e-02, 1.21800145e-01, 9.99955473e-01,
  6.18525729e-04, 7.54196828e-04, 9.38614361e-03]

qacc:
[ 6.65890494e+00,-3.12674291e+00, 1.50365762e+01,-3.16974018e+01,
  2.85713002e+02, 1.24362313e+02,-2.91755350e+02, 2.51853193e+02,
 -2.56668439e+00, 3.12299049e+00,-1.35172007e+01, 2.51553060e+01,
 -6.64938024e+00, 1.52342526e+01, 5.15854211e+00,-1.71328621e+01,
  5.25501086e-02, 1.10488928e+00,-2.10968970e-01,-1.83430405e+01,
  1.57085444e+00, 3.95601266e-02]

qfrc_actuator:
[ 2.16052585e-04, 8.75578647e-05, 1.66467975e-04, 5.67588596e-05,
  2.73860582e-03, 2.23084070e-02,-1.70245480e-04, 1.24420723e-03,
 -3.71739255e-05, 4.32770798e-04, 2.80610588e-04, 7.12003558e-05,
  1.05686102e-02,-3.74042637e-04, 0.00000000e+00,-2.64568069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002311522414737699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55159101e-13,  2.40149742e-13,  1.00000000e+00,  6.12763924e-26,
        1.00000000e+00, -2.40149742e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55159101e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509518, -0.09319061,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89709700e-05, 8.16711651e-06, 2.49948288e-05,-4.58674133e-05,
  1.68857969e-03, 1.01745607e-02, 2.06504613e-03, 5.42804486e-04,
 -1.50274254e-05, 2.02909948e-06,-3.23705489e-05, 3.07245465e-05,
  9.40987501e-05, 4.57993691e-04,-3.70768904e-05,-9.05552674e-05,
  1.29493000e-06, 1.42056052e-06,-1.21643315e+00, 1.30712977e-04,
  1.52319224e-03,-1.80962722e-06]


--- Step 1141 ---
qpos:
[ 3.01532041e-03,-3.29793725e-03, 1.18404721e-02, 4.17769225e-02,
 -2.09551029e-03,-5.24518437e-04,-1.76423172e-02, 2.88186814e-02,
  5.87364916e-03, 1.64758451e-02,-9.39859202e-03, 2.59860400e-02,
  1.24042277e+00,-1.01102394e-03, 9.66338970e-01, 6.38707486e-02,
  9.50565224e-02,-7.01955038e-02, 1.21799331e-01, 9.99955422e-01,
  5.18704650e-04, 7.15041399e-04, 9.40071206e-03]

qacc:
[-5.46798127e+00,-8.95568306e-01, 3.28575636e+00,-5.94661541e+00,
  2.80408377e+02, 2.19232557e+02,-7.12185105e+02, 1.15135031e+03,
  1.33746851e+00, 7.55068793e+00,-2.60836356e+01, 3.03484478e+01,
 -4.80924743e+00, 1.13881287e+01, 8.61629453e-01,-2.70691390e+00,
  5.36985356e-02, 1.09886423e+00,-2.60876627e-01,-1.82650636e+01,
  1.53608221e+00, 7.84385799e-02]

qfrc_actuator:
[ 1.82825496e-04, 4.00119878e-05, 1.56764597e-04, 4.62739837e-05,
  4.34751728e-03, 2.88540348e-02,-7.01901617e-05, 2.82603591e-03,
 -2.83502905e-05, 4.33357790e-04, 1.44641833e-04, 6.89687289e-05,
  1.05342296e-02,-1.23593222e-04, 0.00000000e+00,-2.65482163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002280240978086573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97798438e-13,  4.86888463e-13,  1.00000000e+00,  9.63057774e-26,
        1.00000000e+00, -4.86888463e-13, -1.00000000e+00,  0.00000000e+00,
       -1.97798438e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509542, -0.09319165,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21160707e-05,-3.98119591e-05,-6.54685292e-06,-1.01678464e-05,
  1.66047981e-03, 1.26741875e-02, 2.47140672e-03, 2.09914192e-03,
  8.39727471e-06,-3.69539324e-06,-1.38522768e-04,-2.67698454e-06,
  1.25802606e-04, 3.70026827e-04,-3.19716287e-05,-2.00264544e-05,
  2.61701901e-06, 1.08266873e-06,-1.21642539e+00, 1.27595120e-04,
  1.52147409e-03,-1.54421674e-06]


--- Step 1142 ---
qpos:
[ 3.01687185e-03,-3.29829229e-03, 1.18410917e-02, 4.17770333e-02,
 -1.98820898e-03, 1.38866547e-05,-1.77069377e-02, 2.89198902e-02,
  5.87391134e-03, 1.64764503e-02,-9.39963513e-03, 2.59861754e-02,
  1.24070850e+00,-9.82526730e-04, 9.66584756e-01, 6.38669758e-02,
  9.50514957e-02,-7.01793813e-02, 1.21797306e-01, 9.99955370e-01,
  3.82444838e-04, 6.78559209e-04, 9.41552905e-03]

qacc:
[-1.88764747e+01, 1.14399781e+00,-7.96347641e+00, 1.97602312e+01,
  1.85617111e+02, 2.85802108e+02,-1.05253032e+03, 1.98442727e+03,
  8.10598672e-01, 7.70726082e+00,-2.39792254e+01, 1.72363357e+01,
 -3.58084831e+00, 8.52892693e+00, 9.05010436e+00,-3.06778704e+01,
  5.45233061e-02, 1.09422629e+00,-3.02446199e-01,-1.82060781e+01,
  1.50789950e+00, 1.10546288e-01]

qfrc_actuator:
[ 7.30193566e-05,-2.39542902e-05, 1.32812055e-04, 7.57947055e-05,
  5.40120987e-03, 3.54616892e-02, 1.08102487e-06, 5.83541113e-03,
 -2.32169297e-05, 4.15543122e-04,-2.50623175e-05, 3.17799900e-05,
  1.04926874e-02, 4.91892453e-05, 0.00000000e+00,-2.80177276e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022425123631146515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54712501e-14,  7.42620003e-13,  1.00000000e+00,  1.14892598e-26,
        1.00000000e+00, -7.42620003e-13, -1.00000000e+00,  0.00000000e+00,
       -1.54712501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509559, -0.09319284,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10735860e-04,-8.80598958e-05,-3.33490243e-05, 2.73900719e-05,
  1.10524569e-03, 1.42810587e-02, 3.06173518e-03, 3.67789703e-03,
  5.38140087e-06,-4.86396505e-05,-1.87650273e-04,-4.21993113e-05,
  1.16998708e-04, 2.80832607e-04,-2.08382051e-05,-1.53067887e-04,
  3.97771747e-06, 7.59220020e-07,-1.21641086e+00, 1.22671892e-04,
  1.51991090e-03,-1.19154772e-06]


--- Step 1143 ---
qpos:
[ 3.01571518e-03,-3.29940120e-03, 1.18417689e-02, 4.17774889e-02,
 -1.86978958e-03, 6.64143209e-04,-1.77742170e-02, 2.90940557e-02,
  5.87388820e-03, 1.64774311e-02,-9.40342832e-03, 2.59851540e-02,
  1.24099434e+00,-9.52694023e-04, 9.66830270e-01, 6.38624454e-02,
  9.50466894e-02,-7.01588958e-02, 1.21793934e-01, 9.99955301e-01,
  2.09831087e-04, 6.44704850e-04, 9.43064618e-03]

qacc:
[-2.37554705e+01,-4.00310720e-01,-1.39241665e+00, 7.73393766e+00,
  9.56883692e+01, 3.05036141e+02,-1.18157901e+03, 2.36642301e+03,
 -2.58150220e+00, 5.80575331e+00,-1.50865338e+01,-8.28150218e-01,
 -1.04540785e+00, 2.72016122e+00, 1.98191352e+00,-7.29162321e+00,
  5.50984086e-02, 1.09077489e+00,-3.37032857e-01,-1.81638857e+01,
  1.48506539e+00, 1.37306927e-01]

qfrc_actuator:
[-6.32048140e-05,-6.17952866e-05, 1.36089371e-04, 9.30814835e-05,
  5.94217086e-03, 4.14704582e-02, 5.66485229e-05, 9.53643397e-03,
 -3.80572350e-05, 4.39887950e-04,-1.60136471e-04,-2.56990834e-05,
  1.04308638e-02, 6.81259064e-05, 0.00000000e+00,-2.83347413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002200028783080621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.88500355e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.88500355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950957 , -0.09319416,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39408296e-04,-9.28374860e-05,-1.80720359e-05, 1.28973794e-05,
  5.77159160e-04, 1.47660931e-02, 3.50398340e-03, 4.48922315e-03,
 -1.46928159e-05,-4.34322365e-05,-1.69689727e-04,-6.68771428e-05,
  7.08017542e-05, 1.05992999e-04,-3.13422516e-05,-4.40040335e-05,
  5.39330460e-06, 4.53340667e-07,-1.21638964e+00, 1.15949843e-04,
  1.51850422e-03,-7.51344711e-07]


--- Step 1144 ---
qpos:
[ 3.01086393e-03,-3.30085179e-03, 1.18420615e-02, 4.17774350e-02,
 -1.74648494e-03, 1.42390063e-03,-1.78418319e-02, 2.93765829e-02,
  5.87403226e-03, 1.64787353e-02,-9.40965534e-03, 2.59844721e-02,
  1.24128064e+00,-9.24254473e-04, 9.67074903e-01, 6.38628705e-02,
  9.50393057e-02,-7.01388524e-02, 1.21791697e-01, 9.99955210e-01,
  4.00798466e-05, 5.88091917e-04, 9.44621093e-03]

qacc:
[-3.24356534e+01,-3.63380813e-01, 2.89960130e+00,-1.09680817e+01,
  4.11007296e+01, 3.68351492e+02,-1.56117827e+03, 3.35657293e+03,
  1.37692717e+00, 7.92570455e+00,-2.90772890e+01, 3.86093333e+01,
  1.79476967e+00,-3.75237737e+00,-1.64034155e+01, 5.51584467e+01,
 -6.44355534e-01,-1.10560046e-01, 2.84113559e-01, 1.32373526e+00,
 -1.13922219e+01, 2.27213144e-01]

qfrc_actuator:
[-2.49367575e-04,-6.58513649e-05, 1.19997724e-04, 6.75591199e-05,
  6.17720358e-03, 4.70918535e-02, 1.36248687e-04, 1.49988549e-02,
 -2.90283365e-05, 4.71629819e-04,-2.73518904e-04,-5.82593411e-06,
  1.03728221e-02,-5.75148981e-05, 0.00000000e+00,-2.56618619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021861276707256516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088475 , -0.06829679,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90162966e-04,-5.91650463e-05,-3.70363783e-05,-2.98673955e-05,
  2.56298967e-04, 1.47716848e-02, 3.70933569e-03, 6.30211305e-03,
  8.60122811e-06,-3.04574955e-05,-1.45533130e-04, 1.08480820e-05,
  7.27837783e-06,-8.65759190e-05,-2.23686344e-05, 2.60080323e-04,
  6.87640167e-06, 1.71929540e-07,-1.21636177e+00, 1.07433700e-04,
  1.51725519e-03,-2.23398113e-07]


--- Step 1145 ---
qpos:
[ 3.00209331e-03,-3.30263959e-03, 1.18418305e-02, 4.17770848e-02,
 -1.62200479e-03, 2.29112707e-03,-1.79081070e-02, 2.97728905e-02,
  5.87428366e-03, 1.64795901e-02,-9.41679135e-03, 2.59843720e-02,
  1.24156801e+00,-9.00805246e-04, 9.67319526e-01, 6.38647537e-02,
  9.50294197e-02,-7.01225942e-02, 1.21790297e-01, 9.99955096e-01,
 -9.87000023e-05, 5.08221619e-04, 9.46243608e-03]

qacc:
[-3.44131975e+01, 4.74951121e-01,-9.73787545e-01,-3.19232298e+00,
  8.60228666e+00, 3.72188368e+02,-1.60152754e+03, 3.48938949e+03,
  9.15870875e-01, 3.14231732e+00,-1.45251538e+01, 2.63801565e+01,
  4.99584428e+00,-1.13291014e+01,-4.84299280e+00, 1.59223649e+01,
 -6.25588128e-01,-9.46274954e-01, 2.09011226e-01, 1.53749615e+01,
 -1.17744227e+01, 3.39863926e-01]

qfrc_actuator:
[-4.45671148e-04,-8.52523971e-05, 9.27037960e-05, 5.25730054e-05,
  6.23046495e-03, 5.24206820e-02, 1.93503463e-04, 2.06901638e-02,
 -2.37689387e-05, 4.36701352e-04,-3.19844632e-04, 2.39195999e-05,
  1.03329915e-02,-3.74223521e-04, 0.00000000e+00,-2.49771985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022112471095590835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51040017e-13, -5.02080034e-13,  1.00000000e+00, -1.26042180e-25,
        1.00000000e+00,  5.02080034e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51040017e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088157 , -0.05157102,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01733527e-04,-6.14173444e-05,-4.50836231e-05,-1.93718898e-05,
  6.53019497e-05, 1.45980220e-02, 3.77466520e-03, 6.57315334e-03,
  5.49837038e-06,-8.15268902e-05,-7.01083893e-05, 2.36280072e-05,
 -5.54388728e-05,-3.33713936e-04, 1.71414150e-05, 7.96881727e-05,
  7.29860000e-06, 5.64847745e-07,-1.21635905e+00, 9.88288679e-05,
  1.51457888e-03, 5.24193851e-07]


--- Step 1146 ---
qpos:
[ 2.99034673e-03,-3.30506076e-03, 1.18419215e-02, 4.17765372e-02,
 -1.49750719e-03, 3.26635175e-03,-1.79718680e-02, 3.02527746e-02,
  5.87494121e-03, 1.64795394e-02,-9.42346900e-03, 2.59849380e-02,
  1.24185642e+00,-8.84427014e-04, 9.67563925e-01, 6.38694624e-02,
  9.50170351e-02,-7.01100699e-02, 1.21789263e-01, 9.99954966e-01,
 -2.06895250e-04, 4.05483825e-04, 9.47942647e-03]

qacc:
[-2.61006650e+01,-2.09375085e+00, 7.17173069e+00,-1.07330750e+01,
 -1.56821332e+00, 3.07512493e+02,-1.24231212e+03, 2.60513461e+03,
  3.57238587e+00,-1.11338065e+00,-5.91474093e-01, 1.20681755e+01,
  6.75766444e+00,-1.57258808e+01,-9.44723226e+00, 3.11954733e+01,
 -6.24611321e-01,-9.33479792e-01, 9.14052748e-02, 1.51832278e+01,
 -1.15779703e+01, 3.89330039e-01]

qfrc_actuator:
[-5.93098682e-04,-1.13728205e-04, 1.12239309e-04, 4.38991510e-05,
  6.22967703e-03, 5.77274808e-02, 2.53562481e-04, 2.48368000e-02,
 -3.02563806e-06, 3.97919354e-04,-2.90982369e-04, 5.92105428e-05,
  1.02933637e-02,-7.83665773e-04, 0.00000000e+00,-2.35175248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.33424448, -0.45397265,  4.31040417, -0.45397265, 46.04296505,
        4.392771  ,  4.31040417,  4.392771  ,  4.79689203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022541859883834503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46258079e-13, -2.46258079e-13,  1.00000000e+00, -6.06430417e-26,
        1.00000000e+00,  2.46258079e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46258079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881426, -0.05157179,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53186273e-04,-7.29368388e-05, 6.67817729e-07,-1.32264267e-05,
  5.73492682e-06, 1.44997464e-02, 3.75750623e-03, 5.02808173e-03,
  2.08696984e-05,-9.77861833e-05, 4.27769328e-06, 2.98452485e-05,
 -1.48953077e-04,-4.93604410e-04, 1.30320655e-05, 1.51661799e-04,
  6.78894640e-06, 1.47866051e-06,-1.21637517e+00, 9.17090906e-05,
  1.51048986e-03, 1.05859514e-06]


--- Step 1147 ---
qpos:
[ 2.97692279e-03,-3.30811613e-03, 1.18422580e-02, 4.17758951e-02,
 -1.37364192e-03, 4.35031818e-03,-1.80338680e-02, 3.08068481e-02,
  5.87584196e-03, 1.64786700e-02,-9.42865594e-03, 2.59858387e-02,
  1.24214478e+00,-8.73821140e-04, 9.67808382e-01, 6.38755506e-02,
  9.50021554e-02,-7.01012369e-02, 1.21788199e-01, 9.99954820e-01,
 -2.84827907e-04, 2.80190088e-04, 9.49725549e-03]

qacc:
[-1.47044341e+01,-1.69068539e+00, 5.25994451e+00,-6.87397533e+00,
 -7.32629469e+00, 2.91301155e+02,-1.14341839e+03, 2.34440177e+03,
  2.18194047e+00,-4.56381174e+00, 1.32819350e+01,-9.26178286e+00,
  4.77330447e+00,-1.19929687e+01,-4.51100374e+00, 1.48923145e+01,
 -6.23796516e-01,-9.22814123e-01,-7.47882086e-03, 1.50235334e+01,
 -1.14209838e+01, 4.23168542e-01]

qfrc_actuator:
[-6.75070991e-04,-1.47217834e-04, 1.23730983e-04, 3.90323882e-05,
  6.19714741e-03, 6.31728239e-02, 3.31346450e-04, 2.85383979e-02,
  8.91364073e-06, 3.92966339e-04,-2.00258441e-04, 7.97589985e-05,
  1.02431708e-02,-1.08489772e-03, 0.00000000e+00,-2.28550346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022757147218545326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43928427e-13, -2.43928427e-13,  1.00000000e+00, -5.95010775e-26,
        1.00000000e+00,  2.43928427e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43928427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881332, -0.0515721 ,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.63526825e-05,-7.46330016e-05,-3.90246973e-06,-8.21030787e-06,
 -2.76771892e-05, 1.45094129e-02, 3.69788000e-03, 4.54773454e-03,
  1.24950972e-05,-5.73850004e-05, 7.21616665e-05, 1.70997627e-05,
 -2.50977958e-04,-4.41107670e-04, 1.97030645e-05, 7.55495863e-05,
  6.36304144e-06, 2.67449472e-06,-1.21638373e+00, 8.60637378e-05,
  1.50523587e-03, 1.40218833e-06]


--- Step 1148 ---
qpos:
[ 2.96296436e-03,-3.31162396e-03, 1.18423490e-02, 4.17759013e-02,
 -1.25216275e-03, 5.54108235e-03,-1.80946073e-02, 3.14519603e-02,
  5.87653344e-03, 1.64777352e-02,-9.43297443e-03, 2.59865780e-02,
  1.24243239e+00,-8.67891163e-04, 9.68053195e-01, 6.38800616e-02,
  9.49847829e-02,-7.00960597e-02, 1.21786772e-01, 9.99954658e-01,
 -3.32764179e-04, 1.32586551e-04, 9.51597151e-03]

qacc:
[-4.69113456e+00, 1.43370996e+00,-8.69769331e+00, 2.06216326e+01,
 -2.27296467e+01, 3.24797899e+02,-1.33768065e+03, 2.83240262e+03,
 -1.79715280e+00,-2.84210006e+00, 1.06956101e+01,-1.48342467e+01,
  3.17752306e+00,-8.87737274e+00, 4.97396131e+00,-1.73655297e+01,
 -6.23208948e-01,-9.13971834e-01,-9.05209485e-02, 1.48914475e+01,
 -1.12969616e+01, 4.44583941e-01]

qfrc_actuator:
[-7.00125759e-04,-1.65708940e-04, 1.12591461e-04, 7.19310962e-05,
  6.07520502e-03, 6.84975771e-02, 4.01760228e-04, 3.31028505e-02,
 -2.18165280e-06, 4.26338827e-04,-1.44643741e-04, 7.37744277e-05,
  1.01866999e-02,-1.31967371e-03, 0.00000000e+00,-2.37328537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022800019107525882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43469758e-13, -2.43469758e-13,  1.00000000e+00, -5.92775228e-26,
        1.00000000e+00,  2.43469758e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43469758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881278, -0.05157205,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75303718e-05,-6.12631781e-05,-2.72695846e-05, 2.94206273e-05,
 -1.18020933e-04, 1.43571768e-02, 3.66708438e-03, 5.39917744e-03,
 -1.07686476e-05, 1.70185759e-05, 5.33101867e-05,-5.60294554e-06,
 -3.04706991e-04,-3.87013168e-04, 1.22020920e-05,-8.22955146e-05,
  5.98288651e-06, 4.15835352e-06,-1.21638504e+00, 8.18753547e-05,
  1.49882566e-03, 1.55997964e-06]


--- Step 1149 ---
qpos:
[ 2.94881324e-03,-3.31532793e-03, 1.18427129e-02, 4.17765775e-02,
 -1.13342863e-03, 6.83088382e-03,-1.81517765e-02, 3.21944914e-02,
  5.87743111e-03, 1.64771186e-02,-9.43676542e-03, 2.59875586e-02,
  1.24271913e+00,-8.66502966e-04, 9.68297879e-01, 6.38848446e-02,
  9.49650018e-02,-7.00950182e-02, 1.21784456e-01, 9.99954475e-01,
 -3.46616827e-04,-3.66933285e-05, 9.53556411e-03]

qacc:
[-1.67899379e+00, 3.61768784e-01,-4.48628196e+00, 1.57791650e+01,
 -2.56808686e+01, 3.21210949e+02,-1.36669961e+03, 2.97382091e+03,
  1.80961345e+00,-5.60414988e-01, 1.58288341e+00, 1.52438219e+00,
  3.09332090e+00,-8.69157260e+00,-1.31163625e+00, 3.60769956e+00,
 -6.02151374e-01,-1.03391281e+00,-2.22493788e-01, 1.69378421e+01,
 -1.09999936e+01, 4.37021976e-01]

qfrc_actuator:
[-7.09254552e-04,-1.39623736e-04, 1.41523927e-04, 1.09031497e-04,
  5.93712696e-03, 7.29983185e-02, 4.14289945e-04, 3.79432119e-02,
  8.76278055e-06, 4.64528056e-04,-1.10068587e-04, 8.77374274e-05,
  1.01371778e-02,-1.54886892e-03, 0.00000000e+00,-2.35580215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022694179350411456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.92357561e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.92357561e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10854819, -0.0487872 ,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.92337421e-06,-1.23850629e-05, 1.39929400e-05, 3.41167532e-05,
 -1.36818573e-04, 1.34740336e-02, 3.60195876e-03, 5.68362218e-03,
  1.06325400e-05, 5.85590959e-05, 4.45239178e-05, 1.64385186e-05,
 -3.16966212e-04,-3.82106588e-04,-1.00903275e-05, 1.29535152e-05,
  5.62095120e-06, 5.93062286e-06,-1.21637930e+00, 7.91302348e-05,
  1.49126712e-03, 1.53580544e-06]


--- Step 1150 ---
qpos:
[ 2.93431726e-03,-3.31866380e-03, 1.18431717e-02, 4.17772859e-02,
 -1.01762684e-03, 8.23055228e-03,-1.82141255e-02, 3.30577972e-02,
  5.87810799e-03, 1.64765435e-02,-9.43911268e-03, 2.59883250e-02,
  1.24300484e+00,-8.69289356e-04, 9.68542352e-01, 6.38907821e-02,
  9.49428104e-02,-7.00980852e-02, 1.21781006e-01, 9.99954261e-01,
 -3.26600823e-04,-2.27487703e-04, 9.55606125e-03]

qacc:
[-3.03035850e+00, 2.93796688e-01,-4.67681718e-01, 5.92897834e-01,
 -2.77747467e+01, 4.07965516e+02,-1.75387923e+03, 3.77111263e+03,
 -1.88143135e+00,-4.41739258e+00, 1.67408924e+01,-2.27931729e+01,
  2.72071396e+00,-7.88183920e+00,-4.06726376e+00, 1.31438269e+01,
 -6.02564705e-01,-1.02711015e+00,-2.83338940e-01, 1.68309895e+01,
 -1.09183937e+01, 4.48042838e-01]

qfrc_actuator:
[-7.26708398e-04,-8.68680681e-05, 1.58574080e-04, 1.12866656e-04,
  5.79068086e-03, 7.92775362e-02, 4.60286002e-04, 4.40602441e-02,
 -2.90597770e-06, 4.69744722e-04,-3.48657069e-05, 7.78255076e-05,
  1.00865375e-02,-1.75522678e-03, 0.00000000e+00,-2.29413064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022517118243365575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46528666e-13,  1.22263673e-07,  1.00000000e+00,  3.01415002e-20,
        1.00000000e+00, -1.22263673e-07, -1.00000000e+00,  0.00000000e+00,
       -2.46528666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10854809, -0.04878664,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77315189e-05, 5.03513597e-05, 1.74484292e-05, 4.46209160e-06,
 -1.46044432e-04, 1.47535316e-02, 3.45340581e-03, 6.92527724e-03,
 -1.13516668e-05, 4.79357828e-05, 9.34017691e-05,-5.53454015e-06,
 -3.24135939e-04,-3.60991467e-04,-8.24093077e-06, 5.99403054e-05,
  5.01406748e-06, 8.05852575e-06,-1.21636741e+00, 7.80380626e-05,
  1.48253329e-03, 1.27204588e-06]


--- Step 1151 ---
qpos:
[ 2.92006953e-03,-3.32120755e-03, 1.18430742e-02, 4.17776795e-02,
 -9.05869769e-04, 9.74860090e-03,-1.82809685e-02, 3.40548003e-02,
  5.87829488e-03, 1.64759395e-02,-9.43953902e-03, 2.59882516e-02,
  1.24328918e+00,-8.75129484e-04, 9.68786668e-01, 6.38980619e-02,
  9.49236693e-02,-7.01027093e-02, 1.21779564e-01, 9.99954043e-01,
 -2.91931839e-04,-3.92090687e-04, 9.57463145e-03]

qacc:
[ 2.14778301e+00, 1.94908881e+00,-4.10939076e+00,-1.02352801e+00,
 -3.76701880e+01, 4.43867752e+02,-1.92008938e+03, 4.15347700e+03,
 -4.21368546e+00,-7.12738263e+00, 2.89172515e+01,-4.65148003e+01,
  1.55708193e+00,-5.30790194e+00,-4.45413960e+00, 1.48466580e+01,
  7.62572372e-01,-3.89292705e-01, 5.02080412e-01, 7.45107916e+00,
  1.30253982e+01,-9.60790409e-01]

qfrc_actuator:
[-7.13422764e-04,-3.63485611e-05, 1.33058461e-04, 9.71123725e-05,
  5.58724136e-03, 8.60230635e-02, 5.69188955e-04, 5.08276973e-02,
 -2.77981439e-05, 4.73079820e-04, 6.35865799e-05, 3.61950988e-05,
  1.00352719e-02,-1.89317483e-03, 0.00000000e+00,-2.22469021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022851668934198432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172988, -0.06206481,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28072905e-05, 8.26247996e-05,-1.27642339e-05,-1.28984260e-05,
 -2.02906312e-04, 1.59536692e-02, 3.80377594e-03, 7.64904724e-03,
 -2.52084407e-05, 4.92420652e-05, 1.19700610e-04,-3.64466565e-05,
 -3.23930921e-04,-2.89756503e-04,-2.22289343e-06, 7.05578740e-05,
  4.37006746e-06, 1.04812214e-05,-1.21634750e+00, 7.85811820e-05,
  1.47268056e-03, 8.07039338e-07]


--- Step 1152 ---
qpos:
[ 2.90712652e-03,-3.32286446e-03, 1.18422937e-02, 4.17778779e-02,
 -7.97073531e-04, 1.13795113e-02,-1.83433090e-02, 3.51499789e-02,
  5.87818152e-03, 1.64756626e-02,-9.43824920e-03, 2.59873024e-02,
  1.24357180e+00,-8.82371074e-04, 9.69031276e-01, 6.39034285e-02,
  9.49075420e-02,-7.01088960e-02, 1.21779599e-01, 9.99953831e-01,
 -2.42925720e-04,-5.30938331e-04, 9.59137570e-03]

qacc:
[ 1.14153864e+01, 2.65761201e+00,-6.99015692e+00, 4.09547815e+00,
 -2.77657706e+01, 3.38393202e+02,-1.40460965e+03, 3.01299098e+03,
 -2.57126497e+00,-6.16173066e+00, 2.63034237e+01,-4.44523458e+01,
 -2.72736241e-01,-1.28099096e+00, 6.18809027e+00,-2.10645895e+01,
  7.53454079e-01,-3.90667416e-01, 3.69004785e-01, 7.29117927e+00,
  1.28087095e+01,-9.12018403e-01]

qfrc_actuator:
[-6.46643347e-04, 1.22580099e-05, 1.00369174e-04, 8.76913107e-05,
  5.44065430e-03, 9.13271692e-02, 6.46211756e-04, 5.56873390e-02,
 -4.25142021e-05, 5.10845161e-04, 1.57181210e-04,-6.00252413e-06,
  9.98369797e-03,-1.93627009e-03, 0.00000000e+00,-2.32876434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.35356317,  -3.90653976,  -1.92157733,  -3.90653976,
        11.89010764, -15.3216892 ,  -1.92157733, -15.3216892 ,
        35.50234243,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002337248781573431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37506386e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.37506386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081731  , -0.06206611,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71822229e-05, 9.17634020e-05,-1.75972098e-05,-6.56730750e-06,
 -1.47303335e-04, 1.52821906e-02, 4.08636869e-03, 5.81831726e-03,
 -1.54271386e-05, 8.84845319e-05, 1.17262262e-04,-3.66513917e-05,
 -3.07533861e-04,-1.79670367e-04, 1.04026312e-06,-1.01735552e-04,
  2.35238208e-06, 8.58053733e-06,-1.21636893e+00, 8.07030282e-05,
  1.46438450e-03, 5.20418904e-07]


--- Step 1153 ---
qpos:
[ 2.89784446e-03,-3.32404849e-03, 1.18415544e-02, 4.17776196e-02,
 -6.90188130e-04, 1.31177924e-02,-1.83997768e-02, 3.63161210e-02,
  5.87789247e-03, 1.64757233e-02,-9.43575620e-03, 2.59858889e-02,
  1.24385272e+00,-8.90160570e-04, 9.69275958e-01, 6.39068436e-02,
  9.48943975e-02,-7.01166495e-02, 1.21780662e-01, 9.99953634e-01,
 -1.79835585e-04,-6.44392756e-04, 9.60637012e-03]

qacc:
[ 3.21271732e+01,-4.94015117e-01, 4.48564480e+00,-1.26826223e+01,
 -1.83982475e+01, 2.71344670e+02,-1.06118448e+03, 2.20053281e+03,
 -1.50071443e+00,-3.86918777e+00, 1.64087160e+01,-2.66210610e+01,
 -9.42678740e-01, 4.40683553e-01, 6.04343893e+00,-2.08817841e+01,
  7.45692375e-01,-3.91665665e-01, 2.57187394e-01, 7.16299863e+00,
  1.26286977e+01,-8.75595108e-01]

qfrc_actuator:
[-4.60160265e-04, 2.37999840e-05, 9.92302867e-05, 6.43237867e-05,
  5.34646533e-03, 9.61861567e-02, 7.14660091e-04, 5.91713053e-02,
 -5.11183402e-05, 5.15666211e-04, 2.11792353e-04,-3.04159669e-05,
  9.93734702e-03,-1.94063711e-03, 0.00000000e+00,-2.42771277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023653878373790238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.3468097e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.3468097e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173163, -0.062067  ,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88435671e-04, 5.90731923e-05, 1.54591319e-05,-2.01688461e-05,
 -9.35044660e-05, 1.44371381e-02, 3.90895887e-03, 4.38751976e-03,
 -9.01842189e-06, 7.69449164e-05, 8.60547822e-05,-1.72769302e-05,
 -2.67561675e-04,-1.13472626e-04,-1.81585549e-05,-1.06122808e-04,
  7.21737252e-07, 6.86981579e-06,-1.21638560e+00, 8.34747850e-05,
  1.45739040e-03, 2.50272744e-07]


--- Step 1154 ---
qpos:
[ 2.89397487e-03,-3.32497640e-03, 1.18411864e-02, 4.17770886e-02,
 -5.85609521e-04, 1.49639710e-02,-1.84547266e-02, 3.75506485e-02,
  5.87819262e-03, 1.64758435e-02,-9.43324484e-03, 2.59846586e-02,
  1.24413232e+00,-8.98566891e-04, 9.69520396e-01, 6.39100256e-02,
  9.48842095e-02,-7.01259727e-02, 1.21782379e-01, 9.99953456e-01,
 -1.02862716e-04,-7.32753525e-04, 9.61967108e-03]

qacc:
[ 4.75155016e+01,-1.35478581e+00, 6.31103367e+00,-1.16382166e+01,
 -2.19978134e+01, 2.78897493e+02,-1.07619152e+03, 2.17741409e+03,
  5.13852865e+00, 3.94455719e-01,-2.08366004e+00, 5.20105200e+00,
 -4.89912873e-01,-1.88887344e-01, 3.58451822e-01,-1.74366268e+00,
  7.39137761e-01,-3.92437307e-01, 1.63401003e-01, 7.06103023e+00,
  1.24797229e+01,-8.49005447e-01]

qfrc_actuator:
[-1.86980477e-04, 3.09150455e-05, 1.16570618e-04, 5.06805904e-05,
  5.23059165e-03, 1.01537288e-01, 7.57039966e-04, 6.25811712e-02,
 -2.05545336e-05, 4.65074020e-04, 1.89582038e-04,-2.64674053e-05,
  9.90484093e-03,-1.95756541e-03, 0.00000000e+00,-2.43401911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002374213801885211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67617122e-13, -4.67617122e-13,  1.00000000e+00, -2.18665773e-25,
        1.00000000e+00,  4.67617122e-13, -1.00000000e+00,  0.00000000e+00,
       -4.67617122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173189, -0.06206756,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78572344e-04, 4.26253010e-05, 3.07732557e-05,-1.09716330e-05,
 -1.13898425e-04, 1.43546585e-02, 3.63548536e-03, 4.24279647e-03,
  3.03318608e-05, 9.43901328e-06, 3.65874776e-06, 9.88509769e-06,
 -2.15286954e-04,-1.02515342e-04,-2.64598082e-05,-1.59538741e-05,
 -5.54623882e-07, 5.32103616e-06,-1.21639776e+00, 8.68915597e-05,
  1.45167710e-03,-5.89733679e-09]


--- Step 1155 ---
qpos:
[ 2.89444617e-03,-3.32570695e-03, 1.18410635e-02, 4.17767600e-02,
 -4.83233739e-04, 1.69171538e-02,-1.85089243e-02, 3.88551568e-02,
  5.87851181e-03, 1.64762721e-02,-9.43159770e-03, 2.59831710e-02,
  1.24441101e+00,-9.07949984e-04, 9.69764947e-01, 6.39107174e-02,
  9.48769561e-02,-7.01368682e-02, 1.21784436e-01, 9.99953301e-01,
 -1.21654087e-05,-7.96267053e-04, 9.63131918e-03]

qacc:
[ 3.81068200e+01,-8.12099187e-02,-3.15074750e-01, 3.42086237e+00,
 -2.10580354e+01, 2.83121330e+02,-1.09968825e+03, 2.23033309e+03,
  1.33686902e-01, 2.29283602e+00,-6.49761370e+00, 3.19808240e+00,
 -3.07570980e-02,-1.03350331e+00, 7.65951230e+00,-2.66086848e+01,
  7.33655361e-01,-3.93092088e-01, 8.48978770e-02, 6.98080662e+00,
  1.23571237e+01,-8.30248235e-01]

qfrc_actuator:
[ 2.84856399e-05, 3.54015806e-05, 1.26899164e-04, 6.06233610e-05,
  5.12062008e-03, 1.06873941e-01, 7.85784395e-04, 6.60805432e-02,
 -2.04424574e-05, 4.70140243e-04, 1.39735034e-04,-4.14687551e-05,
  9.88066842e-03,-1.99949503e-03, 0.00000000e+00,-2.56320419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023676038990655401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.3446131e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.3446131e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173185, -0.06206786,  0.06199425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23418092e-04, 3.43575638e-05, 2.25526588e-05, 1.26131363e-05,
 -1.08599225e-04, 1.42272804e-02, 3.56468311e-03, 4.31608222e-03,
  9.86967756e-07, 1.15045173e-05,-4.71335046e-05,-1.42822030e-05,
 -1.73840666e-04,-1.13095041e-04,-1.88711295e-05,-1.34575981e-04,
 -1.50070110e-06, 3.91341790e-06,-1.21640561e+00, 9.09489361e-05,
  1.44722756e-03,-2.49956659e-07]


--- Step 1156 ---
qpos:
[ 2.89749887e-03,-3.32627208e-03, 1.18411095e-02, 4.17765628e-02,
 -3.83997898e-04, 1.89635528e-02,-1.85559122e-02, 4.02292625e-02,
  5.87883022e-03, 1.64769062e-02,-9.43030906e-03, 2.59818391e-02,
  1.24468878e+00,-9.17704110e-04, 9.70009255e-01, 6.39108362e-02,
  9.48726193e-02,-7.01493386e-02, 1.21786569e-01, 9.99953168e-01,
  9.21338431e-05,-8.35134389e-04, 9.64134249e-03]

qacc:
[ 2.26610434e+01,-2.72231200e-02,-2.16375801e-01, 2.17958924e+00,
 -2.87672024e+01, 2.46088143e+02,-9.92424406e+02, 2.11620799e+03,
 -2.14726874e-02, 1.59406616e+00,-5.94657462e+00, 9.06162493e+00,
 -4.05232903e-01, 1.65295263e-02, 1.38701111e+00,-5.33734115e+00,
  7.29124252e-01,-3.93709265e-01, 1.93352263e-02, 6.91869568e+00,
  1.22570372e+01,-8.17729594e-01]

qfrc_actuator:
[ 1.54972263e-04, 3.82673036e-05, 1.32998458e-04, 6.65989381e-05,
  4.96175063e-03, 1.10721678e-01, 8.42011530e-04, 6.94981536e-02,
 -2.05143148e-05, 4.90576154e-04, 1.27439127e-04,-3.19675063e-05,
  9.86150760e-03,-2.00256087e-03, 0.00000000e+00,-2.58624004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000234879695502635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72677309e-13, -2.36338655e-13,  1.00000000e+00, -1.11711919e-25,
        1.00000000e+00,  2.36338655e-13, -1.00000000e+00,  0.00000000e+00,
       -4.72677309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173157, -0.06206797,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32863195e-04, 2.73822382e-05, 1.64114304e-05, 8.46646168e-06,
 -1.57403708e-04, 1.26516088e-02, 3.55824634e-03, 4.22742844e-03,
 -3.43037142e-08, 1.64910757e-05,-1.62398311e-05, 8.08415325e-06,
 -1.47266495e-04,-6.67937783e-05,-2.90903109e-05,-3.41969377e-05,
 -2.13364333e-06, 2.63148326e-06,-1.21640932e+00, 9.56430453e-05,
  1.44402817e-03,-4.83281089e-07]


--- Step 1157 ---
qpos:
[ 2.90170075e-03,-3.32643491e-03, 1.18414561e-02, 4.17757083e-02,
 -2.87777248e-04, 2.10950566e-02,-1.85971097e-02, 4.16729966e-02,
  5.87983516e-03, 1.64775997e-02,-9.42893044e-03, 2.59816543e-02,
  1.24496575e+00,-9.27376144e-04, 9.70253622e-01, 6.39086198e-02,
  9.48711842e-02,-7.01633864e-02, 1.21788562e-01, 9.99953057e-01,
  2.09942489e-04,-8.49517689e-04, 9.64975911e-03]

qacc:
[ 1.00892136e+01,-1.68324958e+00, 9.51082312e+00,-2.16216688e+01,
 -2.75073249e+01, 2.39385321e+02,-9.84195424e+02, 2.11668789e+03,
  5.99038064e+00, 2.17672865e+00,-1.25114199e+01, 3.22000390e+01,
 -8.01892517e-01, 1.03438891e+00, 7.18722989e+00,-2.48989243e+01,
  7.25436664e-01,-3.94345095e-01,-3.52861671e-02, 6.87173830e+00,
  1.21762549e+01,-8.10178735e-01]

qfrc_actuator:
[ 2.10341680e-04, 7.56187974e-05, 1.54290910e-04, 3.46791055e-05,
  4.81086595e-03, 1.14374910e-01, 8.90217026e-04, 7.29278612e-02,
  1.48209452e-05, 5.02460727e-04, 1.37513871e-04, 2.74305284e-05,
  9.85071216e-03,-1.98252347e-03, 0.00000000e+00,-2.70628105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023204905489684902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78443243e-13, -4.78443243e-13,  1.00000000e+00, -2.28907937e-25,
        1.00000000e+00,  4.78443243e-13, -1.00000000e+00,  0.00000000e+00,
       -4.78443243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817311 , -0.06206791,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91640080e-05, 5.64732453e-05, 2.92607277e-05,-3.00187352e-05,
 -1.51368082e-04, 1.15672207e-02, 3.21955602e-03, 4.16966307e-03,
  3.53434166e-05, 1.80643007e-05, 1.17414544e-05, 5.96989092e-05,
 -1.12593896e-04,-2.76722139e-05,-2.15646573e-05,-1.26673867e-04,
 -2.46515534e-06, 1.46360662e-06,-1.21640899e+00, 1.00970590e-04,
  1.44206812e-03,-7.06865515e-07]


--- Step 1158 ---
qpos:
[ 2.90653459e-03,-3.32588057e-03, 1.18418805e-02, 4.17747976e-02,
 -1.93081252e-04, 2.33127012e-02,-1.86371253e-02, 4.31884386e-02,
  5.88125534e-03, 1.64791161e-02,-9.42803845e-03, 2.59817780e-02,
  1.24524231e+00,-9.37489493e-04, 9.70497802e-01, 6.39052852e-02,
  9.48726391e-02,-7.01790143e-02, 1.21790232e-01, 9.99952964e-01,
  3.41193140e-04,-8.39545600e-04, 9.65657920e-03]

qacc:
[ 5.53713116e+00, 6.04072017e-01,-5.60252860e-01,-1.04385794e+00,
 -1.46235251e+01, 2.57855314e+02,-1.05686153e+03, 2.23186646e+03,
  3.59258876e+00, 3.07572246e+00,-1.07029338e+01, 1.62263357e+01,
  6.72567929e-04,-4.88389909e-01, 3.08535100e+00,-1.12251916e+01,
  7.22497084e-01,-3.95038615e-01,-8.06729809e-02, 6.83751913e+00,
  1.21121068e+01,-8.06581373e-01]

qfrc_actuator:
[ 2.41193067e-04, 1.33358715e-04, 1.66747322e-04, 3.40159886e-05,
  4.73691389e-03, 1.18716638e-01, 9.49897815e-04, 7.65144836e-02,
  3.52081999e-05, 5.80289020e-04, 1.25200640e-04, 4.47023288e-05,
  9.84495891e-03,-2.00218674e-03, 0.00000000e+00,-2.75826525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022849237965247293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85890613e-13, -2.42945307e-13,  1.00000000e+00, -1.18044844e-25,
        1.00000000e+00,  2.42945307e-13, -1.00000000e+00,  0.00000000e+00,
       -4.85890613e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173049, -0.06206772,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25566188e-05, 9.40889546e-05, 2.66795142e-05, 2.18230060e-06,
 -7.46399931e-05, 1.15735943e-02, 2.96209577e-03, 4.26689467e-03,
  2.14072755e-05, 9.28883666e-05,-5.09416587e-06, 1.96085505e-05,
 -7.83846392e-05,-5.09153172e-05,-2.91279183e-05,-6.29740521e-05,
 -2.50254029e-06, 4.00923402e-07,-1.21640471e+00, 1.06928843e-04,
  1.44133895e-03,-9.21406239e-07]


--- Step 1159 ---
qpos:
[ 2.91135622e-03,-3.32459898e-03, 1.18421114e-02, 4.17745936e-02,
 -9.96757909e-05, 2.56292155e-02,-1.86825063e-02, 4.47696329e-02,
  5.88290959e-03, 1.64811368e-02,-9.42773007e-03, 2.59814648e-02,
  1.24551853e+00,-9.47884047e-04, 9.70741457e-01, 6.39039834e-02,
  9.48742367e-02,-7.01901031e-02, 1.21792295e-01, 9.99952867e-01,
  4.34272944e-04,-8.27049160e-04, 9.66394892e-03]

qacc:
[-1.25330987e-01, 2.95903172e+00,-1.21362404e+01, 2.41378076e+01,
 -1.29600561e+01, 2.80697271e+02,-1.08872715e+03, 2.16164831e+03,
  2.01436964e+00, 1.39403642e+00,-2.16519702e+00,-4.82905872e+00,
  1.05684559e-01,-5.14529883e-01,-6.92156337e+00, 2.30603721e+01,
  3.56806926e-02, 1.13479527e+00, 9.83034202e-02,-1.90721066e+01,
  1.44650871e+00, 2.90406509e-01]

qfrc_actuator:
[ 2.39638561e-04, 1.67350625e-04, 1.56252179e-04, 6.95214182e-05,
  4.67333169e-03, 1.24501543e-01, 9.83250638e-04, 7.98635292e-02,
  4.66233381e-05, 5.72627739e-04, 8.22426216e-05, 1.93255860e-05,
  9.84222453e-03,-2.00967457e-03, 0.00000000e+00,-2.64543007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022542236851136321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61644834e-13,  4.92507923e-13,  1.00000000e+00,  1.28862154e-25,
        1.00000000e+00, -4.92507923e-13, -1.00000000e+00,  0.00000000e+00,
       -2.61644834e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0951096 , -0.09319541,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.97572631e-07, 9.21838279e-05, 1.22852269e-05, 4.04989917e-05,
 -6.20816618e-05, 1.29680647e-02, 2.90754401e-03, 4.02220337e-03,
  1.20663099e-05, 4.40168488e-05,-2.37474805e-05,-2.11969943e-05,
 -6.07647176e-05,-3.57944621e-05,-2.43002122e-05, 1.04687610e-04,
 -2.24947471e-06,-5.63494534e-07,-1.21639654e+00, 1.13515620e-04,
  1.44183418e-03,-1.12736376e-06]


--- Step 1160 ---
qpos:
[ 2.91577739e-03,-3.32306955e-03, 1.18424226e-02, 4.17752051e-02,
 -7.42538855e-06, 2.80552286e-02,-1.87333060e-02, 4.64002358e-02,
  5.88434375e-03, 1.64831128e-02,-9.42799581e-03, 2.59812668e-02,
  1.24579431e+00,-9.57849420e-04, 9.70985179e-01, 6.39019818e-02,
  9.48759848e-02,-7.01966978e-02, 1.21794353e-01, 9.99952776e-01,
  4.89610432e-04,-8.12104689e-04, 9.67192759e-03]

qacc:
[-3.51626533e+00, 1.79096714e+00,-9.33817134e+00, 2.31237711e+01,
 -1.19223551e+01, 2.61294646e+02,-9.30152563e+02, 1.71252664e+03,
 -1.93667778e+00, 1.78672832e+00,-6.93646816e+00, 9.87531097e+00,
 -7.23552252e-01, 1.30661451e+00, 2.26419221e+00,-7.65174144e+00,
  3.76326341e-02, 1.12350813e+00,-1.29475053e-03,-1.88581890e+01,
  1.40646222e+00, 3.19510592e-01]

qfrc_actuator:
[ 2.19031901e-04, 1.51291522e-04, 1.49978759e-04, 1.08234861e-04,
  4.61634713e-03, 1.30785621e-01, 1.00688144e-03, 8.23904537e-02,
  3.49176520e-05, 5.31414897e-04, 3.89419991e-05, 2.22396656e-05,
  9.84130998e-03,-1.97433546e-03, 0.00000000e+00,-2.68494364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002276547864450834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59079104e-13,  4.87678314e-13,  1.00000000e+00,  1.26347261e-25,
        1.00000000e+00, -4.87678314e-13, -1.00000000e+00,  0.00000000e+00,
       -2.59079104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09510996, -0.09319476,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05979646e-05, 3.96983963e-05, 1.56599252e-05, 4.38718187e-05,
 -5.46426653e-05, 1.42216144e-02, 3.16942831e-03, 3.25281378e-03,
 -1.13359517e-05,-2.24787259e-05,-3.78921138e-05, 3.56149596e-06,
 -4.47899409e-05, 1.41609059e-05,-2.73289226e-06,-3.75438250e-05,
 -1.69684450e-06,-5.14387878e-07,-1.21641791e+00, 1.18128659e-04,
  1.44253655e-03,-1.38207567e-06]


--- Step 1161 ---
qpos:
[ 2.92026219e-03,-3.32143016e-03, 1.18427936e-02, 4.17759505e-02,
  8.34207684e-05, 3.05918961e-02,-1.87855261e-02, 4.80809653e-02,
  5.88493676e-03, 1.64852102e-02,-9.42860215e-03, 2.59814135e-02,
  1.24606979e+00,-9.67175364e-04, 9.71229339e-01, 6.38954955e-02,
  9.48778897e-02,-7.01988357e-02, 1.21796072e-01, 9.99952698e-01,
  5.07557279e-04,-7.94772302e-04, 9.68056044e-03]

qacc:
[ 5.58535453e-01, 2.53032238e-01,-1.25789870e+00, 3.39954088e+00,
 -1.38863708e+01, 2.53123286e+02,-9.01802867e+02, 1.68928375e+03,
 -7.34872034e+00, 1.83615336e+00,-7.74455411e+00, 1.41375979e+01,
 -1.01227544e+00, 1.98286156e+00, 1.42612670e+01,-4.87718110e+01,
  3.91936409e-02, 1.11420318e+00,-8.48057748e-02,-1.86826274e+01,
  1.37488664e+00, 3.41617215e-01]

qfrc_actuator:
[ 2.22892340e-04, 1.40895579e-04, 1.46042082e-04, 1.12976397e-04,
  4.54594927e-03, 1.36626675e-01, 1.06238365e-03, 8.49289748e-02,
 -8.05263073e-06, 5.59181420e-04, 3.11650136e-05, 4.17507331e-05,
  9.84683415e-03,-1.93165072e-03, 0.00000000e+00,-2.92046289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022814957986176665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36862065e-13, -2.43310337e-13,  1.00000000e+00, -3.32999551e-26,
        1.00000000e+00,  2.43310337e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36862065e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511024, -0.09319461,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27985376e-06, 1.68357430e-05, 7.68351759e-06, 7.83247221e-06,
 -6.74027478e-05, 1.44966717e-02, 3.46452729e-03, 3.31184443e-03,
 -4.32957334e-05, 7.45435802e-06,-1.69818993e-05, 1.73033428e-05,
 -1.75258169e-05, 3.59243194e-05,-1.06308850e-05,-2.39159382e-04,
 -1.06222184e-06,-4.67997425e-07,-1.21643180e+00, 1.20881543e-04,
  1.44339647e-03,-1.54610714e-06]


--- Step 1162 ---
qpos:
[ 2.92510296e-03,-3.31957791e-03, 1.18431327e-02, 4.17760498e-02,
  1.72375693e-04, 3.32317711e-02,-1.88349150e-02, 4.98199232e-02,
  5.88466572e-03, 1.64864884e-02,-9.42749819e-03, 2.59814254e-02,
  1.24634518e+00,-9.76012519e-04, 9.71473126e-01, 6.38885727e-02,
  9.48799564e-02,-7.01965471e-02, 1.21797172e-01, 9.99952632e-01,
  4.88399228e-04,-7.75098957e-04, 9.68988161e-03]

qacc:
[ 3.11956165e+00,-9.67248785e-01, 6.57121440e+00,-1.78426643e+01,
 -1.76823958e+01, 2.48049735e+02,-9.32149339e+02, 1.85836789e+03,
 -7.46864693e+00,-6.12561571e+00, 2.08640967e+01,-2.53534150e+01,
 -4.74419985e-01, 1.08709654e+00, 8.07171245e-01,-3.53034084e+00,
  4.04525391e-02, 1.10661602e+00,-1.54724461e-01,-1.85399706e+01,
  1.35020161e+00, 3.58227089e-01]

qfrc_actuator:
[ 2.41129142e-04, 1.51688921e-04, 1.43495824e-04, 7.99375910e-05,
  4.45046201e-03, 1.41482357e-01, 1.09967258e-03, 8.78267777e-02,
 -5.13199496e-05, 5.03919034e-04, 1.15708884e-04, 3.54392646e-05,
  9.85622504e-03,-1.90269316e-03, 0.00000000e+00,-2.93222068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022725849161350786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.20596980e-13,  2.44264365e-13,  1.00000000e+00,  7.83104178e-26,
        1.00000000e+00, -2.44264365e-13, -1.00000000e+00,  0.00000000e+00,
       -3.20596980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511044, -0.09319487,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83297256e-05, 2.20520470e-05, 2.11873569e-06,-3.19064547e-05,
 -9.28002430e-05, 1.37244829e-02, 3.54011587e-03, 3.69388827e-03,
 -4.44997638e-05,-5.39425964e-05, 8.45752880e-05,-6.24459281e-06,
  6.78013883e-06, 3.34254868e-05,-3.71454161e-05,-2.77506035e-05,
 -3.27860035e-07,-4.30749278e-07,-1.21643846e+00, 1.21791733e-04,
  1.44441504e-03,-1.61947312e-06]


--- Step 1163 ---
qpos:
[ 2.93012491e-03,-3.31797010e-03, 1.18438965e-02, 4.17761252e-02,
  2.59506763e-04, 3.59568417e-02,-1.88750494e-02, 5.16173577e-02,
  5.88387819e-03, 1.64865463e-02,-9.42451158e-03, 2.59814014e-02,
  1.24662045e+00,-9.83920735e-04, 9.71715924e-01, 6.38875235e-02,
  9.48821891e-02,-7.01898565e-02, 1.21797419e-01, 9.99952578e-01,
  4.32365235e-04,-7.53120900e-04, 9.69991650e-03]

qacc:
[ 1.60782392e+00,-1.56296024e+00, 5.19912595e+00,-6.10620044e+00,
 -1.64911912e+01, 2.06815787e+02,-8.20701064e+02, 1.75419463e+03,
 -4.42514324e+00,-6.93955861e+00, 2.25696967e+01,-2.53169461e+01,
 -4.92752812e-01, 1.42215305e+00,-1.91354787e+01, 6.49481610e+01,
  4.14787333e-02, 1.10051837e+00,-2.13175719e-01,-1.84256569e+01,
  1.33114125e+00, 3.70518000e-01]

qfrc_actuator:
[ 2.49921330e-04, 1.21791045e-04, 1.59604162e-04, 7.82148419e-05,
  4.35872242e-03, 1.44627092e-01, 1.14010277e-03, 9.06634602e-02,
 -7.66535008e-05, 4.17484035e-04, 2.00472708e-04, 3.17284942e-05,
  9.86792775e-03,-1.84657177e-03, 0.00000000e+00,-2.61669695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002252748326452697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54009523e-14,  4.92830474e-13,  1.00000000e+00,  7.59005862e-27,
        1.00000000e+00, -4.92830474e-13, -1.00000000e+00,  0.00000000e+00,
       -1.54009523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511058, -0.09319545,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.31695406e-06,-1.85756395e-05, 1.97886358e-05,-1.33275233e-06,
 -9.01010644e-05, 1.16098077e-02, 3.40489890e-03, 3.60933911e-03,
 -2.66259228e-05,-9.94730480e-05, 8.37960473e-05,-3.22112252e-06,
  2.28082198e-05, 6.56231884e-05,-2.30685334e-05, 3.08533520e-04,
  5.18914895e-07,-4.05368416e-07,-1.21643807e+00, 1.20873393e-04,
  1.44559276e-03,-1.60226945e-06]


--- Step 1164 ---
qpos:
[ 2.93521345e-03,-3.31679898e-03, 1.18449464e-02, 4.17769048e-02,
  3.44865646e-04, 3.87591777e-02,-1.89079386e-02, 5.34575653e-02,
  5.88313727e-03, 1.64861190e-02,-9.42125217e-03, 2.59813508e-02,
  1.24689535e+00,-9.89490572e-04, 9.71958730e-01, 6.38885229e-02,
  9.48845910e-02,-7.01787830e-02, 1.21796619e-01, 9.99952527e-01,
  3.39635140e-04,-7.28865624e-04, 9.71068363e-03]

qacc:
[ 6.01398250e-01, 7.29907323e-02,-4.06964833e+00, 1.61175303e+01,
 -1.58608881e+01, 1.69690172e+02,-6.37252835e+02, 1.30817162e+03,
  4.23214218e-01,-1.45924677e+00, 4.38308982e+00,-4.91972122e+00,
 -2.08510918e+00, 4.92287472e+00,-5.98609513e+00, 2.13942531e+01,
  4.23263964e-02, 1.09571338e+00,-2.61970690e-01,-1.83358617e+01,
  1.31669039e+00, 3.79413831e-01]

qfrc_actuator:
[ 2.53079158e-04, 8.56032217e-05, 1.68708823e-04, 1.12670638e-04,
  4.26992055e-03, 1.47804899e-01, 1.21036724e-03, 9.27298259e-02,
 -7.34760914e-05, 4.01837231e-04, 2.13501502e-04, 2.95331896e-05,
  9.88634938e-03,-1.70377722e-03, 0.00000000e+00,-2.51925033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022244243041245892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79852779e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.79852779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511067, -0.09319627,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41006581e-06,-4.26249816e-05, 7.62558941e-06, 3.43120808e-05,
 -8.78330322e-05, 1.04254832e-02, 2.97709783e-03, 2.74172472e-03,
  2.37945921e-06,-5.41503055e-05, 2.65579619e-06,-3.62719457e-06,
  4.71372909e-05, 1.62484676e-04, 2.17630696e-05, 1.11214235e-04,
  1.48714201e-06,-3.91197801e-07,-1.21643080e+00, 1.18137851e-04,
  1.44692976e-03,-1.49463891e-06]


--- Step 1165 ---
qpos:
[ 2.93995502e-03,-3.31553872e-03, 1.18453705e-02, 4.17777416e-02,
  4.28838271e-04, 4.16398946e-02,-1.89385905e-02, 5.53289677e-02,
  5.88243974e-03, 1.64854548e-02,-9.41767371e-03, 2.59812390e-02,
  1.24716916e+00,-9.89685031e-04, 9.72201653e-01, 6.38903705e-02,
  9.48871651e-02,-7.01633414e-02, 1.21794607e-01, 9.99952470e-01,
  2.10346102e-04,-7.02353433e-04, 9.72219613e-03]

qacc:
[-3.06664494e+00, 1.99141015e+00,-7.16006180e+00, 9.07426463e+00,
 -1.26832763e+01, 1.61355997e+02,-5.56529726e+02, 1.03432267e+03,
  3.92498788e-01,-1.33176439e+00, 4.55172772e+00,-5.94688489e+00,
 -5.18681628e+00, 1.18530228e+01,-1.93790574e+00, 8.08276644e+00,
  4.30377669e-02, 1.09203150e+00,-3.02653537e-01,-1.82673731e+01,
  1.30603396e+00, 3.85638887e-01]

qfrc_actuator:
[ 2.35145853e-04, 9.91893678e-05, 1.38074760e-04, 1.14857195e-04,
  4.20131182e-03, 1.51686504e-01, 1.27908709e-03, 9.42730562e-02,
 -7.13012363e-05, 4.10663866e-04, 2.37603971e-04, 2.82521674e-05,
  9.89285166e-03,-1.38649137e-03, 0.00000000e+00,-2.48016395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021896324635359288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32742536e-13,  5.07036246e-13,  1.00000000e+00,  1.68712527e-25,
        1.00000000e+00, -5.07036246e-13, -1.00000000e+00,  0.00000000e+00,
       -3.32742536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511074, -0.09319728,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78577445e-05,-7.27626857e-06,-3.73449415e-05, 1.28467913e-06,
 -6.79555307e-05, 1.03384900e-02, 2.64711136e-03, 2.13585307e-03,
  2.22618176e-06,-2.10854418e-05, 1.30847305e-05,-3.58674214e-06,
  7.19085377e-05, 3.63307766e-04, 1.67284853e-05, 4.67685814e-05,
  2.58327449e-06,-3.84410681e-07,-1.21641673e+00, 1.13593995e-04,
  1.44842596e-03,-1.29674748e-06]


--- Step 1166 ---
qpos:
[ 2.94410000e-03,-3.31442383e-03, 1.18452470e-02, 4.17779326e-02,
  5.11682660e-04, 4.45926837e-02,-1.89658366e-02, 5.72272883e-02,
  5.88142862e-03, 1.64849492e-02,-9.41429014e-03, 2.59810965e-02,
  1.24744134e+00,-9.81777197e-04, 9.72444879e-01, 6.38906820e-02,
  9.48928085e-02,-7.01495148e-02, 1.21793586e-01, 9.99952429e-01,
  9.50482203e-05,-6.51076031e-04, 9.73177758e-03]

qacc:
[-5.25176809e+00, 1.83159059e-02, 2.39794986e+00,-1.26077685e+01,
 -1.02998337e+01, 1.40968150e+02,-4.77886665e+02, 8.84493001e+02,
 -2.74389509e+00, 6.96686488e-01,-2.04150309e+00, 1.69678151e+00,
 -7.96076388e+00, 1.80995286e+01, 5.77131592e+00,-1.79333956e+01,
  7.67315971e-01,-4.03755889e-01, 2.47484379e-01, 7.11495181e+00,
  1.23138073e+01,-9.73078939e-01]

qfrc_actuator:
[ 2.04944783e-04, 7.12781952e-05, 1.02147485e-04, 8.02947951e-05,
  4.14514192e-03, 1.54910963e-01, 1.29573213e-03, 9.55856376e-02,
 -8.74959865e-05, 4.34120293e-04, 2.32690003e-04, 2.75651006e-05,
  9.87630313e-03,-9.32977825e-04, 0.00000000e+00,-2.56447582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021858303876524932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53959097e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.53959097e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172597, -0.06206873,  0.06199469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07153962e-05,-3.97125044e-05,-4.20111724e-05,-3.61471319e-05,
 -5.49447473e-05, 9.53564944e-03, 2.51443216e-03, 1.87799540e-03,
 -1.61371384e-05, 1.41954613e-05,-7.81653321e-06,-1.21420947e-06,
  1.09629083e-04, 5.48376326e-04, 6.25196212e-06,-8.10611680e-05,
  3.81194467e-06,-3.78144984e-07,-1.21639595e+00, 1.07248593e-04,
  1.45008114e-03,-1.00876810e-06]


--- Step 1167 ---
qpos:
[ 2.94785069e-03,-3.31366584e-03, 1.18450160e-02, 4.17780504e-02,
  5.92866550e-04, 4.76141826e-02,-1.89910590e-02, 5.91431338e-02,
  5.88023143e-03, 1.64845706e-02,-9.41179382e-03, 2.59803085e-02,
  1.24771220e+00,-9.65454468e-04, 9.72688106e-01, 6.38899908e-02,
  9.49014818e-02,-7.01372931e-02, 1.21793193e-01, 9.99952404e-01,
 -6.45921522e-06,-5.75161323e-04, 9.73955192e-03]

qacc:
[-3.45826073e+00,-3.15420080e-01, 7.60648844e-01,-1.60501468e+00,
 -1.44960941e+01, 1.21105849e+02,-3.73867687e+02, 6.22716384e+02,
 -1.65311866e+00, 1.32202358e+00,-1.73891845e+00,-8.11467188e+00,
 -7.94432956e+00, 1.84174286e+01, 3.72137451e+00,-1.13958595e+01,
  7.57498144e-01,-4.01219082e-01, 1.57203432e-01, 7.01418858e+00,
  1.22508838e+01,-9.09250109e-01]

qfrc_actuator:
[ 1.85524108e-04, 5.41727573e-05, 9.87217860e-05, 7.76210689e-05,
  4.06122653e-03, 1.58088895e-01, 1.27906889e-03, 9.64320811e-02,
 -9.66202291e-05, 4.12795977e-04, 1.75247235e-04,-8.27706597e-06,
  9.85133744e-03,-4.91367889e-04, 0.00000000e+00,-2.61426592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002201582031548105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52142098e-13,  2.52142098e-13,  1.00000000e+00,  6.35756376e-26,
        1.00000000e+00, -2.52142098e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52142098e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172574, -0.06206916,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03096455e-05,-4.96018662e-05,-1.80687497e-05,-6.53437165e-06,
 -8.25862884e-05, 8.99901963e-03, 2.28907009e-03, 1.36760057e-03,
 -9.57966770e-06,-1.50825513e-05,-5.55490073e-05,-3.55335508e-05,
  1.65691270e-04, 5.85016029e-04,-1.35785788e-05,-5.51603273e-05,
  3.11378379e-06,-4.40315742e-07,-1.21639977e+00, 1.01671797e-04,
  1.45242812e-03,-8.01838134e-07]


--- Step 1168 ---
qpos:
[ 2.95133910e-03,-3.31323035e-03, 1.18446938e-02, 4.17784746e-02,
  6.72059551e-04, 5.07147931e-02,-1.90216423e-02, 6.10859811e-02,
  5.87893407e-03, 1.64842586e-02,-9.41002221e-03, 2.59790946e-02,
  1.24798262e+00,-9.42472503e-04, 9.72931291e-01, 6.38880118e-02,
  9.49131541e-02,-7.01266671e-02, 1.21793127e-01, 9.99952393e-01,
 -9.43424918e-05,-4.74711788e-04, 9.74562302e-03]

qacc:
[-2.29925201e+00, 4.64661215e-01,-3.55944249e+00, 9.23436541e+00,
 -1.73310563e+01, 1.74907422e+02,-5.85652872e+02, 1.00220769e+03,
 -8.97633345e-01, 1.23824509e+00,-2.48576238e+00,-3.78065187e+00,
 -5.85101545e+00, 1.41125784e+01, 4.34903727e+00,-1.40812792e+01,
  7.49724406e-01,-3.98939803e-01, 8.15258913e-02, 6.93074457e+00,
  1.22004922e+01,-8.55487035e-01]

qfrc_actuator:
[ 1.72608007e-04, 4.38204432e-05, 9.68232374e-05, 9.37662293e-05,
  3.96164741e-03, 1.62811182e-01, 1.29569825e-03, 9.78495940e-02,
 -1.01504255e-04, 4.17829221e-04, 1.40315395e-04,-2.90798982e-05,
  9.83733017e-03,-1.66969429e-04, 0.00000000e+00,-2.67876710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022022683939680598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.0412703e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.0412703e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172534, -0.06206937,  0.06199465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35130827e-05,-4.21457794e-05,-1.46050658e-05, 1.32666843e-05,
 -9.92686481e-05, 1.01723121e-02, 2.16522265e-03, 1.89773167e-03,
 -5.15897488e-06,-1.64190467e-05,-4.61427326e-05,-2.40655788e-05,
  2.17615457e-04, 4.88665372e-04,-1.82632086e-05,-7.06312490e-05,
  2.77424502e-06,-3.89388878e-07,-1.21639945e+00, 9.67370454e-05,
  1.45602893e-03,-5.84445659e-07]


--- Step 1169 ---
qpos:
[ 2.95499039e-03,-3.31332786e-03, 1.18450150e-02, 4.17787193e-02,
  7.49777849e-04, 5.39020118e-02,-1.90575980e-02, 6.30678158e-02,
  5.87827760e-03, 1.64843797e-02,-9.40896269e-03, 2.59782827e-02,
  1.24825346e+00,-9.15533892e-04, 9.73174447e-01, 6.38842360e-02,
  9.49278010e-02,-7.01176288e-02, 1.21793133e-01, 9.99952391e-01,
 -1.68739011e-04,-3.49806463e-04, 9.75007892e-03]

qacc:
[ 1.45896950e+00,-2.87632244e+00, 9.98518176e+00,-1.37222520e+01,
 -1.31208478e+01, 2.09416253e+02,-7.44822067e+02, 1.36286688e+03,
  5.56023757e+00, 3.37930522e+00,-1.29341691e+01, 2.07298643e+01,
 -3.01281925e+00, 7.91116932e+00, 5.66165406e+00,-1.92124480e+01,
  7.43664154e-01,-3.96918696e-01, 1.82003330e-02, 6.86184305e+00,
  1.21616731e+01,-8.09655822e-01]

qfrc_actuator:
[ 1.81372976e-04, 1.98757211e-05, 1.31372981e-04, 8.53471896e-05,
  3.88916990e-03, 1.67925122e-01, 1.33887841e-03, 9.98773039e-02,
 -6.83503658e-05, 4.74191949e-04, 1.19082467e-04,-5.31520965e-06,
  9.82454038e-03,-3.27131231e-06, 0.00000000e+00,-2.76916150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021909676392380117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53363629e-13, -2.53363629e-13,  1.00000000e+00, -6.41931285e-26,
        1.00000000e+00,  2.53363629e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53363629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172481, -0.06206942,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.36426380e-06,-4.99898490e-05, 2.44992552e-05,-1.04728116e-05,
 -7.23286080e-05, 1.12143606e-02, 2.43627208e-03, 2.56397699e-03,
  3.30037231e-05, 3.66057487e-05,-3.11561391e-05, 2.09955352e-05,
  2.26641708e-04, 3.19304201e-04,-2.08574263e-05,-9.77384983e-05,
  2.77197089e-06,-2.40799420e-07,-1.21639510e+00, 9.24405295e-05,
  1.46087341e-03,-3.57339717e-07]


--- Step 1170 ---
qpos:
[ 2.95871804e-03,-3.31379112e-03, 1.18462642e-02, 4.17788193e-02,
  8.26364396e-04, 5.71743285e-02,-1.90937789e-02, 6.50847090e-02,
  5.87802355e-03, 1.64849338e-02,-9.40827166e-03, 2.59780820e-02,
  1.24852483e+00,-8.86181823e-04, 9.73417446e-01, 6.38793699e-02,
  9.49454040e-02,-7.01101712e-02, 1.21793001e-01, 9.99952392e-01,
 -2.29761821e-04,-2.00502809e-04, 9.75299519e-03]

qacc:
[ 7.05593513e-01,-3.37790899e+00, 1.19499209e+01,-1.56659927e+01,
 -1.00914969e+01, 1.84974921e+02,-6.44002568e+02, 1.18703336e+03,
  3.49121952e+00, 2.85342024e+00,-1.19364704e+01, 2.27981274e+01,
 -1.62261319e+00, 4.58812106e+00, 3.21910836e+00,-1.12258119e+01,
  7.39045281e-01,-3.95149688e-01,-3.46906954e-02, 6.80521013e+00,
  1.21335166e+01,-7.70065432e-01]

qfrc_actuator:
[ 1.85073712e-04, 2.36203263e-05, 1.87093574e-04, 8.03055848e-05,
  3.83323353e-03, 1.72311775e-01, 1.38239216e-03, 1.01644756e-01,
 -4.85799794e-05, 5.07701197e-04, 1.06346166e-04, 2.67798403e-05,
  9.79644186e-03, 8.17981253e-05, 0.00000000e+00,-2.82080964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002170247196539854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55782619e-13, -7.67347858e-13,  1.00000000e+00, -1.96274245e-25,
        1.00000000e+00,  7.67347858e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55782619e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172417, -0.06206934,  0.06199473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92089320e-06,-1.96073700e-05, 4.80428941e-05,-6.54116185e-06,
 -5.46758573e-05, 1.11511900e-02, 2.70721881e-03, 2.37039832e-03,
  2.07309055e-05, 4.84378910e-05,-8.29995224e-06, 3.29920104e-05,
  1.77246370e-04, 2.06405469e-04,-2.39686392e-05,-6.06259630e-05,
  3.09199557e-06,-7.06889817e-09,-1.21638677e+00, 8.87789457e-05,
  1.46695363e-03,-1.21063773e-07]


--- Step 1171 ---
qpos:
[ 2.96246097e-03,-3.31423457e-03, 1.18474832e-02, 4.17788743e-02,
  9.01343669e-04, 6.05259583e-02,-1.91270496e-02, 6.71274191e-02,
  5.87766396e-03, 1.64858533e-02,-9.40775706e-03, 2.59786076e-02,
  1.24879659e+00,-8.55189362e-04, 9.73660025e-01, 6.38758884e-02,
  9.49659497e-02,-7.01042880e-02, 1.21792553e-01, 9.99952385e-01,
 -2.77503331e-04,-2.68384552e-05, 9.75443764e-03]

qacc:
[ 1.32780809e-01, 1.78227792e-02, 1.63463404e-01,-9.06363654e-01,
 -1.34121856e+01, 1.49619387e+02,-4.90064882e+02, 8.72664628e+02,
 -9.31732818e-01, 2.47318217e+00,-1.11810535e+01, 2.37613767e+01,
 -9.58393993e-01, 2.89220950e+00,-4.70052972e+00, 1.57742038e+01,
  7.35643536e-01,-3.93622401e-01,-7.87811030e-02, 6.75898005e+00,
  1.21151726e+01,-7.35375122e-01]

qfrc_actuator:
[ 1.85757282e-04, 2.62718444e-05, 1.83964150e-04, 7.73274651e-05,
  3.75196351e-03, 1.75980387e-01, 1.40535530e-03, 1.02907088e-01,
 -5.46102084e-05, 5.27325386e-04, 9.86490577e-05, 6.35030344e-05,
  9.76978458e-03, 1.37403518e-04, 0.00000000e+00,-2.74268222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002142241790402677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.18252902e-13, -5.18252902e-13,  1.00000000e+00, -2.68586070e-25,
        1.00000000e+00,  5.18252902e-13, -1.00000000e+00,  0.00000000e+00,
       -5.18252902e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172345, -0.06206915,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.86894912e-07, 1.32182269e-06,-1.50177221e-06,-2.28577374e-06,
 -7.95173916e-05, 1.04423432e-02, 2.69919752e-03, 1.86786792e-03,
 -5.41769050e-06, 4.63890629e-05, 2.41243654e-06, 3.91506123e-05,
  1.23812048e-04, 1.41174337e-04,-2.07519654e-05, 7.09358847e-05,
  3.72451224e-06, 3.01228047e-07,-1.21637452e+00, 8.57495118e-05,
  1.47426353e-03, 1.24009633e-07]


--- Step 1172 ---
qpos:
[ 2.96583793e-03,-3.31434511e-03, 1.18479577e-02, 4.17789028e-02,
  9.74426697e-04, 6.39492675e-02,-1.91562398e-02, 6.91893868e-02,
  5.87757993e-03, 1.64872430e-02,-9.40736851e-03, 2.59792067e-02,
  1.24906859e+00,-8.23066915e-04, 9.73902228e-01, 6.38749966e-02,
  9.49838895e-02,-7.01021578e-02, 1.21792916e-01, 9.99952349e-01,
 -2.94242715e-04, 1.23935685e-04, 9.75695294e-03]

qacc:
[-3.24137136e+00, 2.47332446e+00,-8.05665436e+00, 8.53049147e+00,
 -1.52234571e+01, 1.22812712e+02,-3.81469547e+02, 6.54498307e+02,
  2.39139521e+00, 1.12013111e+00,-3.41037106e+00, 4.54508127e+00,
 -5.77961904e-01, 1.85340328e+00,-8.30835112e+00, 2.84091131e+01,
 -6.51473478e-01,-9.38268021e-01, 2.02574800e-01, 1.53886951e+01,
 -1.15959157e+01, 5.32954156e-01]

qfrc_actuator:
[ 1.66908455e-04, 4.57808815e-05, 1.46111754e-04, 7.55455199e-05,
  3.65642152e-03, 1.79083404e-01, 1.41294267e-03, 1.03826060e-01,
 -4.02685565e-05, 5.56265430e-04, 9.39308158e-05, 6.71382576e-05,
  9.74931216e-03, 1.75138165e-04, 0.00000000e+00,-2.60648065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021475618359842463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58484530e-13, -5.16969060e-13,  1.00000000e+00, -1.33628505e-25,
        1.00000000e+00,  5.16969060e-13, -1.00000000e+00,  0.00000000e+00,
       -2.58484530e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10880577, -0.05156376,  0.06199478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88256623e-05, 1.98301897e-05,-3.78564874e-05,-1.82440260e-06,
 -9.48408316e-05, 9.45420283e-03, 2.51799518e-03, 1.48381090e-03,
  1.42043509e-05, 5.70136661e-05, 6.49775632e-06, 6.46438207e-06,
  8.40788800e-05, 9.67070638e-05,-4.29641329e-06, 1.36840377e-04,
  4.66394749e-06, 6.74743858e-07,-1.21635838e+00, 8.33499626e-05,
  1.48279866e-03, 3.77651122e-07]


--- Step 1173 ---
qpos:
[ 2.96861784e-03,-3.31409746e-03, 1.18473325e-02, 4.17792767e-02,
  1.04614491e-03, 6.74344767e-02,-1.91800321e-02, 7.12697237e-02,
  5.87766865e-03, 1.64889605e-02,-9.40724232e-03, 2.59795274e-02,
  1.24934078e+00,-7.90402192e-04, 9.74144632e-01, 6.38733740e-02,
  9.49992534e-02,-7.01037392e-02, 1.21793626e-01, 9.99952293e-01,
 -2.80356266e-04, 2.52158015e-04, 9.76059267e-03]

qacc:
[-5.28121645e+00, 4.27033479e+00,-1.59772764e+01, 2.34290053e+01,
 -1.08386117e+01, 1.04381102e+02,-3.30768706e+02, 5.93563890e+02,
  1.49267785e+00, 5.90404299e-01,-3.05965798e-01,-4.32930064e+00,
 -3.52341881e-01, 1.03666570e+00, 2.53660863e+00,-8.36230153e+00,
 -6.43969121e-01,-9.27870092e-01, 8.68516385e-02, 1.52020952e+01,
 -1.14249391e+01, 5.60863702e-01]

qfrc_actuator:
[ 1.36715317e-04, 5.73307791e-05, 8.81519936e-05, 9.22335435e-05,
  3.58875350e-03, 1.81574436e-01, 1.44447562e-03, 1.04695023e-01,
 -3.17952865e-05, 5.55038867e-04, 7.32674522e-05, 5.12830813e-05,
  9.72722298e-03, 1.84251983e-04, 0.00000000e+00,-2.65022531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021924625121849672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53190880e-13, -2.53190880e-13,  1.00000000e+00, -6.41056216e-26,
        1.00000000e+00,  2.53190880e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53190880e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10880492, -0.05156475,  0.06199467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07209707e-05, 1.47225206e-05,-5.85966205e-05, 1.61912380e-05,
 -6.78278485e-05, 8.23309021e-03, 2.30129220e-03, 1.37749406e-03,
  8.90471855e-06, 3.22235426e-05,-7.88518703e-06,-1.30671749e-05,
  4.93424233e-05, 4.91269812e-05, 9.92167526e-06,-3.74749299e-05,
  3.54792791e-06,-5.21934550e-07,-1.21638210e+00, 8.26982710e-05,
  1.49025340e-03, 8.05376541e-07]


--- Step 1174 ---
qpos:
[ 2.97101420e-03,-3.31374539e-03, 1.18463413e-02, 4.17798295e-02,
  1.11649896e-03, 7.09736712e-02,-1.91988585e-02, 7.33627315e-02,
  5.87785917e-03, 1.64900362e-02,-9.40640135e-03, 2.59804042e-02,
  1.24961317e+00,-7.58128384e-04, 9.74386666e-01, 6.38742625e-02,
  9.50120669e-02,-7.01089980e-02, 1.21794295e-01, 9.99952225e-01,
 -2.36152066e-04, 3.58109818e-04, 9.76540242e-03]

qacc:
[-3.37981918e+00, 1.53665914e+00,-6.02146451e+00, 9.61212545e+00,
 -1.05289561e+01, 8.34438205e+01,-2.47286854e+02, 4.18186833e+02,
  9.21517547e-01,-1.70267919e+00, 2.48856876e+00, 6.47157652e+00,
  6.18188208e-01,-1.20326519e+00,-8.17127125e+00, 2.76844702e+01,
 -6.37578816e-01,-9.19353061e-01,-1.03842753e-02, 1.50493169e+01,
 -1.12828549e+01, 5.85737972e-01]

qfrc_actuator:
[ 1.17845704e-04, 6.39467320e-05, 7.20386194e-05, 1.01889532e-04,
  3.52028429e-03, 1.83732641e-01, 1.46967342e-03, 1.05278628e-01,
 -2.68504589e-05, 4.82408738e-04, 9.64816329e-05, 7.73140249e-05,
  9.69883489e-03, 1.40823756e-04, 0.00000000e+00,-2.51561092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002216209285707954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50477929e-13, -5.00955858e-13,  1.00000000e+00, -1.25478386e-25,
        1.00000000e+00,  5.00955858e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50477929e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10880443, -0.05156526,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97380273e-05, 3.41696804e-06,-1.97273842e-05, 8.57493686e-06,
 -6.81984041e-05, 7.16579875e-03, 2.01153242e-03, 1.03005939e-03,
  5.21782145e-06,-5.68602979e-05, 2.84244863e-05, 2.68795319e-05,
  1.16089963e-05,-2.16211624e-05,-4.65184681e-06, 1.32602909e-04,
  2.41197739e-06,-1.41121907e-06,-1.21639816e+00, 8.35196182e-05,
  1.49653376e-03, 1.04152187e-06]


--- Step 1175 ---
qpos:
[ 2.97316540e-03,-3.31331207e-03, 1.18457164e-02, 4.17800999e-02,
  1.18549209e-03, 7.45568841e-02,-1.92133412e-02, 7.54630965e-02,
  5.87810773e-03, 1.64904572e-02,-9.40519744e-03, 2.59819583e-02,
  1.24988560e+00,-7.26888737e-04, 9.74628859e-01, 6.38747211e-02,
  9.50223518e-02,-7.01179066e-02, 1.21794596e-01, 9.99952148e-01,
 -1.61879671e-04, 4.42023882e-04, 9.77142302e-03]

qacc:
[-2.14195557e+00,-1.49464595e+00, 6.68302602e+00,-1.22221241e+01,
 -1.01749056e+01, 6.11180405e+01,-1.64422777e+02, 2.51924979e+02,
  5.29114843e-01,-4.86425993e-01,-2.38268611e+00, 1.40086383e+01,
  8.56677978e-01,-2.10902973e+00, 1.45284606e+00,-4.92618424e+00,
 -6.32169525e-01,-9.12459447e-01,-9.19854420e-02, 1.49255573e+01,
 -1.11652980e+01, 6.08227018e-01]

qfrc_actuator:
[ 1.05795521e-04, 8.54654613e-05, 9.84919441e-05, 8.96020585e-05,
  3.45187964e-03, 1.85230491e-01, 1.40058002e-03, 1.05582854e-01,
 -2.40208556e-05, 4.38785448e-04, 1.09644888e-04, 1.10000765e-04,
  9.66133421e-03, 6.65865814e-05, 0.00000000e+00,-2.54322003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022229017028167763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49723823e-13, -2.49723823e-13,  1.00000000e+00, -6.23619880e-26,
        1.00000000e+00,  2.49723823e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49723823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10880425, -0.05156538,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26109601e-05, 1.97051687e-05, 2.50306286e-05,-1.26562645e-05,
 -6.85309460e-05, 5.83186532e-03, 1.64836597e-03, 6.88008859e-04,
  2.96151003e-06,-6.84448600e-05, 5.82472875e-06, 3.17502565e-05,
 -3.56699988e-05,-7.64990752e-05, 9.22822966e-06,-2.16369309e-05,
  1.24586366e-06,-1.99081801e-06,-1.21640687e+00, 8.57973094e-05,
  1.50165175e-03, 1.09099776e-06]


--- Step 1176 ---
qpos:
[ 2.97550001e-03,-3.31250297e-03, 1.18449783e-02, 4.17805609e-02,
  1.24595026e-03, 7.81707562e-02,-1.92240511e-02, 7.75906419e-02,
  5.87804314e-03, 1.64909479e-02,-9.40523228e-03, 2.59839105e-02,
  1.25015791e+00,-6.97105643e-04, 9.74871100e-01, 6.38745189e-02,
  9.50301262e-02,-7.01304431e-02, 1.21794255e-01, 9.99952059e-01,
 -5.77382400e-05, 5.04091653e-04, 9.77869156e-03]

qacc:
[ 1.60004985e+00, 1.20316450e+00,-4.37876071e+00, 7.58780771e+00,
 -5.97544504e+01, 8.57884021e+01,-3.61247670e+02, 8.01411373e+02,
 -2.77082319e+00, 4.37892610e+00,-1.71503022e+01, 2.59558424e+01,
  1.04798783e+00,-2.80118309e+00, 1.96401658e+00,-7.00473643e+00,
 -6.27623349e-01,-9.06968179e-01,-1.60378266e-01, 1.48267923e+01,
 -1.10686538e+01, 6.28828860e-01]

qfrc_actuator:
[ 1.15604663e-04, 1.15907256e-04, 9.66414838e-05, 1.00043507e-04,
  3.01125088e-03, 1.85965446e-01, 1.29130034e-03, 1.06891372e-01,
 -4.02099754e-05, 4.48341158e-04, 4.58329849e-05, 1.28584788e-04,
  9.61837142e-03,-2.53363490e-05, 0.00000000e+00,-2.57746368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022159683002725972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50505168e-13, -2.50505168e-13,  1.00000000e+00, -6.27528394e-26,
        1.00000000e+00,  2.50505168e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50505168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10880429, -0.05156518,  0.06199462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45554837e-06, 4.60687812e-05, 4.86470132e-06, 1.19052207e-05,
 -4.41240850e-04, 4.23174708e-03, 1.27552343e-03, 1.61582409e-03,
 -1.61267945e-05,-2.61862304e-05,-7.61564368e-05, 1.64631543e-05,
 -8.15111267e-05,-1.16883958e-04,-3.23551087e-06,-3.54664383e-05,
  4.00865660e-08,-2.26042457e-06,-1.21640847e+00, 8.95177309e-05,
  1.50561716e-03, 9.57636065e-07]


--- Step 1177 ---
qpos:
[ 2.98000355e-03,-3.31136097e-03, 1.18442079e-02, 4.17814884e-02,
  1.29551486e-03, 8.18167656e-02,-1.92376572e-02, 7.97591395e-02,
  5.87847497e-03, 1.64906265e-02,-9.40265489e-03, 2.59859152e-02,
  1.25042985e+00,-6.68106387e-04, 9.75112829e-01, 6.38775807e-02,
  9.50354053e-02,-7.01465903e-02, 1.21793043e-01, 9.99951953e-01,
  7.61166501e-05, 5.44469165e-04, 9.78724211e-03]

qacc:
[ 1.90313213e+01, 1.45464432e+00,-6.57985569e+00, 1.45263941e+01,
 -7.46901986e+01, 1.34590114e+02,-5.90214365e+02, 1.27718865e+03,
  4.42496077e+00,-8.27432726e+00, 2.77073358e+01,-3.03556472e+01,
  5.69166667e-01,-1.63080386e+00,-1.06613209e+01, 3.60739852e+01,
 -6.23836206e-01,-9.02689475e-01,-2.17629142e-01, 1.47496424e+01,
 -1.09899218e+01, 6.47923301e-01]

qfrc_actuator:
[ 2.26962043e-04, 1.33623226e-04, 9.58943981e-05, 1.23762217e-04,
  2.46152186e-03, 1.87711885e-01, 1.19224754e-03, 1.08957224e-01,
 -1.42044539e-05, 4.53836415e-04, 2.03581976e-04, 1.38715563e-04,
  9.60942731e-03,-5.60241497e-05, 0.00000000e+00,-2.40225361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021982689984546833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.52522104e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.52522104e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10880452, -0.05156473,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11640179e-04, 4.49666725e-05, 9.77511432e-06, 2.60901344e-05,
 -5.64019109e-04, 4.30993426e-03, 9.41004383e-04, 2.30969789e-03,
  2.55383877e-05,-2.42014362e-05, 1.43520120e-04, 6.68917914e-06,
 -8.36716571e-05,-7.48906198e-05,-1.01551519e-05, 1.71708576e-04,
 -1.21466142e-06,-2.22154141e-06,-1.21640314e+00, 9.46698779e-05,
  1.50843780e-03, 6.44385407e-07]


--- Step 1178 ---
qpos:
[ 2.98925606e-03,-3.30984563e-03, 1.18437161e-02, 4.17823203e-02,
  1.33978302e-03, 8.55044842e-02,-1.92577243e-02, 8.19539551e-02,
  5.87990462e-03, 1.64890459e-02,-9.39394459e-03, 2.59871440e-02,
  1.25070128e+00,-6.38281102e-04, 9.75354611e-01, 6.38813431e-02,
  9.50380882e-02,-7.01647542e-02, 1.21791982e-01, 9.99951826e-01,
  2.26357572e-04, 5.62947807e-04, 9.79682966e-03]

qacc:
[ 4.16865142e+01,-5.63625103e-01, 2.98697580e+00,-5.20618019e+00,
 -3.59424340e+01, 1.27106720e+02,-4.83672312e+02, 9.16686396e+02,
  8.91509075e+00,-2.04191813e+01, 7.36360161e+01,-9.59044403e+01,
 -1.03086384e+00, 2.05093815e+00,-1.95322955e+00, 7.14315789e+00,
 -6.49040277e-01,-5.04170805e-01, 3.74204258e-02, 8.08517608e+00,
 -1.10290511e+01, 5.23868435e-01]

qfrc_actuator:
[ 4.68200020e-04, 1.61348888e-04, 1.13526332e-04, 1.19589956e-04,
  2.20715790e-03, 1.90477537e-01, 1.10449073e-03, 1.10316666e-01,
  3.64335429e-05, 4.57749451e-04, 5.44169925e-04, 1.08455291e-04,
  9.63689651e-03, 2.09495612e-05, 0.00000000e+00,-2.37132119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021720163188517148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55574283e-13,  3.96334374e-08,  1.00000000e+00, -1.01292873e-20,
        1.00000000e+00, -3.96334374e-08, -1.00000000e+00, -1.50463277e-36,
        2.55574283e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088266 , -0.0601341 ,  0.06199472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44428972e-04, 5.59980241e-05, 2.90112446e-05,-1.40838747e-06,
 -2.73350960e-04, 5.33231704e-03, 9.50835579e-04, 1.60842376e-03,
  5.13575703e-05, 2.02994616e-05, 3.53466368e-04,-2.62117710e-05,
 -3.84323561e-05, 4.11417689e-05, 1.08584234e-05, 3.83580783e-05,
 -2.52789385e-06,-1.87739908e-06,-1.21639100e+00, 1.01244969e-04,
  1.51011975e-03, 1.53466462e-07]


--- Step 1179 ---
qpos:
[ 3.00201881e-03,-3.30813222e-03, 1.18440653e-02, 4.17834242e-02,
  1.37312699e-03, 8.92364357e-02,-1.92808892e-02, 8.41637290e-02,
  5.88227484e-03, 1.64870086e-02,-9.38037802e-03, 2.59879825e-02,
  1.25097193e+00,-6.05725538e-04, 9.75596536e-01, 6.38844520e-02,
  9.50409420e-02,-7.01782655e-02, 1.21791955e-01, 9.99951689e-01,
  3.37968067e-04, 5.84504497e-04, 9.80631619e-03]

qacc:
[ 3.08344651e+01,-1.58947469e+00, 4.79545526e+00,-1.46907789e+00,
 -7.16616521e+01, 9.78430711e+01,-3.26600688e+02, 5.56322533e+02,
  8.36231705e+00,-1.49954152e+01, 5.42094205e+01,-6.83542538e+01,
 -2.85891304e+00, 6.27100356e+00, 2.42853505e+00,-7.61671323e+00,
  4.27321218e-02, 1.16317466e+00, 2.58702003e-01,-1.92991762e+01,
  1.72816966e+00,-6.16830534e-02]

qfrc_actuator:
[ 6.41897684e-04, 1.77154152e-04, 1.59640329e-04, 1.34563714e-04,
  1.64945223e-03, 1.93051173e-01, 1.08149274e-03, 1.11090740e-01,
  8.33984138e-05, 4.61485043e-04, 7.94616727e-04, 9.02732253e-05,
  9.65428617e-03, 1.96729111e-04, 0.00000000e+00,-2.40794496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021816986340170152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77075096e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.77075096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511385, -0.0931985 ,  0.0619947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80673590e-04, 5.30565061e-05, 6.11720059e-05, 1.83327976e-05,
 -5.66105907e-04, 5.68261887e-03, 1.20321238e-03, 1.05333690e-03,
  4.84351320e-05, 8.69522986e-05, 2.97183142e-04,-5.61249427e-06,
  4.65713200e-06, 1.75454011e-04, 3.67493557e-06,-3.43894117e-05,
 -3.48970629e-06,-1.12062049e-06,-1.21638257e+00, 1.08579545e-04,
  1.51076582e-03,-4.79316258e-07]


--- Step 1180 ---
qpos:
[ 3.01435198e-03,-3.30647737e-03, 1.18451469e-02, 4.17847393e-02,
  1.39370917e-03, 9.30040766e-02,-1.93012592e-02, 8.63794844e-02,
  5.88553500e-03, 1.64852664e-02,-9.36557389e-03, 2.59890968e-02,
  1.25124176e+00,-5.69852828e-04, 9.75838405e-01, 6.38874348e-02,
  9.50439801e-02,-7.01871890e-02, 1.21792462e-01, 9.99951554e-01,
  4.11441378e-04, 6.09016977e-04, 9.81581629e-03]

qacc:
[-3.74654079e+00,-1.68254088e+00, 5.00787154e+00,-2.49446977e+00,
 -8.13632923e+01, 5.17444442e+01,-1.40898232e+02, 2.12866034e+02,
  7.79541282e+00,-2.51608145e+00, 8.34624710e+00,-5.73917540e+00,
 -3.33513066e+00, 7.44254100e+00, 5.85591013e-01,-1.49428348e+00,
  4.60771915e-02, 1.14691312e+00, 1.33377989e-01,-1.90531818e+01,
  1.66481779e+00,-4.86312136e-03]

qfrc_actuator:
[ 6.14636612e-04, 1.50327839e-04, 1.86664429e-04, 1.42943292e-04,
  1.00625101e-03, 1.94425234e-01, 1.06106597e-03, 1.11354652e-01,
  1.27817544e-04, 4.29310096e-04, 8.30028624e-04, 9.70153253e-05,
  9.63371525e-03, 3.76299607e-04, 0.00000000e+00,-2.41301798e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022334394138688596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55340992e-14,  2.48545588e-13,  1.00000000e+00,  3.86093183e-27,
        1.00000000e+00, -2.48545588e-13, -1.00000000e+00,  0.00000000e+00,
       -1.55340992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0951145 , -0.09319724,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21057706e-05, 1.62176044e-05, 4.61050487e-05, 1.31088184e-05,
 -6.62648252e-04, 4.70558365e-03, 1.28949202e-03, 5.55945097e-04,
  4.58337313e-05, 7.75336955e-05, 8.96470771e-05, 2.06128262e-05,
  2.26732713e-05, 2.18273345e-04,-8.06183773e-06,-7.87954023e-06,
 -2.52785634e-06,-1.03414186e-06,-1.21640765e+00, 1.14113771e-04,
  1.51201804e-03,-7.95985058e-07]


--- Step 1181 ---
qpos:
[ 3.02350477e-03,-3.30491914e-03, 1.18460993e-02, 4.17862105e-02,
  1.40162677e-03, 9.67907314e-02,-1.93137647e-02, 8.85979178e-02,
  5.88895822e-03, 1.64844874e-02,-9.35439304e-03, 2.59895029e-02,
  1.25151075e+00,-5.31169277e-04, 9.76080235e-01, 6.38899805e-02,
  9.50472132e-02,-7.01915787e-02, 1.21793081e-01, 9.99951427e-01,
  4.47186501e-04, 6.36388793e-04, 9.82541818e-03]

qacc:
[-2.79180830e+01, 6.09736250e-01,-2.92286443e+00, 5.79788463e+00,
 -7.84380592e+01, 8.80363248e+00,-5.96147298e+00, 2.54334852e+01,
  1.29210810e+00, 9.93871272e+00,-3.06031005e+01, 2.34291914e+01,
 -2.95069864e+00, 6.44882403e+00, 1.51538400e+00,-4.79212080e+00,
  4.87456353e-02, 1.13348179e+00, 2.80701607e-02,-1.88491802e+01,
  1.61478356e+00, 3.87744023e-02]

qfrc_actuator:
[ 4.51583401e-04, 1.15852621e-04, 1.66501505e-04, 1.47318235e-04,
  3.71217631e-04, 1.94342542e-01, 1.05528097e-03, 1.11404224e-01,
  1.34878358e-04, 3.75019615e-04, 5.96074727e-04, 4.71914922e-05,
  9.56909692e-03, 5.03207797e-04, 0.00000000e+00,-2.43493192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022622084667234255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60721322e-13,  2.45384774e-13,  1.00000000e+00,  6.39770425e-26,
        1.00000000e+00, -2.45384774e-13, -1.00000000e+00,  0.00000000e+00,
       -2.60721322e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.095115 , -0.0931966,  0.0619945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63686240e-04,-1.54439071e-05,-1.07274839e-05, 6.90966914e-06,
 -6.58976833e-04, 2.69765019e-03, 1.09530575e-03, 2.92968607e-04,
  8.40709722e-06, 8.38180105e-06,-2.06336834e-04,-4.30310549e-05,
 -1.04151819e-06, 1.79022022e-04,-9.81821322e-06,-2.45883360e-05,
 -1.61520577e-06,-9.35133880e-07,-1.21642501e+00, 1.17767185e-04,
  1.51341671e-03,-1.02411158e-06]


--- Step 1182 ---
qpos:
[ 3.02821763e-03,-3.30379744e-03, 1.18467375e-02, 4.17874354e-02,
  1.39469003e-03, 1.00584350e-01,-1.93186910e-02, 9.08172639e-02,
  5.89244007e-03, 1.64854666e-02,-9.35100808e-03, 2.59888112e-02,
  1.25177821e+00,-4.88738050e-04, 9.76322617e-01, 6.38872055e-02,
  9.50506499e-02,-7.01914785e-02, 1.21793458e-01, 9.99951312e-01,
  4.45539869e-04, 6.66544323e-04, 9.83518925e-03]

qacc:
[-3.89740066e+01,-1.29939254e-01, 7.96967409e-01,-4.37686348e+00,
 -8.95307026e+01,-9.90805854e+00, 4.50844867e+01,-4.66791091e+01,
  2.37134362e-01, 2.18512867e+01,-6.99041959e+01, 6.20657113e+01,
 -4.52853089e+00, 9.38851890e+00, 1.72487993e+01,-5.82860944e+01,
  5.08896654e-02, 1.12246730e+00,-6.03088758e-02,-1.86813500e+01,
  1.57551825e+00, 7.20017094e-02]

qfrc_actuator:
[ 2.27730161e-04, 5.90969026e-05, 1.36347700e-04, 1.31508496e-04,
 -3.78175949e-04, 1.93867521e-01, 1.10535135e-03, 1.11379361e-01,
  1.37647721e-04, 3.95436932e-04, 1.69361911e-04,-1.79455407e-05,
  9.46742954e-03, 6.86461208e-04, 0.00000000e+00,-2.71512587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022724268311861973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59548943e-13,  4.88562716e-13,  1.00000000e+00,  1.26805936e-25,
        1.00000000e+00, -4.88562716e-13, -1.00000000e+00,  0.00000000e+00,
       -2.59548943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511537, -0.09319646,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28526940e-04,-6.74687760e-05,-3.44614077e-05,-1.67118365e-05,
 -7.74456503e-04, 1.13040621e-03, 7.03160820e-04, 1.20698925e-04,
  3.03246098e-06,-1.94509789e-05,-4.52004502e-04,-7.27785524e-05,
 -6.10263181e-05, 2.21383812e-04,-1.24863427e-05,-2.84023571e-04,
 -7.14101905e-07,-8.33255541e-07,-1.21643495e+00, 1.19560287e-04,
  1.51496606e-03,-1.16339393e-06]


--- Step 1183 ---
qpos:
[ 3.02607010e-03,-3.30297809e-03, 1.18461461e-02, 4.17881636e-02,
  1.38625273e-03, 1.04379944e-01,-1.93201632e-02, 9.30421860e-02,
  5.89558341e-03, 1.64883610e-02,-9.35643868e-03, 2.59877436e-02,
  1.25204358e+00,-4.41887000e-04, 9.76564784e-01, 6.38824344e-02,
  9.50542971e-02,-7.01869242e-02, 1.21793298e-01, 9.99951208e-01,
  4.06775205e-04, 6.99424802e-04, 9.84518039e-03]

qacc:
[-6.02508207e+01, 2.13215949e+00,-5.88256499e+00,-7.42341672e-01,
 -8.76810355e+00, 4.40192816e+00,-3.53145849e+01, 1.24485136e+02,
 -3.26039103e+00, 2.64012415e+01,-8.88624410e+01, 9.50183611e+01,
 -5.29352597e+00, 1.08726272e+01, 6.14469235e+00,-2.09342973e+01,
  5.26283632e-02, 1.11351957e+00,-1.34383197e-01,-1.85447880e+01,
  1.54498512e+00, 9.70023050e-02]

qfrc_actuator:
[-1.18834553e-04, 2.48567073e-05, 6.49307976e-05, 1.03927832e-04,
 -4.25566906e-04, 1.93623113e-01, 1.13281655e-03, 1.11630078e-01,
  1.20128796e-04, 4.77251216e-04,-2.78621181e-04,-3.83397804e-05,
  9.33829911e-03, 9.01460581e-04, 0.00000000e+00,-2.80792920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002267794347066976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64938619e-14,  4.89560716e-13,  1.00000000e+00,  3.74483898e-26,
        1.00000000e+00, -4.89560716e-13, -1.00000000e+00,  0.00000000e+00,
       -7.64938619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511565, -0.09319672,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53099705e-04,-7.99483133e-05,-9.01946109e-05,-3.19865722e-05,
 -7.82460182e-05, 3.95955737e-04, 3.02500455e-04, 3.12285351e-04,
 -1.74110743e-05,-2.56108565e-05,-5.10239156e-04,-3.82916350e-05,
 -1.14063227e-04, 2.48554569e-04,-4.46213773e-05,-1.11855475e-04,
  2.02543851e-07,-7.33697839e-07,-1.21643770e+00, 1.19509860e-04,
  1.51666871e-03,-1.21372046e-06]


--- Step 1184 ---
qpos:
[ 3.01564411e-03,-3.30235289e-03, 1.18443137e-02, 4.17881978e-02,
  1.39223637e-03, 1.08172357e-01,-1.93192179e-02, 9.52822965e-02,
  5.89780342e-03, 1.64916779e-02,-9.36719318e-03, 2.59863898e-02,
  1.25230705e+00,-3.91522458e-04, 9.76806490e-01, 6.38781968e-02,
  9.50581605e-02,-7.01779445e-02, 1.21792353e-01, 9.99951109e-01,
  3.31111830e-04, 7.34985146e-04, 9.85542948e-03]

qacc:
[-7.27002708e+01, 1.92446346e+00,-4.06016570e+00,-6.08570014e+00,
  8.26469190e+01, 1.99789019e+01,-1.41362198e+02, 4.01822881e+02,
 -8.22628453e+00, 1.48647708e+01,-5.09536789e+01, 5.41658839e+01,
 -4.25340166e+00, 8.62068066e+00,-1.93878437e+00, 6.61729476e+00,
  5.40547936e-02, 1.10634186e+00,-1.96386193e-01,-1.84353547e+01,
  1.52155459e+00, 1.15495892e-01]

qfrc_actuator:
[-5.34829718e-04, 2.19188947e-05, 5.30234284e-06, 6.96335093e-05,
  3.31389588e-04, 1.93235235e-01, 1.16556478e-03, 1.12378415e-01,
  7.30579432e-05, 4.88527732e-04,-5.39949463e-04,-4.99237436e-05,
  9.22475194e-03, 1.06232579e-03, 0.00000000e+00,-2.77174199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022513995088362104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61973044e-13,  2.46562865e-13,  1.00000000e+00,  6.45928241e-26,
        1.00000000e+00, -2.46562865e-13, -1.00000000e+00,  0.00000000e+00,
       -2.61973044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511585, -0.0931973 ,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26077473e-04,-6.77860143e-05,-8.83459088e-05,-4.14496312e-05,
  7.53853676e-04,-2.32552329e-04, 1.13326660e-04, 7.68329324e-04,
 -4.75533029e-05,-1.10118156e-04,-3.30754285e-04,-3.10721188e-05,
 -1.22979301e-04, 1.87894453e-04,-3.83688639e-05, 2.30748925e-05,
  1.15411580e-06,-6.37745101e-07,-1.21643344e+00, 1.17629502e-04,
  1.51852616e-03,-1.17510594e-06]


--- Step 1185 ---
qpos:
[ 2.99720578e-03,-3.30228315e-03, 1.18423810e-02, 4.17877877e-02,
  1.41543894e-03, 1.11957566e-01,-1.93156529e-02, 9.75356058e-02,
  5.89909794e-03, 1.64937288e-02,-9.38044532e-03, 2.59859648e-02,
  1.25256927e+00,-3.39804746e-04, 9.77048074e-01, 6.38733545e-02,
  9.50622449e-02,-7.01645621e-02, 1.21790415e-01, 9.99951007e-01,
  2.18721695e-04, 7.73191406e-04, 9.86596410e-03]

qacc:
[-7.03220992e+01,-1.23210423e+00, 5.43984044e+00,-1.28153158e+01,
  9.61214280e+01, 1.00003014e+01,-1.05180214e+02, 3.34039610e+02,
 -8.12737606e+00, 7.23457552e+00,-3.21161947e+01, 5.30808902e+01,
 -2.07824446e+00, 3.81785866e+00, 1.80717816e+00,-6.20411298e+00,
  5.52416103e-02, 1.10068253e+00,-2.48220410e-01,-1.83495487e+01,
  1.50392125e+00, 1.28836741e-01]

qfrc_actuator:
[-9.35063027e-04, 2.26998758e-06, 6.50801957e-06, 4.94596241e-05,
  1.20058062e-03, 1.92694631e-01, 1.21889033e-03, 1.13022923e-01,
  2.67287904e-05, 3.87197507e-04,-6.71497657e-04,-2.90306468e-06,
  9.13126378e-03, 1.10108574e-03, 0.00000000e+00,-2.80191259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022258128918919984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02635228e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02635228e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511599, -0.09319812,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12387624e-04,-7.76955611e-05,-2.50695920e-05,-2.69190471e-05,
  9.01073442e-04,-7.55836955e-04,-3.43556154e-06, 6.39912962e-04,
 -4.77168603e-05,-2.32563287e-04,-1.96014954e-04, 3.02745357e-05,
 -1.21822101e-04, 5.03986118e-05,-1.98458362e-05,-3.48231790e-05,
  2.15439429e-06,-5.43155750e-07,-1.21642230e+00, 1.13930067e-04,
  1.52053920e-03,-1.04764599e-06]


--- Step 1186 ---
qpos:
[ 2.97169534e-03,-3.30280795e-03, 1.18410117e-02, 4.17870971e-02,
  1.45370503e-03, 1.15739636e-01,-1.93148775e-02, 9.98125418e-02,
  5.89982663e-03, 1.64939361e-02,-9.39373321e-03, 2.59867000e-02,
  1.25283357e+00,-2.98286557e-04, 9.77289398e-01, 6.38684753e-02,
  9.50637191e-02,-7.01516132e-02, 1.21789762e-01, 9.99950904e-01,
  1.09291588e-04, 7.88759681e-04, 9.87701551e-03]

qacc:
[-6.20477057e+01,-2.81828147e+00, 1.03010965e+01,-1.58450364e+01,
  8.17460260e+01, 5.18098112e+01,-2.90027655e+02, 7.03616537e+02,
 -4.90392582e+00, 6.16083021e-02,-8.63794145e+00, 3.01171483e+01,
  9.90153747e+00,-2.24625451e+01,-1.14355381e+00, 1.40098655e+00,
 -6.52547697e-01,-1.08385546e-01, 3.21229935e-01, 1.36806959e+00,
 -1.13329830e+01, 2.62004357e-01]

qfrc_actuator:
[-1.28728870e-03,-9.21397768e-06, 4.35699969e-05, 3.77859356e-05,
  1.95101970e-03, 1.92902060e-01, 1.21238255e-03, 1.14240143e-01,
 -1.03121673e-06, 3.26338668e-04,-6.54863976e-04, 6.04274566e-05,
  9.05514692e-03, 4.28242708e-04, 0.00000000e+00,-2.79996256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002256542473699913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46000915e-13, -1.84500686e-13,  1.00000000e+00, -4.53873375e-26,
        1.00000000e+00,  1.84500686e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46000915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884499, -0.06828966,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63994709e-04,-6.13271766e-05, 1.70526216e-05,-1.63674529e-05,
  7.89384951e-04,-3.29706592e-04,-1.90097086e-04, 1.18369836e-03,
 -2.92095029e-05,-2.30032743e-04,-5.43661509e-05, 4.71992589e-05,
 -1.35589215e-04,-6.90683498e-04,-1.82066201e-05,-3.68513316e-06,
  3.21309885e-06,-4.44414496e-07,-1.21640437e+00, 1.08420036e-04,
  1.52270808e-03,-8.31484610e-07]


--- Step 1187 ---
qpos:
[ 2.94077800e-03,-3.30370350e-03, 1.18400041e-02, 4.17862564e-02,
  1.50278408e-03, 1.19523236e-01,-1.93187472e-02, 1.02116333e-01,
  5.90021545e-03, 1.64928959e-02,-9.40560108e-03, 2.59869721e-02,
  1.25310299e+00,-2.80663145e-04, 9.77530270e-01, 6.38652739e-02,
  9.50625968e-02,-7.01390859e-02, 1.21790022e-01, 9.99950801e-01,
  2.79052945e-06, 7.81967013e-04, 9.88858640e-03]

qacc:
[-4.74413577e+01,-1.71780620e+00, 6.20684013e+00,-9.28153786e+00,
  5.70400397e+01, 6.97948348e+01,-3.58562007e+02, 8.26880782e+02,
 -2.89868403e+00,-6.56538882e+00, 2.29825662e+01,-3.23611881e+01,
  2.34823683e+01,-5.29632868e+01,-7.79140185e+00, 2.14586085e+01,
 -6.49118317e-01,-1.05393209e-01, 2.28338326e-01, 1.35381747e+00,
 -1.11943591e+01, 2.62111415e-01]

qfrc_actuator:
[-1.55518719e-03,-1.55377104e-05, 6.60168406e-05, 3.12263079e-05,
  2.48345439e-03, 1.93450611e-01, 1.15658360e-03, 1.15625509e-01,
 -1.76391876e-05, 3.44104501e-04,-5.50783999e-04, 4.41775387e-05,
  9.01582737e-03,-9.97850685e-04, 0.00000000e+00,-2.70805563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022711846903589183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884447, -0.06828955,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78284191e-04,-3.78063561e-05, 1.13779710e-05,-8.88921694e-06,
  5.67532763e-04, 2.34593654e-04,-1.55509928e-04, 1.37420531e-03,
 -1.75381176e-05,-1.19938907e-04, 5.16535962e-05,-2.70414390e-05,
 -2.78670588e-04,-1.60706583e-03,-9.65036791e-06, 8.90335722e-05,
  3.11056812e-06,-2.49170081e-07,-1.21640908e+00, 1.02911900e-04,
  1.52355783e-03,-3.38725455e-07]


--- Step 1188 ---
qpos:
[ 2.90619713e-03,-3.30514765e-03, 1.18393492e-02, 4.17857126e-02,
  1.55658702e-03, 1.23308783e-01,-1.93239348e-02, 1.04431709e-01,
  5.90040103e-03, 1.64914479e-02,-9.41704271e-03, 2.59863154e-02,
  1.25337593e+00,-2.88472166e-04, 9.77770933e-01, 6.38638292e-02,
  9.50589797e-02,-7.01302804e-02, 1.21790533e-01, 9.99950697e-01,
 -7.31360236e-05, 7.52553904e-04, 9.90113347e-03]

qacc:
[-3.21360332e+01,-1.03678290e+00, 1.50083508e+00, 3.35778866e+00,
  2.42551559e+01, 2.98874655e+01,-1.51396056e+02, 3.51304768e+02,
 -1.75299705e+00,-3.63850779e+00, 1.61183591e+01,-3.25784156e+01,
  2.35005023e+01,-5.47415269e+01,-7.71145529e+00, 2.16057708e+01,
 -6.23707861e-01,-9.30438915e-01, 6.29320295e-02, 1.51742770e+01,
 -1.14608320e+01, 5.00053054e-01]

qfrc_actuator:
[-1.73582048e-03,-5.42565470e-05, 7.96710204e-05, 4.54694639e-05,
  2.70578528e-03, 1.93721098e-01, 1.14519187e-03, 1.16211451e-01,
 -2.75555910e-05, 3.55928551e-04,-5.19946146e-04,-9.08523832e-07,
  8.97693353e-03,-2.37879817e-03, 0.00000000e+00,-2.61713230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022958468295547485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41789437e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.41789437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879813, -0.05156564,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88568734e-04,-5.78438124e-05, 7.00597437e-06, 1.28681441e-05,
  2.48339959e-04, 2.87316066e-04, 1.62833206e-05, 6.03793653e-04,
 -1.04773377e-05,-4.55646331e-05, 1.16408504e-05,-4.89359546e-05,
 -5.73722870e-04,-1.79296473e-03, 8.58946634e-06, 9.50649635e-05,
  3.15636156e-06, 2.15080248e-08,-1.21641116e+00, 9.75224682e-05,
  1.52330058e-03, 1.34438232e-07]


--- Step 1189 ---
qpos:
[ 2.87040736e-03,-3.30696768e-03, 1.18391040e-02, 4.17853177e-02,
  1.61166821e-03, 1.27098958e-01,-1.93314724e-02, 1.06757995e-01,
  5.90046561e-03, 1.64895052e-02,-9.42639062e-03, 2.59857086e-02,
  1.25364818e+00,-3.13097520e-04, 9.78011895e-01, 6.38614823e-02,
  9.50528760e-02,-7.01251586e-02, 1.21790919e-01, 9.99950595e-01,
 -1.18798828e-04, 7.00817069e-04, 9.91472189e-03]

qacc:
[-1.05917464e+01,-1.31467226e+00, 3.37401792e+00,-1.21455195e+00,
  6.31755331e+00, 3.49590964e+01,-1.61423350e+02, 3.49239915e+02,
 -9.81397035e-01,-6.40077637e+00, 2.16657426e+01,-2.37865796e+01,
  1.31208720e+01,-3.35140068e+01, 1.92726085e+00,-9.00208176e+00,
 -6.21624174e-01,-9.20923649e-01,-3.14505384e-02, 1.50202216e+01,
 -1.13111745e+01, 5.31206620e-01]

qfrc_actuator:
[-1.79266472e-03,-5.88283975e-05, 1.05666457e-04, 5.40547315e-05,
  2.76157042e-03, 1.94267534e-01, 1.14122257e-03, 1.16783837e-01,
 -3.34577114e-05, 3.81599455e-04,-3.90606734e-04, 8.36497822e-06,
  8.91695272e-03,-3.17123097e-03, 0.00000000e+00,-2.66957022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002310584775492286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879743, -0.05156587,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.22307330e-05,-3.48148795e-05, 1.54245399e-05, 6.62094779e-06,
  6.74593013e-05, 5.95072398e-04, 2.90986917e-05, 5.83405044e-04,
 -6.23321174e-06, 6.82981808e-07, 1.19820814e-04, 6.80197673e-06,
 -8.09076734e-04,-1.31302282e-03, 1.47320805e-05,-4.62013930e-05,
  2.57887764e-06, 5.64342656e-07,-1.21642318e+00, 9.36038054e-05,
  1.52173470e-03, 4.72633278e-07]


--- Step 1190 ---
qpos:
[ 2.83490222e-03,-3.30853586e-03, 1.18388796e-02, 4.17853197e-02,
  1.65822173e-03, 1.30641918e-01,-1.95251623e-02, 1.09029542e-01,
  5.90045815e-03, 1.64870219e-02,-9.43098162e-03, 2.59853806e-02,
  1.25391640e+00,-3.43908669e-04, 9.78252939e-01, 6.38588950e-02,
  9.50387203e-02,-7.01227413e-02, 1.21789694e-01, 9.99951632e-01,
 -1.16180454e-04, 6.15775299e-04, 9.81533904e-03]

qacc:
[ 2.49499091e+00, 1.08786112e+00,-5.07790548e+00, 1.17338273e+01,
 -4.24206852e+01, 8.08930086e+01,-5.31032968e+02, 6.12590592e+01,
 -4.70380504e-01,-1.34340781e+01, 4.56866713e+01,-4.80645244e+01,
  1.96872332e+00,-9.25523662e+00, 5.67813701e-01,-2.46191810e+00,
 -2.01304039e+00,-6.76150840e-01,-4.02850657e-01, 2.40139455e+01,
 -1.68846801e+01,-5.64735452e+01]

qfrc_actuator:
[-1.77622475e-03,-7.36006773e-06, 1.21115986e-04, 7.70270986e-05,
  2.73673680e-03, 1.94851813e-01, 1.10776071e-03, 1.17805696e-01,
 -3.69522209e-05, 4.33581219e-04,-1.15241198e-04, 3.18944942e-05,
  8.85522303e-03,-3.34270859e-03, 0.00000000e+00,-2.68180021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22505133,  0.10624791,  0.19839225,  0.10624791,  0.48683106,
       -0.14019474,  0.19839225, -0.14019474,  0.30013188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029149293402466997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98827792e-01, -4.65507005e-02,  1.32693100e-02, -4.65465932e-02,
        9.98915929e-01,  6.18366028e-04, -1.32837105e-02,  1.08420217e-19,
       -9.99911768e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11100857, -0.08052429,  0.11298043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023091508879628797
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40396379e-13,  2.40396379e-13,  1.00000000e+00,  5.77904191e-26,
        1.00000000e+00, -2.40396379e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40396379e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879708, -0.05156574,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46606384e-05, 3.56307645e-05, 1.04514667e-05, 2.21587532e-05,
 -2.15163724e-05, 8.06619021e-04, 6.40074563e-05, 1.04607153e-03,
 -3.69390152e-06, 7.75848779e-05, 2.90634162e-04, 2.78639058e-05,
 -8.36292610e-04,-6.42763379e-04,-4.57128070e-06,-1.43206968e-05,
  2.01281340e-06, 1.40994739e-06,-1.21642793e+00, 9.11386689e-05,
  1.51901306e-03, 6.25287056e-07]


--- Step 1191 ---
qpos:
[ 2.79952440e-03,-3.30961598e-03, 1.18389990e-02, 4.17851975e-02,
  1.69368651e-03, 1.33908145e-01,-1.98713904e-02, 1.11255972e-01,
  5.90040814e-03, 1.64843450e-02,-9.43014855e-03, 2.59845520e-02,
  1.25418024e+00,-3.76156698e-04, 9.78494250e-01, 6.38538360e-02,
  9.50145293e-02,-7.01223814e-02, 1.21786341e-01, 9.99954128e-01,
 -6.20171696e-05, 4.92670749e-04, 9.56534506e-03]

qacc:
[ 1.11983885e+00,-5.74214956e-01, 3.50251286e+00,-6.55377282e+00,
 -5.27187066e+01,-3.21420307e+01,-2.25410811e+02,-1.08848441e+02,
 -1.98699076e-01,-1.64451266e+01, 6.03779717e+01,-7.75658365e+01,
 -2.30014808e+00, 8.91127227e-01, 7.96339465e+00,-2.70338084e+01,
 -2.50879840e+00,-5.14310449e-01,-5.31821746e-01, 2.56308656e+01,
 -1.92751360e+01,-7.52954299e+01]

qfrc_actuator:
[-1.77008213e-03, 4.17497171e-05, 1.48215648e-04, 7.28190242e-05,
  2.67282656e-03, 1.95105200e-01, 1.29460366e-03, 1.18608196e-01,
 -3.90027156e-05, 4.66087935e-04, 1.73228795e-04, 1.04708449e-05,
  8.80342117e-03,-3.30529081e-03, 0.00000000e+00,-2.81222755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38141411, 0.08404963, 0.37203815, 0.08404963, 0.34926274,
       0.00726353, 0.37203815, 0.00726353, 0.37977316, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007531150654825438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98571765e-01, -4.62252049e-02,  2.67891930e-02, -4.62085794e-02,
        9.98931044e-01,  1.23966108e-03, -2.68178601e-02, -2.16840434e-19,
       -9.99640337e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11076057, -0.0805084 ,  0.11320845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022966994720956257
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.83399347e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.83399347e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879697, -0.05156537,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.57661197e-06, 7.23195101e-05, 3.65700796e-05,-1.87849840e-06,
  3.41809793e-04, 1.32895723e-02, 9.51387204e-03, 4.57410927e-03,
 -2.15481979e-06, 1.37264258e-04, 3.41341715e-04,-7.48362312e-06,
 -6.86707373e-04,-2.95157343e-04,-1.30501691e-05,-1.33761755e-04,
  3.48944968e-06,-2.12736739e-05,-1.21642168e+00, 9.61556387e-05,
  1.51452698e-03, 4.47309249e-07]


--- Step 1192 ---
qpos:
[ 2.76449545e-03,-3.31031600e-03, 1.18394909e-02, 4.17850375e-02,
  1.71550337e-03, 1.36916458e-01,-2.03412768e-02, 1.13443696e-01,
  5.90033374e-03, 1.64816923e-02,-9.42504003e-03, 2.59835242e-02,
  1.25444068e+00,-4.08964535e-04, 9.78735316e-01, 6.38485830e-02,
  9.49788346e-02,-7.01236178e-02, 1.21780434e-01, 9.99958201e-01,
  4.62906411e-05, 3.27914392e-04, 9.13706028e-03]

qacc:
[ 3.06740771e+00,-6.23070605e-01, 3.09957088e+00,-4.61892123e+00,
 -6.31217801e+01,-7.47081777e+01,-6.47511272e+01,-2.17901916e+02,
 -7.97548359e-02,-1.23266852e+01, 4.48385289e+01,-5.51345528e+01,
 -2.11491762e+00, 1.62572128e+00, 3.40133621e-01,-1.44224547e+00,
 -2.87593295e+00,-3.99118360e-01,-6.38535459e-01, 2.69157842e+01,
 -2.10787661e+01,-8.91368142e+01]

qfrc_actuator:
[-1.75232181e-03, 5.36021694e-05, 1.64221354e-04, 7.04174965e-05,
  2.62694776e-03, 1.95235196e-01, 1.65447613e-03, 1.18794277e-01,
 -4.01874782e-05, 4.51273662e-04, 3.78228389e-04,-1.75153124e-06,
  8.76307881e-03,-3.26907880e-03, 0.00000000e+00,-2.81596677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.39457319, -0.17260224,  0.39457319,  0.56233448,
        0.30098073, -0.17260224,  0.30098073,  1.11872311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011571044863185752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99820183, -0.04562094,  0.03888234, -0.04558637,  0.99895882,
        0.0017757 , -0.03892286,  0.        , -0.99924222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11052951, -0.08049103,  0.11341027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022758265794063648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87832876e-13, -4.87832876e-13,  1.00000000e+00, -2.37980915e-25,
        1.00000000e+00,  4.87832876e-13, -1.00000000e+00,  0.00000000e+00,
       -4.87832876e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879703, -0.05156482,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79749361e-05, 5.99191798e-05, 3.54303005e-05, 1.93422218e-06,
  8.51354254e-04, 2.71368396e-02, 1.74612204e-02, 7.00556850e-03,
 -1.21988071e-06, 1.32220979e-04, 2.75161409e-04, 5.33114871e-06,
 -5.08029011e-04,-1.86228856e-04,-3.09136718e-05,-1.49512959e-05,
  4.66182016e-05,-7.65048173e-05,-1.21639219e+00, 1.10944588e-04,
  1.51627252e-03,-1.08447883e-07]


--- Step 1193 ---
qpos:
[ 2.73064156e-03,-3.31051687e-03, 1.18398169e-02, 4.17859084e-02,
  1.72175913e-03, 1.39709107e-01,-2.09145929e-02, 1.15596232e-01,
  5.90024584e-03, 1.64792526e-02,-9.41810595e-03, 2.59831964e-02,
  1.25469850e+00,-4.41686677e-04, 9.78976767e-01, 6.38385893e-02,
  9.49307679e-02,-7.01259387e-02, 1.21771775e-01, 9.99963709e-01,
  2.07939564e-04, 1.18817812e-04, 8.51605127e-03]

qacc:
[ 1.03010190e+01, 3.22840864e+00,-1.49366842e+01, 3.27088486e+01,
 -7.05871728e+01,-6.81136922e+01,-2.21851150e+01,-2.62624943e+02,
 -6.38115326e-02,-3.37962811e+00, 9.50268384e+00,-4.61348379e-01,
 -2.33450697e+00, 2.75422721e+00, 1.50262155e+01,-5.13970223e+01,
 -3.09300238e+00,-2.71088362e-01,-6.88076418e-01, 2.64984411e+01,
 -2.24175763e+01,-9.63548794e+01]

qfrc_actuator:
[-1.69235810e-03, 7.85182216e-05, 1.55651899e-04, 1.22321240e-04,
  2.63438773e-03, 1.95809095e-01, 2.15030187e-03, 1.19119218e-01,
 -4.08539367e-05, 4.07926293e-04, 4.43361565e-04, 2.69509408e-05,
  8.72968072e-03,-3.21613994e-03, 0.00000000e+00,-3.06452958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.35539384, -0.24325863,  0.35539384,  0.62131713,
        0.27852505, -0.24325863,  0.27852505,  0.83759042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015059117003201415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99777527, -0.04468039,  0.04947897, -0.04462556,  0.99900133,
        0.00221295, -0.04952843,  0.        , -0.99877271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11031191, -0.08047165,  0.11358714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022487697711695565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46851198e-13, -2.46851198e-13,  1.00000000e+00, -6.09355140e-26,
        1.00000000e+00,  2.46851198e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46851198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879723, -0.05156416,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04969655e-05, 6.59612316e-05, 8.27581387e-06, 5.57409630e-05,
  1.54221921e-03, 4.04980511e-02, 2.41051756e-02, 9.25621697e-03,
 -6.69988620e-07, 8.76961721e-05, 1.26495222e-04, 4.39901670e-05,
 -3.72011536e-04,-1.04410069e-04,-2.31278264e-05,-2.54860096e-04,
  1.50235625e-04,-1.75131156e-04,-1.21633459e+00, 1.38046317e-04,
  1.52763231e-03,-1.09005737e-06]


--- Step 1194 ---
qpos:
[ 2.69949399e-03,-3.30974500e-03, 1.18395699e-02, 4.17870162e-02,
  1.73373704e-03, 1.42233012e-01,-2.16354588e-02, 1.17713368e-01,
  5.89980550e-03, 1.64777204e-02,-9.41163538e-03, 2.59832871e-02,
  1.25495402e+00,-4.73266077e-04, 9.79218261e-01, 6.38243368e-02,
  9.48795599e-02,-7.01243917e-02, 1.21764529e-01, 9.99967843e-01,
  3.06217755e-04,-1.61745567e-04, 8.01202368e-03]

qacc:
[  23.72017807,   3.33006448, -11.08744338,  15.4752588 ,  25.52468145,
  -15.80820988,-309.23592185, 128.32837409,  -3.10357775,   3.36251857,
  -12.00517103,  19.30912046,  -2.90355325,   4.56194156,  13.1265209 ,
  -45.34371865,  -0.78532188,   0.96696626,   0.35328597, -31.99533382,
  -35.45002388,  58.49810608]

qfrc_actuator:
[-1.55478020e-03, 1.46506607e-04, 1.32726721e-04, 1.34743944e-04,
  2.62793345e-03, 1.97189574e-01, 2.73918155e-03, 1.19734718e-01,
 -5.89631924e-05, 4.36023983e-04, 4.07561981e-04, 4.38835610e-05,
  8.68985053e-03,-3.11808129e-03, 0.00000000e+00,-3.27783587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.13827535,  0.40787188, -0.13827535,  1.17190761,
        0.25129073,  0.40787188,  0.25129073,  0.51586509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001805007856061139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99733724, -0.04337123,  0.05862897, -0.04329648,  0.99905903,
        0.00254521, -0.0586842 ,  0.        , -0.9982766 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11010374, -0.0804499 ,  0.1137417 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.36294682, -1.37101399, -4.14193501, -1.37101399,  6.30529109,
       -0.64293166, -4.14193501, -0.64293166,  4.5757624 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000237631527115173
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16800897e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.16800897e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500089, -0.09315619,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39321638e-04, 1.09100920e-04,-6.32371371e-06, 1.66214897e-05,
  2.31482250e-03, 5.25625560e-02, 2.98346498e-02, 1.16220770e-02,
 -1.81054948e-05, 1.05159879e-04,-6.33946737e-07, 2.59144699e-05,
 -2.80891429e-04,-9.75501948e-06,-4.69186771e-05,-2.32162989e-04,
  3.20146948e-04,-3.22642737e-04,-1.21624797e+00, 1.78570729e-04,
  1.54943179e-03,-2.49278776e-06]


--- Step 1195 ---
qpos:
[ 2.67334251e-03,-3.30830580e-03, 1.18394925e-02, 4.17868707e-02,
  1.75437463e-03, 1.44527917e-01,-2.24882045e-02, 1.19798730e-01,
  5.89915184e-03, 1.64767738e-02,-9.40575280e-03, 2.59836317e-02,
  1.25520772e+00,-5.03544769e-04, 9.79458872e-01, 6.38126000e-02,
  9.48232200e-02,-7.01187019e-02, 1.21758110e-01, 9.99970790e-01,
  3.45252430e-04,-5.14015064e-04, 7.61810363e-03]

qacc:
[ 4.38464594e+01,-2.26085030e+00, 1.44787533e+01,-3.67650962e+01,
  3.79209528e+01, 3.52090960e-01,-3.05983088e+02, 1.33555966e+02,
 -1.88870776e+00, 2.94364550e+00,-1.04382400e+01, 1.53338906e+01,
 -2.25890060e+00, 3.83102270e+00,-8.72478379e+00, 2.90323008e+01,
 -1.28296035e+00, 1.03567256e+00, 2.06696499e-01,-2.98989765e+01,
 -3.55978141e+01, 5.50725310e+01]

qfrc_actuator:
[-1.30162453e-03, 1.68654612e-04, 1.37166831e-04, 7.06017031e-05,
  2.59808380e-03, 2.00134235e-01, 3.43388031e-03, 1.20787376e-01,
 -6.94411452e-05, 4.35198268e-04, 3.66019477e-04, 5.37557629e-05,
  8.65155174e-03,-3.02954735e-03, 0.00000000e+00,-3.13127385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.18947788,  0.38675273, -0.18947788,  0.51437816,
        0.04100865,  0.38675273,  0.04100865,  0.45076431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020617432025096904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96894378e-01, -4.22944222e-02,  6.64287614e-02, -4.22008334e-02,
        9.99105191e-01,  2.81208236e-03, -6.64882557e-02,  4.33680869e-19,
       -9.97787208e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10991795, -0.08043192,  0.11387424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.39260516,  1.48836344,  4.13276595,  1.48836344,  9.88329707,
       -1.97740332,  4.13276595, -1.97740332,  5.10474199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024948335231453345
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.95326345e-14,  2.22504431e-13,  1.00000000e+00,  1.54713193e-26,
        1.00000000e+00, -2.22504431e-13, -1.00000000e+00,  0.00000000e+00,
       -6.95326345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496006, -0.09313938,  0.06199394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57159262e-04, 8.26828666e-05, 2.67892267e-05,-5.93674988e-05,
  1.99859442e-03, 6.88565544e-02, 3.78807770e-02, 1.44367765e-02,
 -1.09595249e-05, 5.89318140e-05,-1.90593792e-05, 1.48505985e-05,
 -2.04700627e-04, 2.24946411e-05,-5.35537301e-05, 1.26318981e-04,
  1.77386896e-04,-3.52765030e-04,-1.21620894e+00, 1.88794814e-04,
  1.50475707e-03,-2.46568872e-06]


--- Step 1196 ---
qpos:
[ 2.65732872e-03,-3.30676012e-03, 1.18405586e-02, 4.17859626e-02,
  1.78625730e-03, 1.46636570e-01,-2.34608017e-02, 1.21854845e-01,
  5.89872311e-03, 1.64756088e-02,-9.40029357e-03, 2.59838403e-02,
  1.25546016e+00,-5.33290145e-04, 9.79698726e-01, 6.38059593e-02,
  9.47601474e-02,-7.01087780e-02, 1.21752087e-01, 9.99972665e-01,
  3.29345257e-04,-9.39331782e-04, 7.32657875e-03]

qacc:
[ 8.90175113e+01,-4.80228063e+00, 2.02411142e+01,-3.50153101e+01,
  4.84001120e+01, 2.83970796e+01,-3.34697155e+02, 1.55289836e+02,
  1.95213897e+00, 6.10715335e-01,-2.02908766e+00, 5.20669983e-01,
 -1.08074094e+00, 1.60849922e+00,-1.64199949e+01, 5.60081678e+01,
 -1.68319311e+00, 1.05856243e+00, 9.91738668e-02,-2.77218619e+01,
 -3.62958678e+01, 5.12269083e+01]

qfrc_actuator:
[-7.87215558e-04, 1.63214707e-04, 1.93018066e-04, 3.29266106e-05,
  2.58447580e-03, 2.04014149e-01, 4.27092568e-03, 1.22095113e-01,
 -5.75858285e-05, 3.63719560e-04, 3.21341101e-04, 4.16362768e-05,
  8.60888567e-03,-3.00060120e-03, 0.00000000e+00,-2.86262509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.20948918,  0.37628955, -0.20948918,  0.63752788,
        0.11516074,  0.37628955,  0.11516074,  0.49478603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022799917352845506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96475826e-01, -4.14373749e-02,  7.29305960e-02, -4.13268379e-02,
        9.99141103e-01,  3.02465031e-03, -7.29932897e-02, -4.33680869e-19,
       -9.97332432e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10975034, -0.08041726,  0.1139868 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.41444364,  1.52316107,  4.14334321,  1.52316107, 11.07527283,
       -2.44863029,  4.14334321, -2.44863029,  5.31460038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000257775079489167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28806440e-13,  2.15347237e-13,  1.00000000e+00,  4.92728347e-26,
        1.00000000e+00, -2.15347237e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28806440e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492776, -0.09312644,  0.06199374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21759445e-04, 4.39084739e-05, 7.41757290e-05,-3.43703701e-05,
  1.55165308e-03, 8.41085526e-02, 4.52901020e-02, 1.73260850e-02,
  1.15649600e-05,-4.18654312e-05,-3.43976426e-05,-9.97591903e-06,
 -1.56699972e-04,-1.27451221e-05,-1.39243767e-05, 2.68148975e-04,
  8.29488307e-05,-3.48053922e-04,-1.21612040e+00, 1.88572468e-04,
  1.46679380e-03,-1.70446351e-06]


--- Step 1197 ---
qpos:
[ 2.65485062e-03,-3.30501946e-03, 1.18425988e-02, 4.17846103e-02,
  1.79272812e-03, 1.48588697e-01,-2.45338441e-02, 1.23888844e-01,
  5.89809480e-03, 1.64745136e-02,-9.39634196e-03, 2.59839421e-02,
  1.25571168e+00,-5.63114186e-04, 9.79938389e-01, 6.38028772e-02,
  9.46916476e-02,-7.01066476e-02, 1.21751782e-01, 9.99975661e-01,
  3.05098931e-04,-1.39448034e-03, 6.82932314e-03]

qacc:
[ 1.18836690e+02,-3.61327077e+00, 1.47285116e+01,-2.36817620e+01,
 -1.08825756e+02, 2.83819241e+01,-3.07162666e+02, 1.97592710e+02,
 -1.78895569e+00, 4.08926203e+00,-1.39887645e+01, 1.44891559e+01,
 -4.34690696e-01, 2.67878220e-01,-1.09981941e+01, 3.81272796e+01,
 -1.35680093e+00,-1.94840209e+00, 1.42941573e+00,-4.37555540e+00,
 -1.49183220e+01,-1.02857846e+02]

qfrc_actuator:
[-1.05442005e-04, 1.77021242e-04, 2.43168811e-04, 1.11423109e-05,
  2.57456350e-03, 2.07563177e-01, 5.25185533e-03, 1.23512821e-01,
 -6.81887318e-05, 3.56934724e-04, 2.39346493e-04, 3.43626908e-05,
  8.56894072e-03,-3.00716062e-03, 0.00000000e+00,-2.68408449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.22846749,  0.36507827, -0.22846749,  0.77834739,
        0.21757585,  0.36507827,  0.21757585,  0.56683323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024639938313392156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96101693e-01, -4.07854549e-02,  7.82174172e-02, -4.06602930e-02,
        9.99167927e-01,  3.19278958e-03, -7.82825540e-02, -4.33680869e-19,
       -9.96931212e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10959689, -0.08040549,  0.11408162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.43503951,  3.53464232, -2.67878314,  3.53464232, 15.52830509,
       14.63751409, -2.67878314, 14.63751409, 23.74917359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026529284366652583
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09244812e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09244812e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08167419, -0.06194125,  0.06199355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96642667e-04, 5.23755443e-05, 6.71337412e-05,-1.80282588e-05,
  9.79099779e-04, 9.69005830e-02, 5.22456013e-02, 2.01994937e-02,
 -1.02822648e-05,-3.77485023e-05,-9.52760554e-05,-1.04626523e-05,
 -1.33585480e-04,-4.51047039e-05, 1.94260630e-05, 1.90842749e-04,
  2.98793057e-05,-3.13721523e-04,-1.21598383e+00, 1.79198737e-04,
  1.43390375e-03,-2.84327375e-07]


--- Step 1198 ---
qpos:
[ 2.66194737e-03,-3.30295551e-03, 1.18449527e-02, 4.17830367e-02,
  1.77050421e-03, 1.50403113e-01,-2.56925116e-02, 1.25904892e-01,
  5.89699934e-03, 1.64737635e-02,-9.39420392e-03, 2.59842873e-02,
  1.25596237e+00,-5.92902893e-04, 9.80178170e-01, 6.38012994e-02,
  9.46167470e-02,-7.01112690e-02, 1.21756550e-01, 9.99979407e-01,
  2.70422099e-04,-1.88520427e-03, 6.12857470e-03]

qacc:
[  84.04759607,  -1.07005845,   5.08392818,  -9.34369204,-121.3788523 ,
   20.41957038,-260.24736517, 185.29066304,  -4.13672968,   6.03380027,
  -21.8656893 ,  28.70735383,  -0.57932843,   0.62165669,  -4.32915074,
   15.48644435,  -1.6001922 ,  -1.68794528,   1.26819259,  -5.47860296,
  -17.78217131,-101.73382078]

qfrc_actuator:
[ 3.67502489e-04, 1.84491904e-04, 2.54106194e-04,-1.12074132e-06,
  2.58127491e-03, 2.10390364e-01, 6.32989729e-03, 1.25125346e-01,
 -9.19320395e-05, 3.88765245e-04, 1.53968405e-04, 4.77746155e-05,
  8.54129491e-03,-2.99911945e-03, 0.00000000e+00,-2.61336774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.2903526 ,  0.31808003,  0.2903526 ,  0.62396922,
       -0.17644602,  0.31808003, -0.17644602,  0.59173836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026126461847972913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95815730e-01, -3.97426073e-02,  8.22894764e-02, -3.96076055e-02,
        9.99209950e-01,  3.27298417e-03, -8.23545405e-02,  4.33680869e-19,
       -9.96603095e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10945152, -0.08039086,  0.11416   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.47120324,  4.2200943 ,  1.47731599,  4.2200943 ,  4.87173913,
       -1.14416906,  1.47731599, -1.14416906,  7.7396315 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000277858505482953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99782084e-13, -1.99782084e-13,  1.00000000e+00, -3.99128810e-26,
        1.00000000e+00,  1.99782084e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99782084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08167039, -0.06192983,  0.06199325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92795736e-04, 5.00206708e-05, 2.93338733e-05,-8.08140148e-06,
  2.25750620e-03, 1.07491385e-01, 5.83309962e-02, 2.29116876e-02,
 -2.40463509e-05,-9.41998039e-06,-1.05306709e-04, 8.28767772e-06,
 -1.15181087e-04,-3.22524649e-05, 2.44363753e-05, 8.25665289e-05,
  4.01366245e-05,-5.73354567e-04,-1.21591704e+00, 2.33369960e-04,
  1.40636355e-03,-7.05875403e-08]


--- Step 1199 ---
qpos:
[ 2.67466364e-03,-3.30056779e-03, 1.18471779e-02, 4.17813595e-02,
  1.71676210e-03, 1.52094092e-01,-2.69217306e-02, 1.27907247e-01,
  5.89597254e-03, 1.64733771e-02,-9.39379910e-03, 2.59844367e-02,
  1.25621196e+00,-6.21368216e-04, 9.80417743e-01, 6.38029517e-02,
  9.45346404e-02,-7.01216595e-02, 1.21765841e-01, 9.99983383e-01,
  2.23085373e-04,-2.41668787e-03, 5.22902773e-03]

qacc:
[  49.31568579,   0.47793143,  -0.81300679,  -0.83102681,-131.82839222,
    5.95782486,-199.29990765, 163.67920446,   0.53835954,   4.92070987,
  -16.02237952,  15.13741639,  -1.72608179,   3.2774714 ,  -9.91792712,
   34.57867086,  -1.80150689,  -1.44225451,   1.13071828,  -6.64213702,
  -20.36729932, -99.38051854]

qfrc_actuator:
[ 6.42685568e-04, 1.87954752e-04, 2.41786175e-04,-7.71639815e-06,
  2.62916080e-03, 2.12828242e-01, 7.50931705e-03, 1.26557650e-01,
 -8.77069161e-05, 4.07956565e-04, 6.74692042e-05, 3.77849856e-05,
  8.51572726e-03,-2.91138994e-03, 0.00000000e+00,-2.44694072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.29686125,  0.31201432,  0.29686125,  0.68114937,
       -0.23831157,  0.31201432, -0.23831157,  0.65741126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027290519033838882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95628020e-01, -3.83095359e-02,  8.51893470e-02, -3.81700673e-02,
        9.99265920e-01,  3.26596182e-03, -8.52519287e-02, -4.33680869e-19,
       -9.96359427e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931214, -0.08037343,  0.11422319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.49700759,  4.27437194,  1.39743398,  4.27437194,  4.98768723,
       -1.50085609,  1.39743398, -1.50085609,  9.08771975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000286381508370806
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87672735e-13, -3.87672735e-13,  1.00000000e+00, -1.50290149e-25,
        1.00000000e+00,  3.87672735e-13, -1.00000000e+00,  0.00000000e+00,
       -3.87672735e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08166708, -0.06192073,  0.06199304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89227176e-04, 3.71980784e-05, 1.27002894e-06,-3.62352710e-06,
  3.74115244e-03, 1.16758230e-01, 6.37794323e-02, 2.52359867e-02,
  3.53632236e-06,-7.48424959e-06,-1.01146174e-04,-1.38788217e-05,
 -9.96033900e-05, 5.45837149e-05, 1.39857005e-05, 1.72710648e-04,
  5.05068684e-05,-8.72329071e-04,-1.21583148e+00, 2.95510559e-04,
  1.37407707e-03, 2.66212833e-07]


--- Step 1200 ---
qpos:
[ 2.69058368e-03,-3.29791202e-03, 1.18489932e-02, 4.17796436e-02,
  1.62927890e-03, 1.53685253e-01,-2.82104179e-02, 1.29898792e-01,
  5.89500412e-03, 1.64731973e-02,-9.39426399e-03, 2.59851158e-02,
  1.25646064e+00,-6.48180481e-04, 9.80657406e-01, 6.38059176e-02,
  9.44447043e-02,-7.01368650e-02, 1.21779184e-01, 9.99986944e-01,
  1.60839226e-04,-2.99340449e-03, 4.13834016e-03]

qacc:
[  28.10346652,   1.36572935,  -4.28667351,   4.17683563,-139.8393095 ,
   12.12783527,-188.14971611, 167.30406786,   0.47880575,   3.79311466,
  -15.36614766,  25.77209853,  -1.96519336,   3.97564578,  -3.66784871,
   13.40919066,  -1.95734837,  -1.20378351,   1.01298284,  -7.80377083,
  -22.59900404, -95.54462538]

qfrc_actuator:
[ 7.99337193e-04, 1.88883106e-04, 2.15828629e-04,-1.09407872e-05,
  2.69830009e-03, 2.15836706e-01, 8.73323488e-03, 1.27778227e-01,
 -8.48023163e-05, 4.37160286e-04, 3.42003286e-05, 6.73541535e-05,
  8.50211254e-03,-2.81265487e-03, 0.00000000e+00,-2.38518879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.30041482,  0.30859435,  0.30041482,  0.74320172,
       -0.30424456,  0.30859435, -0.30424456,  0.72685368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028161475058990446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99554308, -0.03649238,  0.08696142, -0.03635396,  0.99933393,
        0.00317554, -0.08701938,  0.        , -0.99620662])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10917708, -0.0803533 ,  0.11427229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.51321821,  4.32635369,  1.28522462,  4.32635369,  5.07954152,
       -1.90637102,  1.28522462, -1.90637102, 10.93048968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002915645812198303
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51952926e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.51952926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08166414, -0.06191347,  0.06199292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64893125e-04, 2.17886090e-05,-1.83179513e-05,-1.67865531e-06,
  5.38713012e-03, 1.25887281e-01, 6.85210263e-02, 2.71359461e-02,
  3.00722924e-06, 3.53748437e-06,-4.77551124e-05, 2.54778499e-05,
 -5.83735117e-05, 8.79883729e-05, 1.98554831e-05, 7.18722986e-05,
  5.62815546e-05,-1.21433301e-03,-1.21572533e+00, 3.66279498e-04,
  1.33602232e-03, 7.55342985e-07]


--- Step 1201 ---
qpos:
[ 2.70791527e-03,-3.29530344e-03, 1.18505946e-02, 4.17782751e-02,
  1.50621062e-03, 1.55199909e-01,-2.95488862e-02, 1.31881950e-01,
  5.89407806e-03, 1.64729751e-02,-9.39426267e-03, 2.59860818e-02,
  1.25670892e+00,-6.74024023e-04, 9.80896907e-01, 6.38112924e-02,
  9.43464399e-02,-7.01560125e-02, 1.21796165e-01, 9.99989343e-01,
  8.16016472e-05,-3.61922750e-03, 2.86507493e-03]

qacc:
[  12.38416743,   1.22764149,  -5.9748744 ,  12.40837382,-146.27688735,
   20.84615266,-184.73106442, 173.14440667,   0.38492824,  -0.76929614,
    1.44857177,   2.80501253,  -0.94845717,   2.05845239,  -7.42856928,
   25.83354201,  -2.08209844,  -0.98547666,   0.90960225,  -8.87039058,
  -24.53416717, -91.25592442]

qfrc_actuator:
[ 8.67285265e-04, 1.70464349e-04, 1.99773958e-04, 5.58684834e-06,
  2.77726896e-03, 2.19408560e-01, 1.00009888e-02, 1.28767846e-01,
 -8.27072142e-05, 4.54630448e-04, 6.82046773e-05, 8.45062212e-05,
  8.50101756e-03,-2.76143339e-03, 0.00000000e+00,-2.26134901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.30462114,  0.30444293,  0.30462114,  0.82856236,
       -0.39812192,  0.30444293, -0.39812192,  0.82902832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002878022435106137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99555631, -0.03430332,  0.08769791, -0.034171  ,  0.99941147,
        0.0030101 , -0.08774955,  0.        , -0.99614257])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090444 , -0.08033056,  0.1143089 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.52100325,  4.37638573,  1.13433606,  4.37638573,  5.11559001,
       -2.29397714,  1.13433606, -2.29397714, 13.37140412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029400944473126356
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88807374e-13,  1.88807374e-13,  1.00000000e+00,  3.56482245e-26,
        1.00000000e+00, -1.88807374e-13, -1.00000000e+00,  0.00000000e+00,
       -1.88807374e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0816615 , -0.0619077 ,  0.06199286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.26431042e-05,-1.01965323e-05,-1.39398045e-05, 1.67783081e-05,
  7.15399497e-03, 1.34403279e-01, 7.27542116e-02, 2.86611890e-02,
  2.18248742e-06, 1.06841145e-05, 2.97394795e-05, 1.61467389e-05,
 -1.43222854e-05, 5.73626880e-05, 1.07397801e-05, 1.28940130e-04,
  5.24791041e-05,-1.59938347e-03,-1.21559715e+00, 4.45555051e-04,
  1.29136535e-03, 1.42684370e-06]


--- Step 1202 ---
qpos:
[ 2.72627302e-03,-3.29306988e-03, 1.18524087e-02, 4.17774735e-02,
  1.34604145e-03, 1.56649701e-01,-3.09255384e-02, 1.33859900e-01,
  5.89352910e-03, 1.64727232e-02,-9.39325320e-03, 2.59865147e-02,
  1.25695729e+00,-6.99489007e-04, 9.81136889e-01, 6.38140886e-02,
  9.42394288e-02,-7.01782946e-02, 1.21816425e-01, 9.99989759e-01,
 -1.66044946e-05,-4.29766719e-03, 1.41824388e-03]

qacc:
[ 9.02058618e+00, 6.02931218e-02,-3.35557179e+00, 1.31313130e+01,
 -1.51244082e+02, 1.03863319e+01,-1.38553508e+02, 1.55093103e+02,
  3.32065701e+00,-3.96057970e+00, 1.63045394e+01,-2.71081633e+01,
 -4.07190768e-01, 9.58798924e-01, 8.52899263e+00,-2.87237346e+01,
 -2.18669718e+00,-7.83639077e-01, 8.19783585e-01,-9.87357031e+00,
 -2.62915970e+01,-8.67427704e+01]

qfrc_actuator:
[ 9.18027171e-04, 1.40645341e-04, 2.07381561e-04, 3.35949587e-05,
  2.91298128e-03, 2.22589450e-01, 1.13446497e-02, 1.29603039e-01,
 -6.33525132e-05, 4.65226973e-04, 1.23832289e-04, 5.87336458e-05,
  8.52339832e-03,-2.73869695e-03, 0.00000000e+00,-2.40367191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.30768735,  0.30134372,  0.30768735,  0.92831646,
       -0.50811905,  0.30134372, -0.50811905,  0.94948889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029188433142449052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95658197e-01, -3.17567134e-02,  8.75000871e-02, -3.16347877e-02,
        9.99495628e-01,  2.78011740e-03, -8.75442419e-02,  4.33680869e-19,
       -9.96160632e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891232, -0.08030529,  0.11433461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.52173556,  4.42543675,  0.9282252 ,  4.42543675,  5.05740614,
       -2.55388053,  0.9282252 , -2.55388053, 16.69769969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002942379864800254
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82991084e-13,  1.88660723e-13,  1.00000000e+00,  5.33893025e-26,
        1.00000000e+00, -1.88660723e-13, -1.00000000e+00,  0.00000000e+00,
       -2.82991084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08165911, -0.06190313,  0.06199286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27975943e-05,-3.78212115e-05, 4.29827565e-06, 2.74028498e-05,
  9.06974769e-03, 1.41366121e-01, 7.65804818e-02, 2.99111336e-02,
  1.94186014e-05, 2.34099071e-05, 6.20556966e-05,-2.39733920e-05,
  2.76006434e-05, 3.24649722e-05, 1.43088791e-05,-1.34923086e-04,
  3.50357300e-05,-2.02785659e-03,-1.21544538e+00, 5.33320835e-04,
  1.23950640e-03, 2.30580187e-06]


--- Step 1203 ---
qpos:
[ 2.74509646e-03,-3.29077053e-03, 1.18538751e-02, 4.17766504e-02,
  1.14768376e-03, 1.58042462e-01,-3.23288001e-02, 1.35835872e-01,
  5.89287151e-03, 1.64725035e-02,-9.39128151e-03, 2.59866302e-02,
  1.25720604e+00,-7.24666389e-04, 9.81376906e-01, 6.38151802e-02,
  9.41233574e-02,-7.02029428e-02, 1.21839649e-01, 9.99987313e-01,
 -1.35595458e-04,-5.03172087e-03,-1.91966489e-04]

qacc:
[ 4.07541740e+00, 1.00690295e+00,-3.38678345e+00, 3.53728114e+00,
 -1.54450515e+02,-4.93231704e+00,-8.25927912e+01, 1.31065408e+02,
 -9.18182039e-01,-3.29832699e+00, 1.31652988e+01,-2.02234582e+01,
 -4.20265042e-02, 4.26157461e-01, 5.20623977e+00,-1.81172650e+01,
 -2.26503454e+00,-5.91552755e-01, 7.40998626e-01,-1.07828509e+01,
 -2.77968166e+01,-8.16427038e+01]

qfrc_actuator:
[ 9.40513513e-04, 1.57590799e-04, 1.93340233e-04, 3.26277173e-05,
  3.09848950e-03, 2.25270680e-01, 1.27421701e-02, 1.30274743e-01,
 -6.94990057e-05, 4.71703378e-04, 1.73952819e-04, 4.34168253e-05,
  8.56516150e-03,-2.71509623e-03, 0.00000000e+00,-2.48863703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.30501964,  0.30404368,  0.30501964,  1.03671761,
       -0.60798963,  0.30404368, -0.60798963,  1.0406146 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00294169105773219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99583913, -0.02886854,  0.08643516, -0.02876041,  0.99958322,
        0.0024963 , -0.0864712 ,  0.        , -0.99625435])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10877973, -0.08027762,  0.11435045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.51683017, -4.46639179, -0.67312644, -4.46639179,  5.4835304 ,
       -6.41434013, -0.67312644, -6.41434013, 47.07786235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002927023974456794
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48252418e-14,  3.79300967e-13,  1.00000000e+00,  3.59673059e-26,
        1.00000000e+00, -3.79300967e-13, -1.00000000e+00,  0.00000000e+00,
       -9.48252418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08165693, -0.06189957,  0.0619929 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39668129e-05,-2.28258742e-06,-2.04422630e-05,-1.91817365e-06,
  1.11110330e-02, 1.47250039e-01, 7.98820066e-02, 3.08388427e-02,
 -5.58287536e-06, 3.13598477e-05, 6.17589709e-05,-1.26365516e-05,
  6.50089797e-05, 3.79326392e-05,-1.43513406e-05,-9.20536229e-05,
  3.12996029e-07,-2.49967016e-03,-1.21526794e+00, 6.29483293e-04,
  1.17996707e-03, 3.42090254e-06]


--- Step 1204 ---
qpos:
[ 2.76404336e-03,-3.28824371e-03, 1.18544961e-02, 4.17758357e-02,
  9.11575639e-04, 1.59407604e-01,-3.37563899e-02, 1.37810274e-01,
  5.89180105e-03, 1.64718682e-02,-9.38817127e-03, 2.59866067e-02,
  1.25745503e+00,-7.48186105e-04, 9.81616642e-01, 6.38165585e-02,
  9.39979714e-02,-7.02288802e-02, 1.21865688e-01, 9.99981098e-01,
 -2.78487872e-04,-5.82513731e-03,-1.94780410e-03]

qacc:
[   1.05314397,   2.67942021,  -9.15578383,  10.48967452,-151.83300704,
   28.32107787,-146.4021923 , 176.21607351,  -3.55836749,  -4.01021588,
   14.0996961 , -18.02889895,  -1.13152905,   3.10373732,  -1.16854155,
    3.74518161,  -2.32867656,  -0.32227441,   0.70353845, -12.31152326,
  -29.68295775, -72.75707718]

qfrc_actuator:
[ 9.46196534e-04, 1.66798851e-04, 1.49032247e-04, 3.23895060e-05,
  3.29429800e-03, 2.28877405e-01, 1.41579527e-02, 1.31504052e-01,
 -9.06113144e-05, 4.22399878e-04, 2.20411758e-04, 3.43710143e-05,
  8.62385050e-03,-2.60227424e-03, 0.00000000e+00,-2.46801945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.29840668,  0.31053662,  0.29840668,  1.16794925,
       -0.70847699,  0.31053662, -0.70847699,  1.11147636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002949377027201741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99608767, -0.02565755,  0.08456385, -0.02556559,  0.99967079,
        0.00217042, -0.0845917 ,  0.        , -0.9964157 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10864583, -0.08024766,  0.11435727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.50762478,  4.4984177 ,  0.28795731,  4.4984177 ,  4.59828799,
       -1.41632437,  0.28795731, -1.41632437, 26.63319153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028979046916691176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87334249e-13,  3.83112332e-13,  1.00000000e+00,  1.10081294e-25,
        1.00000000e+00, -3.83112332e-13, -1.00000000e+00,  0.00000000e+00,
       -2.87334249e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08165495, -0.06189685,  0.06199297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.35708533e-06, 3.47719202e-06,-4.74260999e-05,-1.09192799e-06,
  1.32169532e-02, 1.53670265e-01, 8.26240821e-02, 3.21628299e-02,
 -2.12620221e-05,-1.95706404e-05, 6.00852435e-05,-5.81497745e-06,
  1.04664585e-04, 1.37166390e-04,-2.06672726e-05, 1.27080269e-05,
 -5.47570715e-05,-3.01134589e-03,-1.21506347e+00, 7.33247934e-04,
  1.11254789e-03, 4.79778675e-06]


--- Step 1205 ---
qpos:
[ 2.78325645e-03,-3.28597657e-03, 1.18546900e-02, 4.17760945e-02,
  6.38891766e-04, 1.60766743e-01,-3.52065253e-02, 1.39783709e-01,
  5.89083074e-03, 1.64707972e-02,-9.38412171e-03, 2.59864922e-02,
  1.25770461e+00,-7.69851553e-04, 9.81856582e-01, 6.38151150e-02,
  9.38629736e-02,-7.02549827e-02, 1.21894476e-01, 9.99970235e-01,
 -4.48895894e-04,-6.68228372e-03,-3.83075534e-03]

qacc:
[ 2.32819505e+00, 3.05909912e+00,-1.59402172e+01, 3.53943790e+01,
 -1.46290227e+02, 5.30681261e+01,-1.95655168e+02, 2.16748460e+02,
  9.10233198e-01,-3.39042695e+00, 1.16346188e+01,-1.43880578e+01,
 -1.22362583e+00, 3.52944381e+00, 8.93919799e+00,-3.05530665e+01,
 -2.40294556e+00,-4.13092262e-02, 6.87512536e-01,-1.40663688e+01,
 -3.18870765e+01,-6.34889962e+01]

qfrc_actuator:
[ 9.59706147e-04, 1.35671211e-04, 1.22706199e-04, 8.58252773e-05,
  3.45786607e-03, 2.32944066e-01, 1.55930550e-02, 1.33050556e-01,
 -8.48501601e-05, 3.93321273e-04, 2.64112530e-04, 2.90362091e-05,
  8.69269319e-03,-2.49066250e-03, 0.00000000e+00,-2.61614587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.29048486,  0.31795925,  0.29048486,  1.4182898 ,
       -0.90227799,  0.31795925, -0.90227799,  1.25498685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029467055917686584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96384211e-01, -2.21567451e-02,  8.20218397e-02, -2.20820519e-02,
        9.99754509e-01,  1.81778324e-03, -8.20419802e-02, -2.16840434e-19,
       -9.96628874e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.108509  , -0.08021562,  0.1143569 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.49509281,  4.49397841, -0.100087  ,  4.49397841,  4.50798129,
        0.57870224, -0.100087  ,  0.57870224, 30.47924068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002857608150821367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08165313, -0.06189485,  0.06199307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36853102e-05,-3.91807662e-05,-3.15416319e-05, 5.19132027e-05,
  1.52687734e-02, 1.59081341e-01, 8.52720789e-02, 3.37837169e-02,
  5.14383040e-06,-2.78845147e-05, 4.68286259e-05,-4.21244405e-06,
  1.60998420e-04, 1.66648574e-04,-1.12225390e-05,-1.50840894e-04,
 -1.39544182e-04,-3.55015734e-03,-1.21482519e+00, 8.41722191e-04,
  1.03627220e-03, 6.55105468e-06]


--- Step 1206 ---
qpos:
[ 2.80248208e-03,-3.28408961e-03, 1.18549229e-02, 4.17766294e-02,
  3.30848075e-04, 1.62119892e-01,-3.66721471e-02, 1.41758722e-01,
  5.88993665e-03, 1.64696582e-02,-9.37994193e-03, 2.59863237e-02,
  1.25795523e+00,-7.90604789e-04, 9.82096456e-01, 6.38115544e-02,
  9.37180651e-02,-7.02803097e-02, 1.21925929e-01, 9.99953883e-01,
 -6.49845140e-04,-7.60717583e-03,-5.82578548e-03]

qacc:
[ 1.17932798e-01,-4.27149283e-02,-1.74139762e+00, 6.73497532e+00,
 -1.40434056e+02, 3.85823626e+01,-1.54755292e+02, 2.08754492e+02,
  6.69948618e-01,-5.66337822e-01, 2.11480524e+00,-3.20564521e+00,
 -6.54257150e-02, 1.17826598e+00, 6.31974226e+00,-2.21897090e+01,
 -2.47766313e+00, 1.93913088e-01, 6.66060934e-01,-1.55161230e+01,
 -3.39235950e+01,-5.59615965e+01]

qfrc_actuator:
[ 9.59966956e-04, 1.16243584e-04, 1.24841959e-04, 9.93865123e-05,
  3.68702591e-03, 2.36281972e-01, 1.70299454e-02, 1.34379090e-01,
 -8.10654388e-05, 3.94316574e-04, 2.70396934e-04, 2.59358031e-05,
  8.74628535e-03,-2.45164710e-03, 0.00000000e+00,-2.72050397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.27295552,  0.33312883,  0.27295552,  1.78680369,
       -1.1111715 ,  0.33312883, -1.1111715 ,  1.34113312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029373536728999304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99671192, -0.01840105,  0.0789098 , -0.01834365,  0.99983069,
        0.00145227, -0.07892316,  0.        , -0.9968807 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836808, -0.08018176,  0.11435071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.48000302,  4.44825597, -0.53239637,  4.44825597,  4.88297894,
        3.3669277 , -0.53239637,  3.3669277 , 32.61121731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028080414591127867
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88431831e-14, -1.97686366e-13,  1.00000000e+00, -1.95399497e-26,
        1.00000000e+00,  1.97686366e-13, -1.00000000e+00,  0.00000000e+00,
       -9.88431831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08165146, -0.06189348,  0.06199319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.28546782e-07,-4.57699055e-05,-8.09531739e-06, 1.17916576e-05,
  1.73275120e-02, 1.62683286e-01, 8.78331252e-02, 3.51565166e-02,
  3.92145287e-06,-5.11491531e-06, 6.11087994e-06,-2.76383481e-06,
  1.85013267e-04, 1.13668606e-04,-2.59860539e-05,-1.15197215e-04,
 -2.59252585e-04,-4.11321153e-03,-1.21454565e+00, 9.54156922e-04,
  9.50458662e-04, 8.77749664e-06]


--- Step 1207 ---
qpos:
[ 2.82121629e-03,-3.28234331e-03, 1.18550956e-02, 4.17769530e-02,
 -1.05578181e-05, 1.63472036e-01,-3.81487483e-02, 1.43737122e-01,
  5.88909476e-03, 1.64687385e-02,-9.37611514e-03, 2.59861157e-02,
  1.25820659e+00,-8.09764596e-04, 9.82335986e-01, 6.38080667e-02,
  9.35630003e-02,-7.03038642e-02, 1.21960005e-01, 9.99931264e-01,
 -8.84556700e-04,-8.60380196e-03,-7.91578501e-03]

qacc:
[  -4.31307347,  -0.44484654,   2.22189587,  -5.69259231,-131.64816916,
   36.25378096,-144.52829803, 218.92026377,   0.44047537,   1.19449122,
   -3.67380126,   3.39694685,  -0.7122779 ,   2.58299373,  -0.64328345,
    1.70799802,  -2.5390736 ,   0.44309146,   0.65580264, -17.03471137,
  -35.95675396, -47.39578458]

qfrc_actuator:
[ 9.34673035e-04, 1.21812957e-04, 1.26006902e-04, 8.93910444e-05,
  3.98670782e-03, 2.39344786e-01, 1.84521148e-02, 1.35840975e-01,
 -7.84827027e-05, 4.13162787e-04, 2.54664906e-04, 2.41754121e-05,
  8.78533971e-03,-2.36722600e-03, 0.00000000e+00,-2.70941379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.24243178,  0.35595838,  0.24243178,  2.1856632 ,
       -1.19526702,  0.35595838, -1.19526702,  1.2447312 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029226972798683127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9970604 , -0.01441965,  0.07525052, -0.01437875,  0.99989603,
        0.0010852 , -0.07525835,  0.        , -0.99716407])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10822294, -0.08014628,  0.11433893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.46309545,  4.34112616, -1.03626474,  4.34112616,  6.15566177,
        7.09050852, -1.03626474,  7.09050852, 34.16669428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002751071115391218
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01780139e-13,  4.03560278e-13,  1.00000000e+00,  8.14304491e-26,
        1.00000000e+00, -4.03560278e-13, -1.00000000e+00,  0.00000000e+00,
       -2.01780139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164993, -0.06189266,  0.06199333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52985405e-05,-2.13251532e-05,-8.92374873e-06,-1.20163185e-05,
  1.93959526e-02, 1.66010020e-01, 9.00267444e-02, 3.65354871e-02,
  2.69386163e-06, 1.71210382e-05,-1.61677887e-05,-1.82868057e-06,
  1.71986286e-04, 1.53193561e-04,-2.72728917e-05, 6.76890022e-07,
 -4.12952062e-04,-4.70177677e-03,-1.21422124e+00, 1.07079419e-03,
  8.55322919e-04, 1.15136520e-05]


--- Step 1208 ---
qpos:
[ 2.83915673e-03,-3.28075469e-03, 1.18549910e-02, 4.17771714e-02,
 -3.83007008e-04, 1.64824945e-01,-3.96315259e-02, 1.45720889e-01,
  5.88863544e-03, 1.64677839e-02,-9.37213946e-03, 2.59858860e-02,
  1.25845827e+00,-8.25989725e-04, 9.82574829e-01, 6.38087044e-02,
  9.33975512e-02,-7.03247360e-02, 1.21996665e-01, 9.99901662e-01,
 -1.15595200e-03,-9.67591765e-03,-1.00850044e-02]

qacc:
[-6.97324496e+00, 3.63943817e-01,-1.13233958e+00,-1.54369739e-01,
 -1.21687010e+02, 2.92128032e+01,-1.24399190e+02, 2.24120586e+02,
  3.34185615e+00,-5.13617656e-01, 1.84511932e+00,-2.42226840e+00,
 -1.88268697e+00, 5.24999992e+00,-1.32784781e+01, 4.54218794e+01,
 -2.59609080e+00, 6.70687597e-01, 6.46270406e-01,-1.83857446e+01,
 -3.78824593e+01,-3.95105755e+01]

qfrc_actuator:
[ 8.94545226e-04, 1.06787829e-04, 1.08920198e-04, 8.33910446e-05,
  4.28759138e-03, 2.42133442e-01, 1.99203973e-02, 1.37291666e-01,
 -5.88749931e-05, 4.06954206e-04, 2.61659401e-04, 2.32259499e-05,
  8.82098659e-03,-2.20334968e-03, 0.00000000e+00,-2.48837666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.20185893,  0.38043727,  0.20185893,  2.75314261,
       -1.23229555,  0.38043727, -1.23229555,  1.08452585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029044038228153548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97417705e-01, -1.02458485e-02,  7.10840589e-02, -1.02199272e-02,
        9.99947510e-01,  7.28354732e-04, -7.10877903e-02, -1.08420217e-19,
       -9.97470063e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1080733 , -0.08010942,  0.11432202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.44493104,  4.17488582, -1.52569338,  4.17488582,  8.29909236,
       10.54647265, -1.52569338, 10.54647265, 33.30414996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002688068019105483
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06509474e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.06509474e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0816485 , -0.06189233,  0.06199349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08608025e-05,-2.94422937e-05,-2.30477383e-05,-7.46378262e-06,
  2.13657137e-02, 1.68813584e-01, 9.20412953e-02, 3.78128374e-02,
  1.96925897e-05,-6.51523105e-08, 8.44189744e-06,-8.17063760e-07,
  1.70427408e-04, 2.38080706e-04,-1.46809650e-05, 2.17002219e-04,
 -6.02469000e-04,-5.30573004e-03,-1.21384635e+00, 1.18939764e-03,
  7.51038622e-04, 1.48469191e-05]


--- Step 1209 ---
qpos:
[ 2.85578687e-03,-3.27974270e-03, 1.18551396e-02, 4.17773336e-02,
 -7.83707081e-04, 1.66190009e-01,-4.11106800e-02, 1.47712675e-01,
  5.88841461e-03, 1.64671188e-02,-9.36877947e-03, 2.59853127e-02,
  1.25870945e+00,-8.36376080e-04, 9.82813870e-01, 6.38092623e-02,
  9.32216299e-02,-7.03420615e-02, 1.22035852e-01, 9.99864460e-01,
 -1.46647385e-03,-1.08263505e-02,-1.23166734e-02]

qacc:
[ -11.4832912 ,  -1.56395921,   4.74649873,  -5.74275899,-110.00761122,
   22.32307715, -89.26158684, 211.10269307,   2.05559294,   1.39191755,
   -2.96354602,  -2.20622322,  -5.12796497,  12.19928535,   0.99436769,
   -1.97552169,  -2.61803534,   0.88659442,   0.63133006, -19.47298349,
  -39.35275725, -31.11611572]

qfrc_actuator:
[ 8.28263354e-04, 6.17266414e-05, 1.16629126e-04, 7.97668211e-05,
  4.65347980e-03, 2.44987018e-01, 2.14159362e-02, 1.38537028e-01,
 -4.71561805e-05, 4.21384468e-04, 2.28671226e-04, 5.00859882e-06,
  8.84394849e-03,-1.86951043e-03, 0.00000000e+00,-2.50050589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.15299028,  0.40258355,  0.15299028,  2.63356787,
       -0.83714659,  0.40258355, -0.83714659,  0.74880679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002657221928911939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97775086e-01, -5.89568782e-03,  6.64087251e-02, -5.88267266e-03,
        9.99982620e-01,  3.91531916e-04, -6.64098793e-02, -5.42101086e-20,
       -9.97792427e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10791896, -0.08007122,  0.11429996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.42597432,  3.95689045, -1.98299438,  3.95689045, 11.08355756,
       13.28462038, -1.98299438, 13.28462038, 30.93426304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002620183115526614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17789724e-13,  2.11859816e-13,  1.00000000e+00,  6.73268723e-26,
        1.00000000e+00, -2.11859816e-13, -1.00000000e+00,  0.00000000e+00,
       -3.17789724e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164717, -0.06189246,  0.06199365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.74597702e-05,-6.67335550e-05,-1.50406914e-06,-5.83381179e-06,
  2.32845162e-02, 1.71593534e-01, 9.38430106e-02, 3.87858214e-02,
  1.22839717e-05, 1.60966022e-05,-3.20261873e-05,-1.79510855e-05,
  1.77132002e-04, 4.25812437e-04, 1.50914450e-05,-2.49536113e-06,
 -8.25945979e-04,-5.92064927e-03,-1.21341650e+00, 1.30900217e-03,
  6.38148036e-04, 1.88337888e-05]


--- Step 1210 ---
qpos:
[ 2.87045797e-03,-3.27917575e-03, 1.18556270e-02, 4.17774281e-02,
 -1.20926677e-03, 1.67578716e-01,-4.25847129e-02, 1.49713207e-01,
  5.88833597e-03, 1.64670168e-02,-9.36631125e-03, 2.59848547e-02,
  1.25895925e+00,-8.37203200e-04, 9.83053176e-01, 6.38080179e-02,
  9.30351306e-02,-7.03549677e-02, 1.22077538e-01, 9.99819138e-01,
 -1.81873985e-03,-1.20581816e-02,-1.45939788e-02]

qacc:
[ -17.17704821,  -1.64151299,   5.3426979 ,  -6.7907637 , -96.25464902,
   34.72525632,-114.49116989, 237.79837243,   1.20282007,   3.4717345 ,
  -11.7899789 ,  14.80184498,  -8.92345693,  20.57844757,   6.62045283,
  -20.74807881,  -2.64451872,   1.10479843,   0.62492196, -20.62100284,
  -40.96129694, -22.69891899]

qfrc_actuator:
[ 7.29370464e-04, 5.23837495e-05, 1.38795695e-04, 7.75611746e-05,
  5.10350131e-03, 2.48098634e-01, 2.29204997e-02, 1.39956187e-01,
 -4.01796488e-05, 4.65640219e-04, 1.90151114e-04, 1.22663601e-05,
  8.84870959e-03,-1.33125560e-03, 0.00000000e+00,-2.59672174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.09606238,  0.41982325,  0.09606238,  4.13552445,
       -0.84773017,  0.41982325, -0.84773017,  0.6246478 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002579002334999016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98121443e-01, -1.37581007e-03,  6.12510509e-02, -1.37322683e-03,
        9.99999054e-01,  8.42698922e-05, -6.12511088e-02,  1.35525272e-20,
       -9.98122388e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10775897, -0.08003163,  0.11427322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.40660841,  3.70202386, -2.39023368,  3.70202386, 14.18546758,
       15.14561953, -2.39023368, 15.14561953, 27.8643336 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002548397322273688
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26741541e-13,  2.17827694e-13,  1.00000000e+00,  7.11733565e-26,
        1.00000000e+00, -2.17827694e-13, -1.00000000e+00,  0.00000000e+00,
       -3.26741541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164591, -0.06189302,  0.06199383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00840776e-04,-4.73359059e-05, 7.96712907e-06,-5.23320134e-06,
  2.51479253e-02, 1.74061699e-01, 9.51635939e-02, 3.97999927e-02,
  7.33752689e-06, 4.58619931e-05,-3.97919245e-05, 6.48478413e-06,
  2.06319328e-04, 6.72613238e-04, 6.24149006e-07,-9.58094872e-05,
 -1.07914007e-03,-6.53111974e-03,-1.21293163e+00, 1.42631036e-03,
  5.18065405e-04, 2.35023875e-05]


--- Step 1211 ---
qpos:
[ 2.88313913e-03,-3.27883420e-03, 1.18559883e-02, 4.17778442e-02,
 -1.65609965e-03, 1.68997598e-01,-4.40513952e-02, 1.51723514e-01,
  5.88834229e-03, 1.64665874e-02,-9.36345401e-03, 2.59848581e-02,
  1.25920733e+00,-8.25743749e-04, 9.83292508e-01, 6.38052996e-02,
  9.28379462e-02,-7.03626826e-02, 1.22121686e-01, 9.99765243e-01,
 -2.21503904e-03,-1.33742885e-02,-1.69021260e-02]

qacc:
[ -17.46647266,   0.75193913,  -4.41086868,  10.27991241, -81.86328808,
   39.16326137,-122.11920962, 254.6780737 ,   0.75898054,  -0.57167383,
   -0.54006058,   8.14694387, -11.35477252,  26.28732045,   5.49502472,
  -16.81464224,  -2.67124697,   1.29785004,   0.61554468, -21.59143132,
  -42.47531073, -15.29195014]

qfrc_actuator:
[ 6.29836448e-04, 4.68182578e-05, 1.33944752e-04, 9.39932280e-05,
  5.61191175e-03, 2.51259962e-01, 2.43920257e-02, 1.41315917e-01,
 -3.60475926e-05, 4.20886087e-04, 2.02092081e-04, 3.44875872e-05,
  8.84797444e-03,-6.58654759e-04, 0.00000000e+00,-2.67062485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002495000165338643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98438817e-01,  3.23307085e-03,  5.57626759e-02,  3.22804031e-03,
        9.99994774e-01, -1.80285624e-04, -5.57629673e-02,  0.00000000e+00,
       -9.98444035e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.107593  , -0.0799914 ,  0.11424357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.38709491,  3.43709039, -2.72635497,  3.43709039, 16.77442316,
       15.61658964, -2.72635497, 15.61658964, 24.0747844 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002473351671167384
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.24436953e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.24436953e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164472, -0.06189397,  0.06199401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02425248e-04,-3.07224243e-05,-1.38516440e-05, 1.45769883e-05,
  2.69002363e-02, 1.76004222e-01, 9.63759325e-02, 4.07182474e-02,
  4.36183587e-06,-2.70713350e-05, 1.67105283e-05, 2.29313932e-05,
  2.74745447e-04, 8.67520408e-04,-1.72760015e-05,-8.07018936e-05,
 -1.35998859e-03,-7.12952919e-03,-1.21238494e+00, 1.53966156e-03,
  3.91406010e-04, 2.89411942e-05]


--- Step 1212 ---
qpos:
[ 2.89418283e-03,-3.27859867e-03, 1.18559298e-02, 4.17788043e-02,
 -2.12634310e-03, 1.70468754e-01,-4.54905590e-02, 1.53747187e-01,
  5.88805348e-03, 1.64657234e-02,-9.36063705e-03, 2.59851720e-02,
  1.25945450e+00,-8.03036449e-04, 9.83531788e-01, 6.38010179e-02,
  9.26259295e-02,-7.03660758e-02, 1.22168585e-01, 9.99701805e-01,
 -2.65061717e-03,-1.47500671e-02,-1.92797830e-02]

qacc:
[-14.3837048 ,  2.18246208,-10.22979367, 20.33567945,-89.36645569,
  19.57208731,-25.28214537,172.68939389, -2.56762308,  0.18243272,
  -2.78633232,  8.53558257, -9.89738959, 23.53050176,  5.5328844 ,
 -17.3862131 , -3.7081021 ,  1.08040408,  0.68780023,-19.60600172,
 -30.14774577,-34.63093768]

qfrc_actuator:
[ 5.48484909e-04, 4.34775826e-05, 1.13212750e-04, 1.21245613e-04,
  6.14396035e-03, 2.54346363e-01, 2.58394512e-02, 1.42067378e-01,
 -5.13744927e-05, 3.76649155e-04, 1.90127723e-04, 4.75421619e-05,
  8.83336949e-03,-8.95236584e-05, 0.00000000e+00,-2.74850021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024064142122762343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98719626e-01,  7.90441323e-03,  4.99662696e-02,  7.89453925e-03,
        9.99968760e-01, -3.94966382e-04, -4.99678307e-02,  0.00000000e+00,
       -9.98750828e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10742074, -0.07995069,  0.11421132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.37508863,  0.4418858 ,  4.3527161 ,  0.4418858 ,  5.84022416,
       -0.14873991,  4.3527161 , -0.14873991,  4.39018864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002425712281441117
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28844747e-13,  2.28844747e-13,  1.00000000e+00,  5.23699180e-26,
        1.00000000e+00, -2.28844747e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28844747e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213568, -0.05612037,  0.06199413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.42812634e-05,-2.28508401e-05,-2.82975141e-05, 2.57401232e-05,
  2.84969028e-02, 1.77544088e-01, 9.74522615e-02, 4.09767626e-02,
 -1.52113773e-05,-5.49572226e-05,-1.47331813e-05, 1.29133307e-05,
  3.45646975e-04, 8.22345850e-04,-2.32276388e-05,-8.59710075e-05,
 -1.66367840e-03,-7.71182109e-03,-1.21177276e+00, 1.64819043e-03,
  2.59086597e-04, 3.51918080e-05]


--- Step 1213 ---
qpos:
[ 2.90416457e-03,-3.27836907e-03, 1.18558510e-02, 4.17796971e-02,
 -2.61680031e-03, 1.72004166e-01,-4.69042336e-02, 1.55783841e-01,
  5.88758300e-03, 1.64648221e-02,-9.35839347e-03, 2.59852810e-02,
  1.25970206e+00,-7.72893905e-04, 9.83771296e-01, 6.37924456e-02,
  9.23998949e-02,-7.03644101e-02, 1.22218205e-01, 9.99628234e-01,
 -3.12826116e-03,-1.61920481e-02,-2.17123142e-02]

qacc:
[-9.32186408e+00,-7.14659230e-02, 5.58549614e-01,-1.71905224e+00,
 -7.67238287e+01, 4.01555229e+01,-7.39938014e+01, 2.08634356e+02,
 -1.60195578e+00, 1.13449966e+00,-3.24604230e+00, 6.37622791e-01,
 -5.98131006e+00, 1.50508132e+01, 1.38418670e+01,-4.66409136e+01,
 -3.50446005e+00, 1.26472845e+00, 6.80058003e-01,-2.08066524e+01,
 -3.34989220e+01,-2.73042360e+01]

qfrc_actuator:
[ 4.96238978e-04, 5.91952063e-05, 1.18801403e-04, 1.19134074e-04,
  6.64758059e-03, 2.57637683e-01, 2.73025662e-02, 1.43209739e-01,
 -6.02780358e-05, 3.86218603e-04, 1.64093855e-04, 3.73103935e-05,
  8.81043169e-03, 2.36123373e-04, 0.00000000e+00,-2.97010107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002311983761106051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98955854e-01,  1.27112304e-02,  4.38819576e-02,  1.26989840e-02,
        9.99919209e-01, -5.57838743e-04, -4.38855031e-02,  0.00000000e+00,
       -9.99036567e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10723756, -0.07990874,  0.11417743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.36155515e+00, -6.98663783e-03, -4.36154955e+00, -6.98663783e-03,
        6.91514384e+00, -4.09051856e-03, -4.36154955e+00, -4.09051856e-03,
        4.36156170e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00023705715985877784
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51251685e-13, -2.34167790e-13,  1.00000000e+00, -8.22518308e-26,
        1.00000000e+00,  2.34167790e-13, -1.00000000e+00,  0.00000000e+00,
       -3.51251685e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215604, -0.05612376,  0.06199427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46553314e-05,-1.87736236e-06,-1.73806501e-06,-3.56965958e-06,
  3.01724715e-02, 1.78181909e-01, 9.75350243e-02, 4.14462973e-02,
 -9.35849378e-06,-2.36614989e-05,-3.87771520e-05,-1.28498685e-05,
  3.67794819e-04, 5.85441626e-04,-2.52293159e-05,-2.30490934e-04,
 -1.98079682e-03,-8.29307569e-03,-1.21129820e+00, 1.75657110e-03,
  1.17500651e-04, 4.07455528e-05]


--- Step 1214 ---
qpos:
[ 2.91344147e-03,-3.27785613e-03, 1.18559406e-02, 4.17808516e-02,
 -3.12236265e-03, 1.73613379e-01,-4.82966899e-02, 1.57833476e-01,
  5.88735398e-03, 1.64640704e-02,-9.35660139e-03, 2.59848883e-02,
  1.25995049e+00,-7.38111952e-04, 9.84010257e-01, 6.37842630e-02,
  9.21599767e-02,-7.03563423e-02, 1.22271685e-01, 9.99544155e-01,
 -3.64829092e-03,-1.77030503e-02,-2.41821028e-02]

qacc:
[  -6.18606365,   0.45548285,  -2.16392028,   6.19237797, -57.04631505,
   64.48547146,-142.28810542, 275.81457451,   2.089037  ,   0.42267259,
    0.89125987,  -8.95577221,  -3.04837614,   8.55223731,  -1.67996363,
    5.41243731,  -3.47091299,   1.60053652,   0.9650368 , -20.75381924,
  -34.98480169, -18.50079764]

qfrc_actuator:
[ 4.61535901e-04, 1.04042762e-04, 1.39950913e-04, 1.35303004e-04,
  7.15806389e-03, 2.61125578e-01, 2.87483641e-02, 1.44972237e-01,
 -4.75703261e-05, 4.10095812e-04, 1.47920130e-04, 1.34980242e-05,
  8.78241025e-03, 4.14993428e-04, 0.00000000e+00,-2.93728471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002214209168927762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99138018e-01,  1.76239418e-02,  3.75848098e-02,  1.76114856e-02,
        9.99844686e-01, -6.62495396e-04, -3.75906481e-02,  1.08420217e-19,
       -9.99293222e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10704349, -0.07986578,  0.11414283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.34652695, -2.84366959, -3.28722372, -2.84366959,  3.72292493,
        0.53945768, -3.28722372,  0.53945768,  3.87985977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023074190167213238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.60865219e-13, -2.40576813e-13,  1.00000000e+00, -8.68158041e-26,
        1.00000000e+00,  2.40576813e-13, -1.00000000e+00,  0.00000000e+00,
       -3.60865219e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0821719 , -0.05612709,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.62611174e-05, 4.32257339e-05, 2.04123703e-05, 1.59568800e-05,
  3.16952078e-02, 1.78414577e-01, 9.77008997e-02, 4.25550315e-02,
  1.24327491e-05, 2.08632545e-06,-2.62982254e-05,-2.64211137e-05,
  3.20141869e-04, 3.92299251e-04,-4.11976793e-05, 1.57903741e-05,
 -2.32655989e-03,-8.87885672e-03,-1.21074440e+00, 1.86492458e-03,
 -3.00671139e-05, 4.71588709e-05]


--- Step 1215 ---
qpos:
[ 2.92222969e-03,-3.27687640e-03, 1.18559236e-02, 4.17818400e-02,
 -3.63795489e-03, 1.75291301e-01,-4.96675336e-02, 1.59897924e-01,
  5.88693410e-03, 1.64635404e-02,-9.35576418e-03, 2.59859653e-02,
  1.26019998e+00,-7.01102023e-04, 9.84248312e-01, 6.37814800e-02,
  9.19059658e-02,-7.03407223e-02, 1.22330334e-01, 9.99449191e-01,
 -4.20884451e-03,-1.92835098e-02,-2.66785857e-02]

qacc:
[  -4.30087756,   0.58104694,  -0.46129582,  -2.60156571, -37.60880768,
   60.30023565,-144.80066856, 312.80327866,  -1.69731911,   5.99032103,
  -27.13293554,  53.92406608,  -0.66936143,   3.09030764, -17.54013121,
   59.64501884,  -3.5231566 ,   1.88803521,   1.2924549 , -19.66905617,
  -35.25061052, -13.24077808]

qfrc_actuator:
[ 4.37426196e-04, 1.30576120e-04, 1.34751170e-04, 1.26632873e-04,
  7.69339450e-03, 2.64341117e-01, 3.01423418e-02, 1.46498036e-01,
 -5.77516067e-05, 4.24633058e-04, 1.02264704e-04, 8.84318691e-05,
  8.75128043e-03, 4.70113770e-04, 0.00000000e+00,-2.64826611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002114474518283546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99260009e-01,  2.26071194e-02,  3.11183761e-02,  2.25961653e-02,
        9.99744426e-01, -7.03676684e-04, -3.11263311e-02,  0.00000000e+00,
       -9.99515458e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1068384 , -0.07982209,  0.11410812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.32757745, -2.85797252, -3.249603  , -2.85797252,  2.64888061,
        1.47638633, -3.249603  ,  1.47638633,  3.0291199 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022246399725241173
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.99057393e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.99057393e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218307, -0.05612939,  0.06199463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51309086e-05, 5.55407599e-05, 6.77737247e-06,-5.80580398e-06,
  3.29874042e-02, 1.77894741e-01, 9.80273874e-02, 4.34268486e-02,
 -9.82262873e-06, 9.15016202e-06,-4.93898735e-05, 7.35971015e-05,
  2.44853915e-04, 2.15152599e-04,-1.83790073e-05, 2.84278815e-04,
 -2.68023321e-03,-9.42962013e-03,-1.21013669e+00, 1.96484360e-03,
 -1.78237897e-04, 5.41763969e-05]


--- Step 1216 ---
qpos:
[ 2.93100536e-03,-3.27567019e-03, 1.18559446e-02, 4.17827379e-02,
 -4.15907829e-03, 1.77028608e-01,-5.10136155e-02, 1.61979569e-01,
  5.88605042e-03, 1.64634809e-02,-9.35562526e-03, 2.59875358e-02,
  1.26045041e+00,-6.63272164e-04, 9.84486345e-01, 6.37807813e-02,
  9.16377523e-02,-7.03168226e-02, 1.22394887e-01, 9.99342901e-01,
 -4.80849671e-03,-2.09342909e-02,-2.91958842e-02]

qacc:
[-1.12810882e-01, 6.46035013e-03, 7.93318810e-01,-2.58705604e+00,
 -2.05434406e+01, 4.40292858e+01,-1.14737683e+02, 3.25872414e+02,
 -4.07458200e+00, 3.59750537e+00,-1.39951990e+01, 2.32928398e+01,
  1.65264471e-01, 7.02202640e-01,-6.31412762e+00, 2.20661310e+01,
 -3.55067431e+00, 2.06993489e+00, 1.47588064e+00,-1.88250753e+01,
 -3.57284456e+01,-1.03242162e+01]

qfrc_actuator:
[ 4.37490933e-04, 1.28071531e-04, 1.31702095e-04, 1.21135128e-04,
  8.20909508e-03, 2.66978257e-01, 3.15140984e-02, 1.47821533e-01,
 -8.13305362e-05, 4.68939648e-04, 7.51094877e-05, 1.14326997e-04,
  8.72888973e-03, 4.69292587e-04, 0.00000000e+00,-2.54799208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002012258088258712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99318476e-01,  2.76384255e-02,  2.44683516e-02,  2.76301443e-02,
        9.99617986e-01, -6.76525155e-04, -2.44777025e-02,  1.08420217e-19,
       -9.99700376e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10662258, -0.07977778,  0.11407305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.30222767, -2.85630674, -3.21724645, -2.85630674,  2.39406159,
        1.6940908 , -3.21724645,  1.6940908 ,  2.79819525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002107718556962901
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31685398e-13, -2.63370795e-13,  1.00000000e+00, -3.46820879e-26,
        1.00000000e+00,  2.63370795e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31685398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218894, -0.05612937,  0.06199491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.35025310e-07, 2.96309577e-05, 9.03551046e-06,-3.00215824e-06,
  3.40060691e-02, 1.77048296e-01, 9.83108553e-02, 4.40045211e-02,
 -2.38589926e-05, 4.23774441e-05,-2.88080298e-05, 2.60078719e-05,
  1.69598903e-04, 1.02631722e-04, 2.24143740e-05, 1.13506740e-04,
 -3.02933430e-03,-9.95003347e-03,-1.20949651e+00, 2.05754194e-03,
 -3.25032323e-04, 6.15121982e-05]


--- Step 1217 ---
qpos:
[ 2.94005821e-03,-3.27420061e-03, 1.18559069e-02, 4.17839104e-02,
 -4.68175322e-03, 1.78817516e-01,-5.23306067e-02, 1.64080731e-01,
  5.88523573e-03, 1.64637455e-02,-9.35519685e-03, 2.59883180e-02,
  1.26070152e+00,-6.25220840e-04, 9.84724346e-01, 6.37819765e-02,
  9.13553507e-02,-7.02842524e-02, 1.22465587e-01, 9.99224780e-01,
 -5.44620629e-03,-2.26564948e-02,-3.17310593e-02]

qacc:
[ 2.42672993e+00, 1.07373362e+00,-4.48973088e+00, 9.14980111e+00,
 -5.66660981e+00, 2.64012884e+01,-7.66363743e+01, 3.26924890e+02,
  6.04761655e-01,-2.00484603e+00, 1.10967593e+01,-2.54407914e+01,
  4.32356736e-01,-2.63536637e-01,-5.78372924e+00, 2.01183188e+01,
 -3.54700095e+00, 2.16760828e+00, 1.53678533e+00,-1.81891739e+01,
 -3.63244210e+01,-8.87861981e+00]

qfrc_actuator:
[ 4.51779663e-04, 1.43703040e-04, 1.29841343e-04, 1.35284270e-04,
  8.71253085e-03, 2.69054919e-01, 3.28607280e-02, 1.48944328e-01,
 -7.70935109e-05, 4.95265116e-04, 9.46850230e-05, 7.56817773e-05,
  8.71171465e-03, 4.53175974e-04, 0.00000000e+00,-2.45329347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.24679214,  0.35294926, -0.24679214,  3.15956379,
        1.90811768,  0.35294926,  1.90811768,  1.76488342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019067369475236039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99309907e-01,  3.27042503e-02,  1.76108531e-02,  3.26991730e-02,
        9.99465073e-01, -5.76258003e-04, -1.76202786e-02,  1.08420217e-19,
       -9.99844751e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10639652, -0.07973287,  0.11403719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.27020716, -2.84369992, -3.18559884, -2.84369992,  2.27982253,
        1.77676377, -3.18559884,  1.77676377,  2.68413708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001948041789705257
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84958729e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.84958729e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218924, -0.05612622,  0.0619953 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42766950e-05, 3.38649395e-05, 5.24333935e-06, 1.56661837e-05,
  3.47873323e-02, 1.76105113e-01, 9.84106913e-02, 4.42620274e-02,
  3.56822214e-06, 4.51729478e-05, 2.56763849e-05,-3.73226581e-05,
  1.05177874e-04, 4.52115487e-05, 1.90246494e-05, 1.02926322e-04,
 -3.37819863e-03,-1.04567767e-02,-1.20881993e+00, 2.14677300e-03,
 -4.72077640e-04, 6.91898635e-05]


--- Step 1218 ---
qpos:
[ 2.94921175e-03,-3.27239731e-03, 1.18561285e-02, 4.17845210e-02,
 -5.20271462e-03, 1.80660650e-01,-5.36148030e-02, 1.66202675e-01,
  5.88482361e-03, 1.64633140e-02,-9.35379000e-03, 2.59887149e-02,
  1.26095311e+00,-5.87325151e-04, 9.84962752e-01, 6.37812947e-02,
  9.10589942e-02,-7.02429958e-02, 1.22542071e-01, 9.99094231e-01,
 -6.12158809e-03,-2.44518185e-02,-3.42834043e-02]

qacc:
[  0.88581703, -1.44351394,  8.15323663,-18.53024974,  6.26735887,
  22.08845068,-61.59263395,326.00596925,  3.55320573, -4.45447395,
  16.16199573,-23.86649148,  0.37640837, -0.51565226,  6.23611631,
 -21.01157303, -3.48874605,  2.17162101,  1.44575487,-17.88982644,
 -37.22345579, -8.54789459]

qfrc_actuator:
[ 4.56565450e-04, 1.70088722e-04, 1.46527868e-04, 1.07634746e-04,
  9.24234583e-03, 2.71453924e-01, 3.41780477e-02, 1.49671214e-01,
 -5.65141851e-05, 4.04244284e-04, 1.23837922e-04, 5.26548296e-05,
  8.70298547e-03, 4.28152600e-04, 0.00000000e+00,-2.55786239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.25601869,  0.34631484, -0.25601869,  2.90817194,
        1.83152978,  0.34631484,  1.83152978,  1.78466055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017971062718620584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99147181e-01,  3.90913945e-02,  1.32955932e-02,  3.90879339e-02,
        9.99235639e-01, -5.20140853e-04, -1.33057636e-02,  1.08420217e-19,
       -9.99911474e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10615984, -0.07967292,  0.11403094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.23315711, -2.8231956 , -3.15423298, -2.8231956 ,  2.22409219,
        1.79821315, -3.15423298,  1.79821315,  2.62366679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017419796860383696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18667041e-13, -3.18667041e-13,  1.00000000e+00, -1.01548683e-25,
        1.00000000e+00,  3.18667041e-13, -1.00000000e+00,  0.00000000e+00,
       -3.18667041e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218406, -0.05611955,  0.0619958 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19850748e-06, 4.69980016e-05, 2.48401815e-05,-2.57206752e-05,
  3.53958080e-02, 1.75871154e-01, 9.82637831e-02, 4.40074162e-02,
  2.06993170e-05,-6.20731393e-05, 4.03443568e-05,-2.09326266e-05,
  6.29214755e-05, 8.80463305e-06, 1.60715314e-05,-9.74070912e-05,
 -3.73132863e-03,-1.09609187e-02,-1.20810381e+00, 2.23508899e-03,
 -6.20742969e-04, 7.72339737e-05]


--- Step 1219 ---
qpos:
[ 2.95731683e-03,-3.27048763e-03, 1.18569493e-02, 4.17844556e-02,
 -5.71887034e-03, 1.82566993e-01,-5.48645533e-02, 1.68345756e-01,
  5.88500637e-03, 1.64621773e-02,-9.35187611e-03, 2.59881775e-02,
  1.26120513e+00,-5.50312403e-04, 9.85200992e-01, 6.37810611e-02,
  9.07489493e-02,-7.01931132e-02, 1.22623864e-01, 9.98950626e-01,
 -6.83418112e-03,-2.63215470e-02,-3.68526337e-02]

qacc:
[ -9.18600081, -2.91024588, 13.46232635,-26.22794057, 17.28036108,
  29.99561991,-74.04779764,335.17753168,  5.21559473, -4.28277153,
  17.84530859,-34.28778888,  1.07623855, -2.17652128, -1.68804569,
   5.33915409, -3.42208399,  2.15648815,  1.32752196,-17.55977321,
 -37.9146599 , -8.43125938]

qfrc_actuator:
[ 4.02457206e-04, 1.67245951e-04, 1.74048227e-04, 7.33852610e-05,
  9.76759127e-03, 2.74147337e-01, 3.54446885e-02, 1.50364515e-01,
 -2.64906506e-05, 3.50222045e-04, 1.40179853e-04, 3.40574141e-06,
  8.68866425e-03, 3.62568415e-04, 0.00000000e+00,-2.53044171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.26618577,  0.33856266, -0.26618577,  3.04377098,
        2.05447758,  0.33856266,  2.05447758,  2.04595098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016848101557582252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99003868e-01,  4.42169875e-02,  6.01082062e-03,  4.42161872e-02,
        9.99021951e-01, -2.66040581e-04, -6.01670526e-03,  0.00000000e+00,
       -9.99981899e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10591384, -0.07962654,  0.11399334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.19442526, -2.80265089, -3.12063315, -2.80265089,  2.18147419,
        1.80783797, -3.12063315,  1.80783797,  2.57080004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001492195360346671
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86004972e-13, -3.72009944e-13,  1.00000000e+00,  6.91956992e-26,
        1.00000000e+00,  3.72009944e-13, -1.00000000e+00,  0.00000000e+00,
        1.86004972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217387, -0.05610947,  0.0619964 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.39497949e-05, 2.73712042e-05, 3.93628788e-05,-3.18853346e-05,
  3.58364168e-02, 1.75798010e-01, 9.78799510e-02, 4.36557442e-02,
  3.05946227e-05,-8.12930845e-05, 7.75129085e-06,-5.09246192e-05,
  2.39662703e-05,-4.93133724e-05,-8.66951747e-06, 2.27981208e-05,
 -4.09582032e-03,-1.14745625e-02,-1.20734027e+00, 2.32527043e-03,
 -7.72830055e-04, 8.57257996e-05]


--- Step 1220 ---
qpos:
[ 2.96471054e-03,-3.26860856e-03, 1.18578816e-02, 4.17847228e-02,
 -6.22575429e-03, 1.84544607e-01,-5.60818408e-02, 1.70510097e-01,
  5.88520252e-03, 1.64608028e-02,-9.34969562e-03, 2.59873562e-02,
  1.26145730e+00,-5.14381754e-04, 9.85439424e-01, 6.37787885e-02,
  9.04251524e-02,-7.01341033e-02, 1.22711377e-01, 9.98793577e-01,
 -7.58204247e-03,-2.82648583e-02,-3.94335033e-02]

qacc:
[-6.23981796e+00, 3.45540836e-01,-2.67248980e+00, 8.24810128e+00,
  3.29120192e+01, 4.62521906e+01,-1.16947063e+02, 3.76699321e+02,
  1.28867919e-01,-1.64417066e+00, 6.60507186e+00,-1.17706066e+01,
  8.64358481e-01,-2.09679768e+00, 6.35756469e+00,-2.20185974e+01,
 -3.43800025e+00, 2.28184801e+00, 1.42992098e+00,-1.64589870e+01,
 -3.75398902e+01,-5.84911731e+00]

qfrc_actuator:
[ 3.67379294e-04, 1.46959952e-04, 1.72119939e-04, 8.87726133e-05,
  1.02685648e-02, 2.76560660e-01, 3.66661530e-02, 1.51774607e-01,
 -2.66591975e-05, 3.71944454e-04, 1.66667861e-04,-7.61552418e-06,
  8.66032373e-03, 2.91189939e-04, 0.00000000e+00,-2.63843317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015713794274730968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98728191e-01,  4.97571427e-02, -8.13801212e-03,  4.97554910e-02,
        9.98761346e-01,  4.05426414e-04,  8.14810480e-03,  0.00000000e+00,
       -9.99966804e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10566136, -0.07957522,  0.11388058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.15757358, -2.79476441, -3.07810169, -2.79476441,  2.12337274,
        1.84695396, -3.07810169,  1.84695396,  2.48063055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012022562291506833
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30862398e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.30862398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0821592 , -0.05609616,  0.06199711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66121807e-05, 1.66163143e-06, 7.43237018e-06, 1.72959093e-05,
  3.60981648e-02, 1.74992993e-01, 9.73672506e-02, 4.40028179e-02,
  6.80155824e-07,-2.42871505e-05, 8.87955682e-06,-1.52296677e-05,
 -2.61381227e-05,-7.68384326e-05,-4.81874554e-06,-1.08662188e-04,
 -4.47250594e-03,-1.19964376e-02,-1.20653183e+00, 2.41721646e-03,
 -9.28439990e-04, 9.46375317e-05]


--- Step 1221 ---
qpos:
[ 2.97266037e-03,-3.26645421e-03, 1.18583814e-02, 4.17855162e-02,
 -6.71912572e-03, 1.86591217e-01,-5.72645949e-02, 1.72697027e-01,
  5.88470535e-03, 1.64593982e-02,-9.34679635e-03, 2.59866947e-02,
  1.26170921e+00,-4.79121590e-04, 9.85678091e-01, 6.37728889e-02,
  9.00874583e-02,-7.00656244e-02, 1.22804869e-01, 9.98622594e-01,
 -8.36338816e-03,-3.02811507e-02,-4.20240354e-02]

qacc:
[ 4.86328935e+00, 2.64822640e+00,-1.11500493e+01, 2.07613914e+01,
  4.75147688e+01, 4.01338102e+01,-1.05101147e+02, 3.86182179e+02,
 -6.02368618e+00,-1.70769274e+00, 5.37636528e+00,-3.75754277e+00,
  1.45731526e-01,-8.11578766e-01, 1.12699642e+01,-3.89834962e+01,
 -3.47431098e+00, 2.36722632e+00, 1.49480954e+00,-1.54724505e+01,
 -3.72671896e+01,-4.90370586e+00]

qfrc_actuator:
[ 3.97059787e-04, 1.69560360e-04, 1.52770534e-04, 1.15451233e-04,
  1.07663394e-02, 2.78612809e-01, 3.79019742e-02, 1.53162381e-01,
 -6.23520720e-05, 4.03422979e-04, 2.17033778e-04, 4.02329678e-06,
  8.62890793e-03, 2.52392485e-04, 0.00000000e+00,-2.82536407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014568416182232531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98368994e-01,  5.48956983e-02, -1.56784383e-02,  5.48889305e-02,
        9.98492094e-01,  8.61978601e-04,  1.57021156e-02,  0.00000000e+00,
       -9.99876714e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10539444, -0.07952768,  0.11384334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.12526175, -2.78085228, -3.04707156, -2.78085228,  2.07516661,
        1.87098059, -3.04707156,  1.87098059,  2.41774666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.660771098605025e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40949294e-13, -1.28189859e-12,  1.00000000e+00,  8.21631996e-25,
        1.00000000e+00,  1.28189859e-12, -1.00000000e+00,  0.00000000e+00,
        6.40949294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213971, -0.05607902,  0.06199792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86302396e-05, 2.56899124e-05,-1.75318226e-05, 2.73368851e-05,
  3.61333140e-02, 1.73420714e-01, 9.69668331e-02, 4.43211755e-02,
 -3.56838580e-05, 1.91055020e-05, 4.59083954e-05, 1.06089048e-05,
 -6.48308819e-05,-6.18129575e-05,-1.89079725e-05,-1.94697349e-04,
 -4.84360802e-03,-1.24887561e-02,-1.20570271e+00, 2.50282930e-03,
 -1.08290182e-03, 1.03695442e-04]


--- Step 1222 ---
qpos:
[ 2.98124872e-03,-3.26428313e-03, 1.18590348e-02, 4.17862702e-02,
 -7.19493585e-03, 1.88713443e-01,-5.84124985e-02, 1.74906926e-01,
  5.88378416e-03, 1.64580811e-02,-9.34364317e-03, 2.59865392e-02,
  1.26196094e+00,-4.44842525e-04, 9.85916424e-01, 6.37664451e-02,
  8.97358073e-02,-6.99874815e-02, 1.22904386e-01, 9.98437159e-01,
 -9.17652293e-03,-3.23697633e-02,-4.46231993e-02]

qacc:
[   5.60901427,  -0.49942579,   1.96008152,  -2.879852  ,  61.02052029,
   48.648077  ,-124.30521178, 406.1652772 ,  -3.69143252,   0.45494724,
   -3.57875396,  11.85381359,   0.63418663,  -1.79097245,   1.08501268,
   -4.66423212,  -3.48919777,   2.41600442,   1.50619716, -14.54423918,
  -36.96107633,  -4.43482135]

qfrc_actuator:
[ 4.29107107e-04, 1.64341060e-04, 1.58973079e-04, 1.13072658e-04,
  1.12719979e-02, 2.81114372e-01, 3.90780959e-02, 1.54438167e-01,
 -8.31529465e-05, 4.05137334e-04, 2.27909726e-04, 2.89278991e-05,
  8.61165429e-03, 1.97659606e-04, 0.00000000e+00,-2.84422340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013413484793600378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99792316,  0.06003764, -0.02334177,  0.06002123,  0.99819611,
        0.00140392,  0.02338395,  0.        , -0.99972656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10511673, -0.07947944,  0.11380661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10136721, -2.77066852, -3.02400544, -2.77066852,  2.04060921,
        1.8881174 , -3.02400544,  1.8881174 ,  2.37142738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7911415025164716e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89655144e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.89655144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211515, -0.05605756,  0.06199885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28638144e-05, 6.59542191e-06, 1.02533826e-05,-1.36307407e-06,
  3.59640721e-02, 1.72408626e-01, 9.64019445e-02, 4.44607448e-02,
 -2.18210034e-05, 2.23403213e-05, 2.08290495e-05, 2.75178270e-05,
 -6.98853664e-05,-8.33064613e-05,-3.51444226e-05,-3.32418098e-05,
 -5.21442146e-03,-1.29662956e-02,-1.20485228e+00, 2.58550681e-03,
 -1.23771976e-03, 1.12881633e-04]


--- Step 1223 ---
qpos:
[ 2.98946466e-03,-3.26210573e-03, 1.18597979e-02, 4.17866488e-02,
 -7.64922274e-03, 1.90917219e-01,-5.95252252e-02, 1.77140123e-01,
  5.88296552e-03, 1.64567736e-02,-9.34113756e-03, 2.59867569e-02,
  1.26221241e+00,-4.11705483e-04, 9.86154611e-01, 6.37590942e-02,
  8.93701063e-02,-6.98995309e-02, 1.23009951e-01, 9.98236716e-01,
 -1.00195959e-02,-3.45297546e-02,-4.72309539e-02]

qacc:
[  -3.26560688,  -1.06576864,   5.40603591, -12.09143984,  73.87902598,
   56.13194168,-140.95021558, 423.25124822,   0.87429956,   2.58879206,
  -10.79028916,  18.27829417,   0.68910202,  -2.01778378,   2.45049575,
   -9.05475408,  -3.5125244 ,   2.45192991,   1.51198251, -13.56106949,
  -36.5051671 ,  -4.46656802]

qfrc_actuator:
[ 4.09011787e-04, 1.60331012e-04, 1.62341145e-04, 9.36149613e-05,
  1.17551802e-02, 2.83762602e-01, 4.02220200e-02, 1.55761613e-01,
 -7.72579469e-05, 3.71135046e-04, 1.79763778e-04, 4.36291971e-05,
  8.58692457e-03, 1.33944279e-04, 0.00000000e+00,-2.88814019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012256245692674572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99738867,  0.06518002, -0.03110321,  0.06514835,  0.99787352,
        0.00203163,  0.03116949,  0.        , -0.99951411])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482784, -0.07943047,  0.11377086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09097803, -2.76623689, -3.01397325, -2.76623689,  2.01336449,
        1.90684215, -3.01397325,  1.90684215,  2.34087056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8944975744859e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13806082e-11,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13806082e-11, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08208542, -0.05603148,  0.06199991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91650342e-05, 1.63393369e-06, 5.90128281e-06,-1.88579401e-05,
  3.55697573e-02, 1.71209068e-01, 9.57877050e-02, 4.46287229e-02,
  5.27432401e-06,-1.60270293e-05,-4.00347510e-05, 1.69119024e-05,
 -8.51301549e-05,-9.82277009e-05,-2.28859275e-05,-5.09794515e-05,
 -5.58702841e-03,-1.34323112e-02,-1.20398248e+00, 2.66613275e-03,
 -1.39336944e-03, 1.22164507e-04]


--- Step 1224 ---
qpos:
[ 2.99703090e-03,-3.25963172e-03, 1.18604664e-02, 4.17867679e-02,
 -8.00951290e-03, 1.93291900e-01,-6.05402476e-02, 1.79393024e-01,
  5.88222333e-03, 1.64558458e-02,-9.33912028e-03, 2.59870909e-02,
  1.26246354e+00,-3.79811408e-04, 9.86392307e-01, 6.37539136e-02,
  8.89688226e-02,-6.97818317e-02, 1.23097797e-01, 9.98028823e-01,
 -1.08028395e-02,-3.66258839e-02,-4.98027256e-02]

qacc:
[-5.71091455e+00, 1.32861449e-01, 1.20909276e+00,-5.78706845e+00,
  3.19095670e+02,-6.46173933e+00, 2.65563736e+02,-1.99968687e+02,
  6.45056872e-01, 2.10505830e+00,-7.27097247e+00, 9.78833306e+00,
  8.84806235e-01,-2.43900551e+00,-7.36134023e+00, 2.44982539e+01,
 -8.89567114e+00, 7.43712160e+00,-4.42965036e+00, 2.89377752e+01,
  3.29788459e+01, 1.70709917e+01]

qfrc_actuator:
[ 3.76139029e-04, 1.92555500e-04, 1.63990870e-04, 8.20140710e-05,
  1.21961378e-02, 2.85823559e-01, 4.13678643e-02, 1.56500550e-01,
 -7.34550268e-05, 4.22261472e-04, 1.68015129e-04, 5.21390510e-05,
  8.55772164e-03, 6.53928497e-05, 0.00000000e+00,-2.76898463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.32354779, -0.28424702,  0.32354779,  0.35875082,
       -0.08186674, -0.28424702, -0.08186674,  0.33748749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001110368415874858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99702977,  0.0672089 , -0.0376112 ,  0.06716113,  0.99773893,
        0.00253354,  0.03769643,  0.        , -0.99928924])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10452392, -0.07941625,  0.11375174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34253014e-05, 3.34279998e-05, 2.01866450e-06,-1.17020054e-05,
  3.49349158e-02, 1.69122298e-01, 9.51577056e-02, 4.41953860e-02,
  3.94788918e-06, 3.46358324e-05,-1.94207592e-05, 6.76337997e-06,
 -1.01791311e-04,-1.09918040e-04,-2.00260945e-05, 1.12500268e-04,
 -5.96234875e-03,-1.38895554e-02,-1.20309864e+00, 2.74548556e-03,
 -1.55005924e-03, 1.31469759e-04]


--- Step 1225 ---
qpos:
[ 3.00448892e-03,-3.25680263e-03, 1.18607951e-02, 4.17871013e-02,
 -8.26779894e-03, 1.95809480e-01,-6.14933872e-02, 1.81662690e-01,
  5.88153224e-03, 1.64554845e-02,-9.33688063e-03, 2.59877947e-02,
  1.26271427e+00,-3.49251159e-04, 9.86629426e-01, 6.37535018e-02,
  8.85334426e-02,-6.96394051e-02, 1.23169838e-01, 9.97812691e-01,
 -1.15396923e-02,-3.86649840e-02,-5.23611417e-02]

qacc:
[ -0.96648862,  1.86324538, -6.86293709, 10.84956019,341.29367667,
  49.62155763, 25.30260338, 62.32681861,  0.44324578,  0.88734326,
  -3.6400389 ,  9.26752657,  1.0692876 , -2.81633646,-15.34834632,
  52.2213238 , -8.52408172,  6.18188704, -3.95150206, 21.92976814,
  29.39069981,  5.9180183 ]

qfrc_actuator:
[ 3.71531336e-04, 2.10722614e-04, 1.47017445e-04, 9.29142531e-05,
  1.25839356e-02, 2.87747474e-01, 4.23850047e-02, 1.57380129e-01,
 -7.09222634e-05, 4.88585851e-04, 1.95957297e-04, 7.47941389e-05,
  8.53117810e-03,-5.50249044e-06, 0.00000000e+00,-2.51919482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43040851,  0.27924071, -0.32753031,  0.27924071,  0.27400597,
       -0.13334325, -0.32753031, -0.13334325,  0.31672479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000982903857497843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9963459 ,  0.072228  , -0.04558469,  0.07215252,  0.99738815,
        0.00330111,  0.04570406,  0.        , -0.99895502])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10419054, -0.07936517,  0.11372106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55625110e-06, 3.66424791e-05,-1.02684357e-05, 1.21667759e-05,
  3.06201563e-02, 1.62423018e-01, 9.12696543e-02, 4.40814019e-02,
  2.65770454e-06, 8.19794454e-05, 3.29242135e-05, 2.35955430e-05,
 -1.11118210e-04,-1.18877162e-04, 5.27916895e-08, 2.52747242e-04,
 -5.58728015e-03,-1.32576869e-02,-1.20400366e+00, 2.58520774e-03,
 -1.55012828e-03, 1.21789705e-04]


--- Step 1226 ---
qpos:
[ 3.01183333e-03,-3.25367340e-03, 1.18606053e-02, 4.17882728e-02,
 -8.42582443e-03, 1.98442745e-01,-6.24003872e-02, 1.83950083e-01,
  5.88087672e-03, 1.64560044e-02,-9.33476550e-03, 2.59887464e-02,
  1.26296462e+00,-3.20331682e-04, 9.86866388e-01, 6.37567303e-02,
  8.80650003e-02,-6.94771509e-02, 1.23227454e-01, 9.97587179e-01,
 -1.22429128e-02,-4.06522374e-02,-5.49301996e-02]

qacc:
[-1.01817111e+00, 3.57551677e+00,-1.57039581e+01, 3.08080351e+01,
  3.30513732e+02, 5.91725827e+01,-6.43438504e+01, 2.11187368e+02,
  2.91477405e-01, 2.02269148e+00,-6.57028084e+00, 1.04140346e+01,
  1.24598147e+00,-3.31119870e+00,-1.13381382e+01, 3.90530863e+01,
 -8.26556502e+00, 4.95689437e+00,-3.60601548e+00, 1.51621606e+01,
  2.66273015e+01,-5.90583018e+00]

qfrc_actuator:
[ 3.65848440e-04, 2.20278203e-04, 1.19153229e-04, 1.34697674e-04,
  1.28764789e-02, 2.89886110e-01, 4.33394150e-02, 1.58410161e-01,
 -6.91568328e-05, 5.45937764e-04, 1.93940682e-04, 8.78838892e-05,
  8.50092113e-03,-9.49687620e-05, 0.00000000e+00,-2.33651227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40824997,  0.21729449, -0.34561704,  0.21729449,  0.20245509,
       -0.12938625, -0.34561704, -0.12938625,  0.32690294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008386983450689866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99556217,  0.07718943, -0.05383081,  0.07707684,  0.99701645,
        0.0041676 ,  0.0539919 ,  0.        , -0.99854137])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382805, -0.07931127,  0.11369099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.83785041e-06, 2.83136803e-05,-2.11843785e-05, 4.32255270e-05,
  2.58077713e-02, 1.57333019e-01, 8.91074882e-02, 4.42644492e-02,
  1.86918952e-06, 1.10991498e-04, 1.97647644e-05, 1.81953286e-05,
 -1.21798881e-04,-1.41832236e-04, 2.44909077e-05, 1.95934525e-04,
 -5.34327387e-03,-1.27971673e-02,-1.20475788e+00, 2.46486573e-03,
 -1.58091740e-03, 1.14388676e-04]


--- Step 1227 ---
qpos:
[ 3.01939759e-03,-3.25082360e-03, 1.18608910e-02, 4.17899416e-02,
 -8.49186383e-03, 2.01179779e-01,-6.32557308e-02, 1.86258107e-01,
  5.87955771e-03, 1.64576191e-02,-9.33333814e-03, 2.59895137e-02,
  1.26321495e+00,-2.94178256e-04, 9.87103611e-01, 6.37604643e-02,
  8.75646823e-02,-6.92995074e-02, 1.23271086e-01, 9.97351065e-01,
 -1.29233750e-02,-4.25921161e-02,-5.75304294e-02]

qacc:
[ 1.94968866e+00,-6.77549264e-01,-2.24144113e-01, 8.27935642e+00,
  2.98660336e+02, 3.41192348e+01,-1.00413982e+01, 2.07451925e+02,
 -5.82693523e+00, 3.00079315e+00,-7.80112292e+00, 4.87964216e+00,
  2.23561461e+00,-5.54792503e+00,-1.35040314e+00, 4.79346431e+00,
 -7.96892984e+00, 3.84731033e+00,-3.49603919e+00, 9.35202838e+00,
  2.42306004e+01,-1.60121543e+01]

qfrc_actuator:
[ 3.77321735e-04, 1.89074520e-04, 1.38326898e-04, 1.58796278e-04,
  1.30550588e-02, 2.91573301e-01, 4.42294248e-02, 1.59007972e-01,
 -1.03361972e-04, 5.97364846e-04, 1.56454110e-04, 7.74555948e-05,
  8.48442644e-03,-2.47995012e-04, 0.00000000e+00,-2.31914156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35119563,  0.14641144, -0.31922103,  0.14641144,  0.14554445,
       -0.09432238, -0.31922103, -0.09432238,  0.30793447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006739744316077517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99443563,  0.08579142, -0.06113603,  0.08562975,  0.99631312,
        0.00526436,  0.06136226,  0.        , -0.99811556])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344131, -0.0792111 ,  0.11367452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13059766e-05,-1.80337958e-05, 2.38642031e-05, 2.54094753e-05,
  2.09674893e-02, 1.53147754e-01, 8.76661959e-02, 4.39668382e-02,
 -3.41103923e-05, 1.18309529e-04,-1.15294051e-05,-4.64205615e-06,
 -1.19397622e-04,-2.12967340e-04, 2.78402698e-05, 3.02218685e-05,
 -5.22270728e-03,-1.24911363e-02,-1.20539486e+00, 2.38081903e-03,
 -1.64045904e-03, 1.08951706e-04]


--- Step 1228 ---
qpos:
[ 3.02635056e-03,-3.24836837e-03, 1.18615590e-02, 4.17912171e-02,
 -8.47585038e-03, 2.04010631e-01,-6.40537800e-02, 1.88589869e-01,
  5.87749465e-03, 1.64598156e-02,-9.33245553e-03, 2.59902069e-02,
  1.26346518e+00,-2.70953574e-04, 9.87340847e-01, 6.37650802e-02,
  8.70335365e-02,-6.91104760e-02, 1.23300423e-01, 9.97102984e-01,
 -1.35903790e-02,-4.44877339e-02,-6.01812458e-02]

qacc:
[ -5.34687308, -2.39083952,  9.4443081 ,-16.58859296,262.21733661,
  11.73013157, 37.70930387,212.05245854, -6.51628321,  2.15162791,
  -6.22141716,  5.35821259,  2.34226188, -5.86271088, -2.86267115,
   9.52871906, -7.70695176,  2.84698139, -3.57379976,  4.28352197,
  22.53103651,-25.57125383]

qfrc_actuator:
[ 3.45542839e-04, 1.51627406e-04, 1.49431581e-04, 1.36784337e-04,
  1.31156781e-02, 2.92404936e-01, 4.50568217e-02, 1.59389713e-01,
 -1.40711988e-04, 5.91413019e-04, 1.16051254e-04, 7.10024023e-05,
  8.46551904e-03,-4.01870397e-04, 0.00000000e+00,-2.27501065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27528061,  0.08460428, -0.26195711,  0.08460428,  0.1024499 ,
       -0.05581913, -0.26195711, -0.05581913,  0.25725271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004891094855712062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9934084 ,  0.09068206, -0.07011783,  0.09045702,  0.99587989,
        0.00638474,  0.07040792,  0.        , -0.99751828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302681, -0.07914994,  0.11364087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14748532e-05,-4.16442305e-05, 1.11497119e-05,-2.14766765e-05,
  1.64226456e-02, 1.48698734e-01, 8.58847321e-02, 4.33076574e-02,
 -3.82791408e-05, 5.75341455e-05,-1.75823606e-05,-1.87973592e-06,
 -1.37273371e-04,-2.28631507e-04, 1.03653335e-05, 4.80188625e-05,
 -5.20522743e-03,-1.23077336e-02,-1.20593735e+00, 2.32594740e-03,
 -1.72359028e-03, 1.05110146e-04]


--- Step 1229 ---
qpos:
[ 3.03252337e-03,-3.24596280e-03, 1.18622577e-02, 4.17918538e-02,
 -8.38985967e-03, 2.06921034e-01,-6.48054473e-02, 1.90947273e-01,
  5.87534477e-03, 1.64623654e-02,-9.33168761e-03, 2.59908177e-02,
  1.26371505e+00,-2.50367366e-04, 9.87578463e-01, 6.37671806e-02,
  8.64720990e-02,-6.89134703e-02, 1.23315075e-01, 9.96841460e-01,
 -1.42517686e-02,-4.63408097e-02,-6.29008709e-02]

qacc:
[-6.84626683e+00,-1.45448860e+00, 7.80785645e+00,-1.88960779e+01,
  2.19854730e+02, 2.68331560e+01,-5.07306479e+01, 3.58467168e+02,
 -7.66827299e-01, 6.19173801e-01,-1.17925847e+00,-3.28032293e-01,
  1.70172103e+00,-4.74003276e+00, 7.98226910e+00,-2.75141236e+01,
 -7.57290821e+00, 1.99357412e+00,-3.67123645e+00,-1.02999988e-01,
  2.15468753e+01,-3.45450395e+01]

qfrc_actuator:
[ 3.06308451e-04, 1.63919055e-04, 1.55597723e-04, 1.05550282e-04,
  1.30786600e-02, 2.93259764e-01, 4.58381029e-02, 1.60127525e-01,
 -1.44097708e-04, 6.04366924e-04, 1.09535982e-04, 6.68976189e-05,
  8.43452002e-03,-5.37233518e-04, 0.00000000e+00,-2.41068141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22386124,  0.04505672, -0.21928006,  0.04505672,  0.07340552,
       -0.03091499, -0.21928006, -0.03091499,  0.21750896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002838148714821197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92246250e-01,  9.56164230e-02, -7.94032709e-02,  9.53117313e-02,
        9.95418254e-01,  7.62720265e-03,  7.97687511e-02, -8.67361738e-19,
       -9.96813396e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1025875 , -0.07908431,  0.11360548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01537182e-05,-9.74536371e-06,-1.85072266e-06,-3.30600192e-05,
  1.22767829e-02, 1.44766662e-01, 8.37735686e-02, 4.28487552e-02,
 -4.45415182e-06, 4.13036276e-05, 3.10039837e-06,-2.29137763e-06,
 -1.63495058e-04,-2.17598316e-04, 5.21841214e-06,-1.32824973e-04,
 -5.27938315e-03,-1.22249204e-02,-1.20640990e+00, 2.29539549e-03,
 -1.82766909e-03, 1.02536212e-04]


--- Step 1230 ---
qpos:
[ 3.03886730e-03,-3.24350290e-03, 1.18630104e-02, 4.17910598e-02,
 -8.24864160e-03, 2.09885402e-01,-6.55315334e-02, 1.93332176e-01,
  5.87317078e-03, 1.64653765e-02,-9.33135883e-03, 2.59917283e-02,
  1.26396435e+00,-2.31966638e-04, 9.87816167e-01, 6.37669809e-02,
  8.58801987e-02,-6.87111499e-02, 1.23314845e-01, 9.96564958e-01,
 -1.49137718e-02,-4.81514950e-02,-6.57061377e-02]

qacc:
[ 1.50188692e+00,-3.03101129e+00, 1.69408704e+01,-4.18159532e+01,
  1.70458104e+02, 5.41762457e+01,-2.03865526e+02, 5.90964195e+02,
 -2.31595808e-01, 2.45468316e+00,-9.13304923e+00, 1.46841161e+01,
  1.20968320e+00,-3.71173665e+00, 6.94090572e+00,-2.44016985e+01,
 -7.61571975e+00, 1.32867815e+00,-3.72042231e+00,-3.73014088e+00,
  2.13722260e+01,-4.28405110e+01]

qfrc_actuator:
[ 3.16272055e-04, 1.70361618e-04, 1.58999531e-04, 3.36804862e-05,
  1.29978192e-02, 2.94247269e-01, 4.65797093e-02, 1.61546902e-01,
 -1.45217097e-04, 6.28659990e-04, 8.76358289e-05, 8.19925749e-05,
  8.40694493e-03,-6.42855421e-04, 0.00000000e+00,-2.52691990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20471552,  0.02229635, -0.20349771,  0.02229635,  0.05608775,
       -0.01628449, -0.20349771, -0.01628449,  0.2029313 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.597181458337191e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9909351 ,  0.10062012, -0.08901248,  0.10021662,  0.99492492,
        0.00900213,  0.08946653,  0.        , -0.99598983])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212477, -0.07901379,  0.11356722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80946188e-06,-9.35735944e-07,-2.54856058e-08,-7.30027250e-05,
  8.69119351e-03, 1.41677385e-01, 8.21668578e-02, 4.29760181e-02,
 -1.22371144e-06, 4.78215100e-05,-1.31079044e-05, 1.69186737e-05,
 -1.73083153e-04,-1.91305200e-04,-1.82658021e-05,-1.24343029e-04,
 -5.43603789e-03,-1.22210898e-02,-1.20683390e+00, 2.28445602e-03,
 -1.95073650e-03, 1.00941050e-04]


--- Step 1231 ---
qpos:
[ 3.04528106e-03,-3.24132258e-03, 1.18639251e-02, 4.17894463e-02,
 -8.00204327e-03, 2.13711174e-01,-6.54331619e-02, 1.96393655e-01,
  5.87065598e-03, 1.64682744e-02,-9.33103455e-03, 2.59925114e-02,
  1.26421293e+00,-2.15139108e-04, 9.88053668e-01, 6.37660335e-02,
  8.52882955e-02,-6.85089530e-02, 1.23275673e-01, 9.96276865e-01,
 -1.55686010e-02,-4.99655770e-02,-6.85088961e-02]

qacc:
[ 6.22414766e-01,-2.51268354e+00, 1.18768904e+01,-2.61054983e+01,
  3.23388457e+02, 1.91275187e+02,-1.84011706e+03, 1.14470182e+04,
 -2.97069702e+00,-3.93476983e-01, 1.73418334e+00,-3.86021858e+00,
  6.86862717e-01,-2.50836504e+00, 1.87599100e+00,-7.19074479e+00,
 -7.16136081e-04,-3.08712322e-02,-9.73580557e+00, 3.66022862e+00,
 -1.75464373e+00, 6.70936008e-01]

qfrc_actuator:
[ 3.19609976e-04, 1.37705330e-04, 1.60707180e-04,-8.26529329e-06,
  1.28596910e-02, 2.95361404e-01, 4.73175115e-02, 1.63398609e-01,
 -1.62757307e-04, 5.88496767e-04, 7.46277095e-05, 7.27527486e-05,
  8.38145516e-03,-7.12277566e-04, 0.00000000e+00,-2.55969783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.58313040e-06,-3.64250426e-05,-1.05753570e-06,-4.34148544e-05,
  5.78665957e-03, 1.39991831e-01, 8.15953227e-02, 4.34426048e-02,
 -1.75487325e-05,-1.55259412e-05,-4.20230341e-06,-7.32461170e-06,
 -1.70654521e-04,-1.51433191e-04,-2.70963290e-05,-4.31722879e-05,
 -5.66520402e-03,-1.22729751e-02,-1.20723041e+00, 2.28807803e-03,
 -2.09080071e-03, 1.00028303e-04]


--- Step 1232 ---
qpos:
[ 3.05134031e-03,-3.23980499e-03, 1.18650057e-02, 4.17880830e-02,
 -7.75138572e-03, 2.18224783e-01,-6.50393127e-02, 1.99546543e-01,
  5.86829588e-03, 1.64707081e-02,-9.33090992e-03, 2.59925473e-02,
  1.26446087e+00,-1.99753921e-04, 9.88291033e-01, 6.37643200e-02,
  8.47217981e-02,-6.83327512e-02, 1.23255387e-01, 9.95957463e-01,
 -1.62629826e-02,-5.19315297e-02,-7.14658234e-02]

qacc:
[-3.09495463e+00,-8.18637241e-01, 6.03478304e-01, 3.93441253e+00,
  1.12528501e+01, 2.69211704e+02,-2.49468160e+01, 6.25105934e+02,
  1.35034760e+00,-1.59678467e+00, 7.95422489e+00,-2.02234486e+01,
  6.39311815e-01,-2.30567262e+00, 2.03418262e+00,-7.58920099e+00,
  6.35143207e+00,-6.49877566e+00, 4.72183203e+00,-1.85956995e+01,
 -7.65899249e+01,-7.80644571e+01]

qfrc_actuator:
[ 3.01252687e-04, 8.19019176e-05, 1.61268726e-04, 3.20957126e-06,
  1.26149466e-02, 2.96343833e-01, 4.72084171e-02, 1.64121781e-01,
 -1.54318392e-04, 5.27802264e-04, 4.89431913e-05, 3.14667843e-05,
  8.36257760e-03,-7.77470578e-04, 0.00000000e+00,-2.59628965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.1030117 , -2.13424424, -3.50424121, -2.13424424,  6.93634505,
       -1.72563047, -3.50424121, -1.72563047,  5.1540001 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.153156749300447e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38613067e-13, -1.07722613e-12,  1.00000000e+00,  5.80208072e-25,
        1.00000000e+00,  1.07722613e-12, -1.00000000e+00,  0.00000000e+00,
        5.38613067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177795, -0.04613552,  0.06199877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82736397e-05,-7.83555734e-05,-8.63403738e-06, 9.02814899e-06,
  2.54098718e-04, 9.77711792e-02, 4.02217662e-02, 1.03160048e-02,
  7.94058264e-06,-7.06831975e-05,-2.97039530e-05,-4.22479679e-05,
 -1.53281991e-04,-1.37923961e-04,-2.14573477e-05,-4.34295074e-05,
 -5.71718870e-03,-1.22525964e-02,-1.20721904e+00, 2.27268355e-03,
 -2.17133120e-03, 1.00242541e-04]


--- Step 1233 ---
qpos:
[ 3.05678720e-03,-3.23867626e-03, 1.18662737e-02, 4.17868309e-02,
 -7.50487682e-03, 2.23195367e-01,-6.44750896e-02, 2.02737680e-01,
  5.86605513e-03, 1.64728630e-02,-9.33118963e-03, 2.59924245e-02,
  1.26470808e+00,-1.85175416e-04, 9.88527799e-01, 6.37658287e-02,
  8.41752226e-02,-6.81778517e-02, 1.23249883e-01, 9.95608586e-01,
 -1.69778842e-02,-5.40174363e-02,-7.45480423e-02]

qacc:
[ -5.36223981, -0.79796859,  1.64809138,  0.24416451,-12.64503696,
 206.04696938,-20.04684165, 75.41639396,  1.03298838,  0.43335247,
  -1.4137947 , -0.47459114,  0.30975155, -1.35747104,-10.65116124,
  35.88265933,  4.980506  , -5.32558422,  3.6953265 , -9.42529652,
 -60.21459181,-63.88881458]

qfrc_actuator:
[ 2.70274691e-04, 8.37157277e-05, 1.78826409e-04, 1.04897504e-05,
  1.23654014e-02, 2.97147256e-01, 4.67903815e-02, 1.64003047e-01,
 -1.48403817e-04, 5.26195916e-04, 3.36024181e-05, 2.48819395e-05,
  8.34768616e-03,-8.04122423e-04, 0.00000000e+00,-2.42182075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.15237174, 2.27298324, 3.4750163 , 2.27298324, 3.78896874,
       0.23769929, 3.4750163 , 0.23769929, 3.99689433, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011550490463035912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.8059562e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.8059562e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08158788, -0.04604003,  0.06199724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15315327e-05,-4.34894922e-05, 5.89183798e-07, 3.79759745e-06,
 -2.05924252e-04, 6.40158632e-02, 2.49727200e-02, 5.60398041e-03,
  6.12832721e-06,-4.91734552e-05,-3.50945910e-05,-1.14705017e-05,
 -1.36045175e-04,-9.23908033e-05,-1.90841695e-05, 1.68295142e-04,
 -6.56816829e-03,-1.39727933e-02,-1.20565230e+00, 2.65171934e-03,
 -2.40248754e-03, 1.12235860e-04]


--- Step 1234 ---
qpos:
[ 3.06112998e-03,-3.23753477e-03, 1.18678074e-02, 4.17859628e-02,
 -7.26346418e-03, 2.28456538e-01,-6.38038536e-02, 2.05962469e-01,
  5.86355800e-03, 1.64745612e-02,-9.33080634e-03, 2.59925170e-02,
  1.26495449e+00,-1.70883266e-04, 9.88764078e-01, 6.37720471e-02,
  8.36442163e-02,-6.80405023e-02, 1.23255740e-01, 9.95231720e-01,
 -1.76983375e-02,-5.61981429e-02,-7.77326277e-02]

qacc:
[-9.68275807e+00, 8.44735641e-02,-1.86375596e+00, 8.03770294e+00,
 -1.46219878e+01, 1.52966850e+02,-1.28979533e+02, 3.22751563e+02,
 -2.20736879e+00,-2.00935828e+00, 5.38757401e+00,-2.39504878e+00,
 -8.91732096e-02,-3.80496460e-01,-1.49358223e+01, 5.12056463e+01,
  3.89227430e+00,-4.38753538e+00, 2.84053404e+00,-2.23254651e+00,
 -4.72861202e+01,-5.26570367e+01]

qfrc_actuator:
[ 2.14371291e-04, 1.20091109e-04, 2.06494049e-04, 3.30445345e-05,
  1.21018073e-02, 2.96893617e-01, 4.62293992e-02, 1.64372161e-01,
 -1.61783020e-04, 5.24537374e-04, 7.80103440e-05, 3.88278520e-05,
  8.32456490e-03,-8.07708290e-04, 0.00000000e+00,-2.17765512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.21784631, 2.32198964, 3.52116338, 2.32198964, 3.84925851,
       0.24306087, 3.52116338, 0.24306087, 4.05756268, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001648256734712028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.36787043e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.36787043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143699, -0.0459663 ,  0.06199606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.68215338e-05, 1.22592184e-05, 1.88591536e-05, 2.07839072e-05,
 -2.66482178e-04, 4.07269652e-02, 1.58266541e-02, 4.03753440e-03,
 -1.32122856e-05,-3.69769156e-05, 2.95067402e-05, 1.03964749e-05,
 -1.23248883e-04,-5.55576130e-05, 6.42283981e-06, 2.50292830e-04,
 -7.25426097e-03,-1.54159186e-02,-1.20436176e+00, 2.96964376e-03,
 -2.59997236e-03, 1.21047606e-04]


--- Step 1235 ---
qpos:
[ 3.06545844e-03,-3.23622951e-03, 1.18690077e-02, 4.17857384e-02,
 -7.05635873e-03, 2.33720733e-01,-6.32048907e-02, 2.09149021e-01,
  5.86057494e-03, 1.64761058e-02,-9.32973278e-03, 2.59927334e-02,
  1.26520036e+00,-1.57158252e-04, 9.89000900e-01, 6.37764411e-02,
  8.31214477e-02,-6.79182917e-02, 1.23269975e-01, 9.94822184e-01,
 -1.84136220e-02,-5.84592562e-02,-8.10695764e-02]

qacc:
[-1.38600174e-01, 2.47525989e+00,-1.12252866e+01, 2.27721613e+01,
 -9.28272114e+01, 1.27811286e+02,-2.89309999e+02,-2.59265143e+02,
 -4.21374105e+00,-1.86879491e+00, 5.85908336e+00,-4.71794404e+00,
 -8.33274791e-02,-4.90800430e-01, 6.29980540e+00,-2.08942314e+01,
  2.05944922e+00,-3.78466871e+00, 2.09422758e+00, 1.12671234e+00,
 -3.93807744e+01,-7.79454420e+01]

qfrc_actuator:
[ 2.15259872e-04, 1.23699456e-04, 1.86816517e-04, 6.44468751e-05,
  1.18501436e-02, 2.95616535e-01, 4.55956129e-02, 1.65218559e-01,
 -1.86410494e-04, 5.40889609e-04, 1.21856614e-04, 4.70293371e-05,
  8.30718981e-03,-8.33157490e-04, 0.00000000e+00,-2.28500574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20429243,  0.00971806,  0.20406116,  0.00971806,  0.68068755,
       -0.02268749,  0.20406116, -0.02268749,  0.20537288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5700171666244595e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85497290e-01,  1.29284657e-01, -1.09911640e-01,  1.28488012e-01,
        9.91607522e-01,  1.43301542e-02,  1.10841878e-01,  1.73472348e-18,
       -9.93838054e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916651, -0.07866191,  0.11407456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.28391963,   2.34052405,   3.58802377,   2.34052405,
        20.81582076, -10.78401778,   3.58802377, -10.78401778,
        11.31850316,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00020182346977981602
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131712, -0.04590977,  0.06199518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32270806e-07, 1.51585096e-05,-1.41347992e-05, 3.29821330e-05,
 -2.66124539e-04, 2.47220817e-02, 9.76986485e-03, 3.17852957e-03,
 -2.50149599e-05, 2.13637608e-06, 4.01757134e-05, 7.83537400e-06,
 -1.01080358e-04,-6.65972663e-05, 2.62511592e-05,-9.36214304e-05,
 -7.79241449e-03,-1.66139959e-02,-1.20332337e+00, 3.23369193e-03,
 -2.76747507e-03, 1.26942556e-04]


--- Step 1236 ---
qpos:
[ 3.07114291e-03,-3.23464036e-03, 1.18699429e-02, 4.17851812e-02,
 -6.88447444e-03, 2.38927779e-01,-6.26574076e-02, 2.12304514e-01,
  5.85766486e-03, 1.64773559e-02,-9.32806260e-03, 2.59934159e-02,
  1.26544581e+00,-1.44193866e-04, 9.89238035e-01, 6.37778826e-02,
  8.26038151e-02,-6.78081400e-02, 1.23290482e-01, 9.94380167e-01,
 -1.91188664e-02,-6.07896760e-02,-8.45409205e-02]

qacc:
[ 1.18887248e+01, 4.07481227e-01, 4.54834748e-01,-5.95280492e+00,
 -9.17208699e+01, 5.84216583e+00,-1.06543049e+00,-4.06958927e+02,
  6.60460330e-01,-1.09847596e+00, 1.38197192e+00, 5.94973701e+00,
  1.13610861e-01,-8.93184136e-01, 9.34876040e+00,-3.20956487e+01,
  1.28397321e+00,-3.01473757e+00, 1.56805686e+00, 3.57596170e+00,
 -3.37792723e+01,-6.90985271e+01]

qfrc_actuator:
[ 2.85080756e-04, 1.42996724e-04, 1.74729861e-04, 4.74866481e-05,
  1.16546401e-02, 2.94447045e-01, 4.50191199e-02, 1.65451113e-01,
 -1.81949562e-04, 5.14670077e-04, 1.47320784e-04, 6.95418811e-05,
  8.28794290e-03,-8.71329366e-04, 0.00000000e+00,-2.43884229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21452904, -0.14797346, -0.15532728, -0.14797346,  0.86632267,
       -0.62093507, -0.15532728, -0.62093507,  0.80606653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021065669535210506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84960322e-01,  1.34659041e-01, -1.08259441e-01,  1.33852946e-01,
        9.90891993e-01,  1.47121105e-02,  1.09254532e-01,  3.46944695e-18,
       -9.94013806e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09852247, -0.07860939,  0.11430334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.3414388 , 2.4383147 , 3.59203457, 2.4383147 , 4.02210336,
       0.2167686 , 3.59203457, 0.2167686 , 4.19429376, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00022855500958492148
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85757467e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.85757467e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08122183, -0.0458669 ,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97991791e-05, 2.61923532e-05,-9.58847638e-06,-1.61638701e-05,
  1.25950111e-03, 2.32015828e-02, 1.27323330e-02, 5.30365281e-03,
  3.74867590e-06,-1.64773690e-05, 3.10919257e-05, 2.41408399e-05,
 -9.32042172e-05,-7.63169365e-05,-5.39327402e-06,-1.57317399e-04,
 -8.37255949e-03,-1.80134660e-02,-1.20244215e+00, 3.54536188e-03,
 -2.94853388e-03, 1.30770355e-04]


--- Step 1237 ---
qpos:
[ 3.07727497e-03,-3.23281238e-03, 1.18707359e-02, 4.17840769e-02,
 -6.74838151e-03, 2.44069937e-01,-6.21527086e-02, 2.15431175e-01,
  5.85586573e-03, 1.64779027e-02,-9.32583661e-03, 2.59944190e-02,
  1.26569078e+00,-1.32053938e-04, 9.89474704e-01, 6.37808130e-02,
  8.20891124e-02,-6.77075455e-02, 1.23315452e-01, 9.93906067e-01,
 -1.98100420e-02,-6.31802380e-02,-8.81280265e-02]

qacc:
[ 3.91970016e+00,-4.21764374e-01, 4.25577907e+00,-1.36535883e+01,
 -9.01437699e+01,-2.38241990e+01, 8.00654385e+01,-4.55867293e+02,
  9.71844744e+00,-1.84179567e+00, 3.83132498e+00, 1.38382765e+00,
  4.05272996e-01,-1.42403213e+00,-5.22969200e+00, 1.71856343e+01,
  7.32496108e-01,-2.38930700e+00, 1.11573161e+00, 5.71179505e+00,
 -2.91762519e+01,-5.99148701e+01]

qfrc_actuator:
[ 3.06133255e-04, 1.53769096e-04, 1.67262847e-04, 1.99804001e-05,
  1.14542117e-02, 2.93543096e-01, 4.44318608e-02, 1.65039437e-01,
 -1.24894867e-04, 4.45357071e-04, 1.61573244e-04, 8.24968009e-05,
  8.25693004e-03,-9.16714500e-04, 0.00000000e+00,-2.35242292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24181376, -0.1692023 , -0.17275554, -0.1692023 ,  0.73480706,
       -0.48285341, -0.17275554, -0.48285341,  0.71473583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003781026039903039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98387514,  0.14169466, -0.10914366,  0.14083077,  0.98991041,
        0.0156227 ,  0.1102561 ,  0.        , -0.99390321])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09789345, -0.07853844,  0.11450345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.38537986, 2.49422348, 3.606994  , 2.49422348, 4.07059487,
       0.2176727 , 3.606994  , 0.2176727 , 4.23485997, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000246661725294986
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12524858e-13,  4.50099432e-13,  1.00000000e+00, -5.06473747e-26,
        1.00000000e+00, -4.50099432e-13, -1.00000000e+00,  0.00000000e+00,
        1.12524858e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114601, -0.04583491,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30449214e-05, 2.26853543e-05,-3.83410312e-06,-2.70391395e-05,
  2.82665503e-03, 2.49580938e-02, 1.46454731e-02, 6.42653055e-03,
  5.71599397e-05,-7.11444790e-05, 1.54749540e-05, 1.37856626e-05,
 -1.03160815e-04,-8.35663638e-05,-2.55403106e-05, 7.56676786e-05,
 -8.89093857e-03,-1.92742342e-02,-1.20167358e+00, 3.82864073e-03,
 -3.11471131e-03, 1.33262919e-04]


--- Step 1238 ---
qpos:
[ 3.08326747e-03,-3.23093548e-03, 1.18711842e-02, 4.17833811e-02,
 -6.64771008e-03, 2.49148699e-01,-6.16877078e-02, 2.18529717e-01,
  5.85510910e-03, 1.64782679e-02,-9.32359001e-03, 2.59951948e-02,
  1.26593534e+00,-1.21349961e-04, 9.89711270e-01, 6.37840331e-02,
  8.15758102e-02,-6.76142213e-02, 1.23343459e-01, 9.93400642e-01,
 -2.04855375e-02,-6.56247299e-02,-9.18090532e-02]

qacc:
[-1.23642773e+00, 1.87262841e+00,-8.30089239e+00, 1.58763568e+01,
 -8.64522729e+01,-2.89414313e+01, 9.79612441e+01,-4.66766104e+02,
  9.09550670e+00,-7.83451751e-01, 3.37449238e+00,-7.17568554e+00,
  8.76603251e-01,-2.57613361e+00,-1.11751286e+00, 3.47516962e+00,
  3.50099180e-01,-1.81756836e+00, 7.59257960e-01, 6.89137055e+00,
 -2.61692267e+01,-4.90844984e+01]

qfrc_actuator:
[ 2.98290746e-04, 1.41605393e-04, 1.44798139e-04, 3.97518148e-05,
  1.13009923e-02, 2.92438512e-01, 4.38855436e-02, 1.64819503e-01,
 -7.28563356e-05, 4.57230462e-04, 1.68900847e-04, 7.19234693e-05,
  8.21887791e-03,-1.00156477e-03, 0.00000000e+00,-2.33814209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.29393685, -0.20931774, -0.20636122, -0.20931774,  0.85244059,
       -0.56650538, -0.20636122, -0.56650538,  0.86855851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005353037841059118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82657914e-01,  1.48956016e-01, -1.10433369e-01,  1.48024192e-01,
        9.88843823e-01,  1.66353010e-02,  1.11679283e-01,  3.46944695e-18,
       -9.93744302e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09727333, -0.07846614,  0.11470009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.41390313, 2.54378432, 3.60717371, 2.54378432, 4.13164112,
       0.19905159, 3.60717371, 0.19905159, 4.27353165, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00025757396344303074
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15515382e-13, -2.15515382e-13,  1.00000000e+00,  4.64468801e-26,
        1.00000000e+00,  2.15515382e-13, -1.00000000e+00,  0.00000000e+00,
        2.15515382e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08108564, -0.04581163,  0.06199386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.18331861e-06,-1.51259828e-06,-1.92222246e-05, 2.00785794e-05,
  4.46981314e-03, 2.69038589e-02, 1.61662132e-02, 7.63021831e-03,
  5.36552674e-05,-2.41575286e-05,-5.02402018e-06,-1.28295923e-05,
 -1.17373861e-04,-1.27068751e-04,-6.69444712e-06, 1.44325629e-05,
 -9.34673788e-03,-2.03910221e-02,-1.20100261e+00, 4.08221027e-03,
 -3.26560224e-03, 1.34563836e-04]


--- Step 1239 ---
qpos:
[ 3.08877450e-03,-3.22895481e-03, 1.18713299e-02, 4.17829176e-02,
 -6.58073447e-03, 2.54168408e-01,-6.12619748e-02, 2.21600255e-01,
  5.85463795e-03, 1.64784134e-02,-9.32182628e-03, 2.59958776e-02,
  1.26617933e+00,-1.11754537e-04, 9.89948055e-01, 6.37850391e-02,
  8.10629419e-02,-6.75259908e-02, 1.23373427e-01, 9.92865121e-01,
 -2.11461548e-02,-6.81195469e-02,-9.55584582e-02]

qacc:
[-4.27223634e+00, 1.47035568e+00,-6.00919153e+00, 1.04220235e+01,
 -7.98042019e+01,-2.41968660e+01, 8.87965174e+01,-4.59400074e+02,
  2.47836546e+00, 8.63053716e-01,-3.11443705e+00, 2.44839114e+00,
  3.23890432e-01,-1.53518222e+00, 6.95801614e+00,-2.39862513e+01,
  1.08511175e-01,-1.27344337e+00, 4.90298902e-01, 7.14822869e+00,
 -2.46009449e+01,-3.63490617e+01]

qfrc_actuator:
[ 2.73519347e-04, 1.51279688e-04, 1.31346862e-04, 5.16480057e-05,
  1.12255503e-02, 2.91380031e-01, 4.34310771e-02, 1.64956219e-01,
 -5.97086940e-05, 4.28812116e-04, 1.36881133e-04, 6.54055882e-05,
  8.18726379e-03,-1.05589496e-03, 0.00000000e+00,-2.45530391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35405973, -0.24737702, -0.25330398, -0.24737702,  0.94888941,
       -0.58091149, -0.25330398, -0.58091149,  0.9213787 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006811218391175221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98130695,  0.15639731, -0.11214525,  0.15538591,  0.98769422,
        0.01775774,  0.11354248,  0.        , -0.99353314])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09666105, -0.07839294,  0.11489296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.42729589,  2.54988756,  3.61925715,  2.54988756, 13.36698341,
       -6.29830847,  3.61925715, -6.29830847,  8.8646646 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002624989932086541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17207795e-13,  2.11471863e-13,  1.00000000e+00, -6.70805235e-26,
        1.00000000e+00, -2.11471863e-13, -1.00000000e+00,  0.00000000e+00,
        3.17207795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08103754, -0.04579531,  0.06199374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49828831e-05, 5.62494794e-06,-1.54679768e-05, 1.15526044e-05,
  6.17229401e-03, 2.88242042e-02, 1.76259302e-02, 9.15519027e-03,
  1.46816507e-05,-4.35398740e-05,-3.81077302e-05,-7.98659705e-06,
 -1.29185571e-04,-1.09445580e-04,-6.03603970e-06,-1.18283262e-04,
 -9.75236574e-03,-2.13556157e-02,-1.20039315e+00, 4.30448640e-03,
 -3.40321848e-03, 1.35102240e-04]


--- Step 1240 ---
qpos:
[ 3.09359670e-03,-3.22688371e-03, 1.18713152e-02, 4.17822466e-02,
 -6.54065791e-03, 2.59103386e-01,-6.09009896e-02, 2.24642874e-01,
  5.85398390e-03, 1.64781260e-02,-9.32035651e-03, 2.59961467e-02,
  1.26642259e+00,-1.02460785e-04, 9.90184951e-01, 6.37832878e-02,
  8.05487880e-02,-6.74414038e-02, 1.23404288e-01, 9.92298651e-01,
 -2.17914051e-02,-7.06623192e-02,-9.93748391e-02]

qacc:
[-6.01766206e+00, 1.52178711e-01, 5.26475121e-01,-3.94852844e+00,
 -6.19552147e+01, 1.22973241e+01,-8.94738914e+01,-2.26195382e+02,
 -1.59724476e+00,-5.99212287e-01, 3.05893726e+00,-9.43769226e+00,
 -4.70654020e-01, 2.39526372e-01, 8.50958480e+00,-2.94796213e+01,
 -3.21415980e-01,-9.10859743e-01, 2.23056213e-01, 7.31151393e+00,
 -2.34185384e+01,-3.57584971e+01]

qfrc_actuator:
[ 2.38992344e-04, 1.56229737e-04, 1.23399304e-04, 4.10790194e-05,
  1.11737123e-02, 2.91080334e-01, 4.29939121e-02, 1.65371314e-01,
 -6.95555702e-05, 3.94082070e-04, 1.17253530e-04, 4.35248449e-05,
  8.17019437e-03,-1.05616084e-03, 0.00000000e+00,-2.59568544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4016947 ,  0.23300766, -0.32720951,  0.23300766,  0.25130851,
       -0.10709082, -0.32720951, -0.10709082,  0.32543475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008152195390035787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79823974e-01,  1.63965865e-01, -1.14281123e-01,  1.62861855e-01,
        9.86466013e-01,  1.89952851e-02,  1.15849022e-01,  3.46944695e-18,
       -9.93266834e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09605581, -0.07831935,  0.11508202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.42714856,  2.60972548,  3.57616796,  2.60972548,  6.2609666 ,
       -1.33823738,  3.57616796, -1.33823738,  5.40373362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002624454631346279
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.11514997e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.11514997e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08099919, -0.04578459,  0.06199374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52428500e-05, 5.29685259e-06,-8.31957048e-06,-1.06421353e-05,
  7.81184447e-03, 3.12890737e-02, 1.90828072e-02, 1.09530953e-02,
 -9.43693193e-06,-6.73155377e-05,-3.36164099e-05,-2.52270973e-05,
 -1.17619064e-04,-5.41193473e-05,-2.14411632e-05,-1.49017486e-04,
 -1.01218013e-02,-2.21562250e-02,-1.19981021e+00, 4.49317151e-03,
 -3.53012011e-03, 1.35312700e-04]


--- Step 1241 ---
qpos:
[ 3.09796766e-03,-3.22530490e-03, 1.18717371e-02, 4.17814881e-02,
 -6.52403155e-03, 2.63933669e-01,-6.06108702e-02, 2.27660209e-01,
  5.85321610e-03, 1.64784312e-02,-9.31879988e-03, 2.59959916e-02,
  1.26666533e+00,-9.36696522e-05, 9.90421500e-01, 6.37815121e-02,
  8.00318029e-02,-6.73592764e-02, 1.23435114e-01, 9.91700018e-01,
 -2.24209892e-02,-7.32516750e-02,-1.03259696e-01]

qacc:
[-3.93850303e+00,-2.04434466e+00, 6.72747529e+00,-8.59304329e+00,
 -5.24858546e+01, 8.07164755e+00,-1.23175008e+02,-1.24730458e+02,
 -9.99590579e-01,-3.30778807e-01, 4.10984830e+00,-1.20289327e+01,
  3.00226516e-02,-6.11288105e-01,-4.54017291e-01, 8.07340701e-01,
 -7.07808632e-01,-6.14894769e-01,-8.58766180e-03, 7.31755520e+00,
 -2.27244552e+01,-3.66338448e+01]

qfrc_actuator:
[ 2.16758163e-04, 1.05059173e-04, 1.36485546e-04, 3.51305193e-05,
  1.11427183e-02, 2.90788131e-01, 4.26438203e-02, 1.65929049e-01,
 -7.50923294e-05, 5.15639770e-04, 1.58323337e-04, 3.05370349e-05,
  8.15656072e-03,-1.07760950e-03, 0.00000000e+00,-2.58879637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42644737,  0.23679342, -0.35466356,  0.23679342,  0.21713972,
       -0.13974561, -0.35466356, -0.13974561,  0.33314531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009314085064893887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97820909,  0.17151114, -0.11700818,  0.17029719,  0.98518218,
        0.02037005,  0.11876806,  0.        , -0.99292202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09545891, -0.07824624,  0.11526345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.41588529, 2.67237743, 3.51545755, 2.67237743, 4.24062922,
       0.133226  , 3.51545755, 0.133226  , 4.31460967, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002583105192793811
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14900854e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.14900854e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08096859, -0.04577837,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32418271e-05,-5.04837654e-05, 1.27613057e-05,-6.21922082e-06,
  9.13117905e-03, 3.50491194e-02, 2.19024455e-02, 1.28902512e-02,
 -5.82771894e-06, 7.58766687e-05, 2.21366800e-05,-1.75296622e-05,
 -9.48505062e-05,-6.03270472e-05,-3.14934125e-05,-5.31823863e-06,
 -1.05007028e-02,-2.29406213e-02,-1.19924582e+00, 4.68141489e-03,
 -3.65694494e-03, 1.35135917e-04]


--- Step 1242 ---
qpos:
[ 3.10203804e-03,-3.22466156e-03, 1.18731502e-02, 4.17803381e-02,
 -6.53003134e-03, 2.68657606e-01,-6.03772163e-02, 2.30656024e-01,
  5.85238742e-03, 1.64798585e-02,-9.31737133e-03, 2.59952803e-02,
  1.26690772e+00,-8.58067479e-05, 9.90658045e-01, 6.37781018e-02,
  7.95108879e-02,-6.72786418e-02, 1.23465091e-01, 9.91068246e-01,
 -2.30344441e-02,-7.58863522e-02,-1.07211977e-01]

qacc:
[  -2.59127115,  -4.80960638,  17.01426464, -24.69436018, -49.18347078,
  -26.30932592, -20.11529855,-182.09501785,  -0.5544052 ,   0.69700697,
    2.01730712, -12.26820725,   0.38245319,  -1.41334423,   4.88114596,
  -17.19576072,  -0.9824724 ,  -0.37321087,  -0.21226127,   7.49667938,
  -22.09807713, -36.24266089]

qfrc_actuator:
[ 2.01940013e-04, 3.85154229e-05, 1.79411807e-04, 1.41647378e-05,
  1.11137889e-02, 2.90021702e-01, 4.24134949e-02, 1.66101579e-01,
 -7.80390230e-05, 6.05849436e-04, 1.64537822e-04, 5.30821642e-06,
  8.13434371e-03,-1.12919884e-03, 0.00000000e+00,-2.67270108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.23928444, -0.35808169,  0.23928444,  0.21975857,
       -0.14094166, -0.35808169, -0.14094166,  0.33649053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010256298537951946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97640907,  0.17926389, -0.12037353,  0.17791696,  0.98380102,
        0.02193393,  0.12235556,  0.        , -0.99248633])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948713 , -0.07817026,  0.11543544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.396157  ,  2.73473348,  3.44200947,  2.73473348,  4.74105639,
       -0.27402828,  3.44200947, -0.27402828,  4.613877  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025085573312555454
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10643577e-13, -4.42574308e-13,  1.00000000e+00,  4.89680045e-26,
        1.00000000e+00,  4.42574308e-13, -1.00000000e+00,  0.00000000e+00,
        1.10643577e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08094416, -0.04577582,  0.06199402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55033344e-05,-9.24871924e-05, 3.38299828e-05,-2.28104119e-05,
  1.02794479e-02, 3.93378022e-02, 2.51498441e-02, 1.43111450e-02,
 -3.08491530e-06, 1.36428408e-04, 2.39859390e-05,-2.15561023e-05,
 -9.15451222e-05,-8.66110846e-05,-1.85774271e-05,-8.90470335e-05,
 -1.09001322e-02,-2.37342705e-02,-1.19868827e+00, 4.87513746e-03,
 -3.78549123e-03, 1.34652999e-04]


--- Step 1243 ---
qpos:
[ 3.10589884e-03,-3.22485262e-03, 1.18754051e-02, 4.17785980e-02,
 -6.55680381e-03, 2.73286818e-01,-6.01932266e-02, 2.33632250e-01,
  5.85118579e-03, 1.64815508e-02,-9.31606832e-03, 2.59940372e-02,
  1.26714977e+00,-7.89503712e-05, 9.90894418e-01, 6.37740182e-02,
  7.89851843e-02,-6.71986983e-02, 1.23493509e-01, 9.90402365e-01,
 -2.36313229e-02,-7.85654651e-02,-1.11230321e-01]

qacc:
[-1.79901451e+00,-4.66939127e+00, 1.75425149e+01,-2.84886454e+01,
 -4.39886909e+01,-2.59769330e+01,-7.23789562e+00,-1.80627287e+02,
 -3.26145039e+00,-3.87224101e-01, 4.14519143e+00,-1.33550469e+01,
  5.30561273e-01,-1.69117147e+00, 1.71897514e+00,-6.52240251e+00,
 -1.19714974e+00,-1.72764487e-01,-3.89538970e-01, 7.69649420e+00,
 -2.16643542e+01,-3.57060015e+01]

qfrc_actuator:
[ 1.91601321e-04,-1.10688077e-06, 2.21760314e-04,-1.54724324e-05,
  1.10946542e-02, 2.89617857e-01, 4.22157173e-02, 1.66120346e-01,
 -9.71916724e-05, 5.52215237e-04, 1.32266675e-04,-2.69634194e-05,
  8.11763317e-03,-1.18049330e-03, 0.00000000e+00,-2.70294645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.24101776, -0.35691733,  0.24101776,  0.21596886,
       -0.14498483, -0.35691733, -0.14498483,  0.33276856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010975661144581933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74434509e-01,  1.87088541e-01, -1.24399621e-01,  1.85582348e-01,
        9.82343055e-01,  2.36920733e-02,  1.26635620e-01,  3.46944695e-18,
       -9.91949303e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09429179, -0.0780927 ,  0.11559763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.37053318,  2.80726089,  3.34975321,  2.80726089,  4.93638787,
       -0.47421456,  3.34975321, -0.47421456,  4.76794872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002407327035868212
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08092461, -0.04577629,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08162490e-05,-8.53861586e-05, 2.65973584e-05,-3.28744766e-05,
  1.13960802e-02, 4.40764239e-02, 2.77118865e-02, 1.53904454e-02,
 -1.91877097e-05, 2.66177581e-05,-1.91399326e-06,-2.60194991e-05,
 -9.02787566e-05,-9.13003994e-05,-2.28604839e-05,-3.86083626e-05,
 -1.13126409e-02,-2.45224517e-02,-1.19813738e+00, 5.07099584e-03,
 -3.91382222e-03, 1.33830947e-04]


--- Step 1244 ---
qpos:
[ 3.11029515e-03,-3.22534820e-03, 1.18774031e-02, 4.17765245e-02,
 -6.60219411e-03, 2.77832631e-01,-6.00539112e-02, 2.36590535e-01,
  5.84976471e-03, 1.64827373e-02,-9.31504641e-03, 2.59928752e-02,
  1.26739130e+00,-7.23062545e-05, 9.91130262e-01, 6.37725774e-02,
  7.84539665e-02,-6.71187653e-02, 1.23519755e-01, 9.89701309e-01,
 -2.42112857e-02,-8.12886012e-02,-1.15313906e-01]

qacc:
[ 4.69717710e+00,-3.80657902e-01, 2.16454335e+00,-7.28368525e+00,
 -3.84551338e+01,-2.16161089e+01,-8.00693927e+00,-1.67713339e+02,
 -1.91383862e+00, 2.87625435e-01,-2.33127358e+00, 4.54841723e+00,
 -5.02501097e-02,-2.77901782e-01,-8.76070115e+00, 2.95086600e+01,
 -1.37855272e+00,-2.62787923e-03,-5.43271742e-01, 7.84674872e+00,
 -2.14707951e+01,-3.54482247e+01]

qfrc_actuator:
[ 2.19484791e-04,-6.55056716e-06, 2.10257032e-04,-3.22047597e-05,
  1.11063460e-02, 2.89391468e-01, 4.20532534e-02, 1.66124542e-01,
 -1.07978829e-04, 4.65940898e-04, 9.47054746e-05,-2.77574728e-05,
  8.10956256e-03,-1.17790335e-03, 0.00000000e+00,-2.55928250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.24177342, -0.35640588,  0.24177342,  0.21063051,
       -0.14926946, -0.35640588, -0.14926946,  0.32941412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011480951030242482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72280792e-01,  1.94974255e-01, -1.29054648e-01,  1.93279065e-01,
        9.80808360e-01,  2.56546894e-02,  1.31579882e-01,  3.46944695e-18,
       -9.91305571e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09371896, -0.07801349,  0.11575067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.34129125,  2.89597434,  3.23421433,  2.89597434,  5.14383995,
       -0.71861671,  3.23421433, -0.71861671,  4.98475371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022849120781312515
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42946553e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.42946553e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08090896, -0.04577927,  0.06199456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75445056e-05,-4.91376772e-05,-2.70255098e-05,-2.01104977e-05,
  1.24504424e-02, 4.84155614e-02, 2.99711119e-02, 1.63588912e-02,
 -1.13203054e-05,-7.29841743e-05,-3.32316944e-05,-2.29323699e-07,
 -8.19391391e-05,-3.81706479e-05,-1.86886921e-05, 1.37685129e-04,
 -1.17386106e-02,-2.53060498e-02,-1.19758887e+00, 5.26926186e-03,
 -4.04163484e-03, 1.32680615e-04]


--- Step 1245 ---
qpos:
[ 3.11499131e-03,-3.22602503e-03, 1.18788446e-02, 4.17749621e-02,
 -6.66433346e-03, 2.82304019e-01,-5.99501357e-02, 2.39532961e-01,
  5.84857061e-03, 1.64829671e-02,-9.31452274e-03, 2.59921333e-02,
  1.26763232e+00,-6.57502113e-05, 9.91365866e-01, 6.37734926e-02,
  7.79166715e-02,-6.70382692e-02, 1.23543286e-01, 9.88964030e-01,
 -2.47739609e-02,-8.40555524e-02,-1.19461548e-01]

qacc:
[ 2.61774927e+00, 2.36462411e+00,-1.09429579e+01, 2.08189053e+01,
 -3.37414817e+01,-3.08720266e+01, 3.31327485e+01,-1.92764986e+02,
  1.98036576e+00, 9.89206198e-01,-7.14218509e+00, 1.59214322e+01,
 -1.74398767e-01, 1.03995317e-02,-7.45608550e+00, 2.55919167e+01,
 -1.51928158e+00, 1.40762507e-01,-6.78581053e-01, 8.03898150e+00,
 -2.13821911e+01,-3.50213325e+01]

qfrc_actuator:
[ 2.34135048e-04,-9.43583886e-06, 1.84957457e-04,-5.70933335e-06,
  1.11604405e-02, 2.88801044e-01, 4.18913482e-02, 1.66001916e-01,
 -9.59984030e-05, 3.78499962e-04, 5.41760209e-05,-1.00650811e-05,
  8.09072715e-03,-1.17887967e-03, 0.00000000e+00,-2.43858831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.24396893, -0.35490661,  0.24396893,  0.20957565,
       -0.15198638, -0.35490661, -0.15198638,  0.32619529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001178066117234355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69942849e-01,  2.02911033e-01, -1.34305555e-01,  2.00993335e-01,
        9.79197178e-01,  2.78310431e-02,  1.37158846e-01,  3.46944695e-18,
       -9.90549065e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09315155, -0.07793251,  0.11589514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.31032655,  3.00638404,  3.08878131,  3.00638404,  5.37722133,
       -1.03843397,  3.08878131, -1.03843397,  5.32105894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002145902446171466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29342206e-13,  2.58684412e-13,  1.00000000e+00, -3.34588125e-26,
        1.00000000e+00, -2.58684412e-13, -1.00000000e+00,  0.00000000e+00,
        1.29342206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08089638, -0.04578437,  0.06199489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54195192e-05,-3.68118787e-05,-3.94922852e-05, 2.30632162e-05,
  1.34390097e-02, 5.18281714e-02, 3.19831170e-02, 1.71184415e-02,
  1.16363687e-05,-1.35189196e-04,-5.97306958e-05, 1.34082568e-05,
 -7.51003525e-05,-2.83177412e-05, 3.28705566e-06, 1.25184170e-04,
 -1.21821123e-02,-2.60923038e-02,-1.19703659e+00, 5.47171946e-03,
 -4.16931328e-03, 1.31233567e-04]


--- Step 1246 ---
qpos:
[ 3.11948173e-03,-3.22677499e-03, 1.18801595e-02, 4.17736850e-02,
 -6.73995757e-03, 2.86701061e-01,-5.98849202e-02, 2.42461070e-01,
  5.84752923e-03, 1.64822776e-02,-9.31423539e-03, 2.59919324e-02,
  1.26787291e+00,-5.95355951e-05, 9.91601348e-01, 6.37765061e-02,
  7.73726797e-02,-6.69566997e-02, 1.23563632e-01, 9.88189113e-01,
 -2.53191593e-02,-8.68667710e-02,-1.23674494e-01]

qacc:
[-1.80839673e+00, 8.48760069e-01,-4.36346020e+00, 9.54844172e+00,
 -2.65496162e+01,-1.94722738e+01,-1.33222720e+01,-1.16949958e+02,
  1.34060679e+00, 5.56467746e-01,-6.03567384e+00, 1.64575598e+01,
  6.69114728e-02,-5.22584212e-01,-6.52795783e+00, 2.25446389e+01,
 -1.67422156e+00, 2.68371929e-01,-7.96444535e-01, 8.07523018e+00,
 -2.16187413e+01,-3.58227673e+01]

qfrc_actuator:
[ 2.23114197e-04, 6.96511371e-06, 1.87287605e-04, 1.05061809e-05,
  1.12455550e-02, 2.88158605e-01, 4.17385136e-02, 1.66181096e-01,
 -8.84686806e-05, 3.44270071e-04, 4.77004545e-05, 1.83476446e-05,
  8.06545080e-03,-1.19978767e-03, 0.00000000e+00,-2.33244615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.23976728, -0.35775856,  0.23976728,  0.19596611,
       -0.15729915, -0.35775856, -0.15729915,  0.32525257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011884778782191695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96741617,  0.2108888 , -0.14011378,  0.20871113,  0.97751006,
        0.03022826,  0.14333743,  0.        , -0.98967388])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09258842, -0.07784971,  0.11603174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.27914834,  3.13760435,  2.90973356,  3.13760435,  4.86354972,
       -0.63016778,  2.90973356, -0.63016778,  4.95866662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001994137060513934
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78371795e-13,  2.78371795e-13,  1.00000000e+00, -7.74908561e-26,
        1.00000000e+00, -2.78371795e-13, -1.00000000e+00,  0.00000000e+00,
        2.78371795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08088625, -0.04579127,  0.06199525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05929035e-05,-1.13520104e-05,-9.35051636e-06, 1.37212885e-05,
  1.43647817e-02, 5.47434091e-02, 3.35489712e-02, 1.80757939e-02,
  7.81909321e-06,-1.21604633e-04,-4.13027722e-05, 2.08127570e-05,
 -7.50791529e-05,-4.46027979e-05, 1.07872528e-05, 1.12471053e-04,
 -1.26429933e-02,-2.68806030e-02,-1.19647806e+00, 5.67831206e-03,
 -4.29646372e-03, 1.29483070e-04]


--- Step 1247 ---
qpos:
[ 3.12380509e-03,-3.22733079e-03, 1.18813600e-02, 4.17722306e-02,
 -6.82654292e-03, 2.91023862e-01,-5.98581856e-02, 2.45376915e-01,
  5.84658562e-03, 1.64814138e-02,-9.31414053e-03, 2.59923185e-02,
  1.26811284e+00,-5.28132506e-05, 9.91837332e-01, 6.37767528e-02,
  7.68214109e-02,-6.68736162e-02, 1.23580366e-01, 9.87374961e-01,
 -2.58466187e-02,-8.97229543e-02,-1.27954794e-01]

qacc:
[ -1.47329726,  0.21425551,  0.3608449 , -3.39186655,-21.09597253,
 -15.55061627,-35.35963216,-60.98718937,  0.84996835,  1.5143989 ,
  -8.21545783, 18.81447844, -1.08732077,  1.82150223,  9.17581552,
 -30.83040609, -1.81924144,  0.37848335, -0.90290596,  8.12316133,
 -21.97166642,-37.04557812]

qfrc_actuator:
[ 2.14828963e-04, 3.49021815e-05, 1.88235678e-04, 2.82254437e-06,
  1.13349642e-02, 2.87656669e-01, 4.16616153e-02, 1.66492904e-01,
 -8.36259348e-05, 3.95570042e-04, 6.15946015e-05, 5.29036979e-05,
  8.04697306e-03,-1.16135556e-03, 0.00000000e+00,-2.48425683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.23373784, -0.36172664,  0.23373784,  0.18407644,
       -0.15934417, -0.36172664, -0.15934417,  0.32770952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011786110552595788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96469098,  0.21889529, -0.14647926,  0.21641472,  0.97574836,
        0.03286054,  0.15011991,  0.        , -0.9886678 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202937, -0.07776475,  0.11615999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.2488902 ,  3.30079496,  2.67541036,  3.30079496,  5.86062649,
       -1.98848412,  2.67541036, -1.98848412,  6.70218801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018327152012870274
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02890221e-13, -3.02890221e-13,  1.00000000e+00,  9.17424860e-26,
        1.00000000e+00,  3.02890221e-13, -1.00000000e+00,  0.00000000e+00,
        3.02890221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087803, -0.04579974,  0.06199563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.58984984e-06, 2.02420890e-05,-2.08154318e-06,-8.22520197e-06,
  1.51309656e-02, 5.77984739e-02, 3.53431952e-02, 1.90891062e-02,
  5.02332965e-06,-2.43203487e-05,-1.55883697e-05, 2.83215294e-05,
 -7.20020441e-05, 1.11292974e-05, 1.24539318e-05,-1.45322492e-04,
 -1.31328303e-02,-2.76928484e-02,-1.19590383e+00, 5.89430453e-03,
 -4.42471104e-03, 1.27491020e-04]


--- Step 1248 ---
qpos:
[ 3.12799557e-03,-3.22782956e-03, 1.18825770e-02, 4.17710491e-02,
 -6.92269021e-03, 2.95283015e-01,-5.98562674e-02, 2.48283025e-01,
  5.84639660e-03, 1.64810627e-02,-9.31452621e-03, 2.59926997e-02,
  1.26835217e+00,-4.54487780e-05, 9.92073273e-01, 6.37758718e-02,
  7.62625343e-02,-6.67886755e-02, 1.23593087e-01, 9.86520275e-01,
 -2.63556637e-02,-9.26243332e-02,-1.32302152e-01]

qacc:
[  -1.16670745,   0.59360315,  -3.15385266,   7.80110224, -17.95868881,
  -34.26528273,  40.44998231,-120.22445147,   6.55720519,   1.99769982,
   -6.14111332,   6.47046346,  -1.03705742,   1.85888778,   3.42148458,
  -11.87205648,  -1.90194993,   0.46429967,  -1.00322509,   8.45025453,
  -22.08651401, -37.10988316]

qfrc_actuator:
[ 2.08228708e-04, 3.40176159e-05, 1.88392994e-04, 1.66530537e-05,
  1.14475732e-02, 2.86966874e-01, 4.16278710e-02, 1.66444145e-01,
 -4.48962397e-05, 4.62305393e-04, 5.22560064e-05, 5.53780220e-05,
  8.02728450e-03,-1.12353724e-03, 0.00000000e+00,-2.53827658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.23390761, -0.36161688,  0.23390761,  0.1832067 ,
       -0.16007088, -0.36161688, -0.16007088,  0.3271334 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00114794643204809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96186863,  0.22641352, -0.15344593,  0.22358632,  0.97403127,
        0.0356685 ,  0.15753697,  0.        , -0.98751309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147296, -0.07768312,  0.11627897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.22037698,  3.48545194,  2.37974928,  3.48545194,  5.97384899,
       -2.56818753,  2.37974928, -2.56818753,  7.98182121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016641551921053876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.33569558e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.33569558e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087131, -0.04580959,  0.06199603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.83663170e-06, 9.64518568e-06, 3.78903065e-06, 1.44667620e-05,
  1.57936516e-02, 6.06636460e-02, 3.71780372e-02, 1.96394266e-02,
  3.88620938e-05, 5.11570363e-05,-1.52954211e-05, 1.44436541e-06,
 -5.89677187e-05, 2.37604870e-05,-1.71689849e-05,-6.20618066e-05,
 -1.36556935e-02,-2.85375033e-02,-1.19531038e+00, 6.12180737e-03,
 -4.55422713e-03, 1.25253269e-04]


--- Step 1249 ---
qpos:
[ 3.13207430e-03,-3.22821695e-03, 1.18834944e-02, 4.17700576e-02,
 -7.02450499e-03, 2.99468767e-01,-5.99009652e-02, 2.51180446e-01,
  5.84701845e-03, 1.64808592e-02,-9.31522502e-03, 2.59934879e-02,
  1.26859082e+00,-3.71038044e-05, 9.92309049e-01, 6.37746553e-02,
  7.56952982e-02,-6.67015364e-02, 1.23601424e-01, 9.85622583e-01,
 -2.68458585e-02,-9.55723354e-02,-1.36723634e-01]

qacc:
[  -0.99198307,   1.37879141,  -5.50036175,   9.18148605, -10.48943131,
   14.83377326,-155.59287272, 127.66244369,   7.05975063,   1.89406885,
   -8.21216395,  15.67177468,  -1.31456252,   2.50995266,   0.87533165,
   -3.16633569,  -2.08986242,   0.54960564,  -1.09617312,   8.38275398,
  -22.76569518, -40.89484   ]

qfrc_actuator:
[ 2.02672100e-04, 3.36521647e-05, 1.70237975e-04, 2.52602810e-05,
  1.15415821e-02, 2.86893572e-01, 4.16039943e-02, 1.67335345e-01,
 -4.28293939e-06, 4.48921550e-04, 2.93428149e-05, 7.44657018e-05,
  8.00156247e-03,-1.06867205e-03, 0.00000000e+00,-2.55190678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.21999846, -0.37024346,  0.21999846,  0.15985858,
       -0.16091799, -0.37024346, -0.16091799,  0.33505598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001098738635358682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58654197e-01,  2.31578460e-01, -1.65389078e-01,  2.28207194e-01,
        9.72816230e-01,  3.93707945e-02,  1.70010607e-01,  6.93889390e-18,
       -9.85442232e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09092231, -0.07762626,  0.11633946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.19419837,  3.66553682,  2.038416  ,  3.66553682,  5.85318226,
       -2.98323137,  2.038416  , -2.98323137,  9.5587287 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001490595537557149
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86204607e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86204607e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08086576, -0.0458207 ,  0.06199645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.74817868e-06, 6.42127612e-06,-1.52052573e-05, 9.43361259e-06,
  1.63675339e-02, 6.36186293e-02, 3.83407595e-02, 2.10034122e-02,
  4.17443196e-05, 1.21552346e-05,-1.41739708e-05, 2.07779867e-05,
 -5.46922143e-05, 4.67055220e-05,-1.94722997e-05,-2.03624548e-05,
 -1.42004129e-02,-2.93954660e-02,-1.19470489e+00, 6.35635906e-03,
 -4.68266003e-03, 1.22658432e-04]


--- Step 1250 ---
qpos:
[ 3.13570967e-03,-3.22839927e-03, 1.18841334e-02, 4.17691636e-02,
 -7.13104896e-03, 3.03575572e-01,-5.99999613e-02, 2.54071839e-01,
  5.84777797e-03, 1.64804666e-02,-9.31571575e-03, 2.59938157e-02,
  1.26882884e+00,-2.78318638e-05, 9.92544807e-01, 6.37722450e-02,
  7.51189765e-02,-6.66118648e-02, 1.23605027e-01, 9.84679224e-01,
 -2.73167738e-02,-9.85686782e-02,-1.41226182e-01]

qacc:
[  -3.90382343,   1.25784501,  -4.48943495,   6.45613753,  -8.60522176,
   33.81317024,-243.79213073, 273.48339425,   1.21001067,  -1.78135531,
    7.9282113 , -16.08320084,  -1.29031579,   2.45158997,   3.68358924,
  -12.67776054,  -2.27141147,   0.63312697,  -1.1831365 ,   8.31886256,
  -23.59930371, -44.64340946]

qfrc_actuator:
[ 1.80021052e-04, 5.12736515e-05, 1.59157848e-04, 3.07072096e-05,
  1.16066086e-02, 2.87473915e-01, 4.16355170e-02, 1.68509326e-01,
  1.59714210e-06, 4.23131444e-04, 3.38149291e-05, 4.98536597e-05,
  7.97224858e-03,-1.02192659e-03, 0.00000000e+00,-2.61265492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336,  0.20497172, -0.37876923,  0.20497172,  0.14194746,
       -0.15624459, -0.37876923, -0.15624459,  0.34612128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001026986852728057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95545861,  0.23890957, -0.1732659 ,  0.23507556,  0.97104182,
        0.04262935,  0.17843299,  0.        , -0.98395207])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09037124, -0.07754138,  0.11644232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.1707171 ,  3.8531135 ,  1.59637009,  3.8531135 ,  5.50086966,
       -3.21055174,  1.59637009, -3.21055174, 11.91993534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013135754725891735
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22595826e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.22595826e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0808611 , -0.04583294,  0.06199687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28118475e-05, 1.84662396e-05,-1.13080877e-05, 5.37994877e-06,
  1.67168628e-02, 6.77179458e-02, 4.06502318e-02, 2.25983697e-02,
  7.07949442e-06,-2.09999128e-05, 5.96380752e-06,-2.41785606e-05,
 -5.04069853e-05, 4.45919708e-05,-1.56468539e-05,-6.53898850e-05,
 -1.47979426e-02,-3.03292908e-02,-1.19406943e+00, 6.61285228e-03,
 -4.81444389e-03, 1.19839706e-04]


--- Step 1251 ---
qpos:
[ 3.13939011e-03,-3.22840832e-03, 1.18851567e-02, 4.17686446e-02,
 -7.24261389e-03, 3.07627212e-01,-6.01211027e-02, 2.56960993e-01,
  5.84860209e-03, 1.64802273e-02,-9.31567503e-03, 2.59927434e-02,
  1.26906662e+00,-1.88355161e-05, 9.92780357e-01, 6.37697673e-02,
  7.45334312e-02,-6.65194562e-02, 1.23603548e-01, 9.83688683e-01,
 -2.77671569e-02,-1.01613547e-01,-1.45808939e-01]

qacc:
[ 4.05002900e-01,-7.32448218e-02,-9.90145694e-01, 6.73875072e+00,
 -8.85292135e+00,-1.59057503e+01,-3.87493120e+01, 7.28175468e+01,
  5.76494222e-01,-4.16610904e+00, 2.10581789e+01,-4.62503736e+01,
  5.00528973e-02,-3.68602185e-01,-1.14535415e-01,-7.05261476e-02,
 -2.30592093e+00, 6.84259443e-01,-1.27077244e+00, 8.93804143e+00,
 -2.36717317e+01,-4.44964948e+01]

qfrc_actuator:
[ 1.82994935e-04, 7.95490676e-05, 1.87926427e-04, 5.20271096e-05,
  1.17088322e-02, 2.87646977e-01, 4.17266080e-02, 1.68646611e-01,
  4.73878636e-06, 4.61185773e-04, 7.20749048e-05,-1.80264261e-05,
  7.94612548e-03,-1.05140217e-03, 0.00000000e+00,-2.61191805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42648477,  0.20337604, -0.3748699 ,  0.20337604,  0.14343033,
       -0.15356392, -0.3748699 , -0.15356392,  0.34317261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009317154666175154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95183515,  0.24698704, -0.18167896,  0.24260721,  0.96901878,
        0.046307  ,  0.18748756,  0.        , -0.98226698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0898263 , -0.07744429,  0.11653438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.15014992,  4.00019084,  1.1055395 ,  4.00019084,  4.9168542 ,
       -2.77417806,  1.1055395 , -2.77417806, 14.18800174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011342534764298418
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44703465e-13, -9.78813861e-13,  1.00000000e+00,  2.39519144e-25,
        1.00000000e+00,  9.78813861e-13, -1.00000000e+00,  0.00000000e+00,
        2.44703465e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08085712, -0.04584626,  0.06199729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33088208e-06, 3.64781197e-05, 3.13700730e-05, 2.18255570e-05,
  1.70562222e-02, 7.16908361e-02, 4.34049571e-02, 2.30239896e-02,
  3.33635014e-06, 2.65309013e-05, 3.38302102e-05,-6.90431291e-05,
 -4.52848810e-05,-3.10833679e-05,-1.92636988e-05,-6.00694250e-06,
 -1.54534257e-02,-3.13438508e-02,-1.19339878e+00, 6.89280399e-03,
 -4.94937860e-03, 1.16799163e-04]


--- Step 1252 ---
qpos:
[ 3.14307724e-03,-3.22799417e-03, 1.18858787e-02, 4.17680547e-02,
 -7.35740966e-03, 3.11648128e-01,-6.02431624e-02, 2.59849967e-01,
  5.84945757e-03, 1.64800202e-02,-9.31488357e-03, 2.59912109e-02,
  1.26930418e+00,-1.04414942e-05, 9.93015595e-01, 6.37686193e-02,
  7.39387012e-02,-6.64241674e-02, 1.23596647e-01, 9.82649772e-01,
 -2.81954376e-02,-1.04706682e-01,-1.50469111e-01]

qacc:
[ 4.20092581e-02, 1.25583506e+00,-3.36674853e+00, 2.30962331e+00,
 -5.53342929e+00,-3.81225589e+01, 7.73754939e+01,-5.45381604e+01,
  2.96155817e-01,-3.00358309e+00, 1.27132792e+01,-2.19005003e+01,
  3.98879174e-01,-1.15112170e+00,-4.51484932e+00, 1.50304803e+01,
 -2.29613901e+00, 7.20038755e-01,-1.35547270e+00, 9.78486806e+00,
 -2.35108353e+01,-4.33965902e+01]

qfrc_actuator:
[ 1.83280042e-04, 9.64139634e-05, 1.69042373e-04, 4.70489689e-05,
  1.18533102e-02, 2.87228415e-01, 4.18430065e-02, 1.68391285e-01,
  6.25536679e-06, 4.66269494e-04, 1.12448371e-04,-3.97328441e-05,
  7.92190396e-03,-1.09027333e-03, 0.00000000e+00,-2.53943394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40225258,  0.19546025, -0.35157137,  0.19546025,  0.14053523,
       -0.14550485, -0.35157137, -0.14550485,  0.32135744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008171270194296083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47972981e-01,  2.55082170e-01, -1.90473917e-01,  2.50083937e-01,
        9.66919379e-01,  5.02487602e-02,  1.96990484e-01, -6.93889390e-18,
       -9.80405400e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0892828 , -0.07734358,  0.11661899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.13263764,  4.07849619,  0.66675535,  4.07849619,  4.40268803,
       -1.65187946,  0.66675535, -1.65187946, 14.23706972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.537699373882158e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.82018253e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.82018253e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08085362, -0.04586061,  0.06199772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61124645e-07, 4.46566849e-05,-6.74487924e-06,-1.90713586e-06,
  1.74526258e-02, 7.38856399e-02, 4.45785658e-02, 2.28674162e-02,
  1.62206671e-06, 2.39636281e-05, 4.76371603e-05,-2.07397326e-05,
 -5.79781097e-05,-5.60057165e-05,-1.33054882e-05, 6.87980108e-05,
 -1.61301994e-02,-3.23722131e-02,-1.19271627e+00, 7.18035293e-03,
 -5.08106170e-03, 1.13260133e-04]


--- Step 1253 ---
qpos:
[ 3.14673930e-03,-3.22734178e-03, 1.18861838e-02, 4.17670969e-02,
 -7.47234532e-03, 3.15637175e-01,-6.03808567e-02, 2.62739661e-01,
  5.84963498e-03, 1.64797512e-02,-9.31352877e-03, 2.59894551e-02,
  1.26954133e+00,-2.50356006e-06, 9.93250342e-01, 6.37713295e-02,
  7.33344507e-02,-6.63258062e-02, 1.23583997e-01, 9.81560281e-01,
 -2.86003206e-02,-1.07848940e-01,-1.55209675e-01]

qacc:
[ -0.23753904,  0.72256997, -0.56694715, -5.30666264, -0.22880755,
   2.49956954,-71.72200463,127.86910696, -5.89514704, -2.1042668 ,
   8.34660389,-13.08627607,  0.29982472, -0.95837998,-12.40125123,
  42.26081455, -2.38014806,  0.76808903, -1.43721096, 10.26992765,
 -23.89080616,-45.22223064]

qfrc_actuator:
[ 1.81972232e-04, 8.83606980e-05, 1.39851412e-04, 2.65880263e-05,
  1.20056064e-02, 2.87127105e-01, 4.19799730e-02, 1.68946634e-01,
 -2.87009607e-05, 4.51630598e-04, 1.35905419e-04,-5.18675497e-05,
  7.89350564e-03,-1.11659224e-03, 0.00000000e+00,-2.33650842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3563888 ,  0.16657926, -0.31506242,  0.16657926,  0.1177541 ,
       -0.12617053, -0.31506242, -0.12617053,  0.28968014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006869723717687443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9438621 ,  0.26322591, -0.19959073,  0.25753099,  0.96473422,
        0.05445795,  0.20688675,  0.        , -0.9783649 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873873, -0.07723912,  0.1166983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.11823961,  4.10916054,  0.27330788,  4.10916054,  4.1375988 ,
       -0.29106372,  0.27330788, -0.29106372,  8.49435775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.730962502752736e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59018371e-13, -2.15411022e-12,  1.00000000e+00,  7.73365143e-25,
        1.00000000e+00,  2.15411022e-12, -1.00000000e+00,  0.00000000e+00,
        3.59018371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08085045, -0.04587595,  0.06199815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28353515e-06, 1.54102410e-05,-2.08794484e-05,-1.88205304e-05,
  1.77671627e-02, 7.51772722e-02, 4.47120260e-02, 2.34183762e-02,
 -3.49026678e-05, 7.71797965e-06, 3.35543712e-05,-9.86088330e-06,
 -7.50562890e-05,-5.20224191e-05,-2.16118191e-06, 2.04189893e-04,
 -1.68170338e-02,-3.33965533e-02,-1.19202893e+00, 7.47120613e-03,
 -5.20738739e-03, 1.09112975e-04]


--- Step 1254 ---
qpos:
[ 3.15070233e-03,-3.22681503e-03, 1.18867846e-02, 4.17669352e-02,
 -7.60037673e-03, 3.19581004e-01,-6.05498992e-02, 2.65628782e-01,
  5.84904694e-03, 1.64797271e-02,-9.31201268e-03, 2.59879015e-02,
  1.26977803e+00, 5.06755074e-06, 9.93485551e-01, 6.37720725e-02,
  7.27332309e-02,-6.62277621e-02, 1.23569671e-01, 9.80408165e-01,
 -2.90043409e-02,-1.11123306e-01,-1.60031835e-01]

qacc:
[ 2.65357105e+00, 6.42936551e-01,-5.90032223e+00, 1.93033976e+01,
 -2.19619893e+01, 2.56212525e+01,-1.73089006e+02, 2.37148623e+02,
 -6.67454324e+00, 3.02019890e-01,-1.43817624e+00, 4.47414600e+00,
 -1.87366320e-01,-1.48329048e-01, 6.62367375e+00,-2.21737884e+01,
  7.57674589e-01,-7.92521831e-02,-4.19037556e-01, 5.37993388e+00,
 -6.69797175e+01,-4.68424112e+01]

qfrc_actuator:
[ 1.97490402e-04, 8.31248364e-05, 1.57970128e-04, 6.81731724e-05,
  1.21252897e-02, 2.87424857e-01, 4.21443640e-02, 1.69952054e-01,
 -6.70915044e-05, 4.78497248e-04, 1.49099725e-04,-4.05594873e-05,
  7.86795073e-03,-1.13528511e-03, 0.00000000e+00,-2.44893637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.29588756,  0.1354534 , -0.2630624 ,  0.1354534 ,  0.10881191,
       -0.09632708, -0.2630624 , -0.09632708,  0.2462878 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005400452191305854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93950844,  0.27136823, -0.2090052 ,  0.26489268,  0.9624756 ,
        0.05892863,  0.21715377,  0.        , -0.97613741])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08819452, -0.07713093,  0.11677166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.1089247 , -1.34702009, -3.88185511, -1.34702009,  4.82160475,
       -0.24730298, -3.88185511, -0.24730298,  4.19473988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.283142275706477e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07713701, -0.05619433,  0.0619985 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54864108e-05,-1.77446331e-06, 1.80660698e-05, 4.11557227e-05,
  1.78939173e-02, 7.69264810e-02, 4.56093046e-02, 2.43746282e-02,
 -3.93891415e-05, 3.76773272e-05, 1.85731031e-05, 1.26108993e-05,
 -8.07203274e-05,-4.77132666e-05, 1.79132977e-05,-1.02212124e-04,
 -1.75422477e-02,-3.44699983e-02,-1.19131902e+00, 7.77817009e-03,
 -5.33185721e-03, 1.04480630e-04]


--- Step 1255 ---
qpos:
[ 3.15516524e-03,-3.22605362e-03, 1.18869071e-02, 4.17672801e-02,
 -7.73676233e-03, 3.23491976e-01,-6.07253449e-02, 2.68521141e-01,
  5.84869308e-03, 1.64796484e-02,-9.31077876e-03, 2.59869104e-02,
  1.27001445e+00, 1.17639281e-05, 9.93721026e-01, 6.37698169e-02,
  7.21326263e-02,-6.61290237e-02, 1.23552936e-01, 9.79194392e-01,
 -2.94035145e-02,-1.14515058e-01,-1.64924460e-01]

qacc:
[  4.3687996 ,  2.68268025,-11.26575197, 20.63648309,-13.68557329,
 -19.24147633, -6.95061321, 94.1562117 ,  2.03470571,  1.87055085,
  -9.15677208, 19.39247901,  0.31792352, -1.23252678,  9.40117957,
 -32.4184668 ,  0.15382781,  0.1735555 , -0.60211886,  6.95927574,
 -59.55971824,-41.44796104]

qfrc_actuator:
[ 2.22788145e-04, 9.76006377e-05, 1.32918370e-04, 9.27112528e-05,
  1.22384171e-02, 2.87153771e-01, 4.23116719e-02, 1.70127860e-01,
 -5.39260917e-05, 4.41222039e-04, 1.20807830e-04,-1.55218415e-05,
  7.84944751e-03,-1.18481444e-03, 0.00000000e+00,-2.60427308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24456443,  0.11363481, -0.21656151,  0.11363481,  0.09869552,
       -0.07654077, -0.21656151, -0.07654077,  0.20440172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003895936979155722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93491232,  0.27955344, -0.21860654,  0.27221097,  0.96013013,
        0.06364992,  0.22768428,  0.        , -0.97373501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08765976, -0.07702082,  0.11684062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.1061572 , 1.53515811, 3.80838766, 1.53515811, 4.02532974,
       0.03258149, 3.80838766, 0.03258149, 4.09302363, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.782187453128029e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60037212e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.60037212e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07705469, -0.05618671,  0.06199862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57335243e-05, 1.89451705e-05,-2.17864965e-05, 2.58848009e-05,
  1.86642264e-02, 7.87764070e-02, 4.72960167e-02, 2.45663099e-02,
  1.20493023e-05,-1.18578507e-05,-1.77980964e-05, 2.75420190e-05,
 -7.63410049e-05,-7.87088241e-05,-9.65518872e-06,-1.60238602e-04,
 -1.89958561e-02,-3.64638201e-02,-1.18920804e+00, 8.32647897e-03,
 -5.49118971e-03, 1.04778949e-04]


--- Step 1256 ---
qpos:
[ 3.15989672e-03,-3.22501302e-03, 1.18864466e-02, 4.17672275e-02,
 -7.87658394e-03, 3.27392463e-01,-6.08849182e-02, 2.71418681e-01,
  5.84849979e-03, 1.64790537e-02,-9.30964660e-03, 2.59862755e-02,
  1.27025065e+00, 1.72520116e-05, 9.93956089e-01, 6.37683837e-02,
  7.15309297e-02,-6.60288247e-02, 1.23533123e-01, 9.77920086e-01,
 -2.97940851e-02,-1.18011475e-01,-1.69876159e-01]

qacc:
[  2.33401089,  1.1756656 , -1.98771905, -4.15265702, -5.45171266,
 -47.25335058,126.04706132,-51.06969902,  1.40624262,  0.33294508,
  -3.6847565 , 10.39568096,  0.87094801, -2.3224939 , -3.17706872,
  10.02819704, -0.27303002,  0.36514144, -0.76982796,  8.57054106,
 -53.13262697,-35.94654635]

qfrc_actuator:
[ 2.35881699e-04, 1.05840753e-04, 1.00372585e-04, 7.14870163e-05,
  1.23836129e-02, 2.86334077e-01, 4.24683242e-02, 1.69749057e-01,
 -4.60258003e-05, 3.83415982e-04, 1.03508435e-04,-4.40408852e-07,
  7.82984901e-03,-1.25219102e-03, 0.00000000e+00,-2.55275273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21731925,  0.10444422, -0.1905756 ,  0.10444422,  0.09455214,
       -0.06728204, -0.1905756 , -0.06728204,  0.18044559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023555645208372367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93008776,  0.28773851, -0.22834907,  0.27943986,  0.95770901,
        0.06860625,  0.23843262,  0.        , -0.97115904])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08713127, -0.07690907,  0.11690669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.10255786, 1.60707223, 3.77469201, 1.60707223, 4.0501697 ,
       0.02230422, 3.77469201, 0.02230422, 4.09306185, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.055865694274242e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.48977708e-13, -5.48977708e-13,  1.00000000e+00,  3.01376524e-25,
        1.00000000e+00,  5.48977708e-13, -1.00000000e+00,  0.00000000e+00,
        5.48977708e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07698908, -0.05618495,  0.06199879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38303302e-05, 1.54080373e-05,-3.04370057e-05,-2.06673914e-05,
  1.92287557e-02, 7.94612415e-02, 4.77255095e-02, 2.40127862e-02,
  8.24195536e-06,-6.69394736e-05,-2.10001742e-05, 1.44925176e-05,
 -8.25615851e-05,-1.02140960e-04,-2.73880663e-05, 4.01627200e-05,
 -2.03934104e-02,-3.82441690e-02,-1.18727317e+00, 8.83145290e-03,
 -5.64221570e-03, 1.03583298e-04]


--- Step 1257 ---
qpos:
[ 3.16405887e-03,-3.22398275e-03, 1.18856890e-02, 4.17669388e-02,
 -8.01526052e-03, 3.31297511e-01,-6.10238170e-02, 2.74321744e-01,
  5.84771289e-03, 1.64780673e-02,-9.30819955e-03, 2.59857818e-02,
  1.27048646e+00, 2.18720655e-05, 9.94190755e-01, 6.37691995e-02,
  7.09267842e-02,-6.59265782e-02, 1.23509614e-01, 9.76585866e-01,
 -3.01725748e-02,-1.21602450e-01,-1.74878549e-01]

qacc:
[ -5.00648971,  0.34026316, -0.22042816, -3.39858345,  1.90345607,
 -40.03881864,127.4982456 ,-64.58644223, -5.16047831, -1.09698091,
   2.58115617, -0.37040416,  0.54281719, -1.63115579, -7.43107938,
  25.0134431 , -0.6122196 ,  0.51189526, -0.92354425, 10.05513903,
 -47.99012926,-31.99715638]

qfrc_actuator:
[ 2.06178825e-04, 9.24484401e-05, 8.13791838e-05, 5.90119711e-05,
  1.25287206e-02, 2.85566546e-01, 4.26343741e-02, 1.69407056e-01,
 -7.68099197e-05, 3.84784977e-04, 1.28242244e-04, 8.64874032e-06,
  7.80959841e-03,-1.29408722e-03, 0.00000000e+00,-2.43299748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20543769,  0.10034038, -0.17926643,  0.10034038,  0.08982177,
       -0.06471343, -0.17926643, -0.06471343,  0.16921579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.930236579220694e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25030351e-01,  2.95943975e-01, -2.38193229e-01,  2.86595100e-01,
        9.55205299e-01,  7.37975918e-02,  2.49363387e-01,  1.38777878e-17,
       -9.68409986e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08660595, -0.07679543,  0.11697188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09870381e+00,  1.68793149e+00,  3.73500471e+00,  1.68793149e+00,
        4.10464505e+00, -2.68497928e-03,  3.73500471e+00, -2.68497928e-03,
        4.09991721e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -4.137513523536085e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.7082743e-13, -6.7082743e-13,  1.0000000e+00,  4.5000944e-25,
        1.0000000e+00,  6.7082743e-13, -1.0000000e+00,  0.0000000e+00,
        6.7082743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07693663, -0.05618802,  0.06199901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93042999e-05,-1.19906454e-05,-2.02869080e-05,-1.32732521e-05,
  1.95465669e-02, 7.90802994e-02, 4.70508167e-02, 2.33986356e-02,
 -3.05718125e-05,-3.97688102e-05, 8.81597479e-06, 5.77576655e-06,
 -9.20363850e-05,-8.33847939e-05,-1.12107081e-05, 1.17755318e-04,
 -2.17286314e-02,-3.98184454e-02,-1.18550446e+00, 9.29418446e-03,
 -5.78378758e-03, 1.00902837e-04]


--- Step 1258 ---
qpos:
[ 3.16748789e-03,-3.22311126e-03, 1.18850567e-02, 4.17661475e-02,
 -7.82992969e-03, 3.35684688e-01,-6.06921830e-02, 2.77602879e-01,
  5.84690784e-03, 1.64770876e-02,-9.30749921e-03, 2.59857682e-02,
  1.27072170e+00, 2.61753791e-05, 9.94425229e-01, 6.37720818e-02,
  7.03270693e-02,-6.58271329e-02, 1.23482520e-01, 9.75200474e-01,
 -3.05121584e-02,-1.25247107e-01,-1.79906104e-01]

qacc:
[-6.42850866e+00,-1.58357037e+00, 7.48358401e+00,-1.62875425e+01,
  5.07054281e+02, 7.11827262e+01,-8.61544407e+02, 6.12070688e+03,
 -1.81337492e-01, 3.08425738e+00,-1.30103789e+01, 2.25058650e+01,
 -5.42847615e-02,-3.65752516e-01,-6.52531774e+00, 2.24068457e+01,
  1.10767045e+00,-7.00293312e-01,-8.96683538e-01, 2.13895121e+01,
 -2.55425656e+01,-1.99384428e+01]

qfrc_actuator:
[ 1.69281210e-04, 8.40071397e-05, 8.82170528e-05, 3.40313628e-05,
  1.23510215e-02, 2.85334288e-01, 4.28126641e-02, 1.70558191e-01,
 -7.68568256e-05, 3.86235982e-04, 8.90568905e-05, 3.19675980e-05,
  7.78898015e-03,-1.30279951e-03, 0.00000000e+00,-2.32731481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09531654,  1.54847657,  3.79128446,  1.54847657, 10.4479394 ,
       -2.59460554,  3.79128446, -2.59460554,  5.15503283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1123944389879754e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91775646e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.91775646e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07610146, -0.05796514,  0.06199925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77375682e-05,-1.99566052e-05, 1.39752885e-06,-2.64541640e-05,
  1.93117634e-02, 7.84822486e-02, 4.61481329e-02, 2.42603324e-02,
 -9.39510788e-07,-1.87126433e-05,-4.61182879e-05, 2.20332364e-05,
 -9.31452101e-05,-4.84422552e-05, 4.18335969e-06, 1.09933810e-04,
 -2.30154583e-02,-4.12307419e-02,-1.18387404e+00, 9.72463394e-03,
 -5.91677798e-03, 9.68285078e-05]


--- Step 1259 ---
qpos:
[ 3.17079269e-03,-3.22242260e-03, 1.18844597e-02, 4.17661083e-02,
 -7.60589133e-03, 3.40444864e-01,-6.01932361e-02, 2.80953670e-01,
  5.84679760e-03, 1.64766067e-02,-9.30837757e-03, 2.59860287e-02,
  1.27095649e+00, 2.99908843e-05, 9.94660166e-01, 6.37721821e-02,
  6.97303222e-02,-6.57298563e-02, 1.23451344e-01, 9.73764695e-01,
 -3.08103290e-02,-1.28937111e-01,-1.84954763e-01]

qacc:
[-1.08554531e+00, 1.21135641e+00,-7.83783801e+00, 2.09223320e+01,
  5.91240548e+01, 1.64753130e+02,-1.58861450e+02, 8.04106379e+02,
  6.00194213e+00, 5.62407812e+00,-2.02738298e+01, 2.71953426e+01,
 -1.33092866e-01,-3.18333042e-01, 9.07782932e+00,-3.07728461e+01,
  7.41918775e-01,-5.42188191e-01,-1.02024157e+00, 2.21818773e+01,
 -2.12196665e+01,-1.81080750e+01]

qfrc_actuator:
[ 1.63963548e-04, 7.86890343e-05, 9.24975835e-05, 7.29190239e-05,
  1.16385652e-02, 2.84393469e-01, 4.25224175e-02, 1.71839889e-01,
 -4.10468031e-05, 4.22999723e-04, 1.24556639e-05, 4.56763437e-05,
  7.76817129e-03,-1.32731080e-03, 0.00000000e+00,-2.47932961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09328886, -1.6714505 , -3.73647787, -1.6714505 , 14.87548905,
       -4.82323583, -3.73647787, -4.82323583,  6.25088224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.28751898362356e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21334843e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21334843e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07605291, -0.05796962,  0.06199945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.40045717e-06,-1.73687979e-05,-5.87870267e-07, 3.75683347e-05,
  2.33003529e-03, 5.32876658e-02, 2.22800764e-02, 6.61568723e-03,
  3.57751104e-05, 1.77417995e-05,-8.53821406e-05, 1.17404298e-05,
 -8.56694128e-05,-5.68624390e-05, 9.30878956e-06,-1.46468012e-04,
 -2.36728810e-02,-4.20409326e-02,-1.18298699e+00, 9.99226004e-03,
 -5.97321897e-03, 8.58780258e-05]


--- Step 1260 ---
qpos:
[ 3.17469768e-03,-3.22204479e-03, 1.18839511e-02, 4.17672385e-02,
 -7.38351080e-03, 3.45438706e-01,-5.95982068e-02, 2.84333610e-01,
  5.84677264e-03, 1.64761535e-02,-9.30898414e-03, 2.59867284e-02,
  1.27119100e+00, 3.28663378e-05, 9.94895080e-01, 6.37708128e-02,
  6.91353706e-02,-6.56342363e-02, 1.23415656e-01, 9.72279069e-01,
 -3.10650261e-02,-1.32665986e-01,-1.90021346e-01]

qacc:
[ 5.27669198e+00, 1.74238780e+00,-1.17592019e+01, 3.20999746e+01,
 -2.61793216e+00, 9.92579746e+01,-2.74995956e+01, 2.04704964e+02,
  7.51972903e-01, 1.79590839e-01,-2.44443567e+00, 9.59406191e+00,
  4.70281711e-01,-1.51705417e+00, 4.34837113e+00,-1.53881196e+01,
  4.48885214e-01,-4.14150505e-01,-1.12807933e+00, 2.28378784e+01,
 -1.78426418e+01,-1.67385283e+01]

qfrc_actuator:
[ 1.95030818e-04, 5.75797787e-05, 9.52834103e-05, 1.31321382e-04,
  1.11692621e-02, 2.82943791e-01, 4.20127977e-02, 1.72096678e-01,
 -3.76862113e-05, 4.44951017e-04, 3.88040198e-05, 7.13855301e-05,
  7.75258427e-03,-1.37875636e-03, 0.00000000e+00,-2.55115675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09169747,  1.72451338,  3.71053121,  1.72451338,  4.80087093,
       -0.32959677,  3.71053121, -0.32959677,  4.24488148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.316868807189897e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32308446e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.32308446e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07601385, -0.05797796,  0.06199968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08757846e-05,-2.93646497e-05, 4.21700642e-07, 5.83688473e-05,
 -8.88805942e-05, 3.30193488e-02, 1.33436951e-02, 3.36761470e-03,
  4.39291432e-06, 1.47781151e-05, 1.99165437e-05, 2.37446189e-05,
 -7.85787270e-05,-8.36622706e-05,-1.83043828e-05,-8.02465497e-05,
 -2.42689240e-02,-4.27348449e-02,-1.18224021e+00, 1.02349078e-02,
 -6.02315513e-03, 7.37702943e-05]


--- Step 1261 ---
qpos:
[ 3.17894451e-03,-3.22194816e-03, 1.18838385e-02, 4.17679987e-02,
 -7.16751903e-03, 3.50571380e-01,-5.89468464e-02, 2.87718931e-01,
  5.84644395e-03, 1.64749205e-02,-9.30723506e-03, 2.59876886e-02,
  1.27142471e+00, 3.64551747e-05, 9.95129543e-01, 6.37712430e-02,
  6.85412719e-02,-6.55398572e-02, 1.23375077e-01, 9.70743930e-01,
 -3.12745337e-02,-1.36428724e-01,-1.95103379e-01]

qacc:
[   3.01752477,  -2.24765296,   9.02546482, -15.84449283,  -9.4525024 ,
   38.04866098, 104.94843204,-193.45275649,  -2.56185323,  -7.07283709,
   22.6317419 , -21.32241737,  -1.06153489,   1.86340798,  -6.01243378,
   20.26649586,   0.21322862,  -0.31022592,  -1.22254374,  23.39197787,
  -15.21369788, -15.73910151]

qfrc_actuator:
[ 2.11749078e-04, 4.49496047e-05, 1.14857976e-04, 1.11951069e-04,
  1.07997228e-02, 2.81303201e-01, 4.13758594e-02, 1.71591391e-01,
 -5.34636654e-05, 4.05028627e-04, 1.61208380e-04, 8.62676331e-05,
  7.73480406e-03,-1.32144668e-03, 0.00000000e+00,-2.45080247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09093333,  1.77403592,  3.68626261,  1.77403592,  5.06372197,
       -0.46816035,  3.68626261, -0.46816035,  4.31623829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3091324916763023e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40398294e-11, -1.20199147e-11,  1.00000000e+00,  2.88956700e-22,
        1.00000000e+00,  1.20199147e-11, -1.00000000e+00,  0.00000000e+00,
        2.40398294e-11])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07598226, -0.05798944,  0.06199994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75841081e-05,-2.64754072e-05, 1.55746357e-05,-1.94816036e-05,
 -3.78793409e-04, 1.95155926e-02, 7.83636231e-03, 1.38374944e-03,
 -1.56500801e-05,-2.65033838e-05, 1.28742346e-04, 1.66672654e-05,
 -8.31023229e-05, 2.09262512e-05,-2.15949187e-05, 9.25428913e-05,
 -2.48176705e-02,-4.33400823e-02,-1.18160256e+00, 1.04590898e-02,
 -6.06739934e-03, 6.06711509e-05]


--- Step 1262 ---
qpos:
[ 3.18301386e-03,-3.22181627e-03, 1.18835606e-02, 4.17685191e-02,
 -6.95906502e-03, 3.55775689e-01,-5.82621300e-02, 2.91089442e-01,
  5.84592838e-03, 1.64734471e-02,-9.30404454e-03, 2.59877771e-02,
  1.27165765e+00, 4.11664572e-05, 9.95364133e-01, 6.37704819e-02,
  6.79468905e-02,-6.54458699e-02, 1.23296418e-01, 9.69168494e-01,
 -3.14557850e-02,-1.40193575e-01,-2.00171740e-01]

qacc:
[-1.56374251e+00, 1.80341235e-02, 1.01953587e+00,-4.93320395e+00,
 -1.08404479e+01,-2.60050048e+01, 2.84699081e+02,-6.21347448e+02,
 -1.58119306e+00,-6.13777923e+00, 2.51089843e+01,-4.23271242e+01,
 -1.56405863e+00, 2.95696584e+00, 3.91129152e+00,-1.31121175e+01,
 -7.06568781e-02,-9.79326085e-02,-9.52018128e+00, 1.42236816e+01,
 -1.23210439e+00, 7.44520065e-01]

qfrc_actuator:
[ 2.02123562e-04, 5.52541866e-05, 1.08657526e-04, 1.00246904e-04,
  1.04066726e-02, 2.78999100e-01, 4.06816011e-02, 1.70321419e-01,
 -6.26164254e-05, 3.99788824e-04, 2.32537978e-04, 4.13986454e-05,
  7.71576561e-03,-1.25341918e-03, 0.00000000e+00,-2.51611020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-9.13406705e-06,-2.12918200e-06,-1.04314362e-05,-1.26817766e-05,
 -4.53162964e-04, 1.00836388e-02, 4.25628124e-03,-1.75472693e-04,
 -9.61845521e-06, 7.26266305e-06, 8.22811197e-05,-4.12284909e-05,
 -6.22503181e-05, 5.35347419e-05,-3.51850885e-06,-6.38000478e-05,
 -2.53309700e-02,-4.38789028e-02,-1.18104845e+00, 1.06700953e-02,
 -6.10652823e-03, 4.67079063e-05]


--- Step 1263 ---
qpos:
[ 3.18693623e-03,-3.22142017e-03, 1.18827824e-02, 4.17692342e-02,
 -6.75821515e-03, 3.61003988e-01,-5.75598276e-02, 2.94446506e-01,
  5.84530645e-03, 1.64725494e-02,-9.30085816e-03, 2.59873226e-02,
  1.27189026e+00, 4.60612916e-05, 9.95598457e-01, 6.37706104e-02,
  6.73520580e-02,-6.53526012e-02, 1.23219313e-01, 9.67542083e-01,
 -3.15854663e-02,-1.43991981e-01,-2.05258337e-01]

qacc:
[-1.31023631e+00, 2.15135126e+00,-7.97972972e+00, 1.19461989e+01,
 -1.06554187e+01,-4.26325542e+01, 2.48325916e+02,-5.05943526e+02,
 -9.37885009e-01,-3.43471652e-01, 4.62463721e+00,-1.44431537e+01,
 -3.31895255e-01, 5.25013398e-01,-3.05385677e+00, 1.01709135e+01,
 -1.12787779e-01,-1.79677723e-01, 3.88274324e-01, 2.62683679e+01,
 -1.43848152e+01,-1.80819326e+01]

qfrc_actuator:
[ 1.94827002e-04, 7.91156637e-05, 8.73950315e-05, 1.10912644e-04,
  1.00209729e-02, 2.76202039e-01, 3.99711458e-02, 1.69303029e-01,
 -6.77897314e-05, 4.50636513e-04, 2.37689395e-04, 1.49648750e-05,
  7.70132444e-03,-1.25066592e-03, 0.00000000e+00,-2.46551236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09153822,  1.36210736, -3.85815351,  1.36210736, 33.35397231,
       10.33099813, -3.85815351, 10.33099813,  7.73886031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1763878414089435e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07592578, -0.05802289,  0.06199972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.55677491e-06, 1.99541871e-05,-2.34291866e-05, 9.96545630e-06,
 -4.61490146e-04, 3.51508098e-03, 1.80707682e-03,-4.72610156e-04,
 -5.44948759e-06, 7.01493568e-05, 1.53393149e-05,-2.40816296e-05,
 -3.81618603e-05, 3.88659758e-07,-1.43210093e-05, 4.53176037e-05,
 -2.57383726e-02,-4.37381023e-02,-1.18108223e+00, 1.07383856e-02,
 -6.19791534e-03, 3.58818101e-05]


--- Step 1264 ---
qpos:
[ 3.19039561e-03,-3.22084581e-03, 1.18820649e-02, 4.17693524e-02,
 -6.56514911e-03, 3.66225009e-01,-5.68514720e-02, 2.97800144e-01,
  5.84462738e-03, 1.64721259e-02,-9.29790643e-03, 2.59869291e-02,
  1.27212225e+00, 5.21068600e-05, 9.95832457e-01, 6.37729862e-02,
  6.67562375e-02,-6.52598217e-02, 1.23142309e-01, 9.65864722e-01,
 -3.16631406e-02,-1.47820841e-01,-2.10361079e-01]

qacc:
[-4.06523017e+00,-1.15604656e+00, 6.99444169e+00,-1.75622370e+01,
 -1.06491214e+01,-3.27289890e+01, 1.15076379e+02,-1.71412862e+02,
 -5.13753325e-01, 1.40923362e+00,-4.37129042e+00, 5.45178942e+00,
 -1.25951333e+00, 2.55460028e+00,-7.15257851e+00, 2.45836027e+01,
 -2.47004562e-01,-1.22272771e-01, 2.55633154e-02, 2.63182439e+01,
 -1.28094233e+01,-1.72648707e+01]

qfrc_actuator:
[ 1.71215674e-04, 9.31155776e-05, 9.30015571e-05, 8.14040928e-05,
  9.62501255e-03, 2.73305720e-01, 3.92711528e-02, 1.68919469e-01,
 -7.05811265e-05, 4.63406139e-04, 2.21755550e-04, 1.73648524e-05,
  7.68430320e-03,-1.18007150e-03, 0.00000000e+00,-2.34697568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.09382563, 1.50010923, 3.80907871, 1.50010923, 2.52983297,
       0.61593892, 3.80907871, 0.61593892, 3.85125368, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.5322477466033222e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.19216904e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.19216904e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07590021, -0.05804316,  0.06199939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38196895e-05, 2.07238923e-05, 7.18640864e-06,-2.92717318e-05,
 -4.76095265e-04,-7.71473347e-04, 1.56268799e-04,-2.02337274e-04,
 -2.92242717e-06, 5.41265084e-05,-4.13579401e-07, 5.46427450e-06,
 -3.91544785e-05, 6.20406484e-05,-5.43355295e-06, 1.18318655e-04,
 -2.62215406e-02,-4.43326891e-02,-1.18052091e+00, 1.09634598e-02,
 -6.21618043e-03, 1.98386670e-05]


--- Step 1265 ---
qpos:
[ 3.19320012e-03,-3.22018722e-03, 1.18817245e-02, 4.17691059e-02,
 -6.37821197e-03, 3.71417990e-01,-5.61437711e-02, 3.01143861e-01,
  5.84357547e-03, 1.64718743e-02,-9.29502878e-03, 2.59865957e-02,
  1.27235331e+00, 6.06191685e-05, 9.96066631e-01, 6.37747331e-02,
  6.61589895e-02,-6.51673380e-02, 1.23064166e-01, 9.64136304e-01,
 -3.16883575e-02,-1.51677733e-01,-2.15478306e-01]

qacc:
[-5.73773900e+00,-1.68354317e+00, 7.72144049e+00,-1.47166921e+01,
 -8.18363582e+00,-5.40856918e+01, 1.76977049e+02,-3.14218093e+02,
 -3.25681381e+00, 5.64092148e-01,-1.92406493e+00, 2.94259088e+00,
 -2.73106975e+00, 5.68759649e+00, 2.39217700e+00,-7.44084499e+00,
 -3.56890046e-01,-7.39739806e-02,-2.84719245e-01, 2.64030251e+01,
 -1.15640330e+01,-1.66865627e+01]

qfrc_actuator:
[ 1.38190286e-04, 1.01178827e-04, 1.14368721e-04, 6.40097409e-05,
  9.33263283e-03, 2.70229499e-01, 3.85641828e-02, 1.68273069e-01,
 -8.97026779e-05, 4.53200149e-04, 2.11155340e-04, 1.89255936e-05,
  7.66577273e-03,-1.03430773e-03, 0.00000000e+00,-2.38466816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.09574215, 1.60550688, 3.76795056, 1.60550688, 2.98166426,
       0.4747036 , 3.76795056, 0.4747036 , 3.89347307, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.259054834203745e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51644941e-13, -8.51644941e-13,  1.00000000e+00,  7.25299105e-25,
        1.00000000e+00,  8.51644941e-13, -1.00000000e+00,  0.00000000e+00,
        8.51644941e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07587888, -0.05806418,  0.06199921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36968192e-05, 1.98506409e-05, 2.55188416e-05,-1.68274113e-05,
 -3.77656989e-04,-3.67394060e-03,-9.24762427e-04,-6.95316077e-04,
 -1.91850534e-05, 2.01891443e-05, 6.89232274e-07, 3.96755027e-06,
 -2.66027986e-05, 1.50475007e-04, 6.28734933e-06,-3.28011902e-05,
 -2.66970411e-02,-4.48849308e-02,-1.18000567e+00, 1.11821123e-02,
 -6.23186245e-03, 3.22967957e-06]


--- Step 1266 ---
qpos:
[ 3.19524210e-03,-3.21982503e-03, 1.18820926e-02, 4.17690242e-02,
 -6.19550581e-03, 3.76566151e-01,-5.54397514e-02, 3.04465182e-01,
  5.84264750e-03, 1.64717550e-02,-9.29254076e-03, 2.59863111e-02,
  1.27258368e+00, 7.11659570e-05, 9.96300718e-01, 6.37766908e-02,
  6.55612320e-02,-6.50753467e-02, 1.22984508e-01, 9.62354812e-01,
 -3.16633990e-02,-1.55568925e-01,-2.20610415e-01]

qacc:
[-6.66539755e+00,-2.02024592e+00, 5.96212075e+00,-4.05157960e+00,
 -5.49651118e+00,-9.18317450e+01, 3.27432823e+02,-6.49382353e+02,
  1.06660033e+00, 1.36249100e+00,-4.81417790e+00, 6.18952645e+00,
 -2.13756093e+00, 4.54136529e+00,-5.79235959e-01, 2.27585195e+00,
 -1.27351831e-01,-1.23099679e-01,-3.79024538e-01, 2.59140835e+01,
 -1.49192174e+01,-1.72418823e+01]

qfrc_actuator:
[ 9.98935405e-05, 7.01975359e-05, 1.44851529e-04, 7.16431608e-05,
  9.13936537e-03, 2.66696202e-01, 3.78573133e-02, 1.67033017e-01,
 -8.27785086e-05, 4.47074081e-04, 1.85935972e-04, 1.99594140e-05,
  7.63573493e-03,-9.33981797e-04, 0.00000000e+00,-2.37209985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09641572, -1.48250189, -3.81874454, -1.48250189,  5.48429355,
       -0.53879789, -3.81874454, -0.53879789,  4.30558627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.478494076422288e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.22246891e-07, -1.61125808e-07,  1.00000000e+00, -5.19222907e-14,
        1.00000000e+00,  1.61125808e-07, -1.00000000e+00, -6.31088724e-30,
       -3.22246891e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07544772, -0.05909624,  0.06199916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92516553e-05,-1.53705486e-05, 3.71391897e-05, 9.03988624e-06,
 -2.63054450e-04,-5.99446116e-03,-1.66995043e-03,-1.45663431e-03,
  6.38313104e-06, 5.44239920e-06,-2.08571151e-05, 1.99555162e-06,
 -1.04416403e-05, 1.27608383e-04,-6.92948726e-06, 1.01463693e-05,
 -2.71696681e-02,-4.54064423e-02,-1.17952464e+00, 1.13970087e-02,
 -6.24469731e-03,-1.39219712e-05]


--- Step 1267 ---
qpos:
[ 3.19715397e-03,-3.21994606e-03, 1.18832613e-02, 4.17690526e-02,
 -6.01343173e-03, 3.81656956e-01,-5.47438806e-02, 3.07790561e-01,
  5.84215472e-03, 1.64716744e-02,-9.29140995e-03, 2.59854310e-02,
  1.27281382e+00, 8.21994904e-05, 9.96535046e-01, 6.37760849e-02,
  6.49633939e-02,-6.49839035e-02, 1.22902924e-01, 9.60518929e-01,
 -3.15896538e-02,-1.59497653e-01,-2.25756459e-01]

qacc:
[-1.10850282e+00,-2.64801008e+00, 8.05356832e+00,-7.07705122e+00,
 -7.32869195e-01,-4.51062624e+01, 3.53423311e+01, 8.58799791e+01,
  3.75185288e+00, 2.61069511e+00,-6.73213055e+00,-1.42267405e+00,
 -7.24571099e-01, 1.39362079e+00, 8.15390063e+00,-2.78704475e+01,
 -2.01585632e-02,-1.37003397e-01,-4.81314246e-01, 2.56706933e+01,
 -1.66901600e+01,-1.70937037e+01]

qfrc_actuator:
[ 9.43088490e-05, 3.38890935e-05, 1.80321497e-04, 7.61570860e-05,
  9.14813997e-03, 2.63076431e-01, 3.71715450e-02, 1.67192974e-01,
 -6.05745599e-05, 4.07861434e-04, 9.90323865e-05,-1.48410844e-05,
  7.59880411e-03,-9.32483539e-04, 0.00000000e+00,-2.50748948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09744005, -1.47990374, -3.82085067, -1.47990374,  6.67843362,
       -0.99967844, -3.82085067, -0.99967844,  4.48463861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7878086616163764e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19828229e-12, -1.46552152e-12,  1.00000000e+00,  3.22163001e-24,
        1.00000000e+00,  1.46552152e-12, -1.00000000e+00,  0.00000000e+00,
        2.19828229e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0750969 , -0.05989057,  0.06199908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.71147753e-06,-3.68825983e-05, 3.71734388e-05, 5.31642092e-06,
 -4.16514885e-05,-7.56079453e-03,-2.24216593e-03,-1.93637417e-04,
  2.23916968e-05,-4.04168887e-05,-8.83076030e-05,-3.52552069e-05,
 -1.34202412e-05, 2.74967438e-05,-6.99432440e-06,-1.36845494e-04,
 -2.77549150e-02,-4.60076563e-02,-1.17891124e+00, 1.16394740e-02,
 -6.25886758e-03,-3.12222995e-05]


--- Step 1268 ---
qpos:
[ 3.19967360e-03,-3.22045275e-03, 1.18843265e-02, 4.17691858e-02,
 -5.82998595e-03, 3.86682197e-01,-5.40588668e-02, 3.11141241e-01,
  5.84124252e-03, 1.64713971e-02,-9.29211670e-03, 2.59842064e-02,
  1.27304395e+00, 9.25415170e-05, 9.96769345e-01, 6.37735172e-02,
  6.43648142e-02,-6.48927410e-02, 1.22818493e-01, 9.58628775e-01,
 -3.14661523e-02,-1.63460173e-01,-2.30914542e-01]

qacc:
[ 5.33789525e+00,-1.48256110e-02,-1.14664365e+00, 3.42848292e+00,
  1.82333495e+00,-7.58023238e+00,-1.95309757e+02, 6.68834849e+02,
 -3.71205673e+00, 4.17383579e+00,-1.37918981e+01, 1.08975115e+01,
  4.36536880e-01,-1.18350293e+00, 5.83255920e+00,-2.05751467e+01,
 -1.85394869e-01,-7.01916411e-02,-7.11784978e-01, 2.58931653e+01,
 -1.47510175e+01,-1.64106291e+01]

qfrc_actuator:
[ 1.25776619e-04,-5.31024997e-06, 1.65150391e-04, 7.87880169e-05,
  9.24072803e-03, 2.59399733e-01, 3.64866251e-02, 1.68441730e-01,
 -8.28214467e-05, 3.66590334e-04,-6.00564606e-06,-3.50119535e-05,
  7.56837331e-03,-9.89547940e-04, 0.00000000e+00,-2.60469532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.0969913 , 1.70083488, 3.72726419, 1.70083488, 4.04960419,
       0.02162381, 3.72726419, 0.02162381, 4.08712386, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.6555394302084654e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79637207e-13, -7.59274415e-13,  1.00000000e+00, -2.88248818e-25,
        1.00000000e+00,  7.59274415e-13, -1.00000000e+00,  0.00000000e+00,
       -3.79637207e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07507037, -0.05990815,  0.06199911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12611850e-05,-5.19358179e-05,-1.80407964e-05, 2.43836928e-06,
  8.26842987e-05,-8.55434671e-03,-2.58896792e-03, 8.35825899e-04,
 -2.16133389e-05,-8.36265555e-05,-1.25495238e-04,-2.56459678e-05,
 -3.22922043e-05,-5.37883130e-05,-2.35359115e-05,-1.06918581e-04,
 -2.84163314e-02,-4.66433196e-02,-1.17822351e+00, 1.18976491e-02,
 -6.27282535e-03,-4.88676920e-05]


--- Step 1269 ---
qpos:
[ 3.20255064e-03,-3.22120102e-03, 1.18851578e-02, 4.17693406e-02,
 -5.64628767e-03, 3.91637812e-01,-5.33843508e-02, 3.14497571e-01,
  5.84007112e-03, 1.64706609e-02,-9.29444656e-03, 2.59844961e-02,
  1.27327410e+00, 1.01436687e-04, 9.97003318e-01, 6.37711058e-02,
  6.37649570e-02,-6.48016385e-02, 1.22730417e-01, 9.56684296e-01,
 -3.12919957e-02,-1.67453586e-01,-2.36083173e-01]

qacc:
[ 3.13381852e+00, 3.73300478e-01,-1.89613882e+00, 2.83443905e+00,
  4.05946365e-01,-5.17244893e+01, 2.95466368e+01, 1.29563246e+02,
 -2.30247909e+00, 7.05177780e+00,-3.24094142e+01, 6.15412601e+01,
  1.20450635e+00,-2.91295428e+00,-1.06664072e+00, 2.76549356e+00,
 -3.19394910e-01,-1.49804897e-02,-9.11244851e-01, 2.61299129e+01,
 -1.32328957e+01,-1.59543918e+01]

qfrc_actuator:
[ 1.43284770e-04,-1.06431643e-05, 1.55683736e-04, 8.02504023e-05,
  9.23983217e-03, 2.55666773e-01, 3.58436871e-02, 1.68687657e-01,
 -9.55530505e-05, 3.42056591e-04,-8.53958756e-05, 4.23451818e-05,
  7.54183104e-03,-1.08076638e-03, 0.00000000e+00,-2.58980418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09547954,  1.79751083,  3.67993308,  1.79751083,  4.42599133,
       -0.16144275,  3.67993308, -0.16144275,  4.17433834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1693666624615924e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18936294e-12, -2.62723552e-12,  1.00000000e+00, -5.75197208e-24,
        1.00000000e+00,  2.62723552e-12, -1.00000000e+00,  0.00000000e+00,
       -2.18936294e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07504849, -0.05992726,  0.06199923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83815656e-05,-3.79888981e-05,-2.23425535e-05,-1.34244206e-06,
  1.28476622e-05,-9.19054761e-03,-2.75717504e-03,-1.99310698e-04,
 -1.33760786e-05,-9.83094364e-05,-1.12995040e-04, 6.89376608e-05,
 -5.83459664e-05,-1.10292371e-04,-2.64870284e-05, 5.02075482e-06,
 -2.90610419e-02,-4.72310833e-02,-1.17759694e+00, 1.21475915e-02,
 -6.28324842e-03,-6.71497463e-05]


--- Step 1270 ---
qpos:
[ 3.20527050e-03,-3.22222077e-03, 1.18861178e-02, 4.17698355e-02,
 -5.46399693e-03, 3.96521209e-01,-5.27209764e-02, 3.17843927e-01,
  5.83910002e-03, 1.64702155e-02,-9.29761059e-03, 2.59855577e-02,
  1.27350441e+00, 1.08083821e-04, 9.97237388e-01, 6.37664965e-02,
  6.31938411e-02,-6.47143632e-02, 1.22656840e-01, 9.54719360e-01,
 -3.11703950e-02,-1.71653966e-01,-2.40986031e-01]

qacc:
[-1.37066433e+00,-1.56253778e-02,-1.89410293e+00, 7.76415218e+00,
 -1.62254676e+00,-8.34238302e+01, 1.97279136e+02,-2.86952776e+02,
  1.71638016e+00, 4.30101266e+00,-1.80421129e+01, 3.25238910e+01,
  1.79856853e+00,-4.36167701e+00, 6.60836800e+00,-2.33096830e+01,
  7.18533966e+00,-9.56817749e-01, 3.62481475e+00, 2.12234601e+01,
 -1.11076767e+02, 1.25879501e+02]

qfrc_actuator:
[ 1.34671769e-04,-1.33986509e-05, 1.67564227e-04, 9.88054893e-05,
  9.14791122e-03, 2.51912589e-01, 3.52121692e-02, 1.68163892e-01,
 -8.48153007e-05, 4.34421923e-04,-9.56189335e-05, 8.77349363e-05,
  7.52827048e-03,-1.20919793e-03, 0.00000000e+00,-2.70426711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.15928585, -1.77381012, -3.76208139, -1.77381012,  5.62524775,
       -0.69119665, -3.76208139, -0.69119665,  4.485183  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012173722317554425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.139979e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        1.139979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06292407, -0.08558856,  0.06199704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.10024617e-06,-2.86570300e-05, 1.23038131e-06, 1.61267059e-05,
 -9.16328177e-05,-9.64259588e-03,-2.93107631e-03,-1.02123810e-03,
  1.03170230e-05, 1.70485485e-05,-4.20280981e-05, 3.86152018e-05,
 -7.33338537e-05,-1.66206568e-04,-1.45965994e-05,-1.18291501e-04,
 -2.96964290e-02,-4.77844005e-02,-1.17701604e+00, 1.23925164e-02,
 -6.28987228e-03,-8.60399983e-05]


--- Step 1271 ---
qpos:
[ 3.20786621e-03,-3.22352340e-03, 1.18872612e-02, 4.17698554e-02,
 -5.28399631e-03, 4.01332823e-01,-5.20721690e-02, 3.21182021e-01,
  5.83826465e-03, 1.64703815e-02,-9.30140068e-03, 2.59864060e-02,
  1.27373489e+00, 1.12004228e-04, 9.97471056e-01, 6.37628725e-02,
  6.26448526e-02,-6.46290545e-02, 1.22594671e-01, 9.52731310e-01,
 -3.10900468e-02,-1.76020663e-01,-2.45668856e-01]

qacc:
[  -1.07936374,  -1.86317825,   8.10732002, -16.41284631,  -2.66087722,
  -70.16489233, 144.79942494,-203.61104895,   1.15352076,   2.11678303,
   -5.47864471,   2.3436979 ,   2.38622238,  -5.62387267,  -3.78954533,
   11.87558358,   5.53186832,  -0.49165884,   2.85184945,  18.87238854,
  -89.77700003, 103.19888974]

qfrc_actuator:
[ 1.28510330e-04,-3.22337840e-05, 1.74231218e-04, 7.40313721e-05,
  9.02068687e-03, 2.48442404e-01, 3.45213357e-02, 1.67759758e-01,
 -7.81043956e-05, 4.89844833e-04,-1.17739280e-04, 7.85758621e-05,
  7.51715998e-03,-1.35857742e-03, 0.00000000e+00,-2.64551398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.27346268, 1.7574605 , 3.89535825, 1.7574605 , 3.47027333,
       0.36237323, 3.89535825, 0.36237323, 4.10997152, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001964970729003146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.06259264e-14, -2.82503706e-13,  1.00000000e+00, -1.99520859e-26,
        1.00000000e+00,  2.82503706e-13, -1.00000000e+00,  0.00000000e+00,
       -7.06259264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06269071, -0.08548766,  0.06199523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.40074477e-06,-3.39020850e-05, 1.45448450e-06,-2.56463090e-05,
 -1.47847345e-04,-9.67853083e-03,-3.13116414e-03,-9.42057507e-04,
  7.00824934e-06, 5.79811860e-05,-2.24008241e-05,-9.12610363e-06,
 -9.26752993e-05,-2.02965721e-04,-2.39190953e-05, 4.93301724e-05,
 -3.19076607e-02,-4.73172206e-02,-1.17285788e+00, 1.25739814e-02,
 -6.37835491e-03,-1.01563247e-04]


--- Step 1272 ---
qpos:
[ 3.21105748e-03,-3.22473372e-03, 1.18883319e-02, 4.17692024e-02,
 -5.10677435e-03, 4.06077453e-01,-5.14408504e-02, 3.24513106e-01,
  5.83682673e-03, 1.64707216e-02,-9.30500935e-03, 2.59867927e-02,
  1.27396514e+00, 1.13792245e-04, 9.97704262e-01, 6.37622755e-02,
  6.21127511e-02,-6.45442400e-02, 1.22541208e-01, 9.50717905e-01,
 -3.10419379e-02,-1.80521599e-01,-2.50167574e-01]

qacc:
[ 5.22307656e+00,-1.07208857e+00, 6.82014781e+00,-1.83951532e+01,
 -3.20639322e+00,-5.34394808e+01, 9.01264040e+01,-1.29661627e+02,
 -5.25246986e+00,-1.21733984e+00, 6.64148806e+00,-1.50700801e+01,
  1.73057298e+00,-4.32345114e+00,-9.98380372e+00, 3.35508044e+01,
  4.22174001e+00,-1.23537980e-01, 2.17660324e+00, 1.69408087e+01,
 -7.30010394e+01, 8.53395202e+01]

qfrc_actuator:
[ 1.59354937e-04,-7.33882594e-06, 1.77664084e-04, 4.16912419e-05,
  8.87372608e-03, 2.45561627e-01, 3.38205477e-02, 1.67447435e-01,
 -1.09330395e-04, 4.87160009e-04,-1.11367193e-04, 5.51163324e-05,
  7.49686190e-03,-1.46588987e-03, 0.00000000e+00,-2.48513531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.39859956, 1.82047784, 4.00419012, 1.82047784, 3.52845052,
       0.39560735, 4.00419012, 0.39560735, 4.21873936, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002517940049373002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30693842e-13,  2.20462561e-13,  1.00000000e+00, -7.29056114e-26,
        1.00000000e+00, -2.20462561e-13, -1.00000000e+00,  0.00000000e+00,
        3.30693842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06250576, -0.08541202,  0.06199388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06544122e-05, 5.16203985e-06,-4.27862274e-06,-3.42411822e-05,
 -1.79371871e-04,-9.14383149e-03,-3.16875555e-03,-8.56312536e-04,
 -3.10067726e-05, 2.47565360e-05, 1.53133484e-05,-2.19217509e-05,
 -1.21316535e-04,-1.73665944e-04,-8.19503488e-06, 1.59413635e-04,
 -3.38400174e-02,-4.66181967e-02,-1.16938225e+00, 1.26890348e-02,
 -6.49298741e-03,-1.17001896e-04]


--- Step 1273 ---
qpos:
[ 3.21459335e-03,-3.22552398e-03, 1.18891847e-02, 4.17691700e-02,
 -4.93315162e-03, 4.10761589e-01,-5.08278771e-02, 3.27839015e-01,
  5.83502588e-03, 1.64707109e-02,-9.30659950e-03, 2.59868348e-02,
  1.27419467e+00, 1.14739975e-04, 9.97937457e-01, 6.37629056e-02,
  6.15933824e-02,-6.44587573e-02, 1.22494091e-01, 9.48677301e-01,
 -3.10188577e-02,-1.85131488e-01,-2.54510397e-01]

qacc:
[  3.01095475,  2.43774913,-10.51358778, 21.30010179, -4.1141102 ,
 -39.04217857, 44.55212482,-59.13853155, -3.09642498, -6.80806086,
  25.06646471,-34.00654975,  0.19656516, -1.18886118, -3.75366058,
  13.03035251,  3.1831773 ,  0.16706272,  1.58654282, 15.37971356,
 -59.79713509, 71.27245273]

qfrc_actuator:
[ 1.76227860e-04, 4.35321587e-05, 1.79339091e-04, 7.62100141e-05,
  8.68082276e-03, 2.43200431e-01, 3.31580406e-02, 1.67245507e-01,
 -1.27129306e-04, 4.85308701e-04, 3.06471251e-07, 4.11630106e-05,
  7.47108035e-03,-1.49420785e-03, 0.00000000e+00,-2.42599072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.5106702 , 1.87921264, 4.10057381, 1.87921264, 3.57584203,
       0.42841344, 4.10057381, 0.42841344, 4.31433672, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002907582475948356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54592891e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.54592891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06235909, -0.08535668,  0.06199293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77523298e-05, 5.14404546e-05, 1.02799057e-06, 3.39251473e-05,
 -2.32281519e-04,-8.32662979e-03,-3.02082363e-03,-7.22604587e-04,
 -1.86813756e-05, 1.42300979e-05, 1.17952260e-04,-1.27817333e-05,
 -1.36028127e-04,-9.50536957e-05, 1.05164493e-05, 6.61730079e-05,
 -3.55608090e-02,-4.57992390e-02,-1.16650119e+00, 1.27653398e-02,
 -6.62681760e-03,-1.32237383e-04]


--- Step 1274 ---
qpos:
[ 3.21761421e-03,-3.22569194e-03, 1.18899189e-02, 4.17695171e-02,
 -4.76369672e-03, 4.15389434e-01,-5.02319442e-02, 3.31168158e-01,
  5.83371539e-03, 1.64699411e-02,-9.30569684e-03, 2.59867282e-02,
  1.27442366e+00, 1.14855742e-04, 9.98171151e-01, 6.37602267e-02,
  6.10834513e-02,-6.43716901e-02, 1.22451259e-01, 9.46608005e-01,
 -3.10150226e-02,-1.89830421e-01,-2.58719471e-01]

qacc:
[-4.53455975e+00, 1.94551901e+00,-7.32931039e+00, 1.36130408e+01,
 -4.69576167e+00,-2.09404157e+01,-4.37847865e+01, 1.58912999e+02,
  4.36718418e+00,-8.28474843e+00, 2.86965478e+01,-3.46775621e+01,
  3.84246109e-02,-8.67903388e-01, 1.07030873e+01,-3.64258599e+01,
  2.35942979e+00, 3.96096023e-01, 1.07125534e+00, 1.41385085e+01,
 -4.94170092e+01, 6.01924108e+01]

qfrc_actuator:
[ 1.49225239e-04, 9.18714466e-05, 1.80133743e-04, 9.65619464e-05,
  8.46228594e-03, 2.40976008e-01, 3.25441069e-02, 1.67465840e-01,
 -1.01365291e-04, 4.31154757e-04, 1.19993514e-04, 3.29808643e-05,
  7.45803852e-03,-1.52882619e-03, 0.00000000e+00,-2.60452384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.59544452, 1.9281838 , 4.1713568 , 1.9281838 , 3.60709275,
       0.45685947, 4.1713568 , 0.45685947, 4.38426406, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00031608259052415266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.78111495e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.78111495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06224273, -0.08531765,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64788454e-05, 7.87840778e-05, 1.27154259e-05, 2.32498827e-05,
 -2.69597406e-04,-7.69451319e-03,-2.78037541e-03,-2.58100149e-04,
  2.52275716e-05,-2.23727940e-05, 1.36730059e-04,-3.73590889e-06,
 -1.13388124e-04,-8.73493816e-05, 6.63431994e-06,-1.74761509e-04,
 -3.71192709e-02,-4.49253243e-02,-1.16412435e+00, 1.28198464e-02,
 -6.77473319e-03,-1.47234179e-04]


--- Step 1275 ---
qpos:
[ 3.21959849e-03,-3.22563416e-03, 1.18911403e-02, 4.17694235e-02,
 -4.59873590e-03, 4.19962849e-01,-4.96506609e-02, 3.34500960e-01,
  5.83272309e-03, 1.64693322e-02,-9.30356910e-03, 2.59861486e-02,
  1.27465217e+00, 1.14147327e-04, 9.98404565e-01, 6.37577890e-02,
  6.05803427e-02,-6.42823171e-02, 1.22410915e-01, 9.44508833e-01,
 -3.10257864e-02,-1.94602759e-01,-2.62812160e-01]

qacc:
[ -9.08708882, -1.95443963,  9.2906486 ,-17.89386668, -4.98256985,
 -24.24109912,-30.34005088,148.15227318,  2.81038213, -4.19063845,
  17.23826189,-27.49166692,  0.32701114, -1.28543084, -1.1843238 ,
   3.44296673,  1.70560545,  0.57648579,  0.62188071, 13.16920508,
 -41.27170162, 51.4682809 ]

qfrc_actuator:
[ 9.66190680e-05, 8.50635619e-05, 1.98140639e-04, 7.29011996e-05,
  8.23037734e-03, 2.38640613e-01, 3.19653504e-02, 1.67684653e-01,
 -8.56768940e-05, 4.70436282e-04, 1.89948989e-04, 1.04507809e-05,
  7.44199972e-03,-1.56689695e-03, 0.00000000e+00,-2.58431833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.64672295, 1.96522884, 4.21068994, 1.96522884, 3.62480365,
       0.47695397, 4.21068994, 0.47695397, 4.42411722, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000330084854579929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40861834e-14, -1.68172367e-13,  1.00000000e+00,  1.41409725e-26,
        1.00000000e+00,  1.68172367e-13, -1.00000000e+00,  0.00000000e+00,
        8.40861834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06215036, -0.08529171,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33346695e-05, 4.08484912e-05, 3.66413021e-05,-1.93949392e-05,
 -2.91723913e-04,-7.38078258e-03,-2.56889411e-03,-2.15427176e-04,
  1.63968767e-05, 5.48761113e-05, 8.20423214e-05,-1.88319284e-05,
 -1.02111895e-04,-8.35075585e-05,-2.27779001e-05, 9.85778164e-06,
 -3.85520882e-02,-4.40330026e-02,-1.16216714e+00, 1.28628678e-02,
 -6.93295994e-03,-1.62006563e-04]


--- Step 1276 ---
qpos:
[ 3.22162655e-03,-3.22536249e-03, 1.18923446e-02, 4.17690844e-02,
 -4.43760981e-03, 4.24485523e-01,-4.90839297e-02, 3.37832478e-01,
  5.83192640e-03, 1.64695591e-02,-9.30142395e-03, 2.59852998e-02,
  1.27487969e+00, 1.14300250e-04, 9.98637578e-01, 6.37575790e-02,
  6.00819788e-02,-6.41900695e-02, 1.22371494e-01, 9.42378854e-01,
 -3.10474144e-02,-1.99436244e-01,-2.66802056e-01]

qacc:
[  0.37995816, -0.17604139,  2.07211461, -6.44839448, -4.18579603,
 -29.16947563, 12.97737754, 22.7028537 ,  1.69199648,  0.49885815,
   0.95466014, -6.24869601, -1.29468794,  2.25604488, -7.21238454,
  24.61524218,  1.186185  ,  0.71862175,  0.23069994, 12.42849789,
 -34.8971572 , 44.6047273 ]

qfrc_actuator:
[ 1.00388867e-04, 8.08202763e-05, 1.90411267e-04, 5.90066317e-05,
  8.04569692e-03, 2.36525577e-01, 3.13943730e-02, 1.67652298e-01,
 -7.60578616e-05, 5.29657508e-04, 1.94830868e-04,-2.55154217e-06,
  7.41884987e-03,-1.50019837e-03, 0.00000000e+00,-2.46484894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.66457195, 1.99086763, 4.21837381, 1.99086763, 3.6376682 ,
       0.48464871, 4.21837381, 0.48464871, 4.43584129, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003347578900560755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29123867e-14, -1.65824773e-13,  1.00000000e+00,  1.37489277e-26,
        1.00000000e+00,  1.65824773e-13, -1.00000000e+00,  0.00000000e+00,
        8.29123867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06207703, -0.08527627,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26279608e-06, 2.52957782e-05, 4.53534303e-06,-1.12552666e-05,
 -2.50228458e-04,-6.93741862e-03,-2.46821286e-03,-4.45054027e-04,
  1.01058258e-05, 1.06049268e-04, 2.56527972e-05,-8.18137589e-06,
 -1.01779393e-04, 2.47331360e-05,-1.31680887e-05, 1.16228067e-04,
 -3.98871055e-02,-4.31417410e-02,-1.16055429e+00, 1.29006103e-02,
 -7.09869770e-03,-1.76596363e-04]


--- Step 1277 ---
qpos:
[ 3.22437345e-03,-3.22490888e-03, 1.18931983e-02, 4.17686094e-02,
 -4.27944795e-03, 4.28959605e-01,-4.85309759e-02, 3.41155376e-01,
  5.83125154e-03, 1.64705414e-02,-9.29976609e-03, 2.59843475e-02,
  1.27510657e+00, 1.14859159e-04, 9.98870754e-01, 6.37564226e-02,
  5.95867072e-02,-6.40944987e-02, 1.22331636e-01, 9.40217348e-01,
 -3.10769052e-02,-2.04321308e-01,-2.70699773e-01]

qacc:
[ 6.29520616e+00, 9.27854646e-01,-2.40708586e+00, 5.04767146e-01,
 -3.18062655e+00,-4.25681140e+01, 9.22440419e+01,-1.75937908e+02,
  1.03445729e+00, 2.14483890e+00,-5.76512907e+00, 4.19844186e+00,
 -8.83060597e-01, 1.41693510e+00, 3.16323839e+00,-1.05613174e+01,
  7.73064858e-01, 8.30799609e-01,-1.09142574e-01, 1.18785513e+01,
 -2.99273467e+01, 3.92123925e+01]

qfrc_actuator:
[ 1.37318515e-04, 7.80372957e-05, 1.67549626e-04, 5.09528551e-05,
  7.90824433e-03, 2.34401068e-01, 3.08160726e-02, 1.67241937e-01,
 -7.00851219e-05, 5.46845299e-04, 1.61386224e-04,-9.85199096e-06,
  7.39682208e-03,-1.47850983e-03, 0.00000000e+00,-2.51868829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.65327237, 2.00753519, 4.19794547, 2.00753519, 3.6585945 ,
       0.47567336, 4.19794547, 0.47567336, 4.42579657, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00033181099796367186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36487512e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.36487512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06201876, -0.08526921,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70011816e-05, 1.17883131e-05,-1.74862227e-05,-7.03541288e-06,
 -1.94684815e-04,-6.68581310e-03,-2.37887318e-03,-8.05338738e-04,
  6.30148994e-06, 8.14091181e-05,-8.68916932e-06,-2.03137484e-06,
 -7.48685765e-05, 3.65820054e-06, 2.45665897e-06,-5.00387098e-05,
 -4.11458371e-02,-4.22608667e-02,-1.15922090e+00, 1.29367442e-02,
 -7.26985838e-03,-1.91058679e-04]


--- Step 1278 ---
qpos:
[ 3.22685193e-03,-3.22455950e-03, 1.18938711e-02, 4.17684125e-02,
 -4.12415658e-03, 4.33384526e-01,-4.79900201e-02, 3.44466851e-01,
  5.83065443e-03, 1.64713706e-02,-9.29812982e-03, 2.59837465e-02,
  1.27533320e+00, 1.14577575e-04, 9.99103732e-01, 6.37559694e-02,
  5.90932116e-02,-6.39952496e-02, 1.22290162e-01, 9.38023762e-01,
 -3.11118498e-02,-2.09250518e-01,-2.74513561e-01]

qacc:
[  -2.35974859,   0.94627449,  -4.73881802,   9.90841854,  -3.02867555,
  -53.57912567, 140.46960141,-269.81331774,   0.68011506,   0.57991562,
   -3.84682272,  10.07653815,   0.54102597,  -1.53906592,  -2.46965678,
    8.08576422,   0.44401242,   0.91960236,  -0.40381614,  11.48703687,
  -26.07324063,  34.98474117]

qfrc_actuator:
[ 1.22440974e-04, 5.83242736e-05, 1.53701400e-04, 6.41448023e-05,
  7.76428658e-03, 2.32093743e-01, 3.02739299e-02, 1.66683634e-01,
 -6.63046401e-05, 4.85301376e-04, 1.40948668e-04, 3.96346161e-06,
  7.37014737e-03,-1.53697439e-03, 0.00000000e+00,-2.47895100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.61929186, 2.01882124, 4.15478256, 2.01882124, 3.70316787,
       0.44514738, 4.15478256, 0.44514738, 4.40299342, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00032270526841542135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72018113e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.72018113e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06197244, -0.08526887,  0.0619921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38207260e-05,-1.70553379e-05,-1.38290317e-05, 1.29509361e-05,
 -1.89430508e-04,-6.72255277e-03,-2.29130109e-03,-9.46527720e-04,
  3.99458113e-06,-1.79541342e-05,-4.79161247e-06, 1.69598299e-05,
 -6.91322878e-05,-7.48067304e-05,-1.01031869e-05, 3.59729580e-05,
 -4.23451860e-02,-4.13938003e-02,-1.15811212e+00, 1.29733800e-02,
 -7.44487722e-03,-2.05453128e-04]


--- Step 1279 ---
qpos:
[ 3.22913307e-03,-3.22415614e-03, 1.18940078e-02, 4.17687250e-02,
 -3.97175706e-03, 4.37759251e-01,-4.74599031e-02, 3.47761530e-01,
  5.83045284e-03, 1.64714467e-02,-9.29668574e-03, 2.59834068e-02,
  1.27555963e+00, 1.13311895e-04, 9.99336523e-01, 6.37566386e-02,
  5.86004418e-02,-6.38920395e-02, 1.22246054e-01, 9.35797677e-01,
 -3.11503193e-02,-2.14218140e-01,-2.78249805e-01]

qacc:
[-1.74959386e+00, 2.62353989e+00,-1.13930878e+01, 2.10179176e+01,
 -3.00407972e+00,-6.84374714e+01, 2.11130554e+02,-4.25809537e+02,
  3.45649268e+00, 7.31592189e-02,-2.82026156e+00, 8.21808112e+00,
  7.00637302e-01,-1.87973521e+00,-3.73347282e+00, 1.24973156e+01,
  1.81444570e-01, 9.90224287e-01,-6.58912082e-01, 1.12267662e+01,
 -2.31063458e+01, 3.16800510e+01]

qfrc_actuator:
[ 1.12684110e-04, 6.41718785e-05, 1.27479353e-04, 8.97244752e-05,
  7.61751767e-03, 2.29661228e-01, 2.97572135e-02, 1.65847536e-01,
 -4.60915140e-05, 3.94877277e-04, 1.10291946e-04, 1.22823647e-05,
  7.35664806e-03,-1.58918883e-03, 0.00000000e+00,-2.41984400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.56964434, 2.0288792 , 4.09454498, 2.0288792 , 3.78874809,
       0.38694022, 4.09454498, 0.38694022, 4.37791242, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00030868440052546353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.99157054e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.99157054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06193559, -0.08527386,  0.06199243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01582284e-05,-6.02419395e-06,-3.10135424e-05, 2.46209344e-05,
 -1.91689809e-04,-6.85389125e-03,-2.26642971e-03,-1.22521816e-03,
  2.03250403e-05,-1.00775451e-04,-3.43970212e-05, 7.70932041e-06,
 -7.09299326e-05,-8.46664832e-05,-4.66242642e-06, 5.88778541e-05,
 -4.34986385e-02,-4.05406229e-02,-1.15718232e+00, 1.30116742e-02,
 -7.62257675e-03,-2.19838774e-04]


--- Step 1280 ---
qpos:
[ 3.23162431e-03,-3.22371625e-03, 1.18938243e-02, 4.17689835e-02,
 -3.82226082e-03, 4.42081171e-01,-4.69402477e-02, 3.51035780e-01,
  5.83049464e-03, 1.64715281e-02,-9.29620182e-03, 2.59831262e-02,
  1.27578579e+00, 1.11114237e-04, 9.99569281e-01, 6.37576571e-02,
  5.81075579e-02,-6.37846424e-02, 1.22198427e-01, 9.33538778e-01,
 -3.11907749e-02,-2.19219794e-01,-2.81913405e-01]

qacc:
[ 1.83331065e+00, 8.28651751e-01,-2.66245418e+00, 2.21890959e+00,
 -2.97005766e+00,-7.98655972e+01, 2.60061735e+02,-5.30108550e+02,
  2.09267159e+00, 2.80775515e+00,-1.02571141e+01, 1.28159808e+01,
  5.64093860e-01,-1.65080740e+00,-1.16262553e+00, 3.85720850e+00,
 -2.85392343e-02, 1.04674204e+00,-8.79508403e-01, 1.10751328e+01,
 -2.08458060e+01, 2.91073943e+01]

qfrc_actuator:
[ 1.23788571e-04, 6.74867020e-05, 1.12013061e-04, 8.68889593e-05,
  7.47023163e-03, 2.26961268e-01, 2.92061348e-02, 1.64819200e-01,
 -3.41203207e-05, 4.29807368e-04, 7.36829667e-05, 1.72527405e-05,
  7.34040839e-03,-1.63717339e-03, 0.00000000e+00,-2.40307354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.51080812, 2.04209373, 4.02209437, 2.04209373, 3.93427502,
       0.29271681, 4.02209437, 0.29271681, 4.36219023, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002908019710954335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86334809e-13, -1.90889873e-13,  1.00000000e+00,  5.46584152e-26,
        1.00000000e+00,  1.90889873e-13, -1.00000000e+00,  0.00000000e+00,
        2.86334809e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06190621, -0.08528308,  0.06199286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08117540e-05,-5.43291049e-06,-1.96874761e-05,-3.68937101e-06,
 -1.93371985e-04,-7.19894608e-03,-2.33308476e-03,-1.42712281e-03,
  1.25213963e-05,-2.82113984e-05,-6.14135612e-05,-3.91934859e-07,
 -7.68930380e-05,-8.30958019e-05, 2.56272331e-07, 1.84818767e-05,
 -4.46171081e-02,-3.96996192e-02,-1.15639386e+00, 1.30522054e-02,
 -7.80206811e-03,-2.34271421e-04]


--- Step 1281 ---
qpos:
[ 3.23388419e-03,-3.22318133e-03, 1.18931436e-02, 4.17688655e-02,
 -3.67592400e-03, 4.46345190e-01,-4.64310225e-02, 3.54314042e-01,
  5.83067971e-03, 1.64716142e-02,-9.29598883e-03, 2.59828584e-02,
  1.27601150e+00, 1.08109040e-04, 9.99802081e-01, 6.37581915e-02,
  5.76138863e-02,-6.36728761e-02, 1.22146519e-01, 9.31246829e-01,
 -3.12319948e-02,-2.24252177e-01,-2.85508086e-01]

qacc:
[ -2.0481395 ,  0.74344708, -0.87322453, -4.92335402, -3.1844025 ,
 -39.74270723, 16.5315876 ,104.56448012,  1.24084021,  0.78755782,
  -2.85732952,  3.51366239,  0.27492784, -1.18060406,  1.48619633,
  -5.19666188, -0.196923  ,  1.09233872, -1.07020958, 11.01349205,
 -19.14828816, 27.11571408]

qfrc_actuator:
[ 1.11576064e-04, 6.92777302e-05, 8.52462160e-05, 6.73640620e-05,
  7.30605085e-03, 2.23981508e-01, 2.86739024e-02, 1.65035072e-01,
 -2.71003654e-05, 4.50729715e-04, 6.98527326e-05, 2.03118242e-05,
  7.30655985e-03,-1.68227851e-03, 0.00000000e+00,-2.42913350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.44817371, 2.06301981, 3.94083729, 2.06301981, 4.16066354,
       0.15051095, 3.94083729, 0.15051095, 4.36938155, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002699457496383867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06188273, -0.08529564,  0.06199336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19067602e-05,-5.49010026e-06,-3.04481326e-05,-2.05127712e-05,
 -2.11341566e-04,-7.69119858e-03,-2.39889904e-03,-2.02958388e-04,
  7.37224766e-06,-7.55973695e-06,-1.72420755e-05,-2.83641003e-07,
 -9.75893746e-05,-8.12372103e-05,-2.51878828e-06,-2.60914789e-05,
 -4.57095423e-02,-3.88681913e-02,-1.15571594e+00, 1.30952068e-02,
 -7.98267906e-03,-2.48802379e-04]


--- Step 1282 ---
qpos:
[ 3.23563532e-03,-3.22263124e-03, 1.18921414e-02, 4.17685127e-02,
 -3.53293868e-03, 4.50548354e-01,-4.59326821e-02, 3.57620628e-01,
  5.83129267e-03, 1.64714372e-02,-9.29576539e-03, 2.59829890e-02,
  1.27623674e+00, 1.04278372e-04, 1.00003578e+00, 6.37506993e-02,
  5.71188851e-02,-6.35565917e-02, 1.22089670e-01, 9.28921655e-01,
 -3.12730160e-02,-2.29312844e-01,-2.89036637e-01]

qacc:
[-4.47590973e+00, 4.43999728e-01,-5.48300540e-01,-3.02740220e+00,
 -3.33333287e+00, 4.25524958e+00,-2.35586481e+02, 7.43246098e+02,
  3.73681498e+00, 4.35779862e-01,-3.75351250e+00, 1.08398870e+01,
 -1.93208439e-01,-4.67786285e-01, 2.55472291e+01,-8.74669069e+01,
 -3.32381239e-01, 1.12948724e+00,-1.23517390e+00, 1.10265538e+01,
 -1.79000481e+01, 2.55853022e+01]

qfrc_actuator:
[ 8.57307897e-05, 7.00813533e-05, 6.97566141e-05, 5.59222337e-05,
  7.13315066e-03, 2.21002105e-01, 2.81748836e-02, 1.66478272e-01,
 -5.29574018e-06, 4.27740528e-04, 6.76319555e-05, 3.99993115e-05,
  7.27814938e-03,-1.72540761e-03, 0.00000000e+00,-2.85300334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38588276,  2.09657273,  3.85231754,  2.09657273,  4.49152511,
       -0.05749445,  3.85231754, -0.05749445,  4.41717335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002468594384060496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24869471e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.24869471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06186389, -0.08531081,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61852393e-05,-9.45676394e-06,-2.10835240e-05,-1.31292704e-05,
 -2.25114503e-04,-7.92544496e-03,-2.43190504e-03, 1.02678596e-03,
  2.20144704e-05,-3.07922378e-05,-5.91889453e-06, 1.87610665e-05,
 -1.03731819e-04,-8.36159392e-05,-9.07295563e-06,-4.26804409e-04,
 -4.67833679e-02,-3.80433892e-02,-1.15512349e+00, 1.31407095e-02,
 -8.16390119e-03,-2.63478100e-04]


--- Step 1283 ---
qpos:
[ 3.23740808e-03,-3.22242407e-03, 1.18916294e-02, 4.17683603e-02,
 -3.39314342e-03, 4.54691975e-01,-4.54449958e-02, 3.60944244e-01,
  5.83216165e-03, 1.64718645e-02,-9.29623629e-03, 2.59832912e-02,
  1.27646146e+00, 9.98795175e-05, 1.00026944e+00, 6.37381965e-02,
  5.66221169e-02,-6.34356670e-02, 1.22027309e-01, 9.26563122e-01,
 -3.13130862e-02,-2.34400039e-01,-2.92501100e-01]

qacc:
[ 2.11256586e-01,-1.41099439e+00, 3.52667132e+00,-5.88786636e-01,
 -3.13172893e+00,-1.63383146e+01,-1.17797962e+02, 4.45297583e+02,
  2.20098076e+00, 3.08832041e+00,-1.05841894e+01, 1.42260394e+01,
 -2.20919545e-01,-2.61026661e-01, 1.50608088e+01,-5.27837695e+01,
 -4.41760102e-01, 1.16009896e+00,-1.37813612e+00, 1.11018240e+01,
 -1.70107013e+01, 2.44211410e+01]

qfrc_actuator:
[ 8.75810544e-05, 5.25817674e-05, 9.65619693e-05, 6.70917793e-05,
  6.97422732e-03, 2.18208806e-01, 2.77004198e-02, 1.67336010e-01,
  7.28511567e-06, 5.02938951e-04, 4.84512119e-05, 5.15204973e-05,
  7.25834583e-03,-1.74925753e-03, 0.00000000e+00,-3.09951238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.3269022 ,  2.14846186,  3.75582139,  2.14846186,  4.95372368,
       -0.35856392,  3.75582139, -0.35856392,  4.53201337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022216209372563633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24933895e-13, -2.49867789e-13,  1.00000000e+00,  3.12169561e-26,
        1.00000000e+00,  2.49867789e-13, -1.00000000e+00,  0.00000000e+00,
        1.24933895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06184869, -0.08532802,  0.06199451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10185421e-06,-2.77271987e-05, 2.18062230e-05, 9.78186773e-06,
 -2.15235759e-04,-7.82288450e-03,-2.41644879e-03, 4.55632671e-04,
  1.32003432e-05, 5.75737065e-05,-2.56222862e-05, 1.03607374e-05,
 -1.00122122e-04,-6.58222772e-05,-5.84044789e-05,-2.72998722e-04,
 -4.78448223e-02,-3.72222073e-02,-1.15459618e+00, 1.31886304e-02,
 -8.34535080e-03,-2.78340307e-04]


--- Step 1284 ---
qpos:
[ 3.23918894e-03,-3.22246213e-03, 1.18914326e-02, 4.17683423e-02,
 -3.25609265e-03, 4.58779075e-01,-4.49675748e-02, 3.64258187e-01,
  5.83282979e-03, 1.64732295e-02,-9.29773790e-03, 2.59837085e-02,
  1.27668532e+00, 9.60047699e-05, 1.00050203e+00, 6.37287849e-02,
  5.61232268e-02,-6.33099997e-02, 1.21958939e-01, 9.24171126e-01,
 -3.13516254e-02,-2.39512552e-01,-2.95902929e-01]

qacc:
[ 8.52757760e-02,-9.29131065e-01, 2.27573869e+00,-2.76154518e-01,
 -2.65779862e+00,-6.46370171e+01, 1.58296914e+02,-2.54332877e+02,
 -1.79971265e+00, 4.36018975e+00,-1.42279990e+01, 1.71691303e+01,
 -8.49368591e-01, 1.36346156e+00,-1.08290543e+01, 3.57659648e+01,
 -5.30458712e-01, 1.18564341e+00,-1.50242976e+00, 1.12291132e+01,
 -1.64083281e+01, 2.35476932e+01]

qfrc_actuator:
[ 8.79691323e-05, 4.22048963e-05, 1.12555892e-04, 7.37341430e-05,
  6.84262189e-03, 2.15603456e-01, 2.72448120e-02, 1.66848290e-01,
 -3.42021071e-06, 5.65277026e-04, 2.04246520e-06, 5.82093784e-05,
  7.23307618e-03,-1.70820912e-03, 0.00000000e+00,-2.91986296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.27320834,  2.22590934,  3.64768929,  2.22590934,  5.57658879,
       -0.79535467,  3.64768929, -0.79535467,  4.75855324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019636542163471715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82693107e-13, -5.65386215e-13,  1.00000000e+00,  1.59830786e-25,
        1.00000000e+00,  5.65386215e-13, -1.00000000e+00,  0.00000000e+00,
        2.82693107e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06183632, -0.08534679,  0.06199514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08389757e-07,-2.09651791e-05, 1.32931269e-05, 6.40027149e-06,
 -1.86158945e-04,-7.59585047e-03,-2.39291585e-03,-8.95992210e-04,
 -1.03052965e-05, 8.96817255e-05,-3.73133425e-05, 8.47028158e-06,
 -9.95852604e-05, 4.01133816e-06,-6.06418563e-05, 1.56183493e-04,
 -4.88992055e-02,-3.64017412e-02,-1.15411758e+00, 1.32388252e-02,
 -8.52673978e-03,-2.93426383e-04]


--- Step 1285 ---
qpos:
[ 3.24096057e-03,-3.22266246e-03, 1.18914174e-02, 4.17684026e-02,
 -3.12168659e-03, 4.62814742e-01,-4.45031993e-02, 3.67565016e-01,
  5.83302024e-03, 1.64746326e-02,-9.29864647e-03, 2.59845508e-02,
  1.27690819e+00, 9.36416767e-05, 1.00073475e+00, 6.37174687e-02,
  5.56219259e-02,-6.31795034e-02, 1.21884124e-01, 9.21745579e-01,
 -3.13881936e-02,-2.44649613e-01,-2.99243104e-01]

qacc:
[-7.24301740e-02,-5.60413156e-01, 1.35657010e+00,-1.71885728e-01,
 -2.54189838e+00,-4.54131466e+01, 9.07602943e+01,-1.48120239e+02,
 -4.14786833e+00,-7.23876939e-01, 8.73168802e-01, 5.49326659e+00,
 -2.06856210e+00, 3.92550955e+00, 6.09925345e+00,-2.06775893e+01,
 -6.02731308e-01, 1.20724395e+00,-1.61101093e+00, 1.14001167e+01,
 -1.60356239e+01, 2.29048179e+01]

qfrc_actuator:
[ 8.74847778e-05, 3.61411355e-05, 1.22041767e-04, 7.76462180e-05,
  6.71048501e-03, 2.13504477e-01, 2.67688855e-02, 1.66531826e-01,
 -2.77427851e-05, 5.48313442e-04, 2.86741905e-05, 7.97393989e-05,
  7.21522772e-03,-1.61133412e-03, 0.00000000e+00,-3.02319494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.22600046,  2.33876261,  3.51983939,  2.33876261,  6.38645875,
       -1.43551978,  3.51983939, -1.43551978,  5.17983375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016988911144746877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06182612, -0.08536674,  0.06199578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.80522687e-07,-1.47693815e-05, 7.01514454e-06, 3.59879942e-06,
 -1.80026610e-04,-7.01186808e-03,-2.40854709e-03,-7.41118258e-04,
 -2.45826794e-05, 2.58081162e-05, 4.08556478e-05, 2.42469628e-05,
 -7.46655230e-05, 7.50510593e-05,-1.20320118e-05,-1.02713250e-04,
 -4.99510740e-02,-3.55792613e-02,-1.15367444e+00, 1.32911205e-02,
 -8.70785380e-03,-3.08769861e-04]


--- Step 1286 ---
qpos:
[ 3.24305756e-03,-3.22298353e-03, 1.18914922e-02, 4.17688557e-02,
 -2.98962740e-03, 4.66802181e-01,-4.40517757e-02, 3.70874466e-01,
  5.83291761e-03, 1.64760508e-02,-9.29858149e-03, 2.59852755e-02,
  1.27713031e+00, 9.29087360e-05, 1.00096754e+00, 6.37036467e-02,
  5.51179772e-02,-6.30441041e-02, 1.21802483e-01, 9.19286404e-01,
 -3.14224652e-02,-2.49810799e-01,-3.02522231e-01]

qacc:
[  2.86086448,  0.39261107, -3.2975985 , 10.04773931, -2.22898017,
 -22.80572074,-19.17583888,111.85826643, -2.52591637, -2.93800264,
  11.00971966,-14.62123719, -2.02742891,  4.03032524,  7.83623777,
 -26.86747532, -0.6619266 ,  1.22575385, -1.70648421, 11.60806096,
 -15.84686796, 22.44456401]

qfrc_actuator:
[ 1.04243679e-04, 3.26803696e-05, 1.27630448e-04, 9.76749441e-05,
  6.59677993e-03, 2.11549314e-01, 2.63054067e-02, 1.66709984e-01,
 -4.21258977e-05, 5.55303819e-04, 8.01660876e-05, 7.43127851e-05,
  7.20187375e-03,-1.51766561e-03, 0.00000000e+00,-3.15053545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.18590028,  2.5011436 ,  3.35649249,  2.5011436 ,  7.3865961 ,
       -2.38504925,  3.35649249, -2.38504925,  5.96315755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014307435935594082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93994058e-13, -3.87988117e-13,  1.00000000e+00,  7.52673893e-26,
        1.00000000e+00,  3.87988117e-13, -1.00000000e+00,  0.00000000e+00,
        1.93994058e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06181759, -0.08538756,  0.06199644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67402591e-05,-1.01151383e-05, 3.52717265e-06, 1.97088976e-05,
 -1.60510712e-04,-6.53630645e-03,-2.27182373e-03,-2.19358789e-04,
 -1.50777853e-05, 3.08507867e-05, 6.26876496e-05,-2.43701695e-06,
 -3.92623026e-05, 9.34665401e-05,-2.25244231e-05,-1.35828078e-04,
 -5.10043917e-02,-3.47522384e-02,-1.15325612e+00, 1.33453320e-02,
 -8.88853580e-03,-3.24400943e-04]


--- Step 1287 ---
qpos:
[ 3.24533905e-03,-3.22328807e-03, 1.18913248e-02, 4.17692053e-02,
 -2.85966503e-03, 4.70741369e-01,-4.36107975e-02, 3.74177148e-01,
  5.83333318e-03, 1.64772849e-02,-9.29772008e-03, 2.59856224e-02,
  1.27735155e+00, 9.46871455e-05, 1.00119984e+00, 6.36910524e-02,
  5.46111858e-02,-6.29037375e-02, 1.21713678e-01, 9.16793524e-01,
 -3.14542083e-02,-2.54995967e-01,-3.05740616e-01]

qacc:
[ 1.61147432e+00, 4.82850217e-01,-1.25878304e+00,-1.50125422e-01,
 -1.96009336e+00,-4.77031807e+01, 1.03207228e+02,-1.59896754e+02,
  4.54712278e+00,-3.25603732e+00, 1.28363771e+01,-2.04965501e+01,
 -2.58337180e+00, 5.47811795e+00,-4.18571203e+00, 1.41482601e+01,
 -7.10677312e-01, 1.24181644e+00,-1.79113016e+00, 1.18474121e+01,
 -1.58055330e+01, 2.21286468e+01]

qfrc_actuator:
[ 1.13265009e-04, 3.08047882e-05, 1.13147092e-04, 9.15226775e-05,
  6.49489394e-03, 2.09289499e-01, 2.58367684e-02, 1.66379158e-01,
 -1.50336037e-05, 5.23416360e-04, 1.10451105e-04, 5.30848709e-05,
  7.18590624e-03,-1.37338626e-03, 0.00000000e+00,-3.07788646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.15311924,  2.73346817,  3.1267477 ,  2.73346817,  8.49255735,
       -3.79362747,  3.1267477 , -3.79362747,  7.46958764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011619573057861099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77738304e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.77738304e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06181029, -0.08540901,  0.0619971 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.49450589e-06,-5.95024635e-06,-1.54572031e-05,-6.08140421e-06,
 -1.44181068e-04,-6.52333401e-03,-2.14401816e-03,-6.93237966e-04,
  2.66731040e-05,-1.85026061e-06, 4.42762003e-05,-1.77885198e-05,
 -1.74256106e-05, 1.56537291e-04,-3.03642307e-05, 6.11168412e-05,
 -5.20626495e-02,-3.39183419e-02,-1.15285407e+00, 1.34012753e-02,
 -9.06867347e-03,-3.40346996e-04]


--- Step 1288 ---
qpos:
[ 3.24771112e-03,-3.22353510e-03, 1.18906741e-02, 4.17694903e-02,
 -2.73214149e-03, 4.74629201e-01,-4.31786969e-02, 3.77476800e-01,
  5.83407042e-03, 1.64781013e-02,-9.29603364e-03, 2.59857411e-02,
  1.27757216e+00, 9.87728062e-05, 1.00143185e+00, 6.36800354e-02,
  5.41013902e-02,-6.27583473e-02, 1.21617405e-01, 9.14266854e-01,
 -3.14832666e-02,-2.60205199e-01,-3.08898329e-01]

qacc:
[  0.77870685,  1.29228956, -4.22720922,  3.84262753, -2.25298495,
 -48.93092793, 87.62840665,-84.57577797,  2.83803579, -3.33304575,
  12.03665886,-16.98530459, -2.22410228,  4.86529018, -5.00791457,
  17.33903705, -0.75105018,  1.25591245, -1.86693384, 12.11363675,
 -15.88239926, 21.92645968]

qfrc_actuator:
[ 1.17654505e-04, 2.97913277e-05, 8.69167921e-05, 8.77535506e-05,
  6.36528287e-03, 2.06688679e-01, 2.53854615e-02, 1.66230603e-01,
  7.44620650e-07, 4.86148115e-04, 1.45552328e-04, 4.04361105e-05,
  7.16840839e-03,-1.25353156e-03, 0.00000000e+00,-2.99449067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.12758977,  3.06234449,  2.76749771,  3.06234449,  9.34148122,
       -5.76937486,  2.76749771, -5.76937486, 10.51162876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.947150726240638e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10216922e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.10216922e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0618039 , -0.08543089,  0.06199776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65979547e-06,-7.78579794e-06,-2.95715991e-05,-4.67782762e-06,
 -1.68146309e-04,-6.84844041e-03,-2.12349940e-03,-5.15165468e-04,
  1.65460211e-05,-2.99642841e-05, 3.95311439e-05,-1.15487253e-05,
  8.64311263e-06, 1.51076742e-04,-1.07835016e-05, 8.21324554e-05,
 -5.31289605e-02,-3.30754250e-02,-1.15246148e+00, 1.34587712e-02,
 -9.24818959e-03,-3.56633005e-04]


--- Step 1289 ---
qpos:
[ 3.25011727e-03,-3.22349473e-03, 1.18895522e-02, 4.17700426e-02,
 -2.60711125e-03, 4.78463772e-01,-4.27550604e-02, 3.80779708e-01,
  5.83430156e-03, 1.64786973e-02,-9.29399129e-03, 2.59864054e-02,
  1.27779253e+00, 1.03887756e-04, 1.00166344e+00, 6.36724153e-02,
  5.35884560e-02,-6.26078835e-02, 1.21513390e-01, 9.11706303e-01,
 -3.15095457e-02,-2.65438752e-01,-3.11995247e-01]

qacc:
[  0.27958853,  2.24795728, -8.59226673, 13.76107146, -2.2761491 ,
 -40.54035178, 31.20532684, 71.17220867, -4.39863292, -0.15425394,
  -2.16146325, 11.18149767, -0.79264176,  1.8752994 ,-10.7879846 ,
  37.03277793, -0.7846647 ,  1.26839703, -1.93561349, 12.40300768,
 -16.05406308, 21.81350413]

qfrc_actuator:
[ 1.19285036e-04, 6.47528299e-05, 7.17287780e-05, 1.03169461e-04,
  6.23797011e-03, 2.04065437e-01, 2.49826688e-02, 1.66403412e-01,
 -2.57816039e-05, 4.81463854e-04, 1.65443461e-04, 6.84415189e-05,
  7.13935049e-03,-1.22014262e-03, 0.00000000e+00,-2.81672433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10906387,  3.50337652,  2.14726775,  3.50337652,  8.8716807 ,
       -7.77045153,  2.14726775, -7.77045153, 16.78695063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.30726674060722e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40057108e-13, -8.80114216e-13,  1.00000000e+00,  3.87300517e-25,
        1.00000000e+00,  8.80114216e-13, -1.00000000e+00,  0.00000000e+00,
        4.40057108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06179813, -0.08545303,  0.06199842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76331519e-06, 2.43091984e-05,-2.05931096e-05, 1.39687800e-05,
 -1.72598886e-04,-7.03853017e-03,-2.13203164e-03,-2.02411721e-04,
 -2.60591355e-05,-1.38111203e-05, 1.81416458e-05, 2.78579762e-05,
  1.10436246e-05, 6.93217034e-05,-4.52853554e-08, 1.80032441e-04,
 -5.42061360e-02,-3.22215026e-02,-1.15207291e+00, 1.35176483e-02,
 -9.42703473e-03,-3.73281973e-04]


--- Step 1290 ---
qpos:
[ 3.25217945e-03,-3.22336854e-03, 1.18886113e-02, 4.17700648e-02,
 -2.48429579e-03, 4.82245394e-01,-4.23397802e-02, 3.84077014e-01,
  5.83455821e-03, 1.64789422e-02,-9.29190469e-03, 2.59874387e-02,
  1.27801283e+00, 1.09269610e-04, 1.00189496e+00, 6.36669615e-02,
  5.30722706e-02,-6.24523016e-02, 1.21401380e-01, 9.09111762e-01,
 -3.15330014e-02,-2.70697026e-01,-3.15031101e-01]

qacc:
[-3.01515803e+00,-1.47947981e+00, 7.68617766e+00,-1.72235167e+01,
 -1.99599471e+00,-5.73768553e+01, 1.23767482e+02,-1.59843200e+02,
  2.30169294e-01, 1.71377795e-01,-2.84321038e+00, 9.41807932e+00,
 -1.39782587e-01, 3.80558112e-01,-6.63853536e+00, 2.30947020e+01,
 -8.12786941e-01, 1.27952873e+00,-1.99864869e+00, 1.27124473e+01,
 -1.63017567e+01, 2.17701475e+01]

qfrc_actuator:
[ 1.01527811e-04, 6.77885115e-05, 8.11000810e-05, 7.65323756e-05,
  6.13081897e-03, 2.01522199e-01, 2.45943698e-02, 1.66124869e-01,
 -2.37334952e-05, 4.43041871e-04, 1.58595030e-04, 8.46517034e-05,
  7.11932106e-03,-1.22052544e-03, 0.00000000e+00,-2.70905460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09718449,  3.96502209,  1.03224055,  3.96502209,  5.7103144 ,
       -6.19632292,  1.03224055, -6.19632292, 27.89837826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7130636283674856e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.49502289e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.49502289e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06179277, -0.08547531,  0.06199907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76973629e-05, 1.29775930e-05, 1.23482906e-05,-2.60358183e-05,
 -1.54141685e-04,-7.05111271e-03,-2.14586191e-03,-6.55084950e-04,
  1.29847661e-06,-4.12593134e-05,-6.53391808e-06, 1.67819610e-05,
  2.68430089e-06, 1.76941164e-05, 1.62433128e-05, 1.16845753e-04,
 -5.52967475e-02,-3.13547280e-02,-1.15168405e+00, 1.35777443e-02,
 -9.60518141e-03,-3.90315265e-04]


--- Step 1291 ---
qpos:
[ 3.25401306e-03,-3.22339998e-03, 1.18876469e-02, 4.17694682e-02,
 -2.36369320e-03, 4.85973499e-01,-4.19328773e-02, 3.87361750e-01,
  5.83483720e-03, 1.64790612e-02,-9.29079312e-03, 2.59883556e-02,
  1.27823320e+00, 1.14178619e-04, 1.00212619e+00, 6.36651913e-02,
  5.25527396e-02,-6.22915617e-02, 1.21281140e-01, 9.06483104e-01,
 -3.15536301e-02,-2.75980530e-01,-3.18005499e-01]

qacc:
[-2.00467096e+00,-1.41393975e+00, 7.35546012e+00,-1.79135410e+01,
 -1.97336861e+00,-7.13941938e+01, 1.97610598e+02,-3.41430796e+02,
  1.66441170e-01, 2.31890254e+00,-8.01867075e+00, 7.65629752e+00,
  6.52129915e-01,-1.32698627e+00,-1.15782428e+01, 3.97913132e+01,
 -8.36403824e-01, 1.28949195e+00,-2.05730726e+00, 1.30394015e+01,
 -1.66104126e+01, 2.17806391e+01]

qfrc_actuator:
[ 9.02549829e-05, 3.40026829e-05, 6.92380367e-05, 4.31068021e-05,
  6.01873097e-03, 1.98888182e-01, 2.41825394e-02, 1.65494309e-01,
 -2.26226047e-05, 4.20101416e-04, 1.00366880e-04, 7.59904758e-05,
  7.10470205e-03,-1.25857328e-03, 0.00000000e+00,-2.51930264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09153609,  4.03415005, -0.68286229,  4.03415005,  5.00519619,
        5.39763585, -0.68286229,  5.39763585, 35.97918512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1743945956696478e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.72678872e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.72678872e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06178765, -0.08549763,  0.0619997 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17712475e-05,-2.50997374e-05,-8.55339144e-06,-3.29471085e-05,
 -1.54620178e-04,-7.16828289e-03,-2.18792039e-03,-1.01668646e-03,
  1.13639617e-06,-4.66777183e-05,-6.70043125e-05,-1.03363522e-05,
 -8.71251196e-06,-3.34763979e-05, 1.57417392e-05, 1.97259937e-04,
 -5.64031762e-02,-3.04733691e-02,-1.15129154e+00, 1.36389055e-02,
 -9.78261968e-03,-4.07752907e-04]


--- Step 1292 ---
qpos:
[ 3.25604196e-03,-3.22338662e-03, 1.18864457e-02, 4.17688103e-02,
 -2.24559051e-03, 4.89649159e-01,-4.15358046e-02, 3.90636599e-01,
  5.83478236e-03, 1.64792135e-02,-9.29055280e-03, 2.59898251e-02,
  1.27845372e+00, 1.17873812e-04, 1.00235735e+00, 6.36663780e-02,
  5.20319118e-02,-6.21307503e-02, 1.21123829e-01, 9.03816169e-01,
 -3.15450580e-02,-2.81256923e-01,-3.20960723e-01]

qacc:
[ 1.70596113e+00, 5.91454285e-01,-1.77022287e+00, 1.06245468e+00,
 -2.21717262e+00,-6.08620735e+01, 1.52750918e+02,-2.54329050e+02,
 -2.93884855e+00, 3.62196039e+00,-1.51732821e+01, 2.60921361e+01,
  1.25259173e+00,-2.75928715e+00,-9.15286576e+00, 3.15926794e+01,
 -3.24201800e-01, 1.78830264e-02,-9.26797285e+00, 1.41464169e+01,
  2.28171106e+00,-1.31274164e+00]

qfrc_actuator:
[ 1.00647623e-04, 4.93436076e-05, 6.25206966e-05, 4.14139463e-05,
  5.88681222e-03, 1.96452229e-01, 2.37599538e-02, 1.65016799e-01,
 -3.98337035e-05, 4.41870300e-04, 6.55703813e-05, 1.06002020e-04,
  7.08799344e-03,-1.33633978e-03, 0.00000000e+00,-2.37144826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.00515056e-05,-1.86907872e-06,-1.40837982e-05,-3.70166787e-06,
 -1.75017876e-04,-7.05696362e-03,-2.23895294e-03,-8.76613551e-04,
 -1.71899809e-05,-1.86352840e-05,-5.30652707e-05, 2.54868421e-05,
 -2.91329488e-05,-8.73591272e-05, 2.50738579e-05, 1.59903331e-04,
 -5.75276547e-02,-2.95757873e-02,-1.15089276e+00, 1.37009864e-02,
 -9.95935356e-03,-4.25613831e-04]


--- Step 1293 ---
qpos:
[ 3.25817953e-03,-3.22336224e-03, 1.18854492e-02, 4.17677651e-02,
 -2.12996576e-03, 4.93277108e-01,-4.11499886e-02, 3.93903013e-01,
  5.83452147e-03, 1.64795839e-02,-9.29087904e-03, 2.59912512e-02,
  1.27867462e+00, 1.19025264e-04, 1.00258902e+00, 6.36656609e-02,
  5.15097644e-02,-6.19698539e-02, 1.20929432e-01, 9.01111081e-01,
 -3.15072340e-02,-2.86525900e-01,-3.23896623e-01]

qacc:
[ 9.59775423e-01,-1.35784727e+00, 6.49296204e+00,-1.35266464e+01,
 -2.18442201e+00,-4.79405033e+01, 1.10926746e+02,-1.92536564e+02,
 -1.81844918e+00, 1.78628593e+00,-5.76179407e+00, 5.75096301e+00,
  2.18601501e+00,-5.06861864e+00, 6.29569960e+00,-2.14077261e+01,
 -3.29895756e-01, 2.12371251e-02,-9.27143338e+00, 1.41447878e+01,
  2.37602453e+00,-1.38666345e+00]

qfrc_actuator:
[ 1.05954463e-04, 5.85159345e-05, 7.68653920e-05, 2.29454720e-05,
  5.76191983e-03, 1.94528256e-01, 2.33712240e-02, 1.64633466e-01,
 -4.99381248e-05, 4.72603434e-04, 4.51191012e-05, 1.05337038e-04,
  7.07002157e-03,-1.49026525e-03, 0.00000000e+00,-2.48026340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.59452181e-06, 5.07161915e-06, 1.21087370e-05,-1.91046376e-05,
 -1.73969519e-04,-6.48518565e-03,-2.18264884e-03,-7.76275281e-04,
 -1.06016132e-05, 1.04252475e-05,-2.99621285e-05,-2.80712799e-06,
 -5.46769889e-05,-1.80323879e-04, 2.46223774e-05,-9.77987845e-05,
 -5.82743027e-02,-2.91881426e-02,-1.15134575e+00, 1.38272046e-02,
 -1.01080619e-02,-4.43655944e-04]


--- Step 1294 ---
qpos:
[ 3.26070912e-03,-3.22328551e-03, 1.18846073e-02, 4.17665046e-02,
 -2.01648653e-03, 4.96866311e-01,-4.07779203e-02, 3.97163460e-01,
  5.83414177e-03, 1.64795714e-02,-9.29119489e-03, 2.59920050e-02,
  1.27889532e+00, 1.18646706e-04, 1.00282059e+00, 6.36653580e-02,
  5.09849717e-02,-6.18012882e-02, 1.20739667e-01, 8.98377682e-01,
 -3.14881423e-02,-2.91847631e-01,-3.26727711e-01]

qacc:
[  3.44465506, -0.81350313,  3.89726789, -7.89533056, -1.88456547,
 -24.60481033, 36.88835436,-85.66298491, -1.0296719 , -1.91751819,
   8.94550087,-20.32251097,  1.10037082, -2.87884302, -1.51655339,
   4.82142835, -0.66131191,  1.91733106,  1.15794825, 14.6733075 ,
 -32.50993657, 44.49135087]

qfrc_actuator:
[ 1.25970974e-04, 6.40029683e-05, 8.57480409e-05, 1.25148919e-05,
  5.65997390e-03, 1.93353776e-01, 2.29726613e-02, 1.64397902e-01,
 -5.57727878e-05, 4.19753720e-04, 3.33187725e-05, 6.88882661e-05,
  7.05126591e-03,-1.56380224e-03, 0.00000000e+00,-2.45536027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09768561, -0.91037719, -3.9952773 , -0.91037719, 33.70519891,
       -6.74646655, -3.9952773 , -6.74646655,  5.63495793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.858256665500992e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49613291e-14, -1.43876253e-12,  1.00000000e+00,  6.46886756e-26,
        1.00000000e+00,  1.43876253e-12, -1.00000000e+00,  0.00000000e+00,
        4.49613291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06048622, -0.08808278,  0.06199902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01790796e-05, 1.00141244e-05, 1.07718315e-05,-1.01623863e-05,
 -1.51113209e-04,-5.39859359e-03,-2.06405615e-03,-6.00740804e-04,
 -6.13249887e-06,-5.33465466e-05,-1.34379865e-05,-3.70962470e-05,
 -9.23856534e-05,-1.26355456e-04,-5.25795868e-06, 2.12567776e-05,
 -5.90159146e-02,-2.88025055e-02,-1.15180890e+00, 1.39559728e-02,
 -1.02540030e-02,-4.61818884e-04]


--- Step 1295 ---
qpos:
[ 3.26311398e-03,-3.22302028e-03, 1.18837783e-02, 4.17658117e-02,
 -1.90510874e-03, 5.00422428e-01,-4.04188549e-02, 4.00420635e-01,
  5.83335031e-03, 1.64789468e-02,-9.29150314e-03, 2.59920015e-02,
  1.27911550e+00, 1.17582670e-04, 1.00305212e+00, 6.36650031e-02,
  5.04572414e-02,-6.16253102e-02, 1.20552056e-01, 8.95615126e-01,
 -3.14851924e-02,-2.97218244e-01,-3.29459473e-01]

qacc:
[ -1.09725496,  1.38509536, -6.96735963, 16.62406955, -1.83317049,
 -14.06028975,  0.52522642,-12.95466703, -3.58080553, -2.38189245,
  10.52817124,-23.20744208,  0.1506224 , -0.92352571,  0.08623287,
  -0.42840952, -0.73440951,  1.85307941,  0.5383985 , 14.76995913,
 -30.41311868, 41.43921377]

qfrc_actuator:
[ 1.18981204e-04, 8.49857180e-05, 9.13216528e-05, 4.23951953e-05,
  5.55470196e-03, 1.92301813e-01, 2.25574396e-02, 1.64287413e-01,
 -7.68030560e-05, 3.70526037e-04, 2.63586740e-05, 2.93683659e-05,
  7.03207796e-03,-1.58910237e-03, 0.00000000e+00,-2.45829835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.11466008,  2.37956122,  3.35680145,  2.37956122,  8.80069781,
       -3.32182699,  3.35680145, -3.32182699,  6.46942869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.209755094825243e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01519557e-13, -7.69945033e-13,  1.00000000e+00,  4.63136995e-25,
        1.00000000e+00,  7.69945033e-13, -1.00000000e+00,  0.00000000e+00,
        6.01519557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06045012, -0.0880768 ,  0.06199816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.41065580e-06, 2.83812204e-05, 8.62552585e-06, 3.04873596e-05,
 -1.48353578e-04,-4.63596232e-03,-1.83685158e-03,-4.23340968e-04,
 -2.12228110e-05,-8.34258106e-05,-2.09162888e-05,-4.29937157e-05,
 -1.01932249e-04,-7.48237305e-05,-4.31996265e-06,-3.42463104e-06,
 -6.04374393e-02,-2.73495111e-02,-1.15071021e+00, 1.39480656e-02,
 -1.04452937e-02,-4.82131016e-04]


--- Step 1296 ---
qpos:
[ 3.26472664e-03,-3.22247055e-03, 1.18826991e-02, 4.17654879e-02,
 -1.79608760e-03, 5.03945155e-01,-4.00689833e-02, 4.03670383e-01,
  5.83196759e-03, 1.64781853e-02,-9.29213091e-03, 2.59918313e-02,
  1.27933532e+00, 1.15318905e-04, 1.00328330e+00, 6.36669456e-02,
  4.99263520e-02,-6.14421458e-02, 1.20364462e-01, 8.92822652e-01,
 -3.14962351e-02,-3.02634638e-01,-3.32096334e-01]

qacc:
[-6.96580640e+00, 1.84994602e+00,-7.58343634e+00, 1.41343809e+01,
 -2.03041569e+00,-3.28400498e+01, 8.06622540e+01,-1.59907073e+02,
 -5.16421577e+00, 3.79024138e-01,-8.92609688e-01,-1.39984339e+00,
  8.29772711e-01,-2.28572565e+00,-7.54629337e+00, 2.54373497e+01,
 -7.89793064e-01, 1.79659034e+00, 4.48286217e-03, 1.49078526e+01,
 -2.87463889e+01, 3.89279998e+01]

qfrc_actuator:
[ 7.83949717e-05, 9.73561741e-05, 7.72370467e-05, 6.02599919e-05,
  5.43049591e-03, 1.90818372e-01, 2.21724821e-02, 1.63932114e-01,
 -1.06610211e-04, 3.94864397e-04, 2.23013628e-05, 2.38647505e-05,
  7.00734088e-03,-1.65670345e-03, 0.00000000e+00,-2.33561961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13089599,  2.60455921,  3.20633326,  2.60455921, 10.07521546,
       -4.82867212,  3.20633326, -4.82867212,  8.05330874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.338309790817012e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30034927e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.30034927e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06041974, -0.08807645,  0.0619976 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07604097e-05, 3.13206127e-05,-6.09906332e-06, 1.99750709e-05,
 -1.66788776e-04,-4.58610675e-03,-1.61594705e-03,-6.25453667e-04,
 -3.04443189e-05,-2.84605609e-05,-2.53430131e-05,-1.06363991e-05,
 -1.00957284e-04,-1.07818923e-04,-7.23397403e-06, 1.20817219e-04,
 -6.18394136e-02,-2.59204719e-02,-1.14971454e+00, 1.39446813e-02,
 -1.06367315e-02,-5.02644818e-04]


--- Step 1297 ---
qpos:
[ 3.26618526e-03,-3.22171258e-03, 1.18814863e-02, 4.17653826e-02,
 -1.68938698e-03, 5.07432216e-01,-3.97260788e-02, 4.06905704e-01,
  5.83092746e-03, 1.64776415e-02,-9.29277423e-03, 2.59918736e-02,
  1.27955464e+00, 1.12210863e-04, 1.00351447e+00, 6.36696465e-02,
  4.93921377e-02,-6.12519937e-02, 1.20175041e-01, 8.89999568e-01,
 -3.15194927e-02,-3.08094349e-01,-3.34641843e-01]

qacc:
[-1.35977191e+00, 1.10181941e+00,-4.44652913e+00, 8.28400807e+00,
 -1.97441340e+00,-5.53003846e+01, 1.80379320e+02,-3.67039540e+02,
  2.98368947e+00, 7.62600246e-01,-3.20849373e+00, 6.75994352e+00,
  3.33996290e-01,-1.31541506e+00,-2.34368510e+00, 8.08258984e+00,
 -8.31203181e-01, 1.74692175e+00,-4.56794806e-01, 1.50809050e+01,
 -2.74361297e+01, 3.68639334e+01]

qfrc_actuator:
[ 7.16261154e-05, 1.04387865e-04, 6.93680913e-05, 7.08869584e-05,
  5.31377781e-03, 1.89000818e-01, 2.18070754e-02, 1.63204606e-01,
 -8.80813947e-05, 4.45359391e-04, 3.80624253e-05, 3.84832804e-05,
  6.98460455e-03,-1.69563875e-03, 0.00000000e+00,-2.29967303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.14117653,  2.91910781,  2.93737173,  2.91910781, 11.26268958,
       -7.07723307,  2.93737173, -7.07723307, 11.17440495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010458430777179895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49281586e-13,  1.06155794e-12,  1.00000000e+00, -1.58471053e-25,
        1.00000000e+00, -1.06155794e-12, -1.00000000e+00,  0.00000000e+00,
        1.49281586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06039405, -0.08808075,  0.06199731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.92009671e-06, 2.41161603e-05,-1.45266022e-06, 1.21496807e-05,
 -1.64916240e-04,-4.85387685e-03,-1.56538203e-03,-9.91930749e-04,
  1.76445128e-05, 2.89092004e-05, 6.40902178e-06, 1.23194569e-05,
 -1.05872412e-04,-8.64042073e-05, 6.24663795e-06, 4.08507917e-05,
 -6.32301196e-02,-2.45086164e-02,-1.14880462e+00, 1.39453065e-02,
 -1.08282343e-02,-5.23399820e-04]


--- Step 1298 ---
qpos:
[ 3.26755119e-03,-3.22104119e-03, 1.18805996e-02, 4.17654118e-02,
 -1.58491965e-03, 5.10880629e-01,-3.93897471e-02, 4.10131446e-01,
  5.83080700e-03, 1.64771631e-02,-9.29315673e-03, 2.59913994e-02,
  1.27977343e+00, 1.08313613e-04, 1.00374595e+00, 6.36700793e-02,
  4.88544771e-02,-6.10550287e-02, 1.19982195e-01, 8.87145231e-01,
 -3.15535028e-02,-3.13595439e-01,-3.37098823e-01]

qacc:
[-8.01657693e-01,-7.47411424e-01, 1.93429520e+00,-6.89142073e-02,
 -1.87898320e+00,-5.10453809e+01, 1.42143422e+02,-2.51807825e+02,
  8.02730592e+00,-1.72153836e+00, 8.41700501e+00,-1.77912617e+01,
  8.50381678e-02,-8.96823566e-01, 7.29338163e+00,-2.48877332e+01,
 -8.61583021e-01, 1.70324239e+00,-8.56316804e-01, 1.52840995e+01,
 -2.64227653e+01, 3.51709664e+01]

qfrc_actuator:
[ 6.70737857e-05, 9.04261046e-05, 8.29645523e-05, 7.71740726e-05,
  5.20245903e-03, 1.86998430e-01, 2.14548497e-02, 1.62725314e-01,
 -4.12483414e-05, 4.40238011e-04, 4.77857217e-05, 1.16047968e-05,
  6.95776861e-03,-1.73500278e-03, 0.00000000e+00,-2.42166153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.14406973,  3.35209106,  2.43655484,  3.35209106, 11.24338775,
       -9.76688894,  2.43655484, -9.76688894, 17.58087018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010751809957162961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74282183e-13, -1.03259175e-12,  1.00000000e+00,  2.83221519e-25,
        1.00000000e+00,  1.03259175e-12, -1.00000000e+00,  0.00000000e+00,
        2.74282183e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06037222, -0.08808888,  0.06199722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77109897e-06,-2.76015482e-07, 1.88236260e-05, 7.50767833e-06,
 -1.59448324e-04,-5.19131900e-03,-1.61245739e-03,-7.59944817e-04,
  4.73458063e-05, 1.29266146e-05, 1.69225766e-05,-2.51764696e-05,
 -1.07800518e-04,-8.31817422e-05, 2.23949122e-06,-1.20106344e-04,
 -6.46166167e-02,-2.31075615e-02,-1.14796592e+00, 1.39493836e-02,
 -1.10197587e-02,-5.44431900e-04]


--- Step 1299 ---
qpos:
[ 3.26850706e-03,-3.22061496e-03, 1.18799921e-02, 4.17655402e-02,
 -1.48285293e-03, 5.14286569e-01,-3.90589659e-02, 4.13355901e-01,
  5.83090441e-03, 1.64763886e-02,-9.29325190e-03, 2.59909975e-02,
  1.27999167e+00, 1.03876435e-04, 1.00397718e+00, 6.36710619e-02,
  4.83132836e-02,-6.08514045e-02, 1.19784536e-01, 8.84259037e-01,
 -3.15970711e-02,-3.19136409e-01,-3.39469488e-01]

qacc:
[-3.58619659e+00,-8.93130770e-01, 2.30801092e+00,-8.71366447e-01,
 -1.99899071e+00,-4.30658380e+01, 7.68773514e+01,-5.67785235e+01,
  1.91405975e+00,-1.04907075e+00, 2.86086769e+00,-1.84286938e+00,
  5.55545811e-02,-6.83752336e-01,-2.06534461e+00, 6.62000284e+00,
 -8.83233948e-01, 1.66479836e+00,-1.20329554e+00, 1.55133372e+01,
 -2.56577333e+01, 3.37869197e+01]

qfrc_actuator:
[ 4.60989909e-05, 6.40798194e-05, 9.12814787e-05, 8.08540005e-05,
  5.07746816e-03, 1.84778120e-01, 2.11484306e-02, 1.62662163e-01,
 -3.14047621e-05, 4.01812132e-04, 5.36162067e-05, 1.37299184e-05,
  6.93914475e-03,-1.75658877e-03, 0.00000000e+00,-2.38715118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.1403415 ,  3.89552753,  1.40260221,  3.89552753,  7.6249186 ,
       -9.67791578,  1.40260221, -9.67791578, 31.01937187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010372142149824015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50523499e-13, -5.35194663e-13,  1.00000000e+00,  8.05593733e-26,
        1.00000000e+00,  5.35194663e-13, -1.00000000e+00,  0.00000000e+00,
        1.50523499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06035355, -0.08810013,  0.06199731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11130919e-05,-2.23109441e-05, 1.08394272e-05, 4.46595766e-06,
 -1.72021836e-04,-5.59594492e-03,-1.63276618e-03,-3.54036225e-04,
  1.12037114e-05,-2.87415704e-05, 9.72299261e-06, 2.77562834e-06,
 -1.00322024e-04,-6.49285287e-05,-1.81592618e-05, 2.67634187e-05,
 -6.60050139e-02,-2.17113469e-02,-1.14718628e+00, 1.39563442e-02,
 -1.12112910e-02,-5.65773842e-04]


--- Step 1300 ---
qpos:
[ 3.26954899e-03,-3.22041128e-03, 1.18795369e-02, 4.17653727e-02,
 -1.38308705e-03, 5.17648946e-01,-3.87341920e-02, 4.16574511e-01,
  5.83111963e-03, 1.64751255e-02,-9.29315793e-03, 2.59910020e-02,
  1.28020923e+00, 9.96439544e-05, 1.00420831e+00, 6.36720785e-02,
  4.77684983e-02,-6.06412567e-02, 1.19580855e-01, 8.81340406e-01,
 -3.16492323e-02,-3.24716123e-01,-3.41755547e-01]

qacc:
[   0.76388067,  -1.3313529 ,   5.56529788, -10.76083675,  -1.89844172,
  -51.93630711, 122.40938322,-170.82460684,   1.04197742,  -0.339843  ,
   -1.4445793 ,   8.53892534,  -0.67369393,   0.92985866,  -0.19428837,
    0.58907826,  -0.89794264,   1.63089433,  -1.5055948 ,  15.76527502,
  -25.1011669 ,  32.66056492]

qfrc_actuator:
[ 5.11304386e-05, 4.82486452e-05, 9.63471627e-05, 6.51984712e-05,
  4.96308732e-03, 1.82588364e-01, 2.08355969e-02, 1.62364914e-01,
 -2.56682928e-05, 3.61491369e-04, 5.69801620e-05, 3.28749680e-05,
  6.92546916e-03,-1.73193628e-03, 0.00000000e+00,-2.38492049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13185985,  4.10928074, -0.43136712,  4.10928074,  4.5625644 ,
        4.10296898, -0.43136712,  4.10296898, 43.21748012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.44919361842711e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83584287e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83584287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06033743, -0.08811392,  0.06199754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42090251e-06,-2.58962595e-05, 1.94858776e-06,-1.61484004e-05,
 -1.65560886e-04,-5.77686472e-03,-1.70988793e-03,-5.96655664e-04,
  6.04447995e-06,-5.42315891e-05,-1.26866771e-06, 1.83061849e-05,
 -8.67346326e-05,-1.28907489e-05,-9.40359566e-06, 4.64236408e-07,
 -6.74006746e-02,-2.03144366e-02,-1.14645551e+00, 1.39656297e-02,
 -1.14028402e-02,-5.87455858e-04]


--- Step 1301 ---
qpos:
[ 3.27098786e-03,-3.22040179e-03, 1.18791446e-02, 4.17650218e-02,
 -1.28524470e-03, 5.20969137e-01,-3.84169956e-02, 4.19778074e-01,
  5.83140206e-03, 1.64732812e-02,-9.29292023e-03, 2.59909062e-02,
  1.28042624e+00, 9.56328303e-05, 1.00443951e+00, 6.36717537e-02,
  4.72200846e-02,-6.04247054e-02, 1.19370093e-01, 8.78388775e-01,
 -3.17092161e-02,-3.30333749e-01,-3.43958282e-01]

qacc:
[   3.48917581,  -0.81750144,   3.30446913,  -6.42391434,  -1.57310288,
  -63.34001616, 198.08928973,-386.87000162,   0.60045609,  -1.37735444,
    4.21737681,  -5.75105275,  -0.67880393,   0.99777598,   4.20930755,
  -14.44924361,  -0.90708472,   1.60088361,  -1.76996561,  16.03717227,
  -24.72011978,  31.74940802]

qfrc_actuator:
[ 7.14335235e-05, 3.88019947e-05, 9.94772595e-05, 5.60496447e-05,
  4.87368559e-03, 1.80594791e-01, 2.04860863e-02, 1.61612735e-01,
 -2.23831892e-05, 3.20344662e-04, 5.88474666e-05, 2.63637564e-05,
  6.90946810e-03,-1.71557460e-03, 0.00000000e+00,-2.45501959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.1208711 ,  3.2470877 , -2.53732144,  3.2470877 , 19.07618858,
       19.13877626, -2.53732144, 19.13877626, 28.61334726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.092265824251321e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92931271e-13, -6.85977851e-13,  1.00000000e+00,  1.32346579e-25,
        1.00000000e+00,  6.85977851e-13, -1.00000000e+00,  0.00000000e+00,
        1.92931271e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06032337, -0.08812976,  0.06199788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04204140e-05,-2.42205329e-05,-2.53559046e-06,-1.05044809e-05,
 -1.39128568e-04,-5.70559047e-03,-1.80025511e-03,-1.06600437e-03,
  3.43484376e-06,-7.09034925e-05,-8.84419343e-06,-8.52050428e-06,
 -6.90598209e-05,-6.38628496e-06,-9.07003379e-06,-7.23761729e-05,
 -6.88083730e-02,-1.89117010e-02,-1.14576515e+00, 1.39767035e-02,
 -1.15944322e-02,-6.09506041e-04]


--- Step 1302 ---
qpos:
[ 3.27334881e-03,-3.22057912e-03, 1.18787506e-02, 4.17652581e-02,
 -1.18924605e-03, 5.24246934e-01,-3.81073716e-02, 4.22969980e-01,
  5.83137646e-03, 1.64712269e-02,-9.29283068e-03, 2.59910512e-02,
  1.28064286e+00, 9.15301822e-05, 1.00467051e+00, 6.36715801e-02,
  4.66680242e-02,-6.02018574e-02, 1.19151323e-01, 8.75403585e-01,
 -3.17764201e-02,-3.35988706e-01,-3.46078620e-01]

qacc:
[ 8.09681590e+00, 9.52103401e-01,-6.25717572e+00, 1.65866722e+01,
 -1.49465600e+00,-5.71673341e+01, 1.63774351e+02,-3.00360183e+02,
 -2.68719629e+00, 6.37355399e-01,-3.68230897e+00, 8.22971306e+00,
 -2.05331880e-01, 1.02938186e-01,-7.52188117e-01, 2.21052803e+00,
 -9.11708909e-01, 1.57416343e+00,-2.00222350e+00, 1.63267548e+01,
 -2.44872001e+01, 3.10179935e+01]

qfrc_actuator:
[ 1.18306930e-04, 3.32467265e-05, 1.01474525e-04, 8.63160776e-05,
  4.78206174e-03, 1.78592956e-01, 2.01540479e-02, 1.61042950e-01,
 -3.83180550e-05, 3.32248389e-04, 5.97865371e-05, 4.03080695e-05,
  6.89208506e-03,-1.72203860e-03, 0.00000000e+00,-2.44288647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10956376,  1.91405997, -3.63660401,  1.91405997, 28.39431413,
       12.78183392, -3.63660401, 12.78183392, 10.83704813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.393162998251378e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32956801e-12, -1.73657863e-12,  1.00000000e+00,  2.30889940e-24,
        1.00000000e+00,  1.73657863e-12, -1.00000000e+00,  0.00000000e+00,
        1.32956801e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06031094, -0.08814721,  0.06199832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74475763e-05,-2.00655159e-05,-3.67841210e-06, 2.89372180e-05,
 -1.33882217e-04,-5.71001441e-03,-1.79410417e-03,-8.92814746e-04,
 -1.58660432e-05,-2.98716639e-05,-1.50720417e-05, 1.04376680e-05,
 -5.89332604e-05,-2.35462224e-05,-1.72512002e-05, 5.78210752e-06,
 -7.02324133e-02,-1.74983901e-02,-1.14510818e+00, 1.39890572e-02,
 -1.17861059e-02,-6.31950737e-04]


--- Step 1303 ---
qpos:
[ 3.27625322e-03,-3.22071279e-03, 1.18783018e-02, 4.17654835e-02,
 -1.09532397e-03, 5.27483336e-01,-3.78063562e-02, 4.26171762e-01,
  5.83150465e-03, 1.64690184e-02,-9.29197422e-03, 2.59916356e-02,
  1.28085893e+00, 8.81545783e-05, 1.00490105e+00, 6.36741979e-02,
  4.61123133e-02,-5.99728087e-02, 1.18923723e-01, 8.72384277e-01,
 -3.18503847e-02,-3.41680626e-01,-3.48117186e-01]

qacc:
[ 4.76751034e+00, 1.79585479e-01,-5.26819203e-01, 4.11906325e-01,
 -1.67756214e+00,-1.20148254e+01,-6.95194610e+01, 2.60833307e+02,
  1.36799946e+00,-1.44533788e+00, 2.99755338e+00, 3.50061786e+00,
 -8.25885373e-01, 1.58169313e+00,-9.03459645e+00, 3.07860159e+01,
 -9.12605127e-01, 1.55017266e+00,-2.20738565e+00, 1.66321035e+01,
 -2.43795134e+01, 3.04365953e+01]

qfrc_actuator:
[ 1.44933343e-04, 4.78492249e-05, 1.02831420e-04, 8.62764301e-05,
  4.67204156e-03, 1.76816278e-01, 1.98532713e-02, 1.61579380e-01,
 -2.99312946e-05, 3.58090903e-04, 1.13660937e-04, 6.62248670e-05,
  6.88452951e-03,-1.67096313e-03, 0.00000000e+00,-2.29360677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09984197,  0.82898706, -4.01515686,  0.82898706, 27.32270771,
        4.79469567, -4.01515686,  4.79469567,  5.08977606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4287450444505105e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91696397e-14, -1.25342847e-12,  1.00000000e+00,  4.90963415e-26,
        1.00000000e+00,  1.25342847e-12, -1.00000000e+00,  0.00000000e+00,
        3.91696397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06029978, -0.08816593,  0.06199883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79707441e-05, 3.88117069e-06,-2.23763786e-06,-4.64827826e-07,
 -1.51047471e-04,-5.47707514e-03,-1.75625329e-03, 2.17355019e-04,
  7.91529620e-06, 6.53944919e-06, 4.62319738e-05, 2.43230133e-05,
 -4.72343550e-05, 3.24849352e-05,-1.12669921e-05, 1.46467068e-04,
 -7.16767224e-02,-1.60701021e-02,-1.14447883e+00, 1.40022139e-02,
 -1.19779097e-02,-6.54814842e-04]


--- Step 1304 ---
qpos:
[ 3.27841987e-03,-3.22090137e-03, 1.18779222e-02, 4.17653654e-02,
 -1.00344374e-03, 5.30683582e-01,-3.75150904e-02, 4.29386761e-01,
  5.83173178e-03, 1.64670173e-02,-9.29030315e-03, 2.59917839e-02,
  1.28107404e+00, 8.72698863e-05, 1.00513140e+00, 6.36792212e-02,
  4.55529609e-02,-5.97376465e-02, 1.18686564e-01, 8.69330284e-01,
 -3.19307730e-02,-3.47409313e-01,-3.50074353e-01]

qacc:
[  -6.47246684,  -0.96178431,   4.7948762 , -10.83308504,  -1.64403255,
    4.34892287,-128.74129931, 366.87395708,   0.88451529,  -2.90209254,
   12.58328909, -21.58159538,  -2.56167163,   5.38023777,  -7.31062331,
   25.70534397,  -0.91035934,   1.52839064,  -2.38978049,  16.9515652 ,
  -24.37783786,  29.98019492]

qfrc_actuator:
[ 1.06163463e-04, 3.88853626e-05, 1.03858062e-04, 6.84163552e-05,
  4.56970656e-03, 1.75510201e-01, 1.95575644e-02, 1.62283347e-01,
 -2.50427816e-05, 3.92324989e-04, 1.62935478e-04, 4.57722846e-05,
  6.87757395e-03,-1.51513540e-03, 0.00000000e+00,-2.17125571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09323835, -1.39695487,  3.84748194, -1.39695487,  8.05833698,
        1.43965948,  3.84748194,  1.43965948,  4.61595408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2631286311830534e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.8986407e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.8986407e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0602896 , -0.08818561,  0.0619994 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79708783e-05,-7.26546449e-06, 1.53883228e-06,-1.77812365e-05,
 -1.48844983e-04,-4.82133240e-03,-1.66065700e-03, 4.18477375e-04,
  5.10881726e-06, 4.85550001e-05, 5.71757195e-05,-1.80978925e-05,
 -2.64640044e-05, 1.52324641e-04, 7.31834543e-06, 1.28193155e-04,
 -7.31449221e-02,-1.46227500e-02,-1.14387242e+00, 1.40157287e-02,
 -1.21698985e-02,-6.78122029e-04]


--- Step 1305 ---
qpos:
[ 3.28010547e-03,-3.22133335e-03, 1.18776307e-02, 4.17654028e-02,
 -9.12296075e-04, 5.33854485e-01,-3.72334344e-02, 4.32599687e-01,
  5.83201550e-03, 1.64655920e-02,-9.28846996e-03, 2.59916833e-02,
  1.28128832e+00, 8.90916685e-05, 1.00536178e+00, 6.36853340e-02,
  4.49917125e-02,-5.95020054e-02, 1.18412585e-01, 8.66237260e-01,
 -3.19844632e-02,-3.53125899e-01,-3.52011511e-01]

qacc:
[ -4.21533688, -0.23940906, -0.2550306 ,  2.96897503, -0.58046033,
 -16.16502065, 10.27939227,-10.26402567,  0.48866609, -0.2053907 ,
   2.88595857, -7.87519075, -2.73305895,  5.84176087, -3.00257609,
  11.13698622, -0.47402754,  0.11969984, -9.20498183, 12.33928264,
   2.83393912, -2.57879219]

qfrc_actuator:
[ 8.24775227e-05, 1.58627926e-05, 1.04584319e-04, 7.57063405e-05,
  4.56154173e-03, 1.74586565e-01, 1.92694836e-02, 1.62210666e-01,
 -2.22598887e-05, 4.31294147e-04, 1.73590386e-04, 3.37030704e-05,
  6.85505597e-03,-1.36952155e-03, 0.00000000e+00,-2.11905026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.47683451e-05,-2.75378239e-05,-1.19398380e-06, 6.68856517e-06,
 -5.42522224e-05,-4.04347555e-03,-1.49977804e-03,-3.24012641e-04,
  2.94013408e-06, 7.72113674e-05, 2.71043637e-05,-8.36206740e-06,
 -1.93549141e-06, 1.73695905e-04, 1.22413179e-05, 5.90647312e-05,
 -7.46403861e-02,-1.31525291e-02,-1.14328522e+00, 1.40291885e-02,
 -1.23621323e-02,-7.01894928e-04]


--- Step 1306 ---
qpos:
[ 3.28183860e-03,-3.22186005e-03, 1.18772813e-02, 4.17658638e-02,
 -8.20224846e-04, 5.36999441e-01,-3.69606453e-02, 4.35814407e-01,
  5.83267531e-03, 1.64646143e-02,-9.28620272e-03, 2.59917816e-02,
  1.28150235e+00, 9.21936869e-05, 1.00559241e+00, 6.36900230e-02,
  4.44264866e-02,-5.92592153e-02, 1.18133574e-01, 8.63109505e-01,
 -3.20513095e-02,-3.58890216e-01,-3.53853795e-01]

qacc:
[  0.41727057,  0.90904659, -5.2103209 , 12.70090225,  0.74942345,
  -6.39046528,-31.40535697, 86.5654401 ,  3.28599911, -0.21841733,
   0.78617936,  1.64529034, -1.30643038,  2.83914729,  4.79171842,
 -15.94278346, -0.99435103,  1.78728035, -1.25797313, 18.89876078,
 -30.63872969, 36.53856089]

qfrc_actuator:
[ 8.56329887e-05, 2.01207128e-05, 1.05083736e-04, 9.77246527e-05,
  4.64489174e-03, 1.73704765e-01, 1.89897387e-02, 1.62338846e-01,
 -2.98496553e-06, 4.54900254e-04, 1.96905411e-04, 4.44037715e-05,
  6.83387615e-03,-1.32001109e-03, 0.00000000e+00,-2.19734165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09110858, -0.74091555, -4.02345791, -0.74091555, 34.82087564,
       -5.65885433, -4.02345791, -5.65885433,  5.13318066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.624666532603629e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61858234e-13, -8.37946347e-12,  1.00000000e+00,  2.19423150e-24,
        1.00000000e+00,  8.37946347e-12, -1.00000000e+00,  0.00000000e+00,
        2.61858234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06025599, -0.08821185,  0.06199982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44178565e-06,-1.10963892e-05,-5.09659665e-06, 2.09298398e-05,
  6.60407902e-05,-3.56358256e-03,-1.33719464e-03,-1.01078128e-04,
  1.93827422e-05, 7.20559291e-05, 4.23088682e-05, 1.47838809e-05,
  1.83681097e-05, 8.81346599e-05, 6.33791583e-06,-7.47731651e-05,
 -7.54988111e-02,-1.26745766e-02,-1.14405486e+00, 1.41712568e-02,
 -1.25228753e-02,-7.19975354e-04]


--- Step 1307 ---
qpos:
[ 3.28325087e-03,-3.22240612e-03, 1.18769200e-02, 4.17662264e-02,
 -7.27695600e-04, 5.40119916e-01,-3.66957906e-02, 4.39034574e-01,
  5.83356106e-03, 1.64641996e-02,-9.28424412e-03, 2.59920441e-02,
  1.28171628e+00, 9.57918018e-05, 1.00582404e+00, 6.36857089e-02,
  4.38573744e-02,-5.90095405e-02, 1.17848035e-01, 8.59946148e-01,
 -3.21301454e-02,-3.64700785e-01,-3.55603169e-01]

qacc:
[-2.81633489e+00,-1.89334673e-01, 1.06185950e+00,-2.73876623e+00,
  3.73550993e-01,-8.19214279e-02,-6.37067723e+01, 1.72034981e+02,
  1.95137075e+00, 1.94102889e+00,-6.54125746e+00, 9.46985692e+00,
 -1.02402239e+00, 1.90819702e+00, 2.87140010e+01,-9.81504522e+01,
 -9.71587397e-01, 1.72114003e+00,-1.63219886e+00, 1.91110927e+01,
 -2.99597487e+01, 3.52072763e+01]

qfrc_actuator:
[ 6.90518632e-05, 2.29429756e-05, 1.05557973e-04, 9.27445524e-05,
  4.65751911e-03, 1.72749892e-01, 1.87003436e-02, 1.62637764e-01,
  8.09041411e-06, 4.69186403e-04, 1.74221832e-04, 5.06655366e-05,
  6.80815123e-03,-1.31006640e-03, 0.00000000e+00,-2.67140092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09109561, -0.59299677, -4.04789057, -0.59299677, 15.84929637,
       -1.72252064, -4.04789057, -1.72252064,  4.34343671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.405621874816525e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70812656e-13,  8.66600501e-12,  1.00000000e+00, -2.34686384e-24,
        1.00000000e+00, -8.66600501e-12, -1.00000000e+00,  0.00000000e+00,
        2.70812656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06023485, -0.08822088,  0.06199983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65141832e-05,-3.52154154e-06,-1.71392193e-06,-5.22385865e-06,
  3.23888527e-05,-3.32512196e-03,-1.22087695e-03, 9.92822917e-05,
  1.16530758e-05, 6.39708219e-05,-2.09206718e-06, 1.10975391e-05,
  5.10824325e-06, 3.43085828e-05,-1.08827808e-05,-4.78701363e-04,
 -7.71909031e-02,-1.09483129e-02,-1.14319720e+00, 1.41591388e-02,
 -1.27181855e-02,-7.46215876e-04]


--- Step 1308 ---
qpos:
[ 3.28445336e-03,-3.22273719e-03, 1.18761547e-02, 4.17668689e-02,
 -6.37856630e-04, 5.43214976e-01,-3.64363628e-02, 4.42251336e-01,
  5.83457297e-03, 1.64643347e-02,-9.28309852e-03, 2.59920720e-02,
  1.28193026e+00, 9.90840708e-05, 1.00605511e+00, 6.36797750e-02,
  4.32844704e-02,-5.87532158e-02, 1.17554656e-01, 8.56746326e-01,
 -3.22200202e-02,-3.70556416e-01,-3.57261173e-01]

qacc:
[ -1.85754856,  1.99392011, -7.8707003 , 13.19293106, -2.11226621,
 -25.00099169, 52.78267463,-79.03084429,  1.06538154,  2.51365192,
  -6.92081586,  3.75729757,  0.21641412, -0.53331036,  4.05616529,
 -15.42189598, -0.94794046,  1.66250221, -1.95974834, 19.34120436,
 -29.45595642, 34.09190797]

qfrc_actuator:
[ 5.87307931e-05, 4.26190194e-05, 8.82415650e-05, 1.07423013e-04,
  4.45028270e-03, 1.71529304e-01, 1.84432778e-02, 1.62466669e-01,
  1.42457774e-05, 4.77586152e-04, 1.24508163e-04, 3.64663896e-05,
  6.79034562e-03,-1.34134175e-03, 0.00000000e+00,-2.73567738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09090929, -0.76551341, -4.01864754, -0.76551341, 13.77733834,
       -1.84517086, -4.01864754, -1.84517086,  4.44239645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0820315166369951e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.49869114e-11, -5.33240259e-10,  1.00000000e+00,  3.99860400e-20,
        1.00000000e+00,  5.33240259e-10, -1.00000000e+00,  0.00000000e+00,
        7.49869114e-11])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06021617, -0.08823252,  0.06199999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07903723e-05, 1.71419636e-05,-1.84266361e-05, 1.43682434e-05,
 -1.97746928e-04,-3.42458860e-03,-1.11836738e-03,-3.52879173e-04,
  6.51210047e-06, 4.42144532e-05,-3.63915110e-05,-1.13184811e-05,
 -8.20175831e-06,-2.15498716e-05,-6.46877969e-05,-9.38487940e-05,
 -7.89032004e-02,-9.21309073e-03,-1.14239575e+00, 1.41487965e-02,
 -1.29140157e-02,-7.72838555e-04]


--- Step 1309 ---
qpos:
[ 3.28552269e-03,-3.22295514e-03, 1.18754781e-02, 4.17676609e-02,
 -5.52710772e-04, 5.46281419e-01,-3.61809246e-02, 4.45459790e-01,
  5.83530622e-03, 1.64647859e-02,-9.28247152e-03, 2.59915947e-02,
  1.28214395e+00, 1.02661506e-04, 1.00628523e+00, 6.36777011e-02,
  4.27094590e-02,-5.84962638e-02, 1.17224509e-01, 8.53506754e-01,
 -3.22837967e-02,-3.76398057e-01,-3.58898983e-01]

qacc:
[-1.16781565e+00, 2.12113425e-01,-1.16595836e+00, 3.52286865e+00,
 -3.66466052e+00,-4.24603517e+01, 1.24971061e+02,-2.23204797e+02,
 -2.45213337e+00, 8.31861991e-01,-2.18276375e-01,-7.93896920e+00,
 -1.86774178e-01, 3.76634507e-01,-1.30351536e+01, 4.36077319e+01,
 -5.26868749e-01, 1.56811097e-01,-9.19206141e+00, 1.17819944e+01,
  2.96534195e+00,-3.05976989e+00]

qfrc_actuator:
[ 5.21830250e-05, 5.44280639e-05, 9.61527983e-05, 1.15805196e-04,
  4.16735101e-03, 1.69964733e-01, 1.81885235e-02, 1.62037992e-01,
 -2.94096961e-07, 4.82242080e-04, 9.47095269e-05, 1.03239221e-05,
  6.77195629e-03,-1.32573510e-03, 0.00000000e+00,-2.52236103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.84728724e-06, 1.82161472e-05, 9.69017427e-06, 8.75977271e-06,
 -3.45418594e-04,-3.82046086e-03,-1.13858249e-03,-6.19946052e-04,
 -1.43342223e-05, 2.13658317e-05,-2.55538091e-05,-2.57301435e-05,
 -2.92637962e-05, 9.59076423e-06,-4.15976122e-05, 1.99439106e-04,
 -8.06403023e-02,-7.46364855e-03,-1.14164435e+00, 1.41396787e-02,
 -1.31103900e-02,-7.99870635e-04]


--- Step 1310 ---
qpos:
[ 3.28616021e-03,-3.22316307e-03, 1.18755427e-02, 4.17678239e-02,
 -4.71044075e-04, 5.49316320e-01,-3.59296739e-02, 4.48657685e-01,
  5.83551503e-03, 1.64648699e-02,-9.28054274e-03, 2.59907692e-02,
  1.28235725e+00, 1.06494881e-04, 1.00651566e+00, 6.36734259e-02,
  4.21304945e-02,-5.82318129e-02, 1.16890390e-01, 8.50229973e-01,
 -3.23651275e-02,-3.82296126e-01,-3.60431912e-01]

qacc:
[  -3.7673525 ,  -3.34814651,  14.621826  , -26.70894065,  -2.69109032,
  -50.02898125, 153.8304639 ,-283.06616941,  -4.52712842,  -4.83141099,
   18.00718741, -25.85786278,  -0.63914979,   1.02323132,   7.1342896 ,
  -24.20470027,  -0.98825459,   1.8747495 ,  -0.99310462,  21.77273353,
  -35.92758526,  40.47404225]

qfrc_actuator:
[ 3.01538934e-05, 6.15328099e-05, 1.36622290e-04, 8.49227804e-05,
  4.01960742e-03, 1.68242647e-01, 1.79181367e-02, 1.61496536e-01,
 -2.68967600e-05, 4.66912874e-04, 1.65653866e-04,-4.86747976e-06,
  6.74259426e-03,-1.31797318e-03, 0.00000000e+00,-2.64439445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09119437, -0.94668077, -3.98015915, -0.94668077, 28.92225751,
       -5.90606785, -3.98015915, -5.90606785,  5.49595248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.921953884992838e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47441799e-12, -1.40145101e-11,  1.00000000e+00,  7.67212861e-23,
        1.00000000e+00,  1.40145101e-11, -1.00000000e+00,  0.00000000e+00,
        5.47441799e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06016581, -0.08824417,  0.06199978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22173409e-05, 1.96762651e-05, 4.57366262e-05,-2.95959822e-05,
 -2.57280858e-04,-4.21267734e-03,-1.24590243e-03,-7.54447349e-04,
 -2.70020379e-05,-9.78772436e-06, 7.13097515e-05,-1.56613245e-05,
 -4.41378027e-05, 3.33572377e-06, 1.50534913e-06,-1.16618919e-04,
 -8.15321117e-02,-6.96523598e-03,-1.14253695e+00, 1.42864302e-02,
 -1.32711134e-02,-8.17794592e-04]


--- Step 1311 ---
qpos:
[ 3.28652869e-03,-3.22324081e-03, 1.18757552e-02, 4.17683319e-02,
 -3.91849622e-04, 5.52317095e-01,-3.56826953e-02, 4.51848884e-01,
  5.83540340e-03, 1.64644629e-02,-9.27762043e-03, 2.59894597e-02,
  1.28257070e+00, 1.08785850e-04, 1.00674605e+00, 6.36677249e-02,
  4.15477266e-02,-5.79602359e-02, 1.16550396e-01, 8.46914865e-01,
 -3.24623358e-02,-3.88248076e-01,-3.61863014e-01]

qacc:
[  -2.35881126,   0.47399886,  -2.88750414,   8.51476205,  -1.89145651,
  -45.86164714, 120.85241402,-189.63786432,  -2.7554378 ,  -4.41657742,
   16.85894871, -26.47201525,   1.26416588,  -2.99475613,   4.13382483,
  -14.81680525,  -0.95088418,   1.78149293,  -1.46866772,  21.80474277,
  -34.741772  ,  38.54462124]

qfrc_actuator:
[ 1.69404967e-05, 6.58728060e-05, 1.42680763e-04, 1.02210737e-04,
  3.91813472e-03, 1.66458176e-01, 1.76756695e-02, 1.61159277e-01,
 -4.26272119e-05, 4.22396880e-04, 2.06667889e-04,-3.11958992e-05,
  6.72264506e-03,-1.42151874e-03, 0.00000000e+00,-2.71458374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09214327, -1.06420036, -3.95134333, -1.06420036, 11.2323091 ,
       -1.92303386, -3.95134333, -1.92303386,  4.6100667 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6475593384440712e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.47458652e-12, -3.36929602e-12,  1.00000000e+00,  1.17069105e-23,
        1.00000000e+00,  3.36929602e-12, -1.00000000e+00,  0.00000000e+00,
        3.47458652e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06013674, -0.08824674,  0.06199954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38394138e-05, 2.35189469e-05, 1.47334325e-05, 1.91380545e-05,
 -1.83844878e-04,-4.51993706e-03,-1.31494834e-03,-5.71999060e-04,
 -1.65080642e-05,-3.59629993e-05, 4.72132438e-05,-2.45867560e-05,
 -4.48860973e-05,-1.12778012e-04,-1.78439443e-05,-7.77676926e-05,
 -8.35036198e-02,-4.92513015e-03,-1.14151165e+00, 1.42489836e-02,
 -1.34711305e-02,-8.47911607e-04]


--- Step 1312 ---
qpos:
[ 3.28639092e-03,-3.22334193e-03, 1.18761537e-02, 4.17687151e-02,
 -3.16110338e-04, 5.55286731e-01,-3.54428909e-02, 4.55048173e-01,
  5.83544845e-03, 1.64642439e-02,-9.27557910e-03, 2.59882338e-02,
  1.28278407e+00, 1.09627018e-04, 1.00697610e+00, 6.36628698e-02,
  4.09613065e-02,-5.76818653e-02, 1.16202868e-01, 8.43560331e-01,
 -3.25740315e-02,-3.94251776e-01,-3.63194765e-01]

qacc:
[ -4.43728177, -0.79904729,  3.34527673, -5.80004917, -2.64400599,
  -5.94436427,-64.42249466,216.34591966,  1.33571434,  2.88014723,
 -10.26636558, 12.98787628,  1.16016742, -2.85604197, -3.16581598,
  10.08691632, -0.913025  ,  1.6984189 , -1.88358563, 21.87501606,
 -33.80147245, 36.90994375]

qfrc_actuator:
[-8.72613936e-06, 5.06771624e-05, 1.46142044e-04, 9.44207141e-05,
  3.72054087e-03, 1.65237312e-01, 1.74517136e-02, 1.61601744e-01,
 -3.40759452e-05, 4.31649885e-04, 1.58500731e-04,-2.84261047e-05,
  6.70298316e-03,-1.50138965e-03, 0.00000000e+00,-2.66479814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09217425, -1.17768161, -3.91905041, -1.17768161,  9.97380891,
       -1.76744167, -3.91905041, -1.76744167,  4.62329361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.668102987936737e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59984469e-12, -3.32780120e-12,  1.00000000e+00,  8.65176627e-24,
        1.00000000e+00,  3.32780120e-12, -1.00000000e+00,  0.00000000e+00,
        2.59984469e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06011155, -0.08825321,  0.06199953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60540874e-05, 1.81240679e-06, 1.07936160e-05,-5.90113491e-06,
 -2.57103680e-04,-4.13296913e-03,-1.36071350e-03, 1.97151796e-04,
  8.06605587e-06,-2.18145363e-06,-5.06571745e-05, 2.38172879e-06,
 -7.23133888e-05,-1.15253405e-04,-2.04850788e-05, 4.23062999e-05,
 -8.54908280e-02,-2.88567203e-03,-1.14057673e+00, 1.42146167e-02,
 -1.36720967e-02,-8.78276745e-04]


--- Step 1313 ---
qpos:
[ 3.28594678e-03,-3.22395090e-03, 1.18774198e-02, 4.17686723e-02,
 -2.43217067e-04, 5.58230435e-01,-3.52113812e-02, 4.58254423e-01,
  5.83594032e-03, 1.64642021e-02,-9.27390300e-03, 2.59870164e-02,
  1.28299694e+00, 1.10039183e-04, 1.00720591e+00, 6.36592767e-02,
  4.03713876e-02,-5.73969995e-02, 1.15846352e-01, 8.40165289e-01,
 -3.26990722e-02,-4.00305450e-01,-3.64429150e-01]

qacc:
[-2.65327088e+00,-3.97019972e+00, 1.49869824e+01,-2.33807014e+01,
 -2.16782932e+00, 1.82838204e+00,-7.77830144e+01, 2.08856603e+02,
  3.88233380e+00, 1.26466449e+00,-4.21783068e+00, 4.83027005e+00,
  4.20608301e-02,-5.63511126e-01,-4.16755385e+00, 1.40470818e+01,
 -8.74683496e-01, 1.62379297e+00,-2.24693614e+00, 2.19802332e+01,
 -3.30733889e+01, 3.55273039e+01]

qfrc_actuator:
[-2.37672634e-05, 6.10898386e-06, 1.83453190e-04, 7.19156443e-05,
  3.59151458e-03, 1.64400780e-01, 1.72079702e-02, 1.61985113e-01,
 -1.13045773e-05, 4.54929161e-04, 1.47065127e-04,-2.63240701e-05,
  6.68350865e-03,-1.51327351e-03, 0.00000000e+00,-2.59798710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09137207, -1.27895201, -3.88633596, -1.27895201,  8.60884507,
       -1.48665252, -3.88633596, -1.48665252,  4.58061367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0091868942685434e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29732958e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.29732958e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06008959, -0.0882629 ,  0.06199972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57829572e-05,-4.15885004e-05, 3.88076009e-05,-2.21692219e-05,
 -2.12447142e-04,-3.50941001e-03,-1.28051228e-03, 1.68051211e-04,
  2.30049316e-05, 1.16872706e-05,-1.80621589e-05, 3.00455668e-07,
 -8.81854892e-05,-5.43459090e-05,-7.87569615e-06, 6.58041644e-05,
 -8.74997523e-02,-8.40215944e-04,-1.13972333e+00, 1.41826547e-02,
 -1.38739339e-02,-9.08933537e-04]


--- Step 1314 ---
qpos:
[ 3.28601547e-03,-3.22487464e-03, 1.18785177e-02, 4.17690986e-02,
 -1.71696938e-04, 5.61150424e-01,-3.49857038e-02, 4.61450080e-01,
  5.83670138e-03, 1.64643354e-02,-9.27242198e-03, 2.59858214e-02,
  1.28320930e+00, 1.10224661e-04, 1.00743568e+00, 6.36561533e-02,
  3.97790442e-02,-5.71112805e-02, 1.15453151e-01, 8.36728868e-01,
 -3.27988632e-02,-4.06342286e-01,-3.65643245e-01]

qacc:
[ 4.50161486e+00, 1.01206778e+00,-6.20541692e+00, 1.48368678e+01,
 -1.03202198e+00,-3.52569123e+01, 1.16547455e+02,-2.50789098e+02,
  2.33871122e+00, 8.18359028e-01,-2.68485859e+00, 3.26508051e+00,
 -1.89369054e-01,-6.95769116e-02,-1.48634751e+00, 5.10665371e+00,
 -6.06157235e-01, 2.13306602e-01,-9.17136904e+00, 1.09234703e+01,
  3.06058737e+00,-3.79468701e+00]

qfrc_actuator:
[ 3.07479939e-06,-2.00836181e-05, 1.69307554e-04, 9.41905750e-05,
  3.55765963e-03, 1.63447044e-01, 1.69918498e-02, 1.61461036e-01,
  1.89341007e-06, 4.68807104e-04, 1.39752454e-04,-2.45809014e-05,
  6.66418754e-03,-1.52031130e-03, 0.00000000e+00,-2.57497302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.63779939e-05,-4.23794496e-05,-1.87296616e-05, 2.14041541e-05,
 -1.03248047e-04,-3.26225190e-03,-1.11622944e-03,-7.12044401e-04,
  1.38635991e-05, 1.66896360e-05,-7.12966518e-06, 1.62310415e-06,
 -8.26810505e-05,-3.96351408e-05,-5.62860204e-07, 2.47044077e-05,
 -8.95358871e-02, 1.21752651e-03,-1.13894401e+00, 1.41524369e-02,
 -1.40765884e-02,-9.39923989e-04]


--- Step 1315 ---
qpos:
[ 3.28605998e-03,-3.22562200e-03, 1.18786879e-02, 4.17694329e-02,
 -1.02691416e-04, 5.64048258e-01,-3.47659426e-02, 4.64629790e-01,
  5.83727037e-03, 1.64643633e-02,-9.27122526e-03, 2.59850444e-02,
  1.28342136e+00, 1.09692245e-04, 1.00766539e+00, 6.36533193e-02,
  3.91832912e-02,-5.68184271e-02, 1.15054315e-01, 8.33250337e-01,
 -3.29185223e-02,-4.12441098e-01,-3.66745944e-01]

qacc:
[-2.44554339e-01, 2.63824586e+00,-8.67930325e+00, 8.44202353e+00,
 -1.88928031e+00,-4.31009354e+01, 1.65238786e+02,-3.80179637e+02,
 -1.68202298e+00, 1.51905134e+00,-7.37769275e+00, 1.51381702e+01,
  3.70521452e-01,-1.19395669e+00,-9.97602614e-01, 3.27240825e+00,
 -8.52384165e-01, 1.78358533e+00,-1.40843835e+00, 2.49609789e+01,
 -3.99441942e+01, 4.19264064e+01]

qfrc_actuator:
[ 1.09222823e-06, 2.64438705e-07, 1.24976636e-04, 8.93509731e-05,
  3.40304670e-03, 1.62519905e-01, 1.67576533e-02, 1.60673551e-01,
 -8.40637748e-06, 4.41470223e-04, 1.17136868e-04,-5.31785549e-06,
  6.65030425e-03,-1.55997741e-03, 0.00000000e+00,-2.56019712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09192425, -1.18155266, -3.91762394, -1.18155266, 22.65754389,
       -5.59937801, -3.91762394, -5.59937801,  5.78069277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4942704831016895e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16091665e-13,  3.71493326e-12,  1.00000000e+00, -4.31272786e-25,
        1.00000000e+00, -3.71493326e-12, -1.00000000e+00,  0.00000000e+00,
        1.16091665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.060031  , -0.08826993,  0.06199957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24443739e-06,-6.27375417e-06,-5.46549364e-05,-6.88883294e-06,
 -1.88797446e-04,-3.09874198e-03,-1.09291611e-03,-9.77775398e-04,
 -9.89461634e-06,-1.94193400e-05,-2.00061112e-05, 1.97617977e-05,
 -7.06515703e-05,-6.76671269e-05,-2.39982936e-06, 1.49697568e-05,
 -9.04871917e-02, 1.74493417e-03,-1.14003423e+00, 1.43042815e-02,
 -1.42380797e-02,-9.57402898e-04]


--- Step 1316 ---
qpos:
[ 3.28573575e-03,-3.22639290e-03, 1.18788926e-02, 4.17696653e-02,
 -3.63291770e-05, 5.66923281e-01,-3.45524484e-02, 4.67806344e-01,
  5.83702212e-03, 1.64641322e-02,-9.27101762e-03, 2.59838837e-02,
  1.28363252e+00, 1.10553432e-04, 1.00789506e+00, 6.36506745e-02,
  3.85843052e-02,-5.65188483e-02, 1.14647902e-01, 8.29728397e-01,
 -3.30562128e-02,-4.18598597e-01,-3.67740791e-01]

qacc:
[ -3.23511007, -0.33163917,  1.57833562, -3.39244956, -1.97534985,
 -18.78901501, 34.93414622,-58.74663651, -7.15389616,  1.6459831 ,
  -4.72045604, -0.17732868, -1.78184964,  3.39855514, -0.48849357,
   1.96176035, -0.80825292,  1.68135602, -1.89457521, 24.77597618,
 -38.48444346, 39.72588216]

qfrc_actuator:
[-1.78532384e-05, 1.26663836e-05, 1.34371952e-04, 8.63686040e-05,
  3.26643287e-03, 1.61492380e-01, 1.64972753e-02, 1.60536482e-01,
 -5.02038566e-05, 3.89614924e-04, 5.00015096e-05,-2.92053203e-05,
  6.63968132e-03,-1.45886496e-03, 0.00000000e+00,-2.55037159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09297993, -1.44049717, -3.83111636, -1.44049717,  7.87518256,
       -1.42210564, -3.83111636, -1.42210564,  4.62769069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1339556749974675e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98328097e-12, -2.60132635e-12,  1.00000000e+00,  1.03618137e-23,
        1.00000000e+00,  2.60132635e-12, -1.00000000e+00,  0.00000000e+00,
        3.98328097e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05999744, -0.08827004,  0.06199938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89784823e-05,-2.66687466e-06, 1.13531900e-06,-5.27585856e-06,
 -1.99027844e-04,-3.11282541e-03,-1.09124554e-03,-3.25196929e-04,
 -4.20867526e-05,-6.60152974e-05,-7.29386958e-05,-2.50277758e-05,
 -6.70988305e-05, 6.96583358e-05,-3.97471315e-06, 9.30753592e-06,
 -9.28104000e-02, 4.14709991e-03,-1.13897700e+00, 1.42411625e-02,
 -1.44453607e-02,-9.92275462e-04]


--- Step 1317 ---
qpos:
[ 3.28553193e-03,-3.22723079e-03, 1.18794462e-02, 4.17705337e-02,
  2.96325693e-05, 5.69773018e-01,-3.43436424e-02, 4.70989380e-01,
  5.83696426e-03, 1.64637469e-02,-9.27116868e-03, 2.59827347e-02,
  1.28384229e+00, 1.15014651e-04, 1.00812426e+00, 6.36515058e-02,
  3.79822711e-02,-5.62129156e-02, 1.14232209e-01, 8.26161763e-01,
 -3.32104072e-02,-4.24811994e-01,-3.68630682e-01]

qacc:
[  1.06939992,  0.24480485, -3.68770663, 14.18678331, -0.28550697,
  -8.15073204,-40.08829535,160.36975477,  1.65177096,  0.81945303,
  -3.27289763,  4.16896334, -3.70339624,  7.74459782,-10.84761158,
  37.72585578, -0.76201973,  1.58849515, -2.31991262, 24.6603725 ,
 -37.31475864, 37.85577251]

qfrc_actuator:
[-1.11169473e-05, 2.04300414e-05, 1.57659146e-04, 1.20052681e-04,
  3.30152670e-03, 1.60236616e-01, 1.62771637e-02, 1.60872012e-01,
 -3.91874491e-05, 4.12007393e-04, 4.57359522e-05,-2.50905883e-05,
  6.62042849e-03,-1.23960443e-03, 0.00000000e+00,-2.36600553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09257216, -1.53563149, -3.79354489, -1.53563149,  6.79623255,
       -1.09444495, -3.79354489, -1.09444495,  4.53560478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9124370417358816e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54202719e-12, -5.80527882e-12,  1.00000000e+00,  8.95189776e-24,
        1.00000000e+00,  5.80527882e-12, -1.00000000e+00,  0.00000000e+00,
        1.54202719e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05996867, -0.08827464,  0.06199944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.19714703e-06, 6.30025674e-06, 2.27008138e-05, 3.35080212e-05,
 -3.10933106e-05,-3.32103959e-03,-1.03121807e-03, 1.60503046e-04,
  9.79012652e-06,-3.06696819e-05,-2.77475522e-05,-1.72078954e-06,
 -4.16017005e-05, 2.19507926e-04,-6.08653751e-06, 1.83190106e-04,
 -9.51479985e-02, 6.54290786e-03,-1.13804075e+00, 1.41819811e-02,
 -1.46538419e-02,-1.02722707e-03]


--- Step 1318 ---
qpos:
[ 3.28541010e-03,-3.22787837e-03, 1.18801808e-02, 4.17717768e-02,
  9.65740616e-05, 5.72594771e-01,-3.41383985e-02, 4.74178014e-01,
  5.83738329e-03, 1.64629473e-02,-9.26994958e-03, 2.59819008e-02,
  1.28405156e+00, 1.21458729e-04, 1.00835319e+00, 6.36558476e-02,
  3.73773811e-02,-5.59009691e-02, 1.13805742e-01, 8.22549160e-01,
 -3.33798452e-02,-4.31078931e-01,-3.69417949e-01]

qacc:
[  0.72224188,  0.51655741, -3.0598137 ,  9.11588682,  0.74453405,
 -16.4644043 ,-13.06624324,121.69294167,  4.2091024 , -3.73629961,
  11.18248248, -7.59705812, -1.75186299,  3.91782354,-10.83887715,
  37.7121591 , -0.71398744,  1.50342226, -2.69331391, 24.60594027,
 -36.3946821 , 36.26763109]

qfrc_actuator:
[-7.06589397e-06, 4.32162150e-05, 1.71200688e-04, 1.39534161e-04,
  3.38520175e-03, 1.58748993e-01, 1.60643872e-02, 1.61145426e-01,
 -1.49160559e-05, 4.25689622e-04, 1.32215415e-04,-4.41656463e-06,
  6.60672584e-03,-1.14749789e-03, 0.00000000e+00,-2.18679353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0913566 , -1.61684312, -3.75832638, -1.61684312,  5.99055869,
       -0.81704235, -3.75832638, -0.81704235,  4.44285064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.921828301701074e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74839094e-13, -1.11897020e-11,  1.00000000e+00,  1.95639737e-24,
        1.00000000e+00,  1.11897020e-11, -1.00000000e+00,  0.00000000e+00,
        1.74839094e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05994386, -0.08828294,  0.06199971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.22937722e-06, 3.24582934e-05, 1.87997375e-05, 2.11876380e-05,
  7.27890148e-05,-3.63596951e-03,-1.04228013e-03, 1.02280593e-04,
  2.45409333e-05,-9.25231465e-06, 7.66753602e-05, 1.83694577e-05,
  1.39422403e-05, 1.31800882e-04, 1.26365896e-05, 1.87556163e-04,
 -9.75072712e-02, 8.94030636e-03,-1.13721479e+00, 1.41259218e-02,
 -1.48633290e-02,-1.06232770e-03]


--- Step 1319 ---
qpos:
[ 3.28568269e-03,-3.22818183e-03, 1.18807738e-02, 4.17725554e-02,
  1.62033233e-04, 5.75386331e-01,-3.39363613e-02, 4.77366623e-01,
  5.83740018e-03, 1.64620028e-02,-9.26802021e-03, 2.59809856e-02,
  1.28426062e+00, 1.29105508e-04, 1.00858207e+00, 6.36626369e-02,
  3.67696968e-02,-5.55879035e-02, 1.13342663e-01, 8.18892845e-01,
 -3.35248274e-02,-4.37325628e-01,-3.70184939e-01]

qacc:
[  3.45140933, -0.11343113,  3.01165241,-11.06124025, -1.07417208,
 -30.97042836, 52.69586931,-25.57329452, -3.48256234, -2.33716314,
   8.41033959,-10.8584111 , -0.97138774,  2.27456859, -7.35880729,
  25.86909641, -0.69854636,  0.27978825, -9.15322077,  9.96083395,
   3.08090827, -4.66795745]

qfrc_actuator:
[ 1.31169130e-05, 5.70327676e-05, 1.61170601e-04, 1.14995737e-04,
  3.24826866e-03, 1.57135066e-01, 1.58567612e-02, 1.61131326e-01,
 -3.63122291e-05, 4.16714721e-04, 1.65040728e-04,-9.62030801e-06,
  6.59099821e-03,-1.09600131e-03, 0.00000000e+00,-2.06535678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.03140201e-05, 3.67719500e-05,-2.80838868e-07,-2.20881997e-05,
 -1.13239514e-04,-3.94136228e-03,-1.10408588e-03,-1.99050388e-04,
 -2.07011997e-05, 2.50316267e-06, 4.09903041e-05,-2.58971590e-06,
  2.34127344e-05, 8.43323244e-05, 2.19190052e-05, 1.32410921e-04,
 -9.98948130e-02, 1.13467977e-02,-1.13649026e+00, 1.40721869e-02,
 -1.50736766e-02,-1.09764285e-03]


--- Step 1320 ---
qpos:
[ 3.28585021e-03,-3.22814276e-03, 1.18809733e-02, 4.17727068e-02,
  2.24410042e-04, 5.78147407e-01,-3.37374986e-02, 4.80545339e-01,
  5.83750537e-03, 1.64614224e-02,-9.26703293e-03, 2.59807557e-02,
  1.28446940e+00, 1.37797313e-04, 1.00881147e+00, 6.36671631e-02,
  3.61595538e-02,-5.52684397e-02, 1.12871700e-01, 8.15188020e-01,
 -3.36916418e-02,-4.43638349e-01,-3.70834707e-01]

qacc:
[-9.40933735e-01, 2.61911536e-01, 2.37198952e+00,-1.28502154e+01,
 -2.24174589e+00,-5.00665217e+01, 1.52364973e+02,-2.70408437e+02,
  7.34929782e-01, 4.52358151e+00,-1.83267070e+01, 3.14274821e+01,
 -1.19279197e+00, 2.48005292e+00, 7.69334904e+00,-2.55692733e+01,
 -6.14705926e-01, 1.59955185e+00,-1.97086136e+00, 2.81006376e+01,
 -4.36469483e+01, 4.26849109e+01]

qfrc_actuator:
[ 7.12826637e-06, 6.52376096e-05, 1.37247628e-04, 8.24872730e-05,
  3.05205136e-03, 1.55618534e-01, 1.56887998e-02, 1.60628553e-01,
 -3.11627706e-05, 4.29547166e-04, 1.12527485e-04, 2.31775762e-05,
  6.56339500e-03,-1.05113106e-03, 0.00000000e+00,-2.19195781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09123865, -1.38323207, -3.85031203, -1.38323207, 17.92911617,
       -4.97128436, -3.85031203, -4.97128436,  5.8771822 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.514496495470869e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.09344116e-12, -1.30392094e-11,  1.00000000e+00,  6.64144457e-23,
        1.00000000e+00,  1.30392094e-11, -1.00000000e+00,  0.00000000e+00,
        5.09344116e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05987759, -0.08828595,  0.06199974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.39606332e-06, 2.77721288e-05,-1.71327119e-05,-3.13763057e-05,
 -2.34899116e-04,-4.03790231e-03,-1.14365205e-03,-7.07783331e-04,
  4.55415727e-06, 2.25948747e-05,-4.70455891e-05, 3.42737705e-05,
  5.84019120e-06, 6.92325981e-05, 1.96723265e-05,-1.17621494e-04,
 -1.00913934e-01, 1.18985317e-02,-1.13782731e+00, 1.42287264e-02,
 -1.52338897e-02,-1.11442069e-03]


--- Step 1321 ---
qpos:
[ 3.28594506e-03,-3.22806028e-03, 1.18809916e-02, 4.17724917e-02,
  2.85997853e-04, 5.80881192e-01,-3.35434291e-02, 4.83711872e-01,
  5.83767098e-03, 1.64614424e-02,-9.26657867e-03, 2.59812071e-02,
  1.28467839e+00, 1.45745447e-04, 1.00904160e+00, 6.36648098e-02,
  3.55471333e-02,-5.49429993e-02, 1.12390952e-01, 8.11433245e-01,
 -3.38783421e-02,-4.50013079e-01,-3.71371210e-01]

qacc:
[-6.44485357e-01,-1.89991435e-01, 2.30862853e+00,-8.39349082e+00,
 -5.60406638e-01,-4.57497257e+01, 1.51047786e+02,-3.04364354e+02,
  5.00497356e-01, 3.68464785e+00,-1.48646478e+01, 2.70669606e+01,
  3.21964565e-01,-9.42429527e-01, 2.17952894e+01,-7.47895315e+01,
 -5.69353111e-01, 1.49413613e+00,-2.44623280e+00, 2.76756160e+01,
 -4.19509269e+01, 4.02712233e+01]

qfrc_actuator:
[ 3.53112018e-06, 5.21867337e-05, 1.23050108e-04, 6.32979931e-05,
  3.07099337e-03, 1.54527857e-01, 1.55458880e-02, 1.60037733e-01,
 -2.81681551e-05, 4.90518192e-04, 9.89425039e-05, 6.02896865e-05,
  6.53933159e-03,-1.11707581e-03, 0.00000000e+00,-2.55241326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09151319, -1.73563438, -3.70513879, -1.73563438,  5.62347037,
       -0.71762968, -3.70513879, -0.71762968,  4.42767948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.152755082942103e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55824498e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.55824498e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05983966, -0.08828367,  0.06199965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73951288e-06,-2.41002181e-06,-1.16600862e-05,-1.92039634e-05,
 -6.10538485e-05,-3.69322012e-03,-1.15945136e-03,-8.11082063e-04,
  3.13264747e-06, 6.53689800e-05,-1.35307684e-05, 3.71190321e-05,
 -4.76318169e-06,-4.88264871e-05,-1.04360114e-05,-3.65982552e-04,
 -1.03647147e-01, 1.47107876e-02,-1.13683312e+00, 1.41370071e-02,
 -1.54502037e-02,-1.15447229e-03]


--- Step 1322 ---
qpos:
[ 3.28599622e-03,-3.22820360e-03, 1.18809377e-02, 4.17724212e-02,
  3.47383766e-04, 5.83589947e-01,-3.33551012e-02, 4.86862561e-01,
  5.83787149e-03, 1.64615912e-02,-9.26557838e-03, 2.59820845e-02,
  1.28488787e+00, 1.51355956e-04, 1.00927086e+00, 6.36645168e-02,
  3.49326379e-02,-5.46119757e-02, 1.11898750e-01, 8.07627082e-01,
 -3.40833053e-02,-4.56446392e-01,-3.71797681e-01]

qacc:
[-3.81755589e-01, 2.02313829e-01,-1.76285101e+00, 4.54472051e+00,
 -1.34145742e-01,-4.70712235e+01, 1.72192518e+02,-3.80356476e+02,
  3.19461683e-01,-4.79380056e-01, 1.56510689e-01, 6.25030839e+00,
  2.38563194e+00,-5.15633822e+00,-7.69667924e+00, 2.45889870e+01,
 -5.18748215e-01, 1.39582182e+00,-2.86372577e+00, 2.73562587e+01,
 -4.05867167e+01, 3.82167591e+01]

qfrc_actuator:
[ 1.37849414e-06, 2.65445465e-05, 1.14633012e-04, 6.98429767e-05,
  3.07594947e-03, 1.53488665e-01, 1.53321310e-02, 1.59258312e-01,
 -2.64738832e-05, 4.91227346e-04, 1.26434891e-04, 8.19676264e-05,
  6.52268456e-03,-1.26589150e-03, 0.00000000e+00,-2.42631745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09107633, -1.81489294, -3.66647912, -1.81489294,  4.92483651,
       -0.41270806, -3.66647912, -0.41270806,  4.29536521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.065525535989269e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43790845e-12,  9.15191122e-12,  1.00000000e+00, -8.63749003e-23,
        1.00000000e+00, -9.15191122e-12, -1.00000000e+00,  0.00000000e+00,
        9.43790845e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05980741, -0.08828643,  0.06199981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25895009e-06,-3.02252458e-05,-1.10162126e-05, 5.66483103e-06,
 -1.63716787e-05,-3.45556604e-03,-1.16476587e-03,-9.88338847e-04,
  1.80649742e-06, 3.60542047e-05, 4.06065020e-05, 2.47313332e-05,
 -3.19022315e-05,-1.60302463e-04,-5.09632274e-05, 1.03067212e-04,
 -1.06391075e-01, 1.75082247e-02,-1.13599368e+00, 1.40502414e-02,
 -1.56675747e-02,-1.19438671e-03]


--- Step 1323 ---
qpos:
[ 3.28533123e-03,-3.22860367e-03, 1.18813429e-02, 4.17727421e-02,
  4.09350482e-04, 5.86273147e-01,-3.31727855e-02, 4.90013172e-01,
  5.83809112e-03, 1.64617242e-02,-9.26520360e-03, 2.59826251e-02,
  1.28509736e+00, 1.55004449e-04, 1.00949911e+00, 6.36713326e-02,
  3.43150197e-02,-5.42795951e-02, 1.11369967e-01, 8.03774953e-01,
 -3.42643196e-02,-4.62856356e-01,-3.72203942e-01]

qacc:
[ -6.26678045, -0.80432958,  0.74594351,  5.45590361,  0.43078855,
 -17.28554807, 14.07070849,  9.70596224,  0.14733779,  1.03347199,
  -2.29356005, -2.52454151,  2.02417088, -4.5131951 ,-23.14814363,
  78.36652861, -0.7806845 ,  0.3392269 , -9.14509057,  9.15962578,
   3.04559918, -5.45179316]

qfrc_actuator:
[-3.54125993e-05, 2.91046703e-05, 1.45152940e-04, 9.14640283e-05,
  3.12550044e-03, 1.52346998e-01, 1.50964854e-02, 1.59279648e-01,
 -2.55584609e-05, 4.38258070e-04, 7.11920553e-05, 5.88625636e-05,
  6.49980324e-03,-1.37377517e-03, 0.00000000e+00,-2.04998420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.68652540e-05,-1.63696216e-05, 2.31184571e-05, 2.00561028e-05,
  4.34176948e-05,-3.43250144e-03,-1.14417388e-03,-1.81677076e-04,
  9.78786996e-07,-2.33776442e-05,-4.19533270e-05,-1.96782080e-05,
 -7.92070635e-05,-1.51079797e-04,-1.24896395e-05, 3.75359447e-04,
 -1.09154492e-01, 2.03003912e-02,-1.13529657e+00, 1.39674338e-02,
 -1.58857090e-02,-1.23426792e-03]


--- Step 1324 ---
qpos:
[ 3.28423033e-03,-3.22914696e-03, 1.18823981e-02, 4.17726001e-02,
  4.73892421e-04, 5.88930957e-01,-3.29959403e-02, 4.93174893e-01,
  5.83763040e-03, 1.64618019e-02,-9.26574181e-03, 2.59829117e-02,
  1.28530649e+00, 1.57332031e-04, 1.00972800e+00, 6.36761913e-02,
  3.36960083e-02,-5.39415076e-02, 1.10832162e-01, 7.99868035e-01,
 -3.44701114e-02,-4.69337301e-01,-3.72485484e-01]

qacc:
[ -3.80345241, -2.95305009, 12.21853644,-21.172206  ,  1.86151421,
   2.51922025,-92.32749536,279.20680857, -5.96131574,  1.96753483,
  -6.02852199,  3.1106414 ,  0.62557755, -2.04194581,  6.79044094,
 -22.53651108, -0.34831434,  1.42673352, -2.25554658, 31.17700499,
 -47.95453547, 44.44521093]

qfrc_actuator:
[-5.67915663e-05, 3.09548158e-05, 1.80779969e-04, 6.85682821e-05,
  3.30762217e-03, 1.51260898e-01, 1.49035317e-02, 1.59860773e-01,
 -6.06138020e-05, 4.24185508e-04, 2.05191240e-05, 4.49853976e-05,
  6.47320604e-03,-1.43878757e-03, 0.00000000e+00,-2.16847580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09128758, -1.52054705, -3.79823257, -1.52054705, 15.18956213,
       -4.44297403, -3.79823257, -4.44297403,  5.86994408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.124679792499313e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71102018e-12, -6.08362732e-12,  1.00000000e+00,  1.04092091e-23,
        1.00000000e+00,  6.08362732e-12, -1.00000000e+00,  0.00000000e+00,
        1.71102018e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05972603, -0.08827846,  0.06199971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24357112e-05,-1.67116830e-06, 3.57886775e-05,-2.24056116e-05,
  1.96478034e-04,-3.32626583e-03,-1.06676601e-03, 3.96558562e-04,
 -3.50320168e-05,-3.66641868e-05,-6.13571902e-05,-1.67159316e-05,
 -1.06805419e-04,-1.17724805e-04, 3.42619997e-05,-9.96217631e-05,
 -1.10225533e-01, 2.08627404e-02,-1.13686597e+00, 1.41274654e-02,
 -1.60420163e-02,-1.25031723e-03]


--- Step 1325 ---
qpos:
[ 3.28288146e-03,-3.22972669e-03, 1.18833024e-02, 4.17722270e-02,
  5.40618244e-04, 5.91563623e-01,-3.28234702e-02, 4.96337384e-01,
  5.83709778e-03, 1.64618706e-02,-9.26641579e-03, 2.59829697e-02,
  1.28551525e+00, 1.58227157e-04, 1.00995742e+00, 6.36766355e-02,
  3.30757728e-02,-5.35981584e-02, 1.10283355e-01, 7.95904788e-01,
 -3.46984186e-02,-4.75884172e-01,-3.72647076e-01]

qacc:
[ -2.18075763, -0.09848305,  1.26374509, -5.00311006,  1.57439855,
 -19.63997872, 20.02098002, 14.87728877, -0.63120953, -0.10206071,
   1.31415573, -5.05048821,  0.58580906, -2.05533648, 14.02890716,
 -48.12281564, -0.30601441,  1.31544075, -2.75024386, 30.45177369,
 -45.84691109, 41.62853746]

qfrc_actuator:
[-6.89170387e-05, 1.46155239e-05, 1.65838838e-04, 5.51652495e-05,
  3.40728593e-03, 1.50076174e-01, 1.47025511e-02, 1.59896735e-01,
 -6.33018662e-05, 4.51249229e-04, 2.63837042e-05, 3.66968255e-05,
  6.44973902e-03,-1.51343875e-03, 0.00000000e+00,-2.40011379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09169851, -1.92262329, -3.61185774, -1.92262329,  4.59962374,
       -0.27037302, -3.61185774, -0.27037302,  4.23562042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3177312226872462e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18480241e-12, -4.21263079e-12,  1.00000000e+00,  4.99113511e-24,
        1.00000000e+00,  4.21263079e-12, -1.00000000e+00,  0.00000000e+00,
        1.18480241e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0596808 , -0.08827097,  0.06199958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27649433e-05,-1.08379602e-05,-1.16572267e-05,-1.26720517e-05,
  1.66943335e-04,-3.32548324e-03,-1.02394898e-03,-1.29683100e-04,
 -3.70218501e-06,-6.84048879e-06,-9.83905081e-06,-1.23063703e-05,
 -1.12129790e-04,-1.26061576e-04,-2.49107847e-06,-2.34459035e-04,
 -1.13382450e-01, 2.41093599e-02,-1.13592802e+00, 1.40030200e-02,
 -1.62675020e-02,-1.29560230e-03]


--- Step 1326 ---
qpos:
[ 3.28174258e-03,-3.23043771e-03, 1.18840308e-02, 4.17724015e-02,
  6.07362079e-04, 5.94171479e-01,-3.26555459e-02, 4.99496258e-01,
  5.83688137e-03, 1.64622572e-02,-9.26749660e-03, 2.59829033e-02,
  1.28572367e+00, 1.57584257e-04, 1.01018676e+00, 6.36746403e-02,
  3.24545196e-02,-5.32499722e-02, 1.09721808e-01, 7.91883665e-01,
 -3.49473424e-02,-4.82492633e-01,-3.72692639e-01]

qacc:
[ 1.84019694e+00, 1.44320623e+00,-7.71287519e+00, 1.75700680e+01,
  2.55643451e-02,-2.69859313e+01, 6.09260241e+01,-9.01416791e+01,
  2.73952376e+00, 1.29595057e+00,-3.49542389e+00, 1.76995225e+00,
  8.16176015e-01,-2.48343935e+00, 7.16505176e+00,-2.54366840e+01,
 -2.54422904e-01, 1.20923182e+00,-3.18535584e+00, 2.98761514e+01,
 -4.41369279e+01, 3.92278206e+01]

qfrc_actuator:
[-5.77513581e-05, 5.06570985e-06, 1.56602974e-04, 8.29166277e-05,
  3.35032037e-03, 1.48913197e-01, 1.44978471e-02, 1.59718013e-01,
 -4.69058904e-05, 4.85218069e-04, 1.25008745e-05, 3.18377045e-05,
  6.42816266e-03,-1.59323330e-03, 0.00000000e+00,-2.51887285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09120021, -1.99440066, -3.57215414, -1.99440066,  3.98450936,
        0.05956751, -3.57215414,  0.05956751,  4.05794256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.002673864089538e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51737588e-12, -6.93657547e-12,  1.00000000e+00, -1.05253923e-23,
        1.00000000e+00,  6.93657547e-12, -1.00000000e+00,  0.00000000e+00,
       -1.51737588e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05964275, -0.08826962,  0.06199974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08002933e-05,-1.85500011e-05,-1.33498509e-05, 2.66379756e-05,
  4.36518649e-07,-3.31458962e-03,-1.03936319e-03,-3.53465086e-04,
  1.62879068e-05, 2.75861110e-05,-1.69269732e-05,-5.73093648e-06,
 -1.15935336e-04,-1.33947983e-04,-3.31438652e-05,-1.33517931e-04,
 -1.16537899e-01, 2.73230658e-02,-1.13518719e+00, 1.38853781e-02,
 -1.64936340e-02,-1.34044116e-03]


--- Step 1327 ---
qpos:
[ 3.28109110e-03,-3.23118936e-03, 1.18848778e-02, 4.17728747e-02,
  6.72407487e-04, 5.96753730e-01,-3.24916233e-02, 5.02656657e-01,
  5.83686338e-03, 1.64626147e-02,-9.26864664e-03, 2.59831456e-02,
  1.28593122e+00, 1.56991962e-04, 1.01041579e+00, 6.36721942e-02,
  3.18297698e-02,-5.29001575e-02, 1.09123695e-01, 7.87813778e-01,
 -3.51727525e-02,-4.89074132e-01,-3.72718154e-01]

qacc:
[  4.28261919,  0.22214025, -2.14445026,  7.16869017, -1.18876381,
 -19.85040587, 17.38524125, 28.59596479,  1.72899498,  0.78700849,
  -4.17109461,  9.65148814, -0.70600111,  0.79491664,  0.9453292 ,
  -3.87014206, -0.87414739,  0.40714628, -9.14133935,  8.26981599,
   2.94324076, -6.35096662]

qfrc_actuator:
[-3.29697625e-05, 1.74516310e-05, 1.68628271e-04, 9.91691611e-05,
  3.21842216e-03, 1.47701980e-01, 1.43283350e-02, 1.59805115e-01,
 -3.71714663e-05, 4.69748711e-04, 4.84759677e-06, 4.67759891e-05,
  6.40773303e-03,-1.56891953e-03, 0.00000000e+00,-2.53460866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.50836591e-05, 4.20542568e-07, 7.47133576e-06, 1.55138843e-05,
 -1.32257713e-04,-3.36780662e-03,-1.01072609e-03,-9.20442589e-05,
  1.02119944e-05,-3.78134468e-06,-4.23080558e-06, 1.54242192e-05,
 -1.18939161e-04,-3.24200039e-05,-3.38616338e-05,-2.83032934e-05,
 -1.19702755e-01, 3.05155207e-02,-1.13462817e+00, 1.37733279e-02,
 -1.67200062e-02,-1.38497918e-03]


--- Step 1328 ---
qpos:
[ 3.28039681e-03,-3.23189384e-03, 1.18858220e-02, 4.17735286e-02,
  7.36433594e-04, 5.99309194e-01,-3.23310187e-02, 5.05823171e-01,
  5.83730782e-03, 1.64622247e-02,-9.26957048e-03, 2.59843286e-02,
  1.28613776e+00, 1.57617572e-04, 1.01064416e+00, 6.36732064e-02,
  3.12050287e-02,-5.25456833e-02, 1.08514882e-01, 7.83681736e-01,
 -3.54252510e-02,-4.95729475e-01,-3.72612769e-01]

qacc:
[-3.73410590e-01, 1.63810816e-01,-1.25489962e+00, 4.19097126e+00,
 -7.03172084e-01,-1.46499617e+01,-1.82086297e+01, 1.31414360e+02,
  4.05331221e+00, 3.08476826e-01,-6.51877094e+00, 2.30028217e+01,
 -1.51503197e+00, 2.80563478e+00,-1.12866970e+01, 3.83672699e+01,
  2.17523735e-03, 1.16484964e+00,-2.67506548e+00, 3.40090780e+01,
 -5.16391600e+01, 4.53052546e+01]

qfrc_actuator:
[-3.58852849e-05, 2.52082143e-05, 1.75433521e-04, 1.08552177e-04,
  3.18529466e-03, 1.46401528e-01, 1.41812125e-02, 1.60119029e-01,
 -1.36900368e-05, 3.89331073e-04, 7.57191012e-07, 9.09621082e-05,
  6.39337546e-03,-1.48311419e-03, 0.00000000e+00,-2.34752228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09135635, -1.63982519, -3.74835565, -1.63982519, 13.05406997,
       -3.92099495, -3.74835565, -3.92099495,  5.80670753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.919007077037467e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79822117e-12, -2.79822117e-12,  1.00000000e+00,  7.83004173e-24,
        1.00000000e+00,  2.79822117e-12, -1.00000000e+00,  0.00000000e+00,
        2.79822117e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05954888, -0.08825289,  0.06199967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20042530e-06, 1.02266041e-05, 8.34666047e-06, 9.95937784e-06,
 -8.00081836e-05,-3.46934814e-03,-9.86457979e-04, 1.39281472e-04,
  2.37723845e-05,-8.27416566e-05,-4.85061649e-06, 4.41786623e-05,
 -9.06023218e-05, 5.11520017e-05,-2.25691493e-05, 1.80303971e-04,
 -1.20828118e-01, 3.10803323e-02,-1.13647718e+00, 1.39365672e-02,
 -1.68702916e-02,-1.40007769e-03]


--- Step 1329 ---
qpos:
[ 3.27898334e-03,-3.23253524e-03, 1.18868218e-02, 4.17746359e-02,
  8.00896570e-04, 6.01837299e-01,-3.21733213e-02, 5.08989096e-01,
  5.83768513e-03, 1.64615410e-02,-9.27066793e-03, 2.59860019e-02,
  1.28634392e+00, 1.58287492e-04, 1.01087305e+00, 6.36707044e-02,
  3.05804390e-02,-5.21869946e-02, 1.07893401e-01, 7.79485950e-01,
 -3.57023266e-02,-5.02452707e-01,-3.72381894e-01]

qacc:
[-6.31146416e+00, 8.74801394e-01,-4.88914495e+00, 1.25749929e+01,
  3.22726741e-01,-2.91318783e+01, 5.33733308e+01,-3.70807009e+01,
 -5.85562161e-01, 1.10754831e+00,-6.58078299e+00, 1.55589118e+01,
 -5.42693589e-01, 7.27551232e-01, 1.14037765e+01,-3.87066054e+01,
  3.78370974e-02, 1.05364037e+00,-3.16691524e+00, 3.29937395e+01,
 -4.92042534e+01, 4.21857277e+01]

qfrc_actuator:
[-7.28364587e-05, 3.01156613e-05, 1.79080651e-04, 1.31564580e-04,
  3.24693509e-03, 1.45041207e-01, 1.40306880e-02, 1.60084507e-01,
 -1.78090438e-05, 3.94942833e-04,-1.46324634e-06, 1.16436189e-04,
  6.38270644e-03,-1.48586986e-03, 0.00000000e+00,-2.53954504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09165383, -2.08775874, -3.51893372, -2.08775874,  3.77647388,
        0.18699406, -3.51893372,  0.18699406,  3.98071156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2799060776835791e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33712693e-12,  2.16856347e-12,  1.00000000e+00, -9.40533502e-24,
        1.00000000e+00, -2.16856347e-12, -1.00000000e+00,  0.00000000e+00,
        4.33712693e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05949736, -0.08824099,  0.06199957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70098916e-05, 1.27912644e-05, 7.12868497e-06, 2.39313926e-05,
  3.29147533e-05,-3.57052204e-03,-9.99355286e-04,-2.07301111e-04,
 -3.46999392e-06,-3.97346183e-05,-1.83684837e-05, 2.26195923e-05,
 -5.05765920e-05,-1.22257535e-05, 6.09507593e-06,-1.85665613e-04,
 -1.24435998e-01, 3.47786061e-02,-1.13571616e+00, 1.37789928e-02,
 -1.71053363e-02,-1.45072067e-03]


--- Step 1330 ---
qpos:
[ 3.27748318e-03,-3.23342937e-03, 1.18880000e-02, 4.17763880e-02,
  8.65655274e-04, 6.04339020e-01,-3.20197744e-02, 5.12159169e-01,
  5.83800975e-03, 1.64611600e-02,-9.27172941e-03, 2.59864938e-02,
  1.28655015e+00, 1.57566115e-04, 1.01110227e+00, 6.36632578e-02,
  2.99562002e-02,-5.18245290e-02, 1.07257518e-01, 7.75224809e-01,
 -3.60018601e-02,-5.09238694e-01,-3.72029989e-01]

qacc:
[-7.50582145e-01, 4.97384862e-01,-4.97516104e+00, 1.60284690e+01,
  2.19837587e-01,-1.55504592e+01,-7.57338983e+00, 9.19727104e+01,
 -4.64294353e-01,-2.13167071e+00, 1.31713055e+01,-3.39013769e+01,
  8.56892131e-01,-2.27770974e+00, 1.53249934e+01,-5.31136373e+01,
  8.77547072e-02, 9.44206668e-01,-3.60041723e+00, 3.21713883e+01,
 -4.72205574e+01, 3.95239873e+01]

qfrc_actuator:
[-7.62576368e-05,-2.22641590e-06, 1.80835670e-04, 1.62409690e-04,
  3.25787203e-03, 1.43869283e-01, 1.38790385e-02, 1.60306751e-01,
 -2.03910946e-05, 4.52017544e-04, 1.55002781e-05, 5.97465689e-05,
  6.36357726e-03,-1.57658098e-03, 0.00000000e+00,-2.79367037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09108357, -2.14642605, -3.48278911, -2.14642605,  3.34342645,
        0.46077746, -3.48278911,  0.46077746,  3.80710865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.195445910378572e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47999644e-12, -1.11999911e-11,  1.00000000e+00,  5.01759202e-23,
        1.00000000e+00,  1.11999911e-11, -1.00000000e+00,  0.00000000e+00,
        4.47999644e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0594544 , -0.08823623,  0.06199979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47137543e-06,-2.26909963e-05, 6.09951536e-06, 3.21041128e-05,
  2.20362990e-05,-3.45384123e-03,-1.03361348e-03, 3.81995305e-05,
 -2.69854908e-06, 3.20637905e-05, 7.29360412e-06,-5.85873107e-05,
 -5.14402136e-05,-1.04873644e-04,-2.39735884e-05,-2.65098156e-04,
 -1.28027903e-01, 3.84229903e-02,-1.13519374e+00, 1.36301456e-02,
 -1.73401299e-02,-1.50058206e-03]


--- Step 1331 ---
qpos:
[ 3.27698816e-03,-3.23448023e-03, 1.18889578e-02, 4.17778215e-02,
  9.30041764e-04, 6.06817232e-01,-3.18710059e-02, 5.15334093e-01,
  5.83830115e-03, 1.64604720e-02,-9.27156781e-03, 2.59869883e-02,
  1.28675630e+00, 1.55295351e-04, 1.01133084e+00, 6.36568145e-02,
  2.93280438e-02,-5.14601280e-02, 1.06585056e-01, 7.70911581e-01,
 -3.62781905e-02,-5.15993539e-01,-3.71658304e-01]

qacc:
[  8.81791232, -0.26487682,  1.95835497, -6.97203172, -0.24839013,
  -8.7337127 ,-28.18138061,120.36704511, -0.2462759 , -3.81807451,
  13.01398508,-14.69650656,  1.24742078, -3.05429243, -4.09395929,
  12.66722449, -0.97944372,  0.48387808, -9.14508576,  7.29980781,
   2.7688803 , -7.36935694]

qfrc_actuator:
[-2.44003702e-05,-2.11223855e-05, 1.63557656e-04, 1.44323764e-04,
  3.22060064e-03, 1.42980139e-01, 1.37468730e-02, 1.60572038e-01,
 -2.20385588e-05, 4.32975201e-04, 7.93392885e-05, 6.17502043e-05,
  6.33934598e-03,-1.66538958e-03, 0.00000000e+00,-2.72716859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.17216935e-05,-2.89318425e-05,-2.01082741e-05,-1.82259473e-05,
 -2.99662514e-05,-3.10207774e-03,-9.85787757e-04, 9.00463751e-05,
 -1.71368532e-06,-2.09099548e-06, 6.93496254e-05, 2.49216187e-06,
 -7.92307361e-05,-1.23805066e-04,-4.48778798e-05, 4.76333710e-05,
 -1.31616811e-01, 4.20274382e-02,-1.13489226e+00, 1.34885702e-02,
 -1.75741967e-02,-1.54985263e-03]


--- Step 1332 ---
qpos:
[ 3.27711811e-03,-3.23514621e-03, 1.18892045e-02, 4.17783010e-02,
  9.93683692e-04, 6.09275119e-01,-3.17271585e-02, 5.18505645e-01,
  5.83822573e-03, 1.64593525e-02,-9.27025651e-03, 2.59882143e-02,
  1.28696197e+00, 1.52019973e-04, 1.01155906e+00, 6.36518064e-02,
  2.87016709e-02,-5.10924742e-02, 1.05899908e-01, 7.66527828e-01,
 -3.65834250e-02,-5.22823173e-01,-3.71150470e-01]

qacc:
[  5.45599112,  0.520325  ,  2.8883361 ,-18.51855641, -0.50676005,
 -19.58599218, 42.47473154,-71.43665936, -3.15545975, -2.27134224,
   4.19307194,  6.93653762,  0.5411575 , -1.72354644, -4.92901623,
  16.32255362,  0.44590108,  0.81316459, -3.17111694, 36.60442547,
 -54.86592607, 45.47489796]

qfrc_actuator:
[ 6.30891344e-06, 2.13123171e-05, 1.35187368e-04, 9.75847720e-05,
  3.17270655e-03, 1.42232836e-01, 1.35931808e-02, 1.60416972e-01,
 -4.08762984e-05, 4.04256612e-04, 1.34596848e-04, 9.82582363e-05,
  6.30673946e-03,-1.71683681e-03, 0.00000000e+00,-2.64978698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.09099991, 1.74776051, 3.69886651, 1.74776051, 2.45391876,
       0.77354124, 3.69886651, 0.77354124, 3.72549204, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.4699632850281334e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24187041e-11,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24187041e-11])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05934915, -0.08821148,  0.06199984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21760486e-05, 2.13651050e-05,-3.74573459e-05,-4.90339510e-05,
 -5.90735845e-05,-2.75127184e-03,-9.27733616e-04,-3.13592228e-04,
 -1.88924115e-05,-1.54337146e-05, 6.34591575e-05, 3.88666912e-05,
 -1.07488325e-04,-9.74353778e-05,-1.71855428e-05, 7.38470115e-05,
 -1.32793425e-01, 4.25813594e-02,-1.13707427e+00, 1.36547566e-02,
 -1.77154743e-02,-1.56376268e-03]


--- Step 1333 ---
qpos:
[ 3.27692572e-03,-3.23546679e-03, 1.18890310e-02, 4.17782010e-02,
  1.05614767e-03, 6.11716021e-01,-3.15880218e-02, 5.21667050e-01,
  5.83827017e-03, 1.64577156e-02,-9.26896763e-03, 2.59899617e-02,
  1.28716712e+00, 1.47594602e-04, 1.01178717e+00, 6.36473915e-02,
  2.80770612e-02,-5.07219153e-02, 1.05200582e-01, 7.62071599e-01,
 -3.69155056e-02,-5.29721718e-01,-3.70511842e-01]

qacc:
[  -2.84869186,   0.44225239,   1.53968923, -11.15882624,  -0.80464873,
  -28.46647053, 101.58871133,-230.71860591,   1.05384769,   0.44997908,
   -4.80174352,  14.24598951,   0.54822146,  -1.86009429,  -1.99936543,
    6.63454085,   0.44079728,   0.72630817,  -3.54473423,  35.36494259,
  -52.73360005,  42.43590388]

qfrc_actuator:
[-1.11977432e-05, 4.68086065e-05, 1.18493249e-04, 6.99219404e-05,
  3.10120742e-03, 1.41683373e-01, 1.34641317e-02, 1.59927214e-01,
 -3.41760454e-05, 3.34474185e-04, 1.13279145e-04, 1.19233743e-04,
  6.26914468e-03,-1.78129749e-03, 0.00000000e+00,-2.61996847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09102824, -2.87709595, -2.90840694, -2.87709595,  4.24776248,
       -0.15504689, -2.90840694, -0.15504689,  4.24440594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.119833470730038e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59247374e-11, -5.30604117e-07,  1.00000000e+00, -8.44973121e-18,
        1.00000000e+00,  5.30604117e-07, -1.00000000e+00, -1.54074396e-33,
       -1.59247374e-11])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05921835, -0.08800971,  0.06199982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65773928e-05, 2.76373052e-05,-1.85889600e-05,-2.89998144e-05,
 -9.31086705e-05,-2.36112520e-03,-8.37664696e-04,-6.40721298e-04,
  6.14714600e-06,-6.36234517e-05,-1.53488848e-05, 2.32638749e-05,
 -1.22074829e-04,-1.11304315e-04,-3.34045410e-06, 3.09044635e-05,
 -1.36875303e-01, 4.67441753e-02,-1.13662186e+00, 1.34636251e-02,
 -1.79594128e-02,-1.61987226e-03]


--- Step 1334 ---
qpos:
[ 3.27652553e-03,-3.23582084e-03, 1.18893314e-02, 4.17777564e-02,
  1.11688259e-03, 6.14142849e-01,-3.14536980e-02, 5.24817900e-01,
  5.83873890e-03, 1.64559916e-02,-9.26803808e-03, 2.59912255e-02,
  1.28737179e+00, 1.42048992e-04, 1.01201510e+00, 6.36443585e-02,
  2.74543027e-02,-5.03488185e-02, 1.04485733e-01, 7.57540897e-01,
 -3.72726475e-02,-5.36684107e-01,-3.69746816e-01]

qacc:
[-1.80874487e+00,-2.07596670e+00, 8.79680272e+00,-1.54981225e+01,
 -1.18135044e+00,-2.51114590e+01, 9.65020557e+01,-2.33690032e+02,
  3.69020578e+00,-1.13525152e-01, 2.26730034e+00,-9.98534190e+00,
  6.03046364e-01,-1.90874884e+00,-4.51836503e+00, 1.52433132e+01,
  4.62811889e-01, 6.34454259e-01,-3.88078774e+00, 3.43821418e+01,
 -5.10284953e+01, 3.98257197e+01]

qfrc_actuator:
[-2.14313816e-05, 4.42747398e-05, 1.44303492e-04, 5.37119714e-05,
  2.99852386e-03, 1.41275157e-01, 1.33338740e-02, 1.59422290e-01,
 -1.24929616e-05, 3.46827869e-04, 9.99864184e-05, 9.53019934e-05,
  6.24988235e-03,-1.83526639e-03, 0.00000000e+00,-2.54740948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0909095 , -2.68496139, -3.08650658, -2.68496139,  3.69385892,
        0.3453955 , -3.08650658,  0.3453955 ,  3.79044891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9976471062342913e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05910115, -0.08782849,  0.06199999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06930059e-05, 7.84778256e-06, 2.82326477e-05,-1.62318259e-05,
 -1.36589829e-04,-1.99615773e-03,-7.59094720e-04,-6.44192746e-04,
  2.18332275e-05,-2.53559289e-05,-2.75206509e-05,-2.67399877e-05,
 -1.15251715e-04,-1.07391870e-04,-2.77829011e-06, 7.27949193e-05,
 -1.40953495e-01, 5.08560957e-02,-1.13642758e+00, 1.32813001e-02,
 -1.82026027e-02,-1.67502815e-03]


--- Step 1335 ---
qpos:
[ 3.27669532e-03,-3.23596768e-03, 1.18900881e-02, 4.17777812e-02,
  1.17569232e-03, 6.16556443e-01,-3.13241509e-02, 5.27964892e-01,
  5.83911827e-03, 1.64549822e-02,-9.26738465e-03, 2.59913919e-02,
  1.28757584e+00, 1.36028168e-04, 1.01224263e+00, 6.36448808e-02,
  2.68271534e-02,-4.99734412e-02, 1.03734246e-01, 7.52954245e-01,
 -3.76067187e-02,-5.43610518e-01,-3.68962388e-01]

qacc:
[ 5.01407484e+00,-4.38200554e-02,-1.44364166e+00, 8.70183718e+00,
 -1.31143774e+00,-1.15556949e+01, 2.90541732e+01,-7.09731920e+01,
 -8.00727001e-01,-5.41680858e-01, 7.93835876e+00,-2.70207129e+01,
  1.30569279e-01,-7.73599068e-01,-1.13358158e+01, 3.87620539e+01,
 -1.09772328e+00, 5.70143212e-01,-9.15926475e+00, 6.25123308e+00,
  2.51664723e+00,-8.51515162e+00]

qfrc_actuator:
[ 8.21846696e-06, 7.84213813e-05, 1.77137750e-04, 7.98758523e-05,
  2.89590456e-03, 1.40795800e-01, 1.31693725e-02, 1.59250034e-01,
 -1.76778007e-05, 4.43745075e-04, 1.09607204e-04, 4.52223138e-05,
  6.23630920e-03,-1.84700470e-03, 0.00000000e+00,-2.36146895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.93484515e-05, 4.36792337e-05, 3.73734050e-05, 2.71626398e-05,
 -1.52360401e-04,-1.84720751e-03,-7.09370525e-04,-2.94543085e-04,
 -4.56984258e-06, 7.59651551e-05, 7.42568698e-08,-5.26407999e-05,
 -1.04648045e-04,-6.27146431e-05, 2.37289036e-06, 1.88630973e-04,
 -1.45042094e-01, 5.49322676e-02,-1.13647528e+00, 1.31062200e-02,
 -1.84444554e-02,-1.72949042e-03]


--- Step 1336 ---
qpos:
[ 3.27687402e-03,-3.23572294e-03, 1.18908888e-02, 4.17781234e-02,
  1.23296802e-03, 6.18954594e-01,-3.11966591e-02, 5.31105671e-01,
  5.83943248e-03, 1.64548507e-02,-9.26655015e-03, 2.59912471e-02,
  1.28777940e+00, 1.29491279e-04, 1.01247043e+00, 6.36449311e-02,
  2.62037911e-02,-4.95964613e-02, 1.02968637e-01, 7.48286899e-01,
 -3.79719913e-02,-5.50612398e-01,-3.68036455e-01]

qacc:
[ 7.29278627e-02, 1.04844056e+00,-4.32658557e+00, 9.46074911e+00,
 -1.03460994e+00,-2.63128290e+01, 8.35107739e+01,-1.58041431e+02,
 -5.77811169e-01, 1.50428284e-02, 2.94524776e+00,-9.26661082e+00,
 -4.98494398e-03,-5.44362417e-01, 1.82138175e+00,-5.80627881e+00,
  9.46774458e-01, 4.00626826e-01,-3.53057455e+00, 3.91210387e+01,
 -5.87643855e+01, 4.54483630e+01]

qfrc_actuator:
[ 7.84582587e-06, 9.88437775e-05, 1.78509311e-04, 9.52826098e-05,
  2.82971683e-03, 1.39994503e-01, 1.30572239e-02, 1.58937604e-01,
 -2.08868433e-05, 5.19623081e-04, 1.33036596e-04, 3.35191043e-05,
  6.22085255e-03,-1.86910687e-03, 0.00000000e+00,-2.39426777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.09091116, 1.85687244, 3.64521315, 1.85687244, 1.76425658,
       1.18519839, 3.64521315, 1.18519839, 3.48717083, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.753690922345346e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.21937987e-11,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.21937987e-11, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05897998, -0.08778945,  0.06199997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75599801e-07, 5.37371285e-05, 1.59282740e-05, 1.90971023e-05,
 -1.21862685e-04,-2.06142375e-03,-6.08767176e-04,-4.19833242e-04,
 -3.31384617e-06, 1.16145792e-04, 3.73131357e-05,-9.46900089e-06,
 -8.97043102e-05,-6.06454058e-05, 1.77798155e-05,-2.29580865e-05,
 -1.46261210e-01, 5.54563452e-02,-1.13905285e+00, 1.32751220e-02,
 -1.85730143e-02,-1.74195385e-03]


--- Step 1337 ---
qpos:
[ 3.27704739e-03,-3.23539603e-03, 1.18915627e-02, 4.17790453e-02,
  1.28935637e-03, 6.21334235e-01,-3.10698903e-02, 5.34229826e-01,
  5.83970598e-03, 1.64553993e-02,-9.26595380e-03, 2.59913624e-02,
  1.28798244e+00, 1.22891842e-04, 1.01269871e+00, 6.36412630e-02,
  2.55842806e-02,-4.92182771e-02, 1.02187032e-01, 7.43537325e-01,
 -3.83653242e-02,-5.57682017e-01,-3.66975633e-01]

qacc:
[-5.17723661e-02, 1.65802549e+00,-8.19848006e+00, 1.83685046e+01,
 -5.87585429e-01,-5.34560015e+01, 2.05535728e+02,-4.25928570e+02,
 -3.73899874e-01, 2.10056377e+00,-7.28184001e+00, 1.16603574e+01,
 -5.85429703e-01, 6.57318440e-01, 1.19518029e+01,-4.07224315e+01,
  9.62926586e-01, 3.01101487e-01,-3.99914678e+00, 3.75424627e+01,
 -5.57083743e+01, 4.17762458e+01]

qfrc_actuator:
[ 7.54542683e-06, 7.52591067e-05, 1.61232847e-04, 1.21951928e-04,
  2.80351960e-03, 1.38883278e-01, 1.29401712e-02, 1.58083399e-01,
 -2.28988532e-05, 5.29170481e-04, 1.11146529e-04, 4.44943479e-05,
  6.20960249e-03,-1.86169114e-03, 0.00000000e+00,-2.59121027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09092559, -2.24291315, -3.42125894, -2.24291315,  2.88418955,
        0.7911135 , -3.42125894,  0.7911135 ,  3.57228643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9050599105313593e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05891435, -0.08776619,  0.06199993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71197559e-07, 1.05538696e-05,-3.56735609e-06, 2.98909396e-05,
 -7.10051425e-05,-2.47451345e-03,-6.48892244e-04,-9.69047756e-04,
 -2.06718383e-06, 8.17937682e-05, 6.36227816e-06, 1.70583254e-05,
 -7.67492071e-05,-2.70105837e-05,-4.17834163e-07,-1.97325367e-04,
 -1.50896089e-01, 6.01378038e-02,-1.13902010e+00, 1.30478163e-02,
 -1.88252529e-02,-1.80404828e-03]


--- Step 1338 ---
qpos:
[ 3.27756097e-03,-3.23521898e-03, 1.18918710e-02, 4.17806725e-02,
  1.34539401e-03, 6.23692883e-01,-3.09444541e-02, 5.37337965e-01,
  5.83995389e-03, 1.64560517e-02,-9.26644681e-03, 2.59917436e-02,
  1.28818446e+00, 1.18009800e-04, 1.01292697e+00, 6.36352722e-02,
  2.49600150e-02,-4.88375471e-02, 1.01368695e-01, 7.38728970e-01,
 -3.87354420e-02,-5.64711795e-01,-3.65895699e-01]

qacc:
[ 2.97749901e+00, 2.27191968e+00,-1.13726083e+01, 2.42811426e+01,
 -2.22350700e-01,-5.39037505e+01, 2.00470153e+02,-4.09387595e+02,
 -2.58802481e-01, 3.72944213e+00,-1.42204202e+01, 2.04856700e+01,
 -2.26565220e+00, 4.31131501e+00, 7.18329112e+00,-2.47134176e+01,
 -1.18875876e+00, 6.36430885e-01,-9.18292626e+00, 5.52186682e+00,
  2.31441758e+00,-9.38945867e+00]

qfrc_actuator:
[ 2.50516628e-05, 4.31756022e-05, 1.32920884e-04, 1.54989643e-04,
  2.80128360e-03, 1.37701855e-01, 1.28196659e-02, 1.57272077e-01,
 -2.41910327e-05, 4.63260811e-04, 2.69063086e-05, 5.08773744e-05,
  6.19024555e-03,-1.74804861e-03, 0.00000000e+00,-2.70567760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.74991880e-05,-2.56606527e-05,-2.55510085e-05, 3.39439136e-05,
 -2.86325178e-05,-2.80401690e-03,-7.58913872e-04,-9.54737608e-04,
 -1.32149628e-06,-1.81518053e-05,-6.59839838e-05, 1.04376870e-05,
 -7.01572888e-05, 9.01633784e-05,-2.81742429e-05,-1.26892830e-04,
 -1.55470713e-01, 6.47042441e-02,-1.13931545e+00, 1.28342059e-02,
 -1.90736631e-02,-1.86457196e-03]


--- Step 1339 ---
qpos:
[ 3.27759052e-03,-3.23538771e-03, 1.18925574e-02, 4.17816211e-02,
  1.40078479e-03, 6.26031992e-01,-3.08232039e-02, 5.40447672e-01,
  5.84018465e-03, 1.64563202e-02,-9.26690420e-03, 2.59925303e-02,
  1.28838532e+00, 1.16094312e-04, 1.01315478e+00, 6.36302595e-02,
  2.43418167e-02,-4.84568306e-02, 1.00535562e-01, 7.33831491e-01,
 -3.91395444e-02,-5.71819869e-01,-3.64666252e-01]

qacc:
[-4.23096007e+00,-2.90448738e+00, 1.25691473e+01,-2.46754414e+01,
 -4.26769219e-01,-1.13189299e+01,-9.28544032e-01, 4.14982915e+01,
 -1.41647993e-01, 2.28361225e-01,-3.26197823e+00, 1.05057660e+01,
 -3.16495722e+00, 6.51392779e+00,-3.35162378e+00, 1.13922770e+01,
  1.51681697e+00,-3.38262312e-03,-3.69907692e+00, 4.22622564e+01,
 -6.32004537e+01, 4.69992907e+01]

qfrc_actuator:
[-3.59410141e-07, 2.39446063e-05, 1.51534961e-04, 1.20480290e-04,
  2.75998472e-03, 1.36932017e-01, 1.26979877e-02, 1.57380160e-01,
 -2.50501499e-05, 4.41144536e-04, 3.04708977e-05, 7.21478033e-05,
  6.17141321e-03,-1.57242492e-03, 0.00000000e+00,-2.64629953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.09146791, 1.9118248 , 3.61732438, 1.9118248 , 1.86265854,
       1.17796819, 3.61732438, 1.17796819, 3.4688893 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.1087203202281293e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00677675e-12, -1.00135535e-11,  1.00000000e+00,  5.01356269e-23,
        1.00000000e+00,  1.00135535e-11, -1.00000000e+00,  0.00000000e+00,
        5.00677675e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05876408, -0.08770496,  0.06199955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49231669e-05,-3.74132854e-05, 1.13307198e-05,-3.58374527e-05,
 -5.22474110e-05,-2.59698547e-03,-8.39328180e-04,-5.12205746e-05,
 -8.99469527e-07,-4.54678649e-05,-7.95349042e-06, 1.84114678e-05,
 -3.85924017e-05, 1.80269658e-04,-3.19245898e-05, 4.76200028e-05,
 -1.56698549e-01, 6.51863469e-02,-1.14220989e+00, 1.30047550e-02,
 -1.91890250e-02,-1.87589577e-03]


--- Step 1340 ---
qpos:
[ 3.27731529e-03,-3.23574332e-03, 1.18936813e-02, 4.17821239e-02,
  1.45513118e-03, 6.28354171e-01,-3.07070188e-02, 5.43566918e-01,
  5.84040296e-03, 1.64564391e-02,-9.26631094e-03, 2.59934639e-02,
  1.28858537e+00, 1.16836871e-04, 1.01338207e+00, 6.36282810e-02,
  2.37296068e-02,-4.80764598e-02, 9.96857353e-02, 7.28843521e-01,
 -3.95740245e-02,-5.78997170e-01,-3.63295054e-01]

qacc:
[-2.65836496e+00,-2.38357665e+00, 1.00288790e+01,-1.83119756e+01,
 -6.94808102e-01, 9.39899238e+00,-9.34077249e+01, 2.44724014e+02,
 -7.31334403e-02,-2.83160105e+00, 9.18912460e+00,-8.21560651e+00,
 -2.51707458e+00, 5.43980990e+00,-9.67950544e+00, 3.33093272e+01,
  1.49709598e+00,-8.64022647e-02,-4.17323838e+00, 4.02342848e+01,
 -5.95877135e+01, 4.28419098e+01]

qfrc_actuator:
[-1.53274588e-05, 3.04335905e-05, 1.79954658e-04, 9.98024036e-05,
  2.69568458e-03, 1.36380569e-01, 1.25612398e-02, 1.57886686e-01,
 -2.56476361e-05, 4.81255499e-04, 1.03781763e-04, 8.43520519e-05,
  6.15294632e-03,-1.43255918e-03, 0.00000000e+00,-2.48498612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09199837, -2.34897847, -3.35063438, -2.34897847,  2.86306498,
        0.86154971, -3.35063438,  0.86154971,  3.48800477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.547848409758079e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79317144e-12,  3.58634288e-12,  1.00000000e+00, -6.43092763e-24,
        1.00000000e+00, -3.58634288e-12, -1.00000000e+00,  0.00000000e+00,
        1.79317144e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05868506, -0.08767142,  0.06199936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56903260e-05,-1.36400870e-05, 2.08401363e-05,-2.25882874e-05,
 -8.40052494e-05,-2.24304710e-03,-7.91634351e-04, 3.71625787e-04,
 -6.39043249e-07, 1.38254444e-05, 6.35769865e-05, 1.03376252e-05,
  1.23095762e-06, 1.72100883e-04,-1.33474793e-05, 1.59012851e-04,
 -1.61841762e-01, 7.03797842e-02,-1.14250892e+00, 1.27375362e-02,
 -1.94484320e-02,-1.94438451e-03]


--- Step 1341 ---
qpos:
[ 3.27720727e-03,-3.23590761e-03, 1.18947104e-02, 4.17820173e-02,
  1.50856721e-03, 6.30659319e-01,-3.05938769e-02, 5.46688798e-01,
  5.84061216e-03, 1.64567566e-02,-9.26493784e-03, 2.59938180e-02,
  1.28878513e+00, 1.19078318e-04, 1.01360944e+00, 6.36265365e-02,
  2.31234548e-02,-4.76968262e-02, 9.88175371e-02, 7.23763597e-01,
 -4.00357781e-02,-5.86235807e-01,-3.61788572e-01]

qacc:
[ 1.46098004e+00,-7.41387640e-01, 5.57609355e+00,-1.61049453e+01,
 -5.99533687e-01,-9.16184073e+00,-7.32359319e+00, 6.02547064e+01,
 -5.88157739e-02,-3.10992192e+00, 1.39161400e+01,-2.53377451e+01,
 -1.40031100e+00, 3.09861120e+00,-4.78593712e-01, 2.11926606e+00,
  1.51447230e+00,-1.84299739e-01,-4.59298872e+00, 3.85486441e+01,
 -5.66062548e+01, 3.92795861e+01]

qfrc_actuator:
[-6.26270115e-06, 5.23339847e-05, 1.78541854e-04, 6.97093238e-05,
  2.65374521e-03, 1.35610307e-01, 1.24357560e-02, 1.58020090e-01,
 -2.60859813e-05, 5.05364283e-04, 1.46900587e-04, 5.57077680e-05,
  6.13470747e-03,-1.36828422e-03, 0.00000000e+00,-2.47799029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09128061,  1.57016442, -3.77798368,  1.57016442, 26.93865164,
        9.49557542, -3.77798368,  9.49557542,  8.0377282 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.040294174950114e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07020713e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.07020713e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05862062, -0.08764972,  0.06199962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61305924e-06, 1.76038913e-05,-2.45418855e-06,-3.03980665e-05,
 -7.34649798e-05,-2.23745491e-03,-6.88351934e-04, 2.27980762e-05,
 -4.53668064e-07, 4.54029183e-05, 5.41530382e-05,-2.56543943e-05,
  2.27344632e-05, 1.03731673e-04, 7.67189010e-06, 1.32803398e-05,
 -1.66885638e-01, 7.54112734e-02,-1.14318874e+00, 1.24875570e-02,
 -1.97021680e-02,-2.01068371e-03]


--- Step 1342 ---
qpos:
[ 3.27789870e-03,-3.23626167e-03, 1.18961412e-02, 4.17815654e-02,
  1.56131373e-03, 6.32946367e-01,-3.04826048e-02, 5.49808305e-01,
  5.84081426e-03, 1.64576562e-02,-9.26321807e-03, 2.59941516e-02,
  1.28898485e+00, 1.22190863e-04, 1.01383754e+00, 6.36188655e-02,
  2.25119729e-02,-4.73142276e-02, 9.79124459e-02, 7.18620045e-01,
 -4.04739848e-02,-5.93428353e-01,-3.60263622e-01]

qacc:
[ 7.03265618e+00,-2.09932729e+00, 8.55344936e+00,-1.50040115e+01,
 -4.47951243e-01,-2.31161190e+01, 5.49072343e+01,-7.20268387e+01,
 -6.10690171e-02,-2.41586074e-01, 2.06449236e+00,-3.40214368e+00,
 -1.09403068e+00, 2.28353016e+00, 1.90635615e+01,-6.49046080e+01,
 -1.33245661e+00, 7.41219909e-01,-9.22323223e+00, 4.32363994e+00,
  1.91883936e+00,-1.08058322e+01]

qfrc_actuator:
[ 3.46243029e-05, 2.99198841e-05, 1.95091991e-04, 5.20618287e-05,
  2.62550601e-03, 1.34697877e-01, 1.23347876e-02, 1.57897206e-01,
 -2.64272046e-05, 5.55088710e-04, 1.71754738e-04, 5.64798813e-05,
  6.12724023e-03,-1.33151515e-03, 0.00000000e+00,-2.79278278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.11393331e-05,-1.43815215e-05, 1.88220308e-05,-1.75721236e-05,
 -5.59536642e-05,-2.36846256e-03,-6.61443362e-04,-2.36934931e-04,
 -3.37022417e-07, 8.51728426e-05, 3.99948471e-05, 4.08778944e-06,
  2.96996558e-05, 6.57993335e-05,-6.26517306e-08,-3.14235499e-04,
 -1.71851292e-01, 8.03037845e-02,-1.14422364e+00, 1.22524697e-02,
 -1.99496769e-02,-2.07515872e-03]


--- Step 1343 ---
qpos:
[ 3.27942000e-03,-3.23705918e-03, 1.18981516e-02, 4.17816167e-02,
  1.61311458e-03, 6.35215234e-01,-3.03729034e-02, 5.52920604e-01,
  5.84135577e-03, 1.64590518e-02,-9.26146140e-03, 2.59948694e-02,
  1.28918455e+00, 1.25868156e-04, 1.01406500e+00, 6.36125184e-02,
  2.19094024e-02,-4.69341093e-02, 9.69901050e-02, 7.13376825e-01,
 -4.09453878e-02,-6.00692478e-01,-3.58588242e-01]

qacc:
[   7.31008905,  -1.18402614,   1.22390537,   6.90771587,  -0.61490086,
  -33.04985961, 104.45920881,-189.53696078,   2.95310278,   1.33752433,
   -5.44998618,  11.68585289,  -0.358019  ,   0.9389619 ,  -4.90016116,
   15.86170897,   2.22784066,  -0.62004694,  -4.31241355,  43.58439975,
  -64.31844125,  44.49897826]

qfrc_actuator:
[ 7.61528938e-05,-1.02571637e-06, 2.21961382e-04, 7.73665190e-05,
  2.57012496e-03, 1.33832297e-01, 1.22663248e-02, 1.57535738e-01,
 -8.95588184e-06, 5.66461608e-04, 1.68018686e-04, 7.45746509e-05,
  6.11557215e-03,-1.31122139e-03, 0.00000000e+00,-2.70874447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09103909, -1.97372267, -3.58343686, -1.97372267,  8.4985678 ,
       -2.42762456, -3.58343686, -2.42762456,  5.42815142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.347877054417971e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03800350e-11, -1.03800350e-11,  1.00000000e+00,  1.07745127e-22,
        1.00000000e+00,  1.03800350e-11, -1.00000000e+00,  0.00000000e+00,
        1.03800350e-11])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05846763, -0.08758728,  0.06199976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26950864e-05,-3.58434367e-05, 2.55951086e-05, 2.49946446e-05,
 -7.66650458e-05,-2.39856672e-03,-6.60492212e-04,-4.84897109e-04,
  1.74942700e-05, 6.73858387e-05, 1.88940748e-05, 2.32016667e-05,
  1.98036783e-05, 4.27602028e-05,-4.09948508e-05, 6.51307842e-05,
 -1.73089374e-01, 8.07027099e-02,-1.14764811e+00, 1.24257414e-02,
 -2.00441042e-02,-2.08452178e-03]


--- Step 1344 ---
qpos:
[ 3.28073727e-03,-3.23757984e-03, 1.18996428e-02, 4.17819542e-02,
  1.66389883e-03, 6.37466813e-01,-3.02659436e-02, 5.56025981e-01,
  5.84175847e-03, 1.64600373e-02,-9.25928965e-03, 2.59955447e-02,
  1.28938416e+00, 1.29686279e-04, 1.01429132e+00, 6.36141796e-02,
  2.13151729e-02,-4.65564462e-02, 9.60492348e-02, 7.08032694e-01,
 -4.14473735e-02,-6.08019160e-01,-3.56769563e-01]

qacc:
[  -1.81175165,   2.4111276 ,  -9.26652409,  14.83768707,  -0.66148941,
  -28.13466753,  88.22702292,-169.54572458,  -1.19070509,  -1.78717921,
    5.76897184,  -6.86930765,   0.33763614,  -0.45490085, -25.87937085,
   88.04165157,   2.08524833,  -0.61379803,  -4.63233332,  41.28217843,
  -61.04116822,  40.92544392]

qfrc_actuator:
[ 6.44583413e-05, 3.42498869e-05, 2.01425778e-04, 9.22269025e-05,
  2.51674340e-03, 1.33073159e-01, 1.21645564e-02, 1.57196678e-01,
 -1.66459783e-05, 4.83666346e-04, 1.65052241e-04, 6.71612562e-05,
  6.09073196e-03,-1.31860753e-03, 0.00000000e+00,-2.28377180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09100381, -1.61207062, -3.75999209, -1.61207062,  3.30581597,
        0.33664386, -3.75999209,  0.33664386,  3.94667009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.564950416896529e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08014832e-12, -1.21602966e-11,  1.00000000e+00,  7.39364072e-23,
        1.00000000e+00,  1.21602966e-11, -1.00000000e+00,  0.00000000e+00,
        6.08014832e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05838548, -0.08755159,  0.06199979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04925692e-05, 2.16046836e-05,-2.39393832e-05, 1.46923547e-05,
 -8.25234174e-05,-2.31763473e-03,-7.07581518e-04,-4.68570134e-04,
 -7.16045543e-06,-4.02804222e-05, 1.40444220e-05,-3.42958905e-06,
 -4.07112186e-06, 7.35902520e-06,-1.34779309e-05, 4.22902768e-04,
 -1.78664333e-01, 8.62677398e-02,-1.14877264e+00, 1.21329314e-02,
 -2.03028207e-02,-2.15780648e-03]


--- Step 1345 ---
qpos:
[ 3.28190447e-03,-3.23773567e-03, 1.19005110e-02, 4.17824627e-02,
  1.71366030e-03, 6.39702026e-01,-3.01626942e-02, 5.59127503e-01,
  5.84172182e-03, 1.64599995e-02,-9.25676281e-03, 2.59958661e-02,
  1.28958369e+00, 1.33249127e-04, 1.01451859e+00, 6.36118201e-02,
  2.07151869e-02,-4.61755079e-02, 9.50712752e-02, 7.02621625e-01,
 -4.19252353e-02,-6.15294860e-01,-3.54932899e-01]

qacc:
[-1.34293067e+00, 2.57954897e+00,-9.21444814e+00, 1.28975750e+01,
 -6.65277922e-01,-1.85551747e+01, 4.71124123e+01,-8.58323859e+01,
 -3.80338840e+00,-3.06606817e+00, 1.04772236e+01,-1.64310533e+01,
 -1.37006436e-01, 8.26356323e-04, 1.35471751e+01,-4.53410571e+01,
 -1.43912856e+00, 8.18788935e-01,-9.27235326e+00, 3.52663084e+00,
  1.62903561e+00,-1.18510308e+01]

qfrc_actuator:
[ 5.70371210e-05, 5.54574037e-05, 1.71066847e-04, 1.00836440e-04,
  2.46501072e-03, 1.32384264e-01, 1.20268510e-02, 1.57015682e-01,
 -3.90904603e-05, 3.80583191e-04, 1.62154635e-04, 4.47159329e-05,
  6.06864637e-03,-1.34240360e-03, 0.00000000e+00,-2.51357870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-7.71213950e-06, 2.89662798e-05,-2.83495970e-05, 8.98987373e-06,
 -8.31775678e-05,-2.21042276e-03,-7.31801172e-04,-3.08372127e-04,
 -2.26587474e-05,-1.22917929e-04,-9.64461551e-06,-2.37604802e-05,
 -2.21558012e-05,-2.32402748e-05, 3.92957819e-05,-2.08344794e-04,
 -1.84119481e-01, 9.16673472e-02,-1.15029974e+00, 1.18544092e-02,
 -2.05550730e-02,-2.22850827e-03]


--- Step 1346 ---
qpos:
[ 3.28331840e-03,-3.23745553e-03, 1.19009482e-02, 4.17827024e-02,
  1.76241336e-03, 6.41922914e-01,-3.00634865e-02, 5.62225543e-01,
  5.84176123e-03, 1.64592622e-02,-9.25525015e-03, 2.59970071e-02,
  1.28978310e+00, 1.36312794e-04, 1.01474633e+00, 6.36044525e-02,
  2.01250385e-02,-4.57978848e-02, 9.40773987e-02, 6.97101035e-01,
 -4.24434746e-02,-6.22643737e-01,-3.52935510e-01]

qacc:
[ 2.14435751e+00, 1.22273265e+00,-2.39668893e+00,-1.87847651e+00,
 -6.55273372e-01,-1.42676952e+01, 3.48212971e+01,-6.99506421e+01,
  6.44046337e-01, 3.59598859e+00,-1.76256959e+01, 3.39486010e+01,
 -2.28630719e-03,-3.90468228e-01, 1.58063767e+01,-5.43074794e+01,
  2.45939546e+00,-8.28806128e-01,-3.97924546e+00, 4.59536676e+01,
 -6.99396977e+01, 4.79167019e+01]

qfrc_actuator:
[ 6.99601797e-05, 8.57779766e-05, 1.52878053e-04, 8.79434482e-05,
  2.41468019e-03, 1.31885530e-01, 1.19051543e-02, 1.56858215e-01,
 -3.45262446e-05, 3.37115005e-04, 1.05934380e-04, 8.45904598e-05,
  6.04821634e-03,-1.37570584e-03, 0.00000000e+00,-2.77237502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09131172, -1.68787457, -3.72691709, -1.68787457,  1.29722224,
        1.2654085 , -3.72691709,  1.2654085 ,  3.51822389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.411189506730588e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94921015e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.94921015e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05819779, -0.08746189,  0.06199954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27137697e-05, 4.10358710e-05,-1.53967374e-05,-1.24608258e-05,
 -8.21237953e-05,-1.95840101e-03,-6.91260458e-04,-2.77954043e-04,
  3.87568701e-06,-1.15252037e-04,-8.36496840e-05, 3.38055068e-05,
 -3.87307991e-05,-4.35492291e-05,-1.26817929e-05,-2.67118980e-04,
 -1.85324539e-01, 9.19732049e-02,-1.15413388e+00, 1.20291212e-02,
 -2.06293584e-02,-2.23638585e-03]


--- Step 1347 ---
qpos:
[ 3.28487603e-03,-3.23659397e-03, 1.19007702e-02, 4.17827795e-02,
  1.80995935e-03, 6.44132166e-01,-2.99687731e-02, 5.65331047e-01,
  5.84219900e-03, 1.64586380e-02,-9.25484804e-03, 2.59985185e-02,
  1.28998212e+00, 1.39314794e-04, 1.01497321e+00, 6.36003931e-02,
  1.95436397e-02,-4.54231707e-02, 9.30665845e-02, 6.91469707e-01,
 -4.29997376e-02,-6.30055997e-01,-3.50784987e-01]

qacc:
[ 1.23184360e+00, 2.15136885e+00,-5.87372253e+00, 3.62126202e+00,
 -7.85952915e-01, 1.08596366e+01,-8.15157224e+01, 1.96873224e+02,
  3.43781513e+00, 4.00896823e+00,-1.56527961e+01, 2.37670702e+01,
 -2.16690898e-02,-1.63106071e-01,-1.12696091e+01, 3.75594127e+01,
  2.18741446e+00,-7.27244685e-01,-4.23439877e+00, 4.32569739e+01,
 -6.65303786e+01, 4.43260431e+01]

qfrc_actuator:
[ 7.70004102e-05, 1.21349320e-04, 1.24295777e-04, 8.02730832e-05,
  2.34783306e-03, 1.31629665e-01, 1.18126309e-02, 1.57266366e-01,
 -1.40964793e-05, 4.00511841e-04, 7.22056710e-05, 1.07567005e-04,
  6.02345975e-03,-1.37886051e-03, 0.00000000e+00,-2.58440091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09133476, -1.71857941, -3.71288365, -1.71857941,  1.0956116 ,
        1.38662793, -3.71288365,  1.38662793,  3.44950743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.676731941826722e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86827989e-12, -5.73655978e-12,  1.00000000e+00,  1.64540590e-23,
        1.00000000e+00,  5.73655978e-12, -1.00000000e+00,  0.00000000e+00,
        2.86827989e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05810013, -0.08741511,  0.06199951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.41644091e-06, 5.47887834e-05,-2.24446128e-05,-6.69086602e-06,
 -9.83174138e-05,-1.56496295e-03,-6.04726130e-04, 2.99514483e-04,
  2.05020575e-05,-1.68751726e-05,-6.66808659e-05, 1.57966266e-05,
 -5.79896253e-05,-2.15138074e-05,-4.07292224e-05, 1.70265877e-04,
 -1.91442990e-01, 9.81953979e-02,-1.15582340e+00, 1.16718190e-02,
 -2.09014327e-02,-2.31630033e-03]


--- Step 1348 ---
qpos:
[ 3.28650643e-03,-3.23575615e-03, 1.19004756e-02, 4.17828076e-02,
  1.85654389e-03, 6.46336012e-01,-2.98800055e-02, 5.68455565e-01,
  5.84253338e-03, 1.64579304e-02,-9.25456468e-03, 2.59992121e-02,
  1.29018082e+00, 1.42222341e-04, 1.01520001e+00, 6.35968579e-02,
  1.89560194e-02,-4.50448419e-02, 9.20184350e-02, 6.85767738e-01,
 -4.35311874e-02,-6.37411752e-01,-3.48617130e-01]

qacc:
[ 6.35546669e-01, 1.92177793e-01,-5.26083160e-01,-1.15683270e-01,
 -6.30527770e-01, 4.44728813e+01,-2.22255857e+02, 4.92973171e+02,
 -9.04398864e-01,-1.45985338e+00, 8.50105220e+00,-2.24055619e+01,
 -1.43294966e-01, 2.70984946e-02,-1.68563360e+00, 5.75340191e+00,
 -1.55538779e+00, 9.03683934e-01,-9.33383641e+00, 2.61050354e+00,
  1.26151930e+00,-1.29986713e+01]

qfrc_actuator:
[ 8.05152802e-05, 8.87407577e-05, 1.07586809e-04, 7.57375922e-05,
  2.30718326e-03, 1.31930875e-01, 1.17396807e-02, 1.58270623e-01,
 -2.00053775e-05, 4.03226559e-04, 7.02265664e-05, 6.72682312e-05,
  6.01211400e-03,-1.38191712e-03, 0.00000000e+00,-2.56074074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.74385570e-06,-6.92488952e-06,-8.39817677e-06,-3.09780852e-06,
 -7.83568125e-05,-7.47952162e-04,-4.75628628e-04, 9.25804439e-04,
 -5.32629753e-06,-1.97958209e-05,-1.31326356e-05,-4.30253877e-05,
 -4.97873489e-05,-2.12500336e-05,-1.60592345e-06, 2.75123046e-05,
 -1.97410019e-01, 1.04233888e-01,-1.15795910e+00, 1.13275458e-02,
 -2.11665752e-02,-2.39310935e-03]


--- Step 1349 ---
qpos:
[ 3.28782140e-03,-3.23494893e-03, 1.18999860e-02, 4.17831335e-02,
  1.90289224e-03, 6.48539449e-01,-2.97963651e-02, 5.71593658e-01,
  5.84244948e-03, 1.64573163e-02,-9.25442792e-03, 2.59993962e-02,
  1.29037944e+00, 1.44231725e-04, 1.01542684e+00, 6.35929526e-02,
  1.83786931e-02,-4.46703159e-02, 9.09561086e-02, 6.79945323e-01,
 -4.41108123e-02,-6.44840994e-01,-3.46278337e-01]

qacc:
[-2.77410118e+00, 1.12412915e+00,-5.31305898e+00, 1.07886712e+01,
 -1.60271930e-01, 3.86822023e+01,-1.76082904e+02, 3.66073148e+02,
 -3.65446645e+00,-5.08766550e-01, 4.15780243e+00,-1.28269427e+01,
  6.36171621e-01,-1.63483145e+00, 1.08651290e+00,-3.90262408e+00,
  2.57352349e+00,-9.50723461e-01,-3.54422030e+00, 4.81491661e+01,
 -7.57059209e+01, 5.13710558e+01]

qfrc_actuator:
[ 6.41757374e-05, 8.66073589e-05, 9.77491662e-05, 9.07870932e-05,
  2.31799433e-03, 1.32351722e-01, 1.16462184e-02, 1.58978915e-01,
 -4.13750752e-05, 4.22941068e-04, 6.89970098e-05, 4.33021169e-05,
  5.99817145e-03,-1.43811532e-03, 0.00000000e+00,-2.58095040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09137072, -1.78217224, -3.68282181, -1.78217224,  1.01271255,
        1.48980847, -3.68282181,  1.48980847,  3.37043025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0077154321330717e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75430689e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.75430689e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05788466, -0.08730823,  0.06199945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62372169e-05,-7.90399051e-06,-1.24178250e-05, 1.44002153e-05,
 -1.92824868e-05,-1.22062977e-04,-2.94150238e-04, 6.78621034e-04,
 -2.15287854e-05, 4.10797495e-06,-8.42097032e-06,-2.61065105e-05,
 -4.74984457e-05,-7.24863873e-05,-2.19960193e-06,-1.99173956e-05,
 -1.98559570e-01, 1.04419613e-01,-1.16226091e+00, 1.15034788e-02,
 -2.12177730e-02,-2.39921893e-03]


--- Step 1350 ---
qpos:
[ 3.28893044e-03,-3.23434149e-03, 1.18994521e-02, 4.17836485e-02,
  1.94856927e-03, 6.50741693e-01,-2.97151439e-02, 5.74733941e-01,
  5.84245459e-03, 1.64571364e-02,-9.25450640e-03, 2.59992515e-02,
  1.29057775e+00, 1.45848231e-04, 1.01565357e+00, 6.35891608e-02,
  1.78104838e-02,-4.42991014e-02, 8.98784307e-02, 6.74001330e-01,
 -4.47354633e-02,-6.52332835e-01,-3.43777280e-01]

qacc:
[ -1.80539675,  0.25296116, -2.07679109,  5.56080489, -0.43566433,
   9.10881021,-40.12325503, 72.03108074,  0.76192696,  0.49729555,
   0.44458277, -6.10568055,  0.085228  , -0.52599855, -0.49661441,
   1.50001827,  2.2792272 , -0.82785326, -3.83787848, 45.16783778,
 -71.8591267 , 47.2525535 ]

qfrc_actuator:
[ 5.40352860e-05, 6.72701634e-05, 9.21594989e-05, 9.95078065e-05,
  2.27057809e-03, 1.32308938e-01, 1.15242559e-02, 1.59081398e-01,
 -3.61597275e-05, 4.70464542e-04, 6.82925298e-05, 2.91546522e-05,
  5.98265908e-03,-1.45434647e-03, 0.00000000e+00,-2.57353929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09100658, -1.80754734, -3.67002826, -1.80754734,  0.9747118 ,
        1.53482479, -3.67002826,  1.53482479,  3.33508094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.631053397867457e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99336117e-12, -1.19867223e-11,  1.00000000e+00,  7.18407563e-23,
        1.00000000e+00,  1.19867223e-11, -1.00000000e+00,  0.00000000e+00,
        5.99336117e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05777678, -0.08725718,  0.06199974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06079290e-05,-2.57392914e-05,-8.25858919e-06, 8.23175398e-06,
 -5.48424107e-05,-2.09516510e-04,-1.82020663e-04, 9.76211277e-05,
  4.59927853e-06, 4.69748834e-05,-1.79049867e-06,-1.47693356e-05,
 -5.98731466e-05,-4.35468931e-05,-7.61493641e-06, 4.99984132e-06,
 -2.05229905e-01, 1.11342532e-01,-1.16467255e+00, 1.10733868e-02,
 -2.15049083e-02,-2.48606839e-03]


--- Step 1351 ---
qpos:
[ 3.28990938e-03,-3.23429763e-03, 1.18993511e-02, 4.17835875e-02,
  1.99277185e-03, 6.52940066e-01,-2.96345899e-02, 5.77870120e-01,
  5.84252202e-03, 1.64573155e-02,-9.25488696e-03, 2.59989536e-02,
  1.29077578e+00, 1.46957275e-04, 1.01587988e+00, 6.35881454e-02,
  1.72355496e-02,-4.39239030e-02, 8.87631101e-02, 6.67982609e-01,
 -4.53344580e-02,-6.59761936e-01,-3.41259737e-01]

qacc:
[ -1.11889477, -3.14036039, 12.54924853,-22.79686314, -0.94643467,
 -10.87968155, 43.37234731,-96.60450934,  0.52794762,  1.00211694,
  -2.23915972, -0.19363092,  0.36012801, -1.02121571, -9.03549628,
  30.62662441, -1.68121789,  0.9959588 , -9.41066397,  1.56789403,
   0.81074797,-14.25401585]

qfrc_actuator:
[ 4.76309628e-05, 2.00394727e-05, 1.06798395e-04, 6.89154454e-05,
  2.17100242e-03, 1.31988923e-01, 1.14377941e-02, 1.58861854e-01,
 -3.30859653e-05, 4.81037470e-04, 5.02777465e-05, 2.09212258e-05,
  5.96622900e-03,-1.48224866e-03, 0.00000000e+00,-2.42562297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.71695162e-06,-6.30014775e-05, 8.58727447e-06,-3.18215290e-05,
 -1.20728733e-04,-5.35095472e-04,-1.69796925e-04,-2.36183913e-04,
  3.22200658e-06, 3.58481680e-05,-9.03987587e-06,-6.56903373e-06,
 -6.10739870e-05,-5.15424113e-05,-7.23905443e-06, 1.46233798e-04,
 -2.11703010e-01, 1.18025270e-01,-1.16758274e+00, 1.06600611e-02,
 -2.17821169e-02,-2.56927343e-03]


--- Step 1352 ---
qpos:
[ 3.29080363e-03,-3.23453154e-03, 1.18996101e-02, 4.17831288e-02,
  2.03547301e-03, 6.55132273e-01,-2.95544835e-02, 5.80996351e-01,
  5.84262579e-03, 1.64578835e-02,-9.25551461e-03, 2.59985517e-02,
  1.29097352e+00, 1.47214238e-04, 1.01610564e+00, 6.35925636e-02,
  1.66538642e-02,-4.35447051e-02, 8.76099905e-02, 6.61889957e-01,
 -4.59072248e-02,-6.67127592e-01,-3.38725534e-01]

qacc:
[  -0.72753992,  -2.19203239,   8.96267703, -16.21739335,  -0.95822867,
  -25.32397489, 107.05331674,-238.81690593,   0.30244915,   0.99016711,
   -2.34668355,   0.65748278,   0.79090515,  -1.92530748, -17.29383697,
   59.1410597 ,  -1.68780472,   0.99990493,  -9.44975379,   1.75442591,
    0.89878482, -14.26480238]

qfrc_actuator:
[ 4.34748474e-05, 2.75269314e-05, 1.33115034e-04, 5.09300324e-05,
  2.09446066e-03, 1.31541229e-01, 1.13540957e-02, 1.58347998e-01,
 -3.13060801e-05, 5.04846836e-04, 3.98023472e-05, 1.61923187e-05,
  5.93860595e-03,-1.53463439e-03, 0.00000000e+00,-2.14285391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.36847504e-06,-2.73380894e-05, 1.32600621e-05,-2.10060576e-05,
 -1.23275120e-04,-8.54362911e-04,-2.42356819e-04,-5.49436759e-04,
  1.88551477e-06, 4.17070293e-05,-4.40824867e-06,-3.63230091e-06,
 -7.45163856e-05,-7.82771175e-05, 9.37928797e-06, 2.89167270e-04,
 -2.12765967e-01, 1.18056213e-01,-1.17241564e+00, 1.08371082e-02,
 -2.18067046e-02,-2.57330365e-03]


--- Step 1353 ---
qpos:
[ 3.29198612e-03,-3.23518969e-03, 1.19002479e-02, 4.17824753e-02,
  2.07683890e-03, 6.57314523e-01,-2.94747998e-02, 5.84104881e-01,
  5.84275080e-03, 1.64580376e-02,-9.25621129e-03, 2.59985334e-02,
  1.29117063e+00, 1.47415253e-04, 1.01633200e+00, 6.35953015e-02,
  1.60856863e-02,-4.31712082e-02, 8.64486312e-02, 6.55654443e-01,
 -4.65492544e-02,-6.74585083e-01,-3.35984202e-01]

qacc:
[ 2.54907080e+00,-2.02630088e+00, 7.22428547e+00,-1.08799465e+01,
 -8.45678221e-01,-4.47265982e+01, 1.90905234e+02,-4.25796678e+02,
  1.90419390e-01, 4.34977663e-01,-3.96518230e+00, 1.10198139e+01,
 -5.61492205e-01, 5.82066263e-01, 5.99841807e+00,-1.96068736e+01,
  3.37688725e+00,-1.42528803e+00,-2.05993484e+00, 5.84448676e+01,
 -9.45349069e+01, 6.53496214e+01]

qfrc_actuator:
[ 5.84269300e-05,-3.22563534e-06, 1.48585405e-04, 4.05608810e-05,
  2.03235599e-03, 1.30772235e-01, 1.12188448e-02, 1.57434256e-01,
 -3.03014547e-05, 4.29908670e-04, 1.61637930e-05, 3.13307073e-05,
  5.90960328e-03,-1.53015209e-03, 0.00000000e+00,-2.24450943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09305576, -1.88735778, -3.63193971, -1.88735778,  1.00642857,
        1.60398308, -3.63193971,  1.60398308,  3.25953699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.172657896337693e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.10997625e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.10997625e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0573185 , -0.0870021 ,  0.06199859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48190135e-05,-4.41988264e-05, 1.07299150e-05,-1.14892878e-05,
 -1.10025616e-04,-1.38000935e-03,-3.77367334e-04,-9.70323838e-04,
  1.07463641e-06,-5.26929273e-05,-1.56904145e-05, 1.67034624e-05,
 -8.93265955e-05,-3.08876957e-05, 3.27792432e-05,-8.52041788e-05,
 -2.13745546e-01, 1.18037921e-01,-1.17726641e+00, 1.10121145e-02,
 -2.18215982e-02,-2.57736772e-03]


--- Step 1354 ---
qpos:
[ 3.29299352e-03,-3.23604786e-03, 1.19009969e-02, 4.17816923e-02,
  2.11726102e-03, 6.59480562e-01,-2.93948614e-02, 5.87193029e-01,
  5.84254216e-03, 1.64577640e-02,-9.25767554e-03, 2.59987488e-02,
  1.29136715e+00, 1.47613329e-04, 1.01655854e+00, 6.35965176e-02,
  1.55293087e-02,-4.28026030e-02, 8.52770975e-02, 6.49275886e-01,
 -4.72544145e-02,-6.82118561e-01,-3.33049716e-01]

qacc:
[  -1.52991964,  -0.8393429 ,   3.15998908,  -5.43515578,  -0.58865015,
  -59.74755359, 239.35720888,-505.17679861,  -2.92642746,   2.06671543,
   -9.16540088,  14.73927575,  -0.54445339,   0.60755497,   4.90064848,
  -16.66747678,   2.95006456,  -1.22289449,  -2.54358981,  53.89163723,
  -88.2642596 ,  58.81661176]

qfrc_actuator:
[ 4.89996037e-05,-3.40673752e-06, 1.57385300e-04, 3.47177257e-05,
  1.99710063e-03, 1.29550428e-01, 1.10705691e-02, 1.56381076e-01,
 -4.75140637e-05, 3.85132579e-04,-3.32045170e-05, 4.01908966e-05,
  5.88513953e-03,-1.52750955e-03, 0.00000000e+00,-2.32334236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09370176, -1.9062913 , -3.62276794, -1.9062913 ,  0.99650619,
        1.62973645, -3.62276794,  1.62973645,  3.23613857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.477921956327983e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.24023001e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.24023001e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05714678, -0.086906  ,  0.06199831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.01904977e-06,-2.31537071e-05, 5.94361184e-07,-7.58813842e-06,
 -7.82518104e-05,-2.16880085e-03,-5.26566490e-04,-1.14287027e-03,
 -1.72004780e-05,-7.67641792e-05,-6.16009434e-05, 6.38547886e-06,
 -8.26554625e-05,-2.51643056e-05,-1.72131388e-06,-8.10529012e-05,
 -2.21924477e-01, 1.26878995e-01,-1.18056361e+00, 1.03948390e-02,
 -2.21588026e-02,-2.68647048e-03]


--- Step 1355 ---
qpos:
[ 3.29353489e-03,-3.23647179e-03, 1.19012694e-02, 4.17808040e-02,
  2.15730318e-03, 6.61625106e-01,-2.93152660e-02, 5.90261326e-01,
  5.84178330e-03, 1.64579123e-02,-9.26069884e-03, 2.59990146e-02,
  1.29156362e+00, 1.46629051e-04, 1.01678516e+00, 6.35957679e-02,
  1.49832506e-02,-4.24381954e-02, 8.40937293e-02, 6.42753770e-01,
 -4.80175984e-02,-6.89714093e-01,-3.29933889e-01]

qacc:
[-4.11299655e+00, 1.69749222e+00,-4.76112769e+00, 3.36603454e+00,
 -2.26337459e-01,-6.40570084e+01, 2.42891038e+02,-4.96071939e+02,
 -4.85436946e+00, 5.02816761e+00,-1.73156333e+01, 2.03516795e+01,
  7.72062176e-01,-2.03729844e+00, 5.95458036e+00,-2.08721823e+01,
  2.57987093e+00,-1.04942300e+00,-2.95863872e+00, 4.99553040e+01,
 -8.30588903e+01, 5.32885214e+01]

qfrc_actuator:
[ 2.52926670e-05, 5.02057713e-05, 1.44546192e-04, 3.16026430e-05,
  1.99585009e-03, 1.28120429e-01, 1.09139702e-02, 1.55360513e-01,
 -7.53106093e-05, 4.47396075e-04,-9.72845271e-05, 4.52806875e-05,
  5.87939568e-03,-1.59701202e-03, 0.00000000e+00,-2.42347332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.090911  , -1.92544814, -3.60946011, -1.92544814,  0.99393008,
        1.65206872, -3.60946011,  1.65206872,  3.20962334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.483119790595682e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.56241332e-11,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.56241332e-11, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0570319 , -0.08686163,  0.06199995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39695197e-05, 4.04803856e-05,-1.78086103e-05,-4.23185842e-06,
 -3.20996730e-05,-2.85258844e-03,-7.17761810e-04,-1.14854417e-03,
 -2.83165147e-05, 6.90549397e-06,-8.72829058e-05,-2.02987781e-07,
 -5.91737264e-05,-9.42407090e-05,-1.52424948e-05,-1.06116033e-04,
 -2.29729524e-01, 1.35270496e-01,-1.18451032e+00, 9.81016810e-03,
 -2.24792253e-02,-2.78955248e-03]


--- Step 1356 ---
qpos:
[ 3.29413289e-03,-3.23668588e-03, 1.19016781e-02, 4.17802162e-02,
  2.19699924e-03, 6.63744259e-01,-2.92371901e-02, 5.93306050e-01,
  5.84035184e-03, 1.64586225e-02,-9.26467759e-03, 2.59989329e-02,
  1.29176008e+00, 1.44214050e-04, 1.01701190e+00, 6.35917906e-02,
  1.44295622e-02,-4.20691355e-02, 8.28720357e-02, 6.36149483e-01,
 -4.87532133e-02,-6.97234859e-01,-3.26803475e-01]

qacc:
[ 4.97927114e-01, 5.14767743e-01,-2.70209619e+00, 7.53014080e+00,
 -2.02794761e-01,-7.28255056e+01, 2.77354076e+02,-5.77257845e+02,
 -5.90550823e+00, 2.70897508e+00,-7.09351271e+00, 2.16863271e+00,
  9.39505816e-01,-2.44413466e+00, 9.84284878e+00,-3.43758474e+01,
 -1.90758095e+00, 1.16309081e+00,-9.58133721e+00,-4.16114393e-01,
 -1.11536256e-01,-1.65799619e+01]

qfrc_actuator:
[ 2.88842112e-05, 6.45296750e-05, 1.54772357e-04, 4.79047656e-05,
  1.97931088e-03, 1.26559530e-01, 1.07173680e-02, 1.54154109e-01,
 -1.09107497e-04, 5.02194393e-04,-1.33587780e-04, 3.04453082e-05,
  5.87420566e-03,-1.67311564e-03, 0.00000000e+00,-2.58858842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.92506215e-06, 3.31049245e-05, 1.62518219e-05, 1.73407107e-05,
 -2.95109441e-05,-3.40244563e-03,-9.18796663e-04,-1.36645510e-03,
 -3.46052649e-05, 4.06388293e-05,-4.56011870e-05,-1.75566215e-05,
 -6.16297309e-05,-1.10913781e-04,-2.29632959e-05,-1.73963112e-04,
 -2.37199337e-01, 1.43256859e-01,-1.18906803e+00, 9.25364030e-03,
 -2.27822485e-02,-2.88728153e-03]


--- Step 1357 ---
qpos:
[ 3.29511427e-03,-3.23701207e-03, 1.19023651e-02, 4.17798598e-02,
  2.23668187e-03, 6.65834093e-01,-2.91611712e-02, 5.96327886e-01,
  5.83887130e-03, 1.64591124e-02,-9.26744968e-03, 2.59989687e-02,
  1.29195606e+00, 1.41454261e-04, 1.01723802e+00, 6.35898545e-02,
  1.38682265e-02,-4.16954155e-02, 8.16118270e-02, 6.29464037e-01,
 -4.94605661e-02,-7.04680062e-01,-3.23658289e-01]

qacc:
[ 3.37580933e+00,-4.55837653e-01, 4.22379246e-01, 3.23233086e+00,
  9.36156690e-03,-7.52374373e+01, 2.76301096e+02,-5.62658875e+02,
 -3.86529948e-01,-3.42071058e+00, 1.12785517e+01,-1.10096053e+01,
  4.75539559e-02,-5.02571341e-01,-7.10550375e+00, 2.34750186e+01,
 -1.91179866e+00, 1.16502791e+00,-9.62878140e+00,-1.86808863e-01,
 -4.88582302e-04,-1.65743837e+01]

qfrc_actuator:
[ 4.85185911e-05, 3.75784868e-05, 1.60662837e-04, 5.77409038e-05,
  1.98922185e-03, 1.24843821e-01, 1.05158302e-02, 1.52989883e-01,
 -1.10656854e-04, 4.98946866e-04,-6.44417957e-05, 3.95379794e-05,
  5.85336716e-03,-1.68144812e-03, 0.00000000e+00,-2.47109835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.97282451e-05,-4.33580097e-06, 1.53284946e-05, 1.21547655e-05,
 -2.15844057e-06,-3.91161808e-03,-1.06567325e-03,-1.35597647e-03,
 -2.52646649e-06, 9.31041306e-06, 7.13546130e-05, 8.92332815e-06,
 -8.28169546e-05,-4.73729956e-05,-3.39152820e-05, 1.03908248e-04,
 -2.38019561e-01, 1.42929480e-01,-1.19492270e+00, 9.43282125e-03,
 -2.27531731e-02,-2.88716047e-03]


--- Step 1358 ---
qpos:
[ 3.29563342e-03,-3.23732014e-03, 1.19031262e-02, 4.17792768e-02,
  2.27666976e-03, 6.67891947e-01,-2.90875417e-02, 5.99325284e-01,
  5.83807363e-03, 1.64583831e-02,-9.26691493e-03, 2.59994404e-02,
  1.29215173e+00, 1.37747388e-04, 1.01746393e+00, 6.35889375e-02,
  1.34423950e-02,-4.13443660e-02, 8.06261106e-02, 6.24429452e-01,
 -5.14602814e-02,-7.10712144e-01,-3.19887398e-01]

qacc:
[-4.05516610e+00,-6.42558704e-01, 3.29559067e+00,-7.36432161e+00,
  2.11128520e-01,-8.06579834e+01, 2.94651313e+02,-5.99048384e+02,
  6.07974948e+00,-9.96800739e+00, 3.13422620e+01,-2.81633138e+01,
  5.75765786e-01,-1.66793395e+00,-3.42489036e+00, 1.14211672e+01,
  3.38760341e+01,-5.66763634e+00, 6.86230751e+01,-3.74159223e+02,
  8.01838402e+02, 9.54397907e+02]

qfrc_actuator:
[ 2.41713767e-05, 3.93581404e-05, 1.63755327e-04, 4.58936080e-05,
  2.01480870e-03, 1.23084818e-01, 1.03302288e-02, 1.51753194e-01,
 -7.54595404e-05, 4.25924072e-04, 1.01699046e-04, 6.26612872e-05,
  5.82850936e-03,-1.73839471e-03, 0.00000000e+00,-2.41880720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([6.18525618, 4.47303051, 4.27193073, 4.47303051, 3.54853514,
       2.76084385, 4.27193073, 2.76084385, 3.29444649, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005703759105861114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73238003e-14, -9.73238003e-14,  1.00000000e+00,  9.47192211e-27,
        1.00000000e+00,  9.73238003e-14, -1.00000000e+00,  0.00000000e+00,
        9.73238003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05733217, -0.01566482,  0.06195107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37875224e-05, 3.05023395e-06, 4.50026856e-06,-1.12670184e-05,
  2.41914759e-05,-4.26667250e-03,-1.16938234e-03,-1.45196696e-03,
  3.51236066e-05,-5.26856349e-05, 1.77186816e-04, 2.61697307e-05,
 -8.35443569e-05,-8.67426996e-05,-6.67424762e-06, 5.31295164e-05,
 -2.38732669e-01, 1.42538142e-01,-1.20078793e+00, 9.60947546e-03,
 -2.27133820e-02,-2.88710254e-03]


--- Step 1359 ---
qpos:
[ 3.29551190e-03,-3.23760780e-03, 1.19044554e-02, 4.17788668e-02,
  2.31719708e-03, 6.69916119e-01,-2.90164491e-02, 6.02292958e-01,
  5.83804878e-03, 1.64567564e-02,-9.26423471e-03, 2.59995340e-02,
  1.29234725e+00, 1.32515411e-04, 1.01769002e+00, 6.35866242e-02,
  1.31236613e-02,-4.10136569e-02, 7.98808184e-02, 6.20732170e-01,
 -5.45384255e-02,-7.15627922e-01,-3.15584870e-01]

qacc:
[-5.60567141e+00,-1.19388691e+00, 3.58444267e+00,-1.53381070e+00,
  3.58775554e-01,-9.22287607e+01, 3.47138468e+02,-7.21215748e+02,
  6.82201259e+00,-7.97372861e+00, 2.82821233e+01,-3.75657483e+01,
  1.00581319e+00,-2.66641943e+00, 4.35078146e+00,-1.51153646e+01,
  2.67744537e+01,-5.08510896e+00, 6.01060588e+01,-2.91924840e+02,
  6.37595450e+02, 7.91833402e+02]

qfrc_actuator:
[-8.11990872e-06, 5.82909216e-05, 2.00767184e-04, 5.69071080e-05,
  2.04948777e-03, 1.21296472e-01, 1.01553445e-02, 1.50252947e-01,
 -3.66791718e-05, 3.65380965e-04, 1.99185557e-04, 4.05798840e-05,
  5.81189339e-03,-1.82376956e-03, 0.00000000e+00,-2.49419302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.22701749,  5.98423178, -6.22701749,  7.83248078,
       -0.83649711,  5.98423178, -0.83649711,  7.76592908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028210711312547793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96773313e-14, -4.91933282e-15,  1.00000000e+00,  9.67993416e-29,
        1.00000000e+00,  4.91933282e-15, -1.00000000e+00,  0.00000000e+00,
        1.96773313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05245092, -0.01699657,  0.06176709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29671802e-05, 2.10790059e-05, 3.78027434e-05, 1.10817309e-05,
  4.36554883e-05,-4.51716964e-03,-1.24538288e-03,-1.73401567e-03,
  3.97589523e-05,-5.22545330e-05, 1.09332345e-04,-1.77012967e-05,
 -8.47373368e-05,-1.24401140e-04,-1.25595581e-06,-7.42278333e-05,
 -1.42965076e-01, 1.33780112e-01,-1.20682461e+00, 1.23736214e-03,
 -2.62629837e-02,-2.15726083e-03]


--- Step 1360 ---
qpos:
[ 3.29569411e-03,-3.23799209e-03, 1.19060223e-02, 4.17786296e-02,
  2.35820457e-03, 6.71904188e-01,-2.89471061e-02, 6.05229385e-01,
  5.83848935e-03, 1.64545480e-02,-9.26178496e-03, 2.60001794e-02,
  1.29254212e+00, 1.27316600e-04, 1.01791594e+00, 6.35844283e-02,
  1.28898118e-02,-4.07009674e-02, 7.93410521e-02, 6.18117198e-01,
 -5.85180296e-02,-7.19647479e-01,-3.10828372e-01]

qacc:
[ 2.67514638e+00,-4.40968046e-01, 6.48900165e-01, 2.04197356e+00,
  3.23120748e-01,-1.00337581e+02, 3.74838838e+02,-7.66669904e+02,
  4.06206874e+00, 1.00300191e+00,-7.03463367e+00, 1.73933496e+01,
 -5.09472871e-01, 5.54342443e-01,-5.49376586e-01, 1.66859469e+00,
  2.12210486e+01,-4.50488051e+00, 5.13814707e+01,-2.29251951e+02,
  5.10806409e+02, 6.58676978e+02]

qfrc_actuator:
[ 8.44359342e-06, 3.42481527e-05, 2.04349068e-04, 6.35753608e-05,
  2.07151325e-03, 1.19380747e-01, 1.00234992e-02, 1.48680638e-01,
 -1.38647039e-05, 2.94739005e-04, 1.66554932e-04, 6.30256243e-05,
  5.80021844e-03,-1.80097609e-03, 0.00000000e+00,-2.48440344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.11301226,  6.10064406, -6.11301226,  7.90331051,
       -0.73453929,  6.10064406, -0.73453929,  7.90033517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004566563740419791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07800026e-15,  3.03900013e-15,  1.00000000e+00, -1.84710436e-29,
        1.00000000e+00, -3.03900013e-15, -1.00000000e+00,  0.00000000e+00,
        6.07800026e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04894591, -0.01793083,  0.06163365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56294771e-05,-3.98770727e-06, 1.29655919e-05, 9.09498485e-06,
  3.87260918e-05,-4.80890815e-03,-1.27063250e-03,-1.82361184e-03,
  2.39299242e-05,-7.79963393e-05,-3.05845791e-05, 2.36407028e-05,
 -8.95105972e-05,-2.49605855e-05,-1.36457462e-05, 4.37407135e-06,
 -8.25875368e-02, 1.23236250e-01,-1.20858102e+00,-3.40766528e-03,
 -2.80257077e-02,-1.67691133e-03]


--- Step 1361 ---
qpos:
[ 3.29607337e-03,-3.23865944e-03, 1.19072206e-02, 4.17781962e-02,
  2.39936294e-03, 6.73855152e-01,-2.88804462e-02, 6.08133547e-01,
  5.83954477e-03, 1.64523908e-02,-9.26081591e-03, 2.60010956e-02,
  1.29273602e+00, 1.23660661e-04, 1.01814160e+00, 6.35836790e-02,
  1.27236809e-02,-4.04039829e-02, 7.89740402e-02, 6.16381122e-01,
 -6.32558058e-02,-7.22933093e-01,-3.05680810e-01]

qacc:
[ 1.72265762e+00, 2.48201348e-01,-6.05590196e-01,-1.98606306e+00,
  1.16544000e-01,-1.00947848e+02, 3.77964247e+02,-7.81750421e+02,
  5.31538163e+00, 4.75333701e+00,-1.80116044e+01, 2.50478237e+01,
 -1.87056300e+00, 3.57155735e+00,-4.60648620e+00, 1.59087207e+01,
  1.69296335e+01,-3.92625235e+00, 4.31885952e+01,-1.81957032e+02,
  4.13810270e+02, 5.51743474e+02]

qfrc_actuator:
[ 1.81265704e-05,-1.54710867e-05, 1.70223665e-04, 4.98148617e-05,
  2.06803745e-03, 1.17475500e-01, 9.86444655e-03, 1.47060750e-01,
  1.71211306e-05, 3.06844098e-04, 9.28770381e-05, 7.59039543e-05,
  5.78623321e-03,-1.69647723e-03, 0.00000000e+00,-2.40671127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.92359118,  6.28473105, -5.92359118,  8.058649  ,
       -0.54451738,  6.28473105, -0.54451738,  8.12313589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005893540473305259
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88379639e-14,  4.70949097e-15,  1.00000000e+00, -8.87172206e-29,
        1.00000000e+00, -4.70949097e-15, -1.00000000e+00,  0.00000000e+00,
        1.88379639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04643474, -0.01858012,  0.06153721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01255287e-05,-4.88804875e-05,-3.30515290e-05,-1.33084104e-05,
  1.12783379e-05,-4.96801173e-03,-1.36206273e-03,-1.88454657e-03,
  3.16404969e-05,-3.67558856e-05,-9.27430404e-05, 8.93479779e-06,
 -7.11996491e-05, 7.82545294e-05,-1.02177391e-05, 7.51837910e-05,
 -4.44764712e-02, 1.12246069e-01,-1.20846552e+00,-5.80821971e-03,
 -2.87619766e-02,-1.35298057e-03]


--- Step 1362 ---
qpos:
[ 3.29622082e-03,-3.23936485e-03, 1.19076013e-02, 4.17779474e-02,
  2.44057257e-03, 6.75768287e-01,-2.88173348e-02, 6.11010614e-01,
  5.84061821e-03, 1.64507297e-02,-9.26099741e-03, 2.60010424e-02,
  1.29292881e+00, 1.22576997e-04, 1.01836712e+00, 6.35841754e-02,
  1.26119334e-02,-4.01204558e-02, 7.87499189e-02, 6.15360493e-01,
 -6.86348298e-02,-7.25606333e-01,-3.00193559e-01]

qacc:
[-2.05959899e+00, 2.62054421e+00,-1.01875671e+01, 1.47092461e+01,
  5.31197987e-02,-8.99802511e+01, 3.23204187e+02,-6.55521149e+02,
  1.12066752e-01, 1.87526703e+00,-1.64184326e+00,-1.36633970e+01,
 -2.78561780e+00, 5.65144473e+00,-3.71659887e+00, 1.32827153e+01,
  1.35958803e+01,-3.36436481e+00, 3.57226652e+01,-1.45808212e+02,
  3.38587436e+02, 4.65203611e+02]

qfrc_actuator:
[ 5.91379384e-06,-9.36059162e-06, 1.31737526e-04, 5.96022925e-05,
  2.06715072e-03, 1.15591980e-01, 9.69070301e-03, 1.45709875e-01,
  1.71689137e-05, 3.68197182e-04, 4.91711044e-05, 2.98440031e-05,
  5.76558919e-03,-1.54447810e-03, 0.00000000e+00,-2.34291161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.81390628,  6.38633468, -5.81390628,  8.28926851,
       -0.31598383,  6.38633468, -0.31598383,  8.34870248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006873979951899346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.07554744e-15, -8.07554744e-15,  1.00000000e+00,  6.52144665e-29,
        1.00000000e+00,  8.07554744e-15, -1.00000000e+00,  0.00000000e+00,
        8.07554744e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04466407, -0.01902032,  0.06146863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19385645e-05,-2.86070603e-05,-5.31200556e-05, 6.29014916e-06,
  2.94196328e-06,-5.05425224e-03,-1.42108841e-03,-1.62541178e-03,
  9.39690270e-07, 2.21036121e-05,-6.24008264e-05,-5.06707166e-05,
 -4.30364012e-05, 1.53444350e-04,-1.02273603e-06, 6.56342786e-05,
 -2.03789933e-02, 1.01545714e-01,-1.20759443e+00,-6.88240316e-03,
 -2.89256104e-02,-1.12765498e-03]


--- Step 1363 ---
qpos:
[ 3.29656558e-03,-3.23990407e-03, 1.19076126e-02, 4.17781050e-02,
  2.48160095e-03, 6.77642766e-01,-2.87575549e-02, 6.13867763e-01,
  5.84133924e-03, 1.64494556e-02,-9.26205865e-03, 2.60000867e-02,
  1.29312071e+00, 1.24156142e-04, 1.01859267e+00, 6.35847511e-02,
  1.25441553e-02,-3.98482697e-02, 7.86420050e-02, 6.14922678e-01,
 -7.45586839e-02,-7.27759837e-01,-2.94409106e-01]

qacc:
[ 1.71753204e+00, 2.08655652e+00,-8.84062233e+00, 1.63465162e+01,
 -9.13550042e-02,-7.84173910e+01, 2.60221476e+02,-4.94324885e+02,
 -3.10807194e+00, 1.11849228e+00, 5.75170428e-01,-1.50847596e+01,
 -2.78777474e+00, 5.78938075e+00, 5.38158172e-02, 4.57680878e-01,
  1.09923251e+01,-2.83521840e+00, 2.90518269e+01,-1.17818760e+02,
  2.79384190e+02, 3.94431857e+02]

qfrc_actuator:
[ 1.64188643e-05, 3.01159695e-05, 1.26736861e-04, 8.32161298e-05,
  2.05010407e-03, 1.13701560e-01, 9.54558875e-03, 1.44723422e-01,
 -9.95227240e-07, 3.87623191e-04, 5.95783953e-06,-1.49416436e-05,
  5.74099533e-03,-1.40113062e-03, 0.00000000e+00,-2.34108301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.79442751,  6.40401333, -5.79442751,  8.58493114,
       -0.04653674,  6.40401333, -0.04653674,  8.59425664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0075678428119835064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66756767e-15, -1.83378383e-15,  1.00000000e+00,  6.72552630e-30,
        1.00000000e+00,  1.83378383e-15, -1.00000000e+00,  0.00000000e+00,
        3.66756767e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04345835, -0.01930483,  0.06142148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01588064e-05, 1.27937636e-05,-1.72299374e-05, 2.06745171e-05,
 -1.65544130e-05,-5.10972837e-03,-1.40772594e-03,-1.26029888e-03,
 -1.81303196e-05, 1.67913902e-05,-4.80639646e-05,-4.69792787e-05,
 -1.32293348e-05, 1.68457460e-04, 1.45560358e-06, 4.15637740e-06,
 -5.21197822e-03, 9.15238128e-02,-1.20647387e+00,-7.18721926e-03,
 -2.87815767e-02,-9.65688106e-04]


--- Step 1364 ---
qpos:
[ 3.29703351e-03,-3.24037133e-03, 1.19075311e-02, 4.17788816e-02,
  2.52224166e-03, 6.79479476e-01,-2.87011261e-02, 6.16703811e-01,
  5.84183714e-03, 1.64481025e-02,-9.26332537e-03, 2.60003416e-02,
  1.29331230e+00, 1.26976078e-04, 1.01881867e+00, 6.35813203e-02,
  1.25121701e-02,-3.95854875e-02, 7.86267843e-02, 6.14958902e-01,
 -8.09469359e-02,-7.29465456e-01,-2.88363125e-01]

qacc:
[ 1.07738289e+00, 1.62812966e+00,-8.28127827e+00, 1.90892567e+01,
 -2.19201843e-01,-7.93517191e+01, 2.68316500e+02,-5.18568726e+02,
 -1.95027807e+00, 2.96570139e+00,-1.58301861e+01, 3.71598581e+01,
 -1.45628927e+00, 2.98695130e+00, 1.28863955e+01,-4.38199652e+01,
  8.94823450e+00,-2.35101468e+00, 2.31733221e+01,-9.58791720e+01,
  2.32090262e+02, 3.35881107e+02]

qfrc_actuator:
[ 2.24656233e-05, 3.61652529e-05, 1.23953517e-04, 1.14830166e-04,
  2.02357348e-03, 1.11929473e-01, 9.41885459e-03, 1.43675242e-01,
 -1.19706789e-05, 3.81803617e-04,-1.26513741e-06, 4.78738567e-05,
  5.71937978e-03,-1.35285674e-03, 0.00000000e+00,-2.55329539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.87724561,  6.32809299, -5.87724561,  8.92516993,
        0.26823018,  6.32809299,  0.26823018,  8.88548366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008025279625410588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.45851820e-15,  5.18777729e-15,  1.00000000e+00, -1.79420222e-29,
        1.00000000e+00, -5.18777729e-15, -1.00000000e+00,  0.00000000e+00,
        3.45851820e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04269129, -0.01947242,  0.06139105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.34208339e-06, 1.05517498e-05,-1.54246222e-06, 3.19686479e-05,
 -3.38727149e-05,-5.00416827e-03,-1.38630689e-03,-1.31558364e-03,
 -1.14907356e-05,-8.31463001e-06,-1.12691906e-05, 6.09659672e-05,
  1.01434567e-05, 8.38216151e-05,-4.44583627e-06,-2.13051213e-04,
  4.20531119e-03, 8.23643112e-02,-1.20532557e+00,-7.06332430e-03,
 -2.84844726e-02,-8.45143012e-04]


--- Step 1365 ---
qpos:
[ 3.29722558e-03,-3.24092311e-03, 1.19074919e-02, 4.17800418e-02,
  2.56255864e-03, 6.81279759e-01,-2.86473368e-02, 6.19514291e-01,
  5.84254439e-03, 1.64462663e-02,-9.26368727e-03, 2.60020121e-02,
  1.29350381e+00, 1.30245511e-04, 1.01904508e+00, 6.35716903e-02,
  1.25095234e-02,-3.93303829e-02, 7.86837505e-02, 6.15379029e-01,
 -8.77317244e-02,-7.30779907e-01,-2.82086022e-01]

qacc:
[-2.41834922e+00, 5.65537408e-01,-3.78808220e+00, 1.04098226e+01,
 -1.78706912e-01,-8.77233517e+01, 3.12421156e+02,-6.23367917e+02,
  1.86315836e+00,-2.56814341e-01,-5.99499553e+00, 2.94135937e+01,
 -7.94356548e-01, 1.50005556e+00, 1.93744744e+01,-6.67636049e+01,
  7.33462675e+00,-1.91938202e+00, 1.80467156e+01,-7.84910100e+01,
  1.93771493e+02, 2.86887780e+02]

qfrc_actuator:
[ 8.07996501e-06, 2.21859166e-05, 1.22371740e-04, 1.33116579e-04,
  2.00938407e-03, 1.10260714e-01, 9.34000582e-03, 1.42403896e-01,
 -8.68602224e-07, 3.61147803e-04, 4.82889432e-05, 1.20240178e-04,
  5.69952899e-03,-1.34351750e-03, 0.00000000e+00,-2.87212546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.0768601 ,  6.13665611, -6.0768601 ,  9.27083034,
        0.62828442,  6.13665611,  0.62828442,  9.25852601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00828840414243362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.69744746e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.69744746e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04226918, -0.01955195,  0.06137379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42011885e-05,-7.01113216e-06, 1.51791316e-06, 1.93064816e-05,
 -2.85020359e-05,-4.83838130e-03,-1.31561760e-03,-1.53490917e-03,
  1.07621631e-05,-2.49597605e-05, 4.85890638e-05, 7.28124307e-05,
  4.84232452e-06, 3.13387491e-05,-3.13205812e-05,-3.32558131e-04,
  9.89689237e-03, 7.41343953e-02,-1.20423988e+00,-6.72072632e-03,
 -2.81239675e-02,-7.52082395e-04]


--- Step 1366 ---
qpos:
[ 3.29758877e-03,-3.24155822e-03, 1.19074756e-02, 4.17810682e-02,
  2.60308811e-03, 6.83044852e-01,-2.85959705e-02, 6.22298151e-01,
  5.84372311e-03, 1.64452040e-02,-9.26525687e-03, 2.60031399e-02,
  1.29369554e+00, 1.32882897e-04, 1.01927106e+00, 6.35602883e-02,
  1.25310906e-02,-3.90814540e-02, 7.87951696e-02, 6.16107695e-01,
 -9.48552140e-02,-7.31748723e-01,-2.75604068e-01]

qacc:
[ 1.50408995e+00,-4.52735027e-01, 2.01321943e+00,-4.29612009e+00,
  1.51329835e-01,-8.85903809e+01, 3.20408629e+02,-6.45859499e+02,
  4.06069458e+00, 3.27309547e+00,-7.90803639e+00,-1.10491068e-01,
  5.79087499e-01,-1.24786214e+00, 4.65602453e+00,-1.73448000e+01,
  6.05347825e+00,-1.54390724e+00, 1.36132214e+01,-6.45794234e+01,
  1.62328715e+02, 2.45476487e+02]

qfrc_actuator:
[ 1.72898957e-05, 1.40697401e-05, 1.21413039e-04, 1.25641604e-04,
  2.03819578e-03, 1.08649965e-01, 9.27276449e-03, 1.41082570e-01,
  2.31367682e-05, 4.20789311e-04,-1.11399021e-05, 9.11318192e-05,
  5.69138022e-03,-1.39274932e-03, 0.00000000e+00,-2.94933624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.4060336 ,  5.79219392, -6.4060336 ,  9.54706453,
        1.0072143 ,  5.79219392,  1.0072143 ,  9.75031955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008392705036760248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04212063, -0.01956524,  0.06136698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80367718e-06,-1.08839909e-05,-1.54715421e-06,-7.34765929e-06,
  1.66581784e-05,-4.68068902e-03,-1.26853647e-03,-1.58069652e-03,
  2.42943224e-05, 5.89139132e-05,-5.60582104e-05,-2.70788428e-05,
  6.57001783e-07,-4.01582921e-05,-5.58800619e-05,-1.00794553e-04,
  1.31718498e-02, 6.68360441e-02,-1.20324804e+00,-6.28950409e-03,
 -2.77511889e-02,-6.77476535e-04]


--- Step 1367 ---
qpos:
[ 3.29840411e-03,-3.24188823e-03, 1.19069943e-02, 4.17819810e-02,
  2.64392597e-03, 6.84775651e-01,-2.85464319e-02, 6.25054672e-01,
  5.84449051e-03, 1.64453129e-02,-9.26918863e-03, 2.60035947e-02,
  1.29388763e+00, 1.33907079e-04, 1.01949615e+00, 6.35523110e-02,
  1.25727778e-02,-3.88374250e-02, 7.89458158e-02, 6.17081437e-01,
 -1.02267709e-01,-7.32409028e-01,-2.68940201e-01]

qacc:
[ 3.94862879e+00, 1.46149314e+00,-4.15957599e+00, 2.72683069e+00,
  2.10020628e-01,-9.03345198e+01, 3.29757804e+02,-6.64969354e+02,
 -3.68155018e+00, 6.77137662e+00,-1.90431743e+01, 1.02932946e+01,
  1.79545689e+00,-3.73535651e+00,-1.17917232e+01, 3.89995105e+01,
  5.02997443e+00,-1.22499134e+00, 9.80676683e+00,-5.33629185e+01,
  1.36252610e+02, 2.10190827e+02]

qfrc_actuator:
[ 4.03205323e-05, 4.50093387e-05, 1.03077954e-04, 1.20826253e-04,
  2.05689615e-03, 1.07069602e-01, 9.23107961e-03, 1.39724780e-01,
  1.28034840e-06, 4.74287354e-04,-1.34207909e-04, 5.57886759e-05,
  5.68490332e-03,-1.49397466e-03, 0.00000000e+00,-2.75925447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.86391871,  5.24150711, -6.86391871,  9.64756696,
        1.32420262,  5.24150711,  1.32420262, 10.37044869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008368168796017782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.63360797e-15, -1.65840199e-15,  1.00000000e+00,  1.10011887e-29,
        1.00000000e+00,  1.65840199e-15, -1.00000000e+00,  0.00000000e+00,
        6.63360797e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04219002, -0.01952902,  0.06136845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32797949e-05, 2.42417720e-05,-2.10234286e-05,-5.47941452e-06,
  2.48141134e-05,-4.55333914e-03,-1.20633174e-03,-1.61037951e-03,
 -2.11407987e-05, 7.37695358e-05,-1.18711738e-04,-3.52825266e-05,
 -1.66033160e-05,-1.09544668e-04,-3.84969500e-05, 1.76918103e-04,
  1.48891057e-02, 6.04353494e-02,-1.20235621e+00,-5.84999566e-03,
 -2.73941737e-02,-6.15370541e-04]


--- Step 1368 ---
qpos:
[ 3.29948899e-03,-3.24169929e-03, 1.19064206e-02, 4.17827748e-02,
  2.68461693e-03, 6.86472775e-01,-2.84990110e-02, 6.27782335e-01,
  5.84464576e-03, 1.64456723e-02,-9.27379257e-03, 2.60039696e-02,
  1.29407940e+00, 1.34654497e-04, 1.01972087e+00, 6.35475985e-02,
  1.26312924e-02,-3.85972387e-02, 7.91227028e-02, 6.18246544e-01,
 -1.09926255e-01,-7.32791490e-01,-2.62114595e-01]

qacc:
[ 2.35401245e+00, 6.94476531e-01,-9.86984910e-01,-1.29726746e+00,
 -6.97871602e-02,-9.14864977e+01, 3.39021131e+02,-6.94324747e+02,
 -5.36396482e+00, 2.05574897e+00,-6.49361459e+00, 5.98021610e+00,
  1.70769899e-01,-5.82732760e-01,-1.04358826e+01, 3.56490146e+01,
  4.20687876e+00,-9.60690387e-01, 6.56020487e+00,-4.42636444e+01,
  1.14449025e+02, 1.79956702e+02]

qfrc_actuator:
[ 5.35414936e-05, 9.90273091e-05, 1.10301070e-04, 1.17640116e-04,
  2.03384355e-03, 1.05467394e-01, 9.15184463e-03, 1.38285470e-01,
 -2.96462907e-05, 4.70134665e-04,-1.69553450e-04, 5.25573061e-05,
  5.66343005e-03,-1.50089373e-03, 0.00000000e+00,-2.59081143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.41080051,  4.43472802, -7.41080051,  9.48575512,
        1.41940404,  4.43472802,  1.41940404, 11.00830621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008240176526105314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.36832294e-15, -6.73664588e-15,  1.00000000e+00,  2.26911988e-29,
        1.00000000e+00,  6.73664588e-15, -1.00000000e+00,  0.00000000e+00,
        3.36832294e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04243321, -0.01945621,  0.0613765 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38949497e-05, 6.30178897e-05, 9.45700069e-06,-2.98323078e-06,
 -1.35927478e-05,-4.49149617e-03,-1.21106357e-03,-1.68544290e-03,
 -3.15042565e-05, 1.11022047e-05,-3.59047551e-05,-4.85568692e-06,
 -5.69004833e-05,-3.55175683e-05, 1.13376664e-06, 1.73145511e-04,
  1.56184825e-02, 5.48789041e-02,-1.20156131e+00,-5.45096863e-03,
 -2.70670388e-02,-5.61776752e-04]


--- Step 1369 ---
qpos:
[ 3.30037914e-03,-3.24097913e-03, 1.19058888e-02, 4.17835123e-02,
  2.72510443e-03, 6.88136677e-01,-2.84546798e-02, 6.30481488e-01,
  5.84408440e-03, 1.64455371e-02,-9.27768087e-03, 2.60046477e-02,
  1.29427050e+00, 1.35888346e-04, 1.01994582e+00, 6.35425812e-02,
  1.27039685e-02,-3.83600422e-02, 7.93148246e-02, 6.19557447e-01,
 -1.17793594e-01,-7.32921719e-01,-2.55145043e-01]

qacc:
[-1.71708159e+00, 4.72391326e-01,-4.22656165e-01,-1.01450656e+00,
 -1.05522009e-01,-8.75704452e+01, 3.25193629e+02,-6.75521196e+02,
 -6.21894226e+00,-2.01746571e+00, 4.98529149e+00,-5.39059340e-01,
 -9.18136463e-01, 1.49160481e+00, 1.34491686e+00,-4.02286145e+00,
  3.54036415e+00,-7.47443733e-01, 3.80870385e+00,-3.68459260e+01,
  9.61151231e+01, 1.53976289e+02]

qfrc_actuator:
[ 4.31257551e-05, 1.31051141e-04, 1.14919879e-04, 1.15482340e-04,
  2.02157639e-03, 1.03865178e-01, 9.01559542e-03, 1.36862960e-01,
 -6.56497292e-05, 4.31843645e-04,-1.35257997e-04, 6.82691125e-05,
  5.63300889e-03,-1.46967281e-03, 0.00000000e+00,-2.61408783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.9471245 ,  3.38082667, -7.9471245 ,  9.1243949 ,
        1.14718841,  3.38082667,  1.14718841, 11.33299674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008030225569926698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.91277608e-15, -8.64097010e-15,  1.00000000e+00,  5.97330914e-29,
        1.00000000e+00,  8.64097010e-15, -1.00000000e+00,  0.00000000e+00,
        6.91277608e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04281462, -0.01935685,  0.06138975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.99839310e-06, 6.90885935e-05, 1.86980372e-05, 8.09081086e-07,
 -1.83871164e-05,-4.45956907e-03,-1.25795114e-03,-1.66776894e-03,
 -3.69045158e-05,-3.96778227e-05, 3.20485575e-05, 1.48607206e-05,
 -7.09758921e-05, 9.81882364e-06, 1.59053879e-05,-1.43603258e-05,
  1.57404372e-02, 5.01029562e-02,-1.20085802e+00,-5.12074261e-03,
 -2.67755153e-02,-5.13991512e-04]


--- Step 1370 ---
qpos:
[ 3.30079285e-03,-3.23988577e-03, 1.19052080e-02, 4.17842519e-02,
  2.76523419e-03, 6.89766590e-01,-2.84130186e-02, 6.33152262e-01,
  5.84309547e-03, 1.64447265e-02,-9.27983442e-03, 2.60047703e-02,
  1.29446115e+00, 1.36956501e-04, 1.02017048e+00, 6.35400213e-02,
  1.27886320e-02,-3.81251685e-02, 7.95129124e-02, 6.20975463e-01,
 -1.25837370e-01,-7.32821263e-01,-2.48047229e-01]

qacc:
[-4.19283247e+00, 9.22224772e-01,-2.56707422e+00, 2.55147786e+00,
 -1.98495101e-01,-8.94550565e+01, 3.29558011e+02,-6.76747472e+02,
 -3.66368708e+00,-6.87743126e+00, 2.55841826e+01,-3.74862215e+01,
 -5.61822442e-02,-2.02021321e-01,-7.85436518e+00, 2.68427851e+01,
  2.99686728e+00,-5.80672740e-01, 1.49150484e+00,-3.07743198e+01,
  8.06519276e+01, 1.31648028e+02]

qfrc_actuator:
[ 1.88844645e-05, 1.31906014e-04, 1.00126102e-04, 1.13926435e-04,
  1.99814317e-03, 1.02169457e-01, 8.88246188e-03, 1.35443972e-01,
 -8.65972784e-05, 4.09219919e-04,-4.25442518e-05, 4.17377495e-05,
  5.60258641e-03,-1.48723092e-03, 0.00000000e+00,-2.48384294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.34644895,  2.21891116, -8.34644895,  8.79742692,
        0.60584059,  2.21891116,  0.60584059, 10.91523699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007756515852658373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.15671215e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.15671215e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04330519, -0.01923873,  0.06140706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45046419e-05, 4.33582723e-05, 1.80339578e-06, 2.06446637e-06,
 -3.15136870e-05,-4.54280720e-03,-1.25275605e-03,-1.66388434e-03,
 -2.20254848e-05,-3.75206887e-05, 8.90258469e-05,-2.68247066e-05,
 -6.85848264e-05,-3.18069192e-05,-3.43436501e-07, 1.30123354e-04,
  1.55090856e-02, 4.60386424e-02,-1.20024160e+00,-4.87415643e-03,
 -2.65203537e-02,-4.70164779e-04]


--- Step 1371 ---
qpos:
[ 3.30091266e-03,-3.23840810e-03, 1.19043772e-02, 4.17846208e-02,
  2.80444912e-03, 6.91361761e-01,-2.83735702e-02, 6.35793883e-01,
  5.84220706e-03, 1.64439401e-02,-9.28080508e-03, 2.60045214e-02,
  1.29465143e+00, 1.37565210e-04, 1.02039491e+00, 6.35403625e-02,
  1.28834983e-02,-3.78921157e-02, 7.97092112e-02, 6.22467812e-01,
 -1.34029509e-01,-7.32508333e-01,-2.40834912e-01]

qacc:
[-2.59120644e+00, 1.68800513e-01, 1.70698854e+00,-8.17072799e+00,
 -5.35934197e-01,-9.30840010e+01, 3.42559378e+02,-6.98631427e+02,
  9.12899965e-01,-4.04059628e+00, 1.60188660e+01,-2.43536742e+01,
  2.47220534e-01,-8.46478496e-01,-9.12568228e+00, 3.13661312e+01,
  2.55067874e+00,-4.55257952e-01,-4.47258059e-01,-2.57850735e+01,
  6.76028524e+01, 1.12507596e+02]

qfrc_actuator:
[ 4.46006402e-06, 1.49510307e-04, 9.16114978e-05, 9.49431884e-05,
  1.93274071e-03, 1.00431689e-01, 8.76976665e-03, 1.33985113e-01,
 -8.07610616e-05, 4.49633084e-04, 3.06571880e-05, 2.61032062e-05,
  5.57749349e-03,-1.51584626e-03, 0.00000000e+00,-2.33513587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.55378443,  1.19144817, -8.55378443,  8.65686373,
        0.14717668,  1.19144817,  0.14717668,  9.69299171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007434431648641257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80003673e-15, -1.49335292e-14,  1.00000000e+00,  4.18144305e-29,
        1.00000000e+00,  1.49335292e-14, -1.00000000e+00,  0.00000000e+00,
        2.80003673e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04388095, -0.01910792,  0.06142751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51103224e-05, 4.22680639e-05, 7.28868519e-07,-1.70250208e-05,
 -7.88745678e-05,-4.62868572e-03,-1.24772007e-03,-1.70629158e-03,
  5.18452153e-06, 3.67147829e-05, 7.55225404e-05,-1.46770685e-05,
 -7.15305043e-05,-5.18704093e-05, 1.01354866e-05, 1.54964644e-04,
  1.50929316e-02, 4.26151571e-02,-1.19970870e+00,-4.71706102e-03,
 -2.62994568e-02,-4.29023249e-04]


--- Step 1372 ---
qpos:
[ 3.30051338e-03,-3.23656457e-03, 1.19037179e-02, 4.17847393e-02,
  2.84244245e-03, 6.92922994e-01,-2.83358032e-02, 6.38403504e-01,
  5.84105043e-03, 1.64431700e-02,-9.28115748e-03, 2.60048173e-02,
  1.29484119e+00, 1.38092709e-04, 1.02061971e+00, 6.35394674e-02,
  1.29870927e-02,-3.76605261e-02, 7.98973022e-02, 6.24006908e-01,
 -1.42345749e-01,-7.31998254e-01,-2.33520067e-01]

qacc:
[-4.55716918e+00,-5.03155827e-01, 3.56708624e+00,-8.45973692e+00,
 -7.20531250e-01,-9.86577380e+01, 3.71003823e+02,-7.64767737e+02,
 -2.31978888e+00,-5.80083455e-01,-1.93515082e-01, 8.61621214e+00,
 -4.17786398e-01, 3.85620907e-01, 4.29940217e+00,-1.41930926e+01,
  2.18203986e+00,-3.65778823e-01,-2.05193254e+00,-2.16810002e+01,
  5.66665794e+01, 9.62092188e+01]

qfrc_actuator:
[-2.18187867e-05, 1.77003857e-04, 1.04677727e-04, 8.36280111e-05,
  1.86060953e-03, 9.88428163e-02, 8.72320321e-03, 1.32390189e-01,
 -9.47169020e-05, 4.38675757e-04, 5.65039494e-05, 5.25502611e-05,
  5.55560854e-03,-1.51523065e-03, 0.00000000e+00,-2.40756244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61612522,  0.59090024, -8.61612522,  8.63409208,
       -0.03312234,  0.59090024, -0.03312234,  8.15339505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007076882109927692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93475106e-07, -9.93475097e-07,  1.00000000e+00, -9.86992777e-13,
        1.00000000e+00,  9.93475097e-07, -1.00000000e+00,  0.00000000e+00,
       -9.93475106e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04451723, -0.01896218,  0.06145033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66977206e-05, 5.05008980e-05, 2.12896185e-05,-9.81246880e-06,
 -1.05038868e-04,-4.52685931e-03,-1.19903885e-03,-1.84597597e-03,
 -1.38003807e-05, 2.45844370e-05, 4.22450488e-05, 3.03520410e-05,
 -7.45275084e-05,-2.80020591e-05, 1.73760591e-05,-6.35296417e-05,
  1.46018100e-02, 3.97618433e-02,-1.19925725e+00,-4.64931400e-03,
 -2.61092362e-02,-3.89688623e-04]


--- Step 1373 ---
qpos:
[ 3.29945747e-03,-3.23486722e-03, 1.19034351e-02, 4.17851184e-02,
  2.87946610e-03, 6.94451738e-01,-2.83003682e-02, 6.40978019e-01,
  5.83973567e-03, 1.64421987e-02,-9.28074358e-03, 2.60054462e-02,
  1.29503038e+00, 1.38856045e-04, 1.02084444e+00, 6.35387416e-02,
  1.30981974e-02,-3.74301532e-02, 8.00721650e-02, 6.25570618e-01,
 -1.50765711e-01,-7.31303003e-01,-2.26112848e-01]

qacc:
[-5.74882146e+00,-6.97660022e-01, 1.12753244e+00, 2.86439969e+00,
 -5.67542515e-01,-1.00634862e+02, 3.89122507e+02,-8.24519194e+02,
 -1.35157517e+00,-1.71962119e+00, 4.34442011e+00, 3.35966942e-01,
 -6.07301979e-01, 8.75376790e-01,-5.64011297e-01, 1.93599243e+00,
  1.87755437e+00,-3.04173547e-01,-3.30706381e+00,-1.84214021e+01,
  4.80984522e+01, 8.28408872e+01]

qfrc_actuator:
[-5.48675629e-05, 1.39285164e-04, 1.12678293e-04, 9.46943968e-05,
  1.82061908e-03, 9.73386200e-02, 8.64566178e-03, 1.30639370e-01,
 -1.02466831e-04, 4.14647006e-04, 8.95346477e-05, 6.79731682e-05,
  5.53567389e-03,-1.49727093e-03, 0.00000000e+00,-2.39666077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.53501997,  1.31917057, -8.53501997,  8.60526963,
       -0.20117788,  1.31917057, -0.20117788,  7.33474482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006697134377912958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.28879161e-15,  4.14439580e-15,  1.00000000e+00, -3.43520332e-29,
        1.00000000e+00, -4.14439580e-15, -1.00000000e+00,  0.00000000e+00,
        8.28879161e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04514928, -0.01874259,  0.06147476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37972385e-05,-5.56877486e-06, 2.07017661e-05, 1.37735650e-05,
 -8.36936033e-05,-4.37963116e-03,-1.20757931e-03,-1.99919822e-03,
 -8.14266322e-06,-2.31100917e-07, 4.43743754e-05, 1.85310694e-05,
 -6.90665709e-05,-5.71114966e-06,-5.28475735e-06, 8.17202434e-06,
  1.41042110e-02, 3.74066806e-02,-1.19888564e+00,-4.66621550e-03,
 -2.59452998e-02,-3.51552206e-04]


--- Step 1374 ---
qpos:
[ 3.29835835e-03,-3.23337763e-03, 1.19033634e-02, 4.17853020e-02,
  2.91606062e-03, 6.95948229e-01,-2.82669143e-02, 6.43515906e-01,
  5.83833815e-03, 1.64410102e-02,-9.28010312e-03, 2.60059500e-02,
  1.29521908e+00, 1.39797149e-04, 1.02106860e+00, 6.35421532e-02,
  1.32157942e-02,-3.72008658e-02, 8.02294061e-02, 6.27139392e-01,
 -1.59271429e-01,-7.30433605e-01,-2.18621918e-01]

qacc:
[-3.69181193e-01,-1.26733944e+00, 4.94583694e+00,-8.51396369e+00,
 -2.39240297e-01,-1.04029147e+02, 4.05166876e+02,-8.59981220e+02,
 -7.11059697e-01,-1.17624682e+00, 4.30781052e+00,-6.67653313e+00,
 -2.48469714e-01, 3.15571324e-01,-1.33105384e+01, 4.53904649e+01,
  1.62304991e+00,-2.71391725e-01,-4.40542670e+00,-1.55219406e+01,
  4.03173472e+01, 7.12453345e+01]

qfrc_actuator:
[-5.61278599e-05, 1.16062715e-04, 1.17365873e-04, 8.32736623e-05,
  1.81790242e-03, 9.57908400e-02, 8.56860959e-03, 1.28810920e-01,
 -1.06496005e-04, 3.82986359e-04, 9.09750973e-05, 5.90230090e-05,
  5.51693285e-03,-1.48694193e-03, 0.00000000e+00,-2.17689939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63485426,  0.16145847, -8.63485426,  8.63514084,
       -0.06539558,  0.16145847, -0.06539558,  5.13898558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006302180439941012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30309199e-15, -1.76164906e-14,  1.00000000e+00,  5.81888889e-29,
        1.00000000e+00,  1.76164906e-14, -1.00000000e+00,  0.00000000e+00,
        3.30309199e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04586825, -0.01859736,  0.06150038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23147798e-06,-2.15379367e-05, 6.54879797e-06,-1.06771909e-05,
 -3.77109847e-05,-4.34747558e-03,-1.18275968e-03,-2.07462278e-03,
 -4.26776610e-06,-2.18076817e-05, 7.50364598e-06,-7.06409713e-06,
 -5.96411758e-05,-6.91095245e-06,-6.24509760e-06, 2.18461902e-04,
  1.36312404e-02, 3.54519033e-02,-1.19858650e+00,-4.75456630e-03,
 -2.58015096e-02,-3.14164553e-04]


--- Step 1375 ---
qpos:
[ 3.29759723e-03,-3.23210186e-03, 1.19033799e-02, 4.17853571e-02,
  2.95229211e-03, 6.97412389e-01,-2.82356324e-02, 6.46024189e-01,
  5.83655847e-03, 1.64392849e-02,-9.27923698e-03, 2.60060398e-02,
  1.29540757e+00, 1.40269263e-04, 1.02129278e+00, 6.35471333e-02,
  1.33390301e-02,-3.69726186e-02, 8.03654608e-02, 6.28697048e-01,
 -1.67847627e-01,-7.29399215e-01,-2.11054449e-01]

qacc:
[ 2.97301690e+00,-7.99535944e-01, 2.97243451e+00,-5.16765003e+00,
 -1.99934950e-01,-9.07329360e+01, 3.38911030e+02,-7.00240699e+02,
 -3.31714451e+00,-2.18602142e+00, 8.52420495e+00,-1.56670801e+01,
  2.97586171e-01,-8.62997626e-01,-4.73696720e+00, 1.65415161e+01,
  1.40974885e+00,-2.60057766e-01,-5.29659120e+00,-1.30674052e+01,
  3.38769707e+01, 6.16683257e+01]

qfrc_actuator:
[-3.86658322e-05, 1.01658073e-04, 1.20080346e-04, 7.64650715e-05,
  1.80189210e-03, 9.42474222e-02, 8.49243270e-03, 1.27342014e-01,
 -1.26057481e-04, 3.29090400e-04, 9.14472421e-05, 3.57737826e-05,
  5.50424720e-03,-1.51673290e-03, 0.00000000e+00,-2.10214754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62760721,  0.38880684, -8.62760721,  8.62702167,
       -0.20729793,  0.38880684, -0.20729793,  4.03643155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005898904872588907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41041641e-15, -2.82312492e-14,  1.00000000e+00,  2.65667811e-28,
        1.00000000e+00,  2.82312492e-14, -1.00000000e+00,  0.00000000e+00,
        9.41041641e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04661065, -0.01845244,  0.06152679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73864526e-05,-2.56041631e-05,-1.31290911e-06,-7.71567876e-06,
 -3.21190185e-05,-4.32177040e-03,-1.17427750e-03,-1.71441764e-03,
 -1.96944482e-05,-6.48151892e-05,-3.34869947e-06,-2.40616197e-05,
 -4.80624053e-05,-4.53221662e-05, 1.79394868e-05, 8.53181932e-05,
  1.32168701e-02, 3.38744070e-02,-1.19836611e+00,-4.91449990e-03,
 -2.56762763e-02,-2.77298924e-04]


--- Step 1376 ---
qpos:
[ 3.29705169e-03,-3.23164187e-03, 1.19037195e-02, 4.17853921e-02,
  2.98809533e-03, 6.98845075e-01,-2.82071110e-02, 6.48507326e-01,
  5.83524712e-03, 1.64380426e-02,-9.27962121e-03, 2.60054765e-02,
  1.29559590e+00, 1.40328419e-04, 1.02151737e+00, 6.35499724e-02,
  1.34672385e-02,-3.67453652e-02, 8.04786557e-02, 6.30235598e-01,
 -1.76485308e-01,-7.28202404e-01,-2.03414078e-01]

qacc:
[ 1.91635540e+00,-2.02710936e+00, 5.74187016e+00,-6.00104050e+00,
 -2.40493856e-01,-7.98238590e+01, 2.90047968e+02,-5.92816954e+02,
  4.03686501e+00, 2.78068448e+00,-6.24469536e+00,-3.40029329e+00,
  4.92485036e-02,-4.29281296e-01, 7.06276074e+00,-2.38480212e+01,
  1.24313947e+00,-2.48413379e-01,-5.71495293e+00,-1.14835909e+01,
  3.14825972e+01, 5.69582799e+01]

qfrc_actuator:
[-2.80869642e-05, 2.16227406e-05, 1.21649576e-04, 7.24349367e-05,
  1.77801113e-03, 9.27906110e-02, 8.40001174e-03, 1.26096462e-01,
 -1.01347929e-04, 3.86528184e-04, 3.79907686e-05, 4.28410722e-06,
  5.50051297e-03,-1.53451493e-03, 0.00000000e+00,-2.22000322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.22366306,  5.98772034, -6.22366306,  6.6438147 ,
       -2.07106419,  5.98772034, -2.07106419,  6.48369034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0055025424035985634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.04413662e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.04413662e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04714472, -0.01797326,  0.06155306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10614705e-05,-9.49929262e-05,-4.16326446e-06,-5.32610669e-06,
 -3.77138127e-05,-4.20441195e-03,-1.17207125e-03,-1.48187624e-03,
  2.41189512e-05, 1.95095019e-05,-6.80811471e-05,-3.48492382e-05,
 -4.15416873e-05,-3.93716497e-05, 1.26567829e-05,-1.11992790e-04,
  1.28713489e-02, 3.26155227e-02,-1.19822376e+00,-5.13737458e-03,
 -2.55659819e-02,-2.40764452e-04]


--- Step 1377 ---
qpos:
[ 3.29698229e-03,-3.23205164e-03, 1.19044628e-02, 4.17850354e-02,
  3.02650082e-03, 7.00247159e-01,-2.81796880e-02, 6.50964943e-01,
  5.83458636e-03, 1.64376582e-02,-9.28101622e-03, 2.60055103e-02,
  1.29578404e+00, 1.40109688e-04, 1.02174225e+00, 6.35493887e-02,
  1.35998268e-02,-3.65191870e-02, 8.05665497e-02, 6.31743489e-01,
 -1.85173181e-01,-7.26849677e-01,-1.95705402e-01]

qacc:
[ 4.20652560e+00,-3.09370969e+00, 1.09999869e+01,-1.77656435e+01,
  1.58254768e+00,-8.38679427e+01, 3.06053160e+02,-6.13816393e+02,
  5.62837546e+00, 5.17688921e+00,-1.93525295e+01, 3.06883517e+01,
 -1.24459459e-01,-6.94769586e-02, 1.07524295e+01,-3.70050167e+01,
  1.09499122e+00,-2.68832609e-01,-6.32523287e+00,-9.50988221e+00,
  2.68373136e+01, 5.04425893e+01]

qfrc_actuator:
[-3.89814603e-06,-2.60929953e-05, 1.40014044e-04, 5.22623499e-05,
  2.01590770e-03, 9.14155928e-02, 8.40581745e-03, 1.24832532e-01,
 -6.85260237e-05, 4.74455909e-04, 6.82080134e-06, 3.92652894e-05,
  5.49682795e-03,-1.54496004e-03, 0.00000000e+00,-2.39708351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57643192,  1.01567337, -8.57643192,  8.55358052,
       -0.69902762,  1.01567337, -0.69902762,  2.73371521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005109813409427587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17272713e-14,  5.43181784e-15,  1.00000000e+00, -1.18018580e-28,
        1.00000000e+00, -5.43181784e-15, -1.00000000e+00,  0.00000000e+00,
        2.17272713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04788426, -0.01783132,  0.0615794 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44693170e-05,-1.01939065e-04,-1.96309617e-06,-2.44915974e-05,
  2.21735337e-04,-4.04696834e-03,-1.04182789e-03,-1.49061629e-03,
  3.35198518e-05, 8.33360093e-05,-3.67134938e-05, 3.27869740e-05,
 -3.68716246e-05,-2.88857756e-05,-1.24159195e-05,-1.83050872e-04,
  1.25412197e-02, 3.14743101e-02,-1.19811835e+00,-5.38222261e-03,
 -2.54607979e-02,-2.04340737e-04]


--- Step 1378 ---
qpos:
[ 3.29685804e-03,-3.23270620e-03, 1.19051374e-02, 4.17847371e-02,
  3.06910893e-03, 7.01619674e-01,-2.81532081e-02, 6.53400892e-01,
  5.83397920e-03, 1.64381806e-02,-9.28208862e-03, 2.60058618e-02,
  1.29597202e+00, 1.39718892e-04, 1.02196675e+00, 6.35490171e-02,
  1.37362916e-02,-3.62942090e-02, 8.06272187e-02, 6.33211399e-01,
 -1.93901846e-01,-7.25346147e-01,-1.87931811e-01]

qacc:
[-4.79318961e-01,-1.07613278e-02,-6.75254182e-01, 1.97182728e+00,
  2.53880819e+00,-7.58734361e+01, 2.69242545e+02,-5.26800662e+02,
  4.62267705e-01, 9.49763413e-01,-2.99073502e+00, 7.30774773e+00,
  3.33806212e-02,-2.37652723e-01,-1.20618189e+00, 3.39063592e+00,
  9.69083591e-01,-3.00041606e-01,-6.80624567e+00,-7.75154623e+00,
  2.31030390e+01, 4.53824321e+01]

qfrc_actuator:
[-7.39540780e-06,-7.78768783e-07, 1.50493228e-04, 5.82890351e-05,
  2.28374314e-03, 9.00836146e-02, 8.41674333e-03, 1.23763287e-01,
 -6.67115671e-05, 5.62356722e-04, 4.25411845e-05, 5.98822998e-05,
  5.49317866e-03,-1.55097288e-03, 0.00000000e+00,-2.37677609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.5104854 ,  1.46915459, -8.5104854 ,  8.44897235,
       -1.08551601,  1.46915459, -1.08551601,  2.3482111 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004722392658459668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40807938e-15, -2.35097567e-14,  1.00000000e+00,  1.03632874e-28,
        1.00000000e+00,  2.35097567e-14, -1.00000000e+00,  0.00000000e+00,
        4.40807938e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04862485, -0.01769263,  0.0616057 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83415443e-06,-3.31290763e-05,-1.16700338e-05, 1.11444318e-06,
  3.59253024e-04,-3.88916939e-03,-9.89242428e-04,-1.28587968e-03,
  2.80187488e-06, 1.28363957e-04, 4.95657160e-05, 2.35584468e-05,
 -3.21601726e-05,-2.07228061e-05,-3.08964379e-05, 7.38490836e-06,
  1.22814714e-02, 3.05684503e-02,-1.19808950e+00,-5.67642628e-03,
 -2.53665065e-02,-1.68074901e-04]


--- Step 1379 ---
qpos:
[ 3.29669268e-03,-3.23310207e-03, 1.19056354e-02, 4.17847998e-02,
  3.11365807e-03, 7.02963520e-01,-2.81278910e-02, 6.55815298e-01,
  5.83374364e-03, 1.64396056e-02,-9.28243011e-03, 2.60057374e-02,
  1.29615984e+00, 1.39219071e-04, 1.02219121e+00, 6.35474952e-02,
  1.38765229e-02,-3.60700866e-02, 8.06743513e-02, 6.34701188e-01,
 -2.02699491e-01,-7.23630019e-01,-1.80074744e-01]

qacc:
[-3.70708104e-01, 1.58098638e+00,-6.66222216e+00, 1.29991724e+01,
  1.17925825e+00,-7.38431577e+01, 2.63364073e+02,-5.19633095e+02,
  3.24813307e+00,-1.83561275e+00, 1.02737640e+01,-2.03289307e+01,
 -9.97931941e-02, 1.57007095e-02, 3.41457337e+00,-1.20266067e+01,
  9.41665359e-01,-2.13902257e-01,-3.38410986e+00,-9.42116851e+00,
  6.06702870e+01, 7.41188046e+01]

qfrc_actuator:
[-9.41115813e-06, 5.03237306e-05, 1.56552006e-04, 7.97420212e-05,
  2.30061116e-03, 8.87531632e-02, 8.39552012e-03, 1.22692939e-01,
 -4.76595538e-05, 6.14344275e-04, 8.19614436e-05, 3.64160528e-05,
  5.48955714e-03,-1.55432102e-03, 0.00000000e+00,-2.43558077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   2.61632126,   8.23053096,   2.61632126,
        65.91786746, -18.20864498,   8.23053096, -18.20864498,
        14.42452788,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004384376879900828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26611267e-14, -1.26611267e-14,  1.00000000e+00,  1.60304130e-28,
        1.00000000e+00,  1.26611267e-14, -1.00000000e+00,  0.00000000e+00,
        1.26611267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04693568, -0.01289916,  0.06162896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10617355e-06, 3.02298194e-05,-2.18230930e-06, 1.96525286e-05,
  1.65620315e-04,-3.78046763e-03,-9.76222050e-04,-1.27486455e-03,
  1.91747623e-05, 1.35009432e-04, 7.28607380e-05,-1.57915906e-05,
 -2.73402901e-05,-1.51801330e-05,-1.62543374e-05,-6.30353645e-05,
  1.20862405e-02, 2.98523316e-02,-1.19813573e+00,-6.01180764e-03,
 -2.52809923e-02,-1.31913139e-04]


--- Step 1380 ---
qpos:
[ 3.29684910e-03,-3.23295776e-03, 1.19060431e-02, 4.17847301e-02,
  3.15829215e-03, 7.04279322e-01,-2.81035993e-02, 6.58206946e-01,
  5.83408378e-03, 1.64412145e-02,-9.28138650e-03, 2.60057255e-02,
  1.29634752e+00, 1.38650477e-04, 1.02241579e+00, 6.35432438e-02,
  1.40166034e-02,-3.58532605e-02, 8.07661580e-02, 6.36353994e-01,
 -2.11130040e-01,-7.21609628e-01,-1.72502886e-01]

qacc:
[ 2.81223472e+00, 6.87999249e-01,-8.68376656e-01,-1.66454246e+00,
  6.75979034e-02,-7.55918519e+01, 2.73681616e+02,-5.45871175e+02,
  5.06113397e+00,-3.40625882e+00, 1.20057594e+01,-1.23890627e+01,
 -2.15141941e-01, 2.27884046e-01, 8.43943974e+00,-2.92232428e+01,
 -3.77116665e-02,-1.82406938e+00, 1.11685348e+01, 2.43192806e+00,
  2.17504768e+02,-1.77830440e+02]

qfrc_actuator:
[ 7.22284280e-06, 9.87409886e-05, 1.60094154e-04, 7.46195009e-05,
  2.23848980e-03, 8.74345547e-02, 8.37335704e-03, 1.21559463e-01,
 -1.86044550e-05, 5.91167353e-04, 1.40816913e-04, 4.04241611e-05,
  5.48595717e-03,-1.55606457e-03, 0.00000000e+00,-2.57608042e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.45343057,   7.39957654,   4.45343057,
        59.59126994, -30.66717892,   7.39957654, -30.66717892,
        27.09338634,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004599368747485379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20692978e-14,  2.41385957e-14,  1.00000000e+00, -2.91335900e-28,
        1.00000000e+00, -2.41385957e-14, -1.00000000e+00,  0.00000000e+00,
        1.20692978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03627899,  0.00445377,  0.06161442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65845622e-05, 6.57210180e-05, 1.01964065e-05,-3.52081185e-06,
  6.33580223e-06,-3.70408564e-03,-9.52862339e-04,-1.33310205e-03,
  2.96537178e-05, 6.66534610e-05, 9.51580651e-05, 1.20045726e-05,
 -2.32591977e-05,-1.11842605e-05,-1.84625447e-05,-1.47027076e-04,
  1.10667213e-02, 2.71532332e-02,-1.19782620e+00,-5.89475695e-03,
 -2.51604667e-02,-9.58337577e-05]


--- Step 1381 ---
qpos:
[ 3.29720363e-03,-3.23242023e-03, 1.19071005e-02, 4.17842210e-02,
  3.20190867e-03, 7.05567496e-01,-2.80805399e-02, 6.60575646e-01,
  5.83477025e-03, 1.64424423e-02,-9.27836911e-03, 2.60051038e-02,
  1.29653468e+00, 1.39170085e-04, 1.02263960e+00, 6.35426752e-02,
  1.41555074e-02,-3.56474864e-02, 8.09052518e-02, 6.38127920e-01,
 -2.18965405e-01,-7.19367735e-01,-1.65399426e-01]

qacc:
[ 1.75234121e+00,-2.20585403e+00, 1.04658126e+01,-1.93892711e+01,
 -5.90882293e-01,-7.48008122e+01, 2.72064492e+02,-5.46592303e+02,
  3.08829516e+00,-7.28150996e+00, 2.77956922e+01,-4.12115191e+01,
 -9.99309015e-01, 2.08597207e+00,-1.21731155e+01, 4.11325975e+01,
 -2.94124773e-01,-2.76299586e+00, 1.18217806e+01, 1.40552427e+01,
  2.14963878e+02,-3.29970719e+02]

qfrc_actuator:
[ 1.69476007e-05, 1.27409516e-04, 1.97615773e-04, 5.39006746e-05,
  2.14780713e-03, 8.61161434e-02, 8.33320515e-03, 1.20415695e-01,
 -1.65286847e-06, 5.41001962e-04, 2.28139588e-04, 7.26103945e-06,
  5.47704819e-03,-1.48583147e-03, 0.00000000e+00,-2.37299988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005006817779916475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21742247e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.21742247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03134957,  0.00975136,  0.0615885 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02189597e-05, 6.73705261e-05, 5.22234718e-05,-1.76211530e-05,
 -8.85042675e-05,-3.65784612e-03,-9.54083330e-04,-1.34085382e-03,
  1.78267072e-05, 7.21928428e-06, 1.13195124e-04,-2.67876079e-05,
 -2.55153606e-05, 6.27732352e-05,-2.91050755e-05, 1.91529405e-04,
  5.81533842e-03, 1.49760613e-02,-1.19943453e+00,-3.58509141e-03,
 -2.51907277e-02,-6.68352459e-05]


--- Step 1382 ---
qpos:
[ 3.29836225e-03,-3.23188114e-03, 1.19090691e-02, 4.17838449e-02,
  3.24427452e-03, 7.06828612e-01,-2.80589207e-02, 6.62925584e-01,
  5.83531018e-03, 1.64433805e-02,-9.27419333e-03, 2.60041354e-02,
  1.29672133e+00, 1.41064291e-04, 1.02286336e+00, 6.35431382e-02,
  1.42946643e-02,-3.54510611e-02, 8.10798384e-02, 6.40004786e-01,
 -2.26296355e-01,-7.16939223e-01,-1.58688325e-01]

qacc:
[ 7.08623161e+00,-2.28523158e+00, 7.56505011e+00,-6.69472427e+00,
 -7.29875733e-01,-6.58399103e+01, 2.30425096e+02,-4.50506417e+02,
 -1.23721324e+00,-4.33153905e+00, 1.63569424e+01,-2.39997558e+01,
 -1.40658690e+00, 2.91016691e+00,-3.06272509e+00, 1.09008244e+01,
  6.32129916e-02,-2.33720262e+00, 8.87319805e+00, 1.56522568e+01,
  1.81244620e+02,-2.77688681e+02]

qfrc_actuator:
[ 5.80270354e-05, 1.08654422e-04, 2.37068586e-04, 5.96893059e-05,
  2.07656145e-03, 8.48619089e-02, 8.30062959e-03, 1.19488074e-01,
 -9.71693657e-06, 5.10640306e-04, 2.78141967e-04,-1.20222461e-05,
  5.46499288e-03,-1.40904711e-03, 0.00000000e+00,-2.32414430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.04451788, -4.99615299, -7.04451788,  9.1920097 ,
       -0.78345451, -4.99615299, -0.78345451,  9.74102543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005301835929091794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.85263142e-15,  1.04701752e-14,  1.00000000e+00, -8.22184270e-29,
        1.00000000e+00, -1.04701752e-14, -1.00000000e+00,  0.00000000e+00,
        7.85263142e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03101156,  0.00934768,  0.0615718 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13899623e-05, 2.89224708e-05, 5.91727071e-05, 1.01356272e-05,
 -1.08671405e-04,-3.56747977e-03,-9.37107014e-04,-1.12298735e-03,
 -7.54712807e-06,-4.16049270e-06, 6.44608386e-05,-1.55872709e-05,
 -1.19828707e-05, 8.54105813e-05, 5.46554838e-06, 5.52362858e-05,
  2.74491003e-04, 3.83234464e-03,-1.20204134e+00,-1.44112215e-03,
 -2.53487746e-02,-3.91958451e-05]


--- Step 1383 ---
qpos:
[ 3.30000425e-03,-3.23119716e-03, 1.19109686e-02, 4.17835914e-02,
  3.28564080e-03, 7.08063599e-01,-2.80391364e-02, 6.65260847e-01,
  5.83505976e-03, 1.64444654e-02,-9.27094794e-03, 2.60033787e-02,
  1.29690740e+00, 1.44751967e-04, 1.02308743e+00, 6.35415043e-02,
  1.44350296e-02,-3.52629383e-02, 8.12803967e-02, 6.41968640e-01,
 -2.33180362e-01,-7.14353890e-01,-1.52321055e-01]

qacc:
[ 4.23826345e+00, 6.29268514e-01,-2.49710777e+00, 4.63730171e+00,
 -5.80782824e-01,-5.60815798e+01, 1.87063288e+02,-3.54465579e+02,
 -6.92435112e+00, 3.24362208e+00,-1.21549637e+01, 1.71743517e+01,
 -1.99436730e+00, 4.06832798e+00, 6.97305390e+00,-2.33047991e+01,
  3.02097503e-01,-2.07562178e+00, 6.49291162e+00, 1.71697224e+01,
  1.55733743e+02,-2.45608060e+02]

qfrc_actuator:
[ 8.17288069e-05, 9.71847919e-05, 2.23900821e-04, 6.32330607e-05,
  2.03537074e-03, 8.36744138e-02, 8.25554813e-03, 1.18766147e-01,
 -5.01886821e-05, 4.92221767e-04, 2.17014888e-04,-5.24417027e-06,
  5.44574183e-03,-1.31130104e-03, 0.00000000e+00,-2.43765615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.83437066, -5.27997675, -6.83437066,  9.54082504,
       -1.17072949, -5.27997675, -1.17072949, 10.15174896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005482350692593001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03065025,  0.00960817,  0.06156365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48843452e-05, 1.73294347e-05, 4.13878913e-07, 7.02082265e-06,
 -8.71109192e-05,-3.43797422e-03,-9.21917047e-04,-9.08549001e-04,
 -4.06844335e-05,-8.17938283e-06,-5.46428976e-05, 8.51800443e-06,
 -6.06876635e-06, 1.14662091e-04, 3.68981411e-06,-1.10869674e-04,
 -4.49253044e-03,-4.28050143e-03,-1.20393532e+00, 7.47683176e-05,
 -2.54989062e-02,-1.00791311e-05]


--- Step 1384 ---
qpos:
[ 3.30088340e-03,-3.23072606e-03, 1.19125936e-02, 4.17837893e-02,
  3.32694124e-03, 7.09272096e-01,-2.80213853e-02, 6.67592089e-01,
  5.83467118e-03, 1.64457907e-02,-9.26963659e-03, 2.60027685e-02,
  1.29709295e+00, 1.49990178e-04, 1.02331142e+00, 6.35391997e-02,
  1.45774348e-02,-3.50819316e-02, 8.14982110e-02, 6.44006055e-01,
 -2.39679376e-01,-7.11633433e-01,-1.46245874e-01]

qacc:
[-6.70050976e+00, 1.42917724e+00,-7.38472635e+00, 1.57643096e+01,
 -2.67425256e-02,-3.66106686e+01, 8.98273850e+01,-1.18377086e+02,
 -1.26932998e+00, 6.02681978e+00,-2.16409578e+01, 2.70816781e+01,
 -1.64183269e+00, 3.38968793e+00, 2.03137122e+00,-6.96811991e+00,
  5.09987194e-01,-1.77903857e+00, 4.31401104e+00, 1.75346437e+01,
  1.33024829e+02,-2.09920219e+02]

qfrc_actuator:
[ 4.17451336e-05, 5.44372356e-05, 1.97529247e-04, 8.31397933e-05,
  2.06572007e-03, 8.24125893e-02, 8.18618111e-03, 1.18579364e-01,
 -5.61447237e-05, 4.80648735e-04, 1.08588187e-04,-1.00178061e-06,
  5.41687295e-03,-1.23745191e-03, 0.00000000e+00,-2.46834631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.47780157, -6.67686055, -5.47780157,  9.88245754,
       -1.02231506, -6.67686055, -1.02231506,  9.47508702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005576927904618376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95371505e-15, -2.48842876e-14,  1.00000000e+00,  2.47691108e-28,
        1.00000000e+00,  2.48842876e-14, -1.00000000e+00,  0.00000000e+00,
        9.95371505e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03059215,  0.00953592,  0.06156165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92732006e-05,-3.27136238e-05,-2.25305188e-05, 2.07934831e-05,
 -6.59743764e-06,-3.42829528e-03,-9.10979510e-04,-3.63369864e-04,
 -7.11668817e-06,-2.71597422e-05,-1.16599529e-04, 2.16061524e-06,
 -5.83780057e-06, 9.90304733e-05,-1.64728740e-05,-3.77246627e-05,
 -8.64650861e-03,-1.03034656e-02,-1.20539817e+00, 1.15343496e-03,
 -2.56416321e-02, 1.99864239e-05]


--- Step 1385 ---
qpos:
[ 3.30093209e-03,-3.23096711e-03, 1.19144265e-02, 4.17842561e-02,
  3.36905661e-03, 7.10453884e-01,-2.80054740e-02, 6.69925369e-01,
  5.83455895e-03, 1.64473314e-02,-9.27086665e-03, 2.60026058e-02,
  1.29727822e+00, 1.55969198e-04, 1.02353522e+00, 6.35368485e-02,
  1.47224914e-02,-3.49070638e-02, 8.17258766e-02, 6.46105411e-01,
 -2.45843984e-01,-7.08795188e-01,-1.40420494e-01]

qacc:
[-7.27010734e+00,-9.53769637e-01, 9.25324134e-01, 3.89207904e+00,
  4.95092414e-01,-2.63961129e+01, 3.74813662e+01, 1.28033162e+01,
  2.32732379e+00, 8.30437658e+00,-3.10937614e+01, 4.27505876e+01,
 -8.00530302e-01, 1.62450879e+00,-4.28354383e-02,-5.48006060e-02,
  6.62863891e-01,-1.53471769e+00, 2.46281949e+00, 1.76065837e+01,
  1.14357625e+02,-1.80786238e+02]

qfrc_actuator:
[ 1.08358312e-07,-6.77728269e-06, 1.98973538e-04, 9.47338635e-05,
  2.13845953e-03, 8.11347316e-02, 8.12092782e-03, 1.18691132e-01,
 -4.17273928e-05, 4.73030514e-04,-2.68424667e-05, 1.94525974e-05,
  5.38757338e-03,-1.21392068e-03, 0.00000000e+00,-2.46768353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.66308295, -7.26928017, -4.66308295,  9.92111174,
       -0.82413758, -7.26928017, -0.82413758,  9.16502973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005593117000909406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00799810e-14, -1.98498087e-14,  1.00000000e+00,  2.00085694e-28,
        1.00000000e+00,  1.98498087e-14, -1.00000000e+00,  0.00000000e+00,
        1.00799810e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03063515,  0.00958257,  0.06156493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27699958e-05,-8.33240737e-05,-7.39263355e-06, 9.81426866e-06,
  6.95258766e-05,-3.41563205e-03,-8.85637061e-04,-5.22056857e-05,
  1.42138798e-05,-4.68644490e-05,-1.55357391e-04, 1.52937566e-05,
 -9.87897409e-06, 4.52020360e-05,-1.60638118e-05,-4.53132016e-06,
 -1.22415113e-02,-1.47422992e-02,-1.20647314e+00, 1.89575733e-03,
 -2.57675414e-02, 5.06420714e-05]


--- Step 1386 ---
qpos:
[ 3.30082577e-03,-3.23169020e-03, 1.19162432e-02, 4.17841539e-02,
  3.41181889e-03, 7.11609892e-01,-2.79911185e-02, 6.72252380e-01,
  5.83462048e-03, 1.64491235e-02,-9.27528225e-03, 2.60027307e-02,
  1.29746328e+00, 1.61623225e-04, 1.02375866e+00, 6.35365000e-02,
  1.48706404e-02,-3.47375296e-02, 8.19571282e-02, 6.48256708e-01,
 -2.51715695e-01,-7.05853148e-01,-1.34810176e-01]

qacc:
[  -1.35310027,  -1.76240883,   7.76408431, -17.23344567,   0.39575187,
  -41.05686816, 112.41422789,-170.41053098,   1.41184443,   9.82418678,
  -35.76498784,  45.65080197,   0.23798206,  -0.66513991,  -6.6269938 ,
   22.31762946,   0.77306812,  -1.33339504,   0.89652072,  17.50091561,
   98.94023938,-156.87891313]

qfrc_actuator:
[-6.64228159e-06,-2.52296497e-05, 1.98982334e-04, 6.58369594e-05,
  2.16476809e-03, 7.99113273e-02, 8.05876261e-03, 1.18373989e-01,
 -3.31979069e-05, 4.67713992e-04,-1.94847156e-04, 3.15217250e-05,
  5.34203694e-03,-1.25589593e-03, 0.00000000e+00,-2.35980160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.9742613 , -7.66759571, -3.9742613 ,  9.74811957,
       -0.57624434, -7.66759571, -0.57624434,  8.93504208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005546453868732731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51689874e-14, -3.00252121e-14,  1.00000000e+00,  4.55452062e-28,
        1.00000000e+00,  3.00252121e-14, -1.00000000e+00,  0.00000000e+00,
        1.51689874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03075646,  0.00971943,  0.06157226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.99928618e-06,-6.61826687e-05,-1.77910354e-05,-3.25336952e-05,
  5.50967692e-05,-3.33661881e-03,-8.66563181e-04,-4.72952931e-04,
  8.92980654e-06,-6.29956697e-05,-1.96295512e-04, 4.98196531e-06,
 -4.09668247e-05,-3.36509097e-05,-1.17388980e-05, 1.04680621e-04,
 -1.53676033e-02,-1.80346226e-02,-1.20726056e+00, 2.39141025e-03,
 -2.58768716e-02, 8.15538011e-05]


--- Step 1387 ---
qpos:
[ 3.30029382e-03,-3.23261367e-03, 1.19179200e-02, 4.17833330e-02,
  3.45401444e-03, 7.12741284e-01,-2.79789967e-02, 6.74567033e-01,
  5.83478410e-03, 1.64507543e-02,-9.28173140e-03, 2.60033183e-02,
  1.29764866e+00, 1.64710079e-04, 1.02398225e+00, 6.35350670e-02,
  1.50221026e-02,-3.45729465e-02, 8.21873478e-02, 6.50452602e-01,
 -2.57317856e-01,-7.02819910e-01,-1.29395161e-01]

qacc:
[-3.73726277e+00,-1.34768687e+00, 7.46505767e+00,-1.95422800e+01,
 -3.22907012e-01,-4.87423799e+01, 1.57737523e+02,-2.95391215e+02,
  8.29925629e-01, 6.42130726e+00,-2.51606698e+01, 3.65394527e+01,
  2.18360607e+00,-4.99654503e+00, 3.30170510e+00,-1.16925845e+01,
  8.28316377e-01,-1.23776386e+00,-2.58020239e-01, 1.79071611e+01,
  8.80495896e+01,-1.43955787e+02]

qfrc_actuator:
[-2.83097663e-05,-1.79699764e-05, 1.98270562e-04, 3.11284626e-05,
  2.09204964e-03, 7.87481023e-02, 7.96339679e-03, 1.17753734e-01,
 -2.82090841e-05, 4.63656512e-04,-2.91972407e-04, 5.62933603e-05,
  5.30806343e-03,-1.42516874e-03, 0.00000000e+00,-2.42040308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.5154109 , -6.64582722, -5.5154109 , 10.54772721,
       -1.58625181, -6.64582722, -1.58625181,  9.9528033 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005456505881916013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01733880e-14, -1.01733880e-14,  1.00000000e+00,  1.03497823e-28,
        1.00000000e+00,  1.01733880e-14, -1.00000000e+00,  0.00000000e+00,
        1.01733880e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03076921,  0.01040957,  0.06158227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19159081e-05,-3.48154205e-05,-1.77112572e-05,-3.87942547e-05,
 -4.99418623e-05,-3.24329314e-03,-8.94716212e-04,-7.81409891e-04,
  5.23171680e-06,-7.96293262e-05,-1.34113328e-04, 1.53821580e-05,
 -6.52833717e-05,-1.86492958e-04, 2.87100789e-06,-5.70622077e-05,
 -1.80995739e-02,-2.04886898e-02,-1.20783101e+00, 2.70427084e-03,
 -2.59706308e-02, 1.12479501e-04]


--- Step 1388 ---
qpos:
[ 3.29916123e-03,-3.23357121e-03, 1.19191779e-02, 4.17821000e-02,
  3.49466363e-03, 7.13849383e-01,-2.79694266e-02, 6.76865061e-01,
  5.83500669e-03, 1.64511662e-02,-9.28677534e-03, 2.60044397e-02,
  1.29783432e+00, 1.64682730e-04, 1.02420585e+00, 6.35325844e-02,
  1.51771061e-02,-3.44127417e-02, 8.24119923e-02, 6.52685773e-01,
 -2.62680317e-01,-6.99704926e-01,-1.24150511e-01]

qacc:
[-5.28478154e+00, 2.87178926e-01, 6.67021011e-01,-7.12120500e+00,
 -9.01301295e-01,-5.38762452e+01, 1.89404658e+02,-3.83047863e+02,
  5.79208269e-01,-4.44055238e+00, 1.12390720e+01,-3.34514254e+00,
  2.60202485e+00,-6.02377627e+00, 2.94209802e+00,-1.08409315e+01,
  8.85331089e-01,-1.09458937e+00,-1.39377528e+00, 1.75961539e+01,
  7.71123426e+01,-1.26715376e+02]

qfrc_actuator:
[-5.85947262e-05,-1.31245585e-05, 1.79504110e-04, 1.10629561e-05,
  1.97862250e-03, 7.76833909e-02, 7.86716359e-03, 1.16924703e-01,
 -2.53424973e-05, 4.25161112e-04,-2.04426707e-04, 8.83963062e-05,
  5.29696615e-03,-1.59743740e-03, 0.00000000e+00,-2.47329274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.2623833 , -7.99647623, -3.2623833 ,  9.12731903,
       -0.20029881, -7.99647623, -0.20029881,  8.71808107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005329504191554625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04158190e-14,  7.81186428e-15,  1.00000000e+00, -8.13669647e-29,
        1.00000000e+00, -7.81186428e-15, -1.00000000e+00,  0.00000000e+00,
        1.04158190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03098554,  0.01065707,  0.06159447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09176574e-05,-1.99337905e-05,-2.94871375e-05,-2.29237246e-05,
 -1.34897570e-04,-3.10904922e-03,-8.89640712e-04,-9.94116159e-04,
  2.99222748e-06,-1.10050989e-04, 5.51655035e-05, 2.43586550e-05,
 -9.22703350e-05,-2.30156935e-04,-9.31732827e-06,-5.67270378e-05,
 -2.05391850e-02,-2.23456956e-02,-1.20828177e+00, 2.88736711e-03,
 -2.60540620e-02, 1.43392904e-04]


--- Step 1389 ---
qpos:
[ 3.29836416e-03,-3.23456566e-03, 1.19201551e-02, 4.17806267e-02,
  3.53390477e-03, 7.14934756e-01,-2.79613019e-02, 6.79142705e-01,
  5.83526154e-03, 1.64505203e-02,-9.28903763e-03, 2.60051276e-02,
  1.29801989e+00, 1.61995845e-04, 1.02442887e+00, 6.35334869e-02,
  1.53357956e-02,-3.42564508e-02, 8.26272571e-02, 6.54950058e-01,
 -2.67827741e-01,-6.96515975e-01,-1.19055530e-01]

qacc:
[ 2.93663104e+00, 2.34838783e-01, 9.59776115e-02,-3.76793855e+00,
 -8.17206984e-01,-6.29519380e+01, 2.31515759e+02,-4.73496032e+02,
  3.85973381e-01,-1.00655064e+01, 3.56892316e+01,-4.68565056e+01,
  2.23501235e+00,-5.29479450e+00,-1.12874680e+01, 3.77461513e+01,
  9.21499305e-01,-9.78479403e-01,-2.34491099e+00, 1.73087347e+01,
  6.80310616e+01,-1.12431812e+02]

qfrc_actuator:
[-4.04470138e-05,-9.81385256e-06, 1.67992434e-04,-2.35894614e-07,
  1.91298698e-03, 7.66330531e-02, 7.82487928e-03, 1.15908606e-01,
 -2.37469567e-05, 4.20383155e-04,-4.42090445e-05, 7.13839322e-05,
  5.27828242e-03,-1.73442439e-03, 0.00000000e+00,-2.29037214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.24345723, -8.00417154, -3.24345723,  9.01995198,
       -0.155438  , -8.00417154, -0.155438  ,  8.69935035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0051705717878331725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07359792e-14, -8.05198441e-15,  1.00000000e+00,  8.64459372e-29,
        1.00000000e+00,  8.05198441e-15, -1.00000000e+00,  0.00000000e+00,
        1.07359792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0312383 ,  0.01094406,  0.06160848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72642370e-05,-1.48934045e-05,-2.00525527e-05,-1.36157264e-05,
 -1.23000338e-04,-3.02597378e-03,-8.14514353e-04,-1.18052118e-03,
  1.63604467e-06,-5.38367559e-05, 1.45174510e-04,-1.93379309e-05,
 -1.25570730e-04,-2.11129464e-04,-1.42707424e-05, 1.77682337e-04,
 -2.26910608e-02,-2.37231888e-02,-1.20859518e+00, 2.96371716e-03,
 -2.61235354e-02, 1.74038620e-04]


--- Step 1390 ---
qpos:
[ 3.29744535e-03,-3.23535310e-03, 1.19211156e-02, 4.17789790e-02,
  3.57233633e-03, 7.15996899e-01,-2.79535602e-02, 6.81399728e-01,
  5.83553271e-03, 1.64498479e-02,-9.28939921e-03, 2.60051871e-02,
  1.29820541e+00, 1.56174171e-04, 1.02465184e+00, 6.35358605e-02,
  1.54982521e-02,-3.41037015e-02, 8.28299688e-02, 6.57240339e-01,
 -2.72780511e-01,-6.93259486e-01,-1.14093004e-01]

qacc:
[-1.07266236e+00,-3.68359710e-02, 1.26724907e+00,-4.41290835e+00,
 -4.62379063e-01,-6.69183140e+01, 2.44486435e+02,-4.88404416e+02,
  2.01851267e-01,-6.64089948e+00, 2.62796736e+01,-4.01706842e+01,
  2.50788247e+00,-6.02142008e+00,-4.76983696e+00, 1.59952312e+01,
  9.41735610e-01,-8.85409476e-01,-3.13830084e+00, 1.70766621e+01,
  6.04948589e+01,-1.00576426e+02]

qfrc_actuator:
[-4.71935060e-05, 2.80977665e-05, 1.78615598e-04,-6.28164427e-06,
  1.89425931e-03, 7.54935730e-02, 7.81487862e-03, 1.14879442e-01,
 -2.29109263e-05, 4.71667341e-04, 6.89100997e-05, 4.34088545e-05,
  5.26039700e-03,-1.90270928e-03, 0.00000000e+00,-2.21851704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.49982791, -7.89544055, -3.49982791,  9.07725176,
       -0.19543337, -7.89544055, -0.19543337,  8.72299378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004987466817329755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11301294e-14,  8.34759708e-15,  1.00000000e+00, -9.29098359e-29,
        1.00000000e+00, -8.34759708e-15, -1.00000000e+00,  0.00000000e+00,
        1.11301294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03151783,  0.0112589 ,  0.06162377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.25612140e-06, 2.48944665e-05, 4.60949027e-06,-7.63988529e-06,
 -7.11311451e-05,-3.05980511e-03,-7.62213659e-04,-1.19200413e-03,
  8.54871801e-07, 5.03871256e-05, 1.19243282e-04,-2.56304399e-05,
 -1.38764973e-04,-2.46085890e-04, 1.04847871e-05, 7.92803838e-05,
 -2.46020537e-02,-2.47427033e-02,-1.20880204e+00, 2.95965671e-03,
 -2.61808589e-02, 2.04346956e-04]


--- Step 1391 ---
qpos:
[ 3.29576311e-03,-3.23595914e-03, 1.19224098e-02, 4.17779402e-02,
  3.61032976e-03, 7.17036153e-01,-2.79467027e-02, 6.83637521e-01,
  5.83615620e-03, 1.64496158e-02,-9.28772295e-03, 2.60051848e-02,
  1.29839088e+00, 1.46851750e-04, 1.02487476e+00, 6.35394153e-02,
  1.56645080e-02,-3.39542002e-02, 8.30174913e-02, 6.59552428e-01,
 -2.77555465e-01,-6.89940798e-01,-1.09248583e-01]

qacc:
[-6.69306334e+00, 5.74777412e-01,-4.24756457e+00, 1.40916722e+01,
 -2.44188638e-01,-6.25658007e+01, 2.26292726e+02,-4.52360034e+02,
  3.12880823e+00,-5.24683504e+00, 1.98024253e+01,-2.44412731e+01,
  2.77897567e+00,-6.68638225e+00,-3.89080939e+00, 1.29015598e+01,
  9.49854202e-01,-8.11968238e-01,-3.79727771e+00, 1.69218350e+01,
  5.42515333e+01,-9.07228830e+01]

qfrc_actuator:
[-8.63061022e-05, 5.10355035e-05, 2.02367975e-04, 2.63598588e-05,
  1.88588847e-03, 7.43989661e-02, 7.78825876e-03, 1.13921838e-01,
 -4.77494500e-06, 5.38227951e-04, 1.89043701e-04, 4.47296241e-05,
  5.24298971e-03,-2.08823382e-03, 0.00000000e+00,-2.15948352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.06077057, -7.62213351, -4.06077057,  9.33373589,
       -0.37153229, -7.62213351, -0.37153229,  8.83430131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004786635395350222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15971129e-14, -2.31942259e-14,  1.00000000e+00,  2.68986057e-28,
        1.00000000e+00,  2.31942259e-14, -1.00000000e+00,  0.00000000e+00,
        1.15971129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03181628,  0.01159235,  0.06163994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92801372e-05, 3.75052811e-05, 2.92006506e-05, 3.37223754e-05,
 -3.88832359e-05,-3.02280761e-03,-7.79414495e-04,-1.12007023e-03,
  1.81718384e-05, 1.18299982e-04, 1.44354452e-04, 7.10938856e-06,
 -1.53906069e-04,-2.74458960e-04, 9.17561007e-06, 6.37439951e-05,
 -2.63121412e-02,-2.54930264e-02,-1.20892591e+00, 2.89482375e-03,
 -2.62277201e-02, 2.34287996e-04]


--- Step 1392 ---
qpos:
[ 3.29431514e-03,-3.23652128e-03, 1.19240064e-02, 4.17783561e-02,
  3.64770474e-03, 7.18053596e-01,-2.79409413e-02, 6.85855610e-01,
  5.83699223e-03, 1.64499517e-02,-9.28456780e-03, 2.60052195e-02,
  1.29857609e+00, 1.34137668e-04, 1.02509728e+00, 6.35470011e-02,
  1.58345591e-02,-3.38077196e-02, 8.31876458e-02, 6.61882969e-01,
 -2.82166490e-01,-6.86564352e-01,-1.04510277e-01]

qacc:
[ 2.06577299e+00, 2.20678085e+00,-1.39266218e+01, 3.85854184e+01,
 -3.50476208e-01,-6.14115684e+01, 2.25409997e+02,-4.58128274e+02,
  1.89017776e+00,-3.31012424e+00, 1.27287251e+01,-1.48625634e+01,
  2.70515292e+00,-6.58220535e+00,-1.30364027e+01, 4.41136845e+01,
  9.48802535e-01,-7.55213900e-01,-4.34200427e+00, 1.68585118e+01,
  4.90940303e+01,-8.25240168e+01]

qfrc_actuator:
[-7.31374385e-05, 4.71790894e-05, 2.15901438e-04, 9.92527920e-05,
  1.84817884e-03, 7.34112436e-02, 7.77007435e-03, 1.12943018e-01,
  5.64585793e-06, 5.60240317e-04, 2.59230649e-04, 4.55601217e-05,
  5.21521920e-03,-2.26472966e-03, 0.00000000e+00,-1.94866774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.96070379, -7.06952578, -4.96070379,  9.68071827,
       -0.73282624, -7.06952578, -0.73282624,  9.15058963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004573420137832129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82066647e-14, -3.03444411e-15,  1.00000000e+00,  5.52471064e-29,
        1.00000000e+00,  3.03444411e-15, -1.00000000e+00,  0.00000000e+00,
        1.82066647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03212728,  0.01193704,  0.06165664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20611268e-05, 2.45933381e-05, 2.60414036e-05, 7.61691238e-05,
 -5.45810031e-05,-2.89534273e-03,-7.62886419e-04,-1.13876427e-03,
  1.09778527e-05, 1.18286643e-04, 1.12632761e-04, 1.10294680e-05,
 -1.79570390e-04,-2.75439895e-04, 6.83406469e-06, 2.14485416e-04,
 -2.78556315e-02,-2.60394854e-02,-1.20898507e+00, 2.78401062e-03,
 -2.62656677e-02, 2.63861501e-04]


--- Step 1393 ---
qpos:
[ 3.29338057e-03,-3.23664835e-03, 1.19253364e-02, 4.17799767e-02,
  3.68418725e-03, 7.19049355e-01,-2.79359378e-02, 6.88056383e-01,
  5.83725715e-03, 1.64513295e-02,-9.28230789e-03, 2.60046782e-02,
  1.29876052e+00, 1.19447548e-04, 1.02532019e+00, 6.35536959e-02,
  1.60083735e-02,-3.36640894e-02, 8.33386409e-02, 6.64229344e-01,
 -2.86625016e-01,-6.83133846e-01,-9.98680523e-02]

qacc:
[   4.49112992,   3.79490123, -17.79255882,  38.75801431,  -0.51085157,
  -57.81999709, 206.62452936,-408.47241575,  -5.02700139,   2.70326936,
   -5.1914483 ,  -4.13211004,   0.88857918,  -3.02114382,   3.17025027,
  -10.48583515,   0.94084474,  -0.71257753,  -4.78984051,  16.89502828,
   44.8506257 , -75.69486559]

qfrc_actuator:
[-4.70449767e-05, 8.05690233e-05, 2.05448809e-04, 1.59702041e-04,
  1.79322150e-03, 7.23892155e-02, 7.75751682e-03, 1.12083902e-01,
 -2.40688584e-05, 5.72972612e-04, 1.92677628e-04, 1.05171008e-05,
  5.19190410e-03,-2.34575390e-03, 0.00000000e+00,-2.00515743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.1732561 , -6.03967599, -6.1732561 ,  9.84395674,
       -1.23430156, -6.03967599, -1.23430156,  9.89796437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004352234285767018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37731652e-15,  3.18865826e-15,  1.00000000e+00, -2.03350830e-29,
        1.00000000e+00, -3.18865826e-15, -1.00000000e+00,  0.00000000e+00,
        6.37731652e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03244566,  0.01228715,  0.06167362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64404408e-05, 5.57937871e-05, 4.58366611e-07, 6.38831231e-05,
 -7.85005915e-05,-2.85532795e-03,-7.29917685e-04,-1.01415427e-03,
 -2.93594581e-05, 1.02574769e-04,-2.79050331e-05,-2.58702424e-05,
 -1.89610983e-04,-1.86340446e-04, 2.31232987e-05,-4.45797746e-05,
 -2.92621009e-02,-2.64304384e-02,-1.20899385e+00, 2.63846293e-03,
 -2.62961074e-02, 2.93088914e-04]


--- Step 1394 ---
qpos:
[ 3.29276590e-03,-3.23616112e-03, 1.19265058e-02, 4.17812424e-02,
  3.71954833e-03, 7.20023661e-01,-2.79310047e-02, 6.90241378e-01,
  5.83612962e-03, 1.64534929e-02,-9.28074369e-03, 2.60033970e-02,
  1.29894376e+00, 1.04898232e-04, 1.02554366e+00, 6.35560161e-02,
  1.61858988e-02,-3.35231864e-02, 8.34690133e-02, 6.66589590e-01,
 -2.90940420e-01,-6.79652360e-01,-9.53134820e-02]

qacc:
[   2.79200758,   0.52410453,   0.79664927,  -7.12095678,  -0.64405258,
  -56.58889071, 198.37238367,-380.27590634, -12.17950616,   1.48321053,
   -0.61642111, -11.70111321,  -1.31001366,   1.63306919,  14.12188416,
  -47.99344106,   0.92770586,  -0.6817966 ,  -5.1556906 ,  17.03514908,
   41.37770238, -70.00003383]

qfrc_actuator:
[-3.13237196e-05, 1.18145402e-04, 1.98805223e-04, 1.41342644e-04,
  1.72843694e-03, 7.13907043e-02, 7.78394086e-03, 1.11302102e-01,
 -9.49188789e-05, 5.97188320e-04, 1.52378999e-04,-2.76992475e-05,
  5.18196841e-03,-2.29854362e-03, 0.00000000e+00,-2.23647361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.48706186, -4.30472782, -7.48706186,  9.44700617,
       -1.40992207, -4.30472782, -1.40992207, 11.08859157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004126707725692229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34516799e-14, -1.68145998e-14,  1.00000000e+00,  2.26184614e-28,
        1.00000000e+00,  1.68145998e-14, -1.00000000e+00,  0.00000000e+00,
        1.34516799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03276719,  0.01263806,  0.06169066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64899043e-05, 7.16050669e-05, 7.13006623e-06,-1.47172257e-05,
 -9.85279160e-05,-2.79760477e-03,-6.74644635e-04,-9.31485371e-04,
 -7.16470728e-05, 7.46188143e-05,-2.34824991e-05,-3.52952401e-05,
 -1.61376451e-04,-3.97753191e-05,-1.06926778e-06,-2.32383082e-04,
 -3.05571358e-02,-2.67018616e-02,-1.20896356e+00, 2.46680133e-03,
 -2.63203049e-02, 3.22007114e-04]


--- Step 1395 ---
qpos:
[ 3.29234488e-03,-3.23529331e-03, 1.19271590e-02, 4.17816430e-02,
  3.75403644e-03, 7.20977109e-01,-2.79253390e-02, 6.92408490e-01,
  5.83485167e-03, 1.64557328e-02,-9.27862530e-03, 2.60027084e-02,
  1.29912610e+00, 9.09093059e-05, 1.02576749e+00, 6.35525425e-02,
  1.63670669e-02,-3.33849269e-02, 8.35775764e-02, 6.68962320e-01,
 -2.95120368e-01,-6.76122455e-01,-9.08394705e-02]

qacc:
[ 1.67636604e+00, 1.59976461e-01, 3.80291448e+00,-1.82187921e+01,
 -4.97120983e-01,-6.17845192e+01, 2.22633020e+02,-4.31384794e+02,
 -1.29556153e+00,-2.25105706e-01,-1.54897323e+00, 1.08604101e+01,
 -1.48189672e+00, 2.30014044e+00, 1.81228408e+01,-6.23836510e+01,
  9.10685619e-01,-6.60867985e-01,-5.45232094e+00, 1.72791442e+01,
  3.85543491e+01,-6.52441260e+01]

qfrc_actuator:
[-2.18370370e-05, 1.04622487e-04, 1.58942386e-04, 9.45283876e-05,
  1.69384727e-03, 7.04325006e-02, 7.85112221e-03, 1.10412307e-01,
 -1.00637159e-04, 5.92628387e-04, 1.81249459e-04, 3.58528730e-06,
  5.18012683e-03,-2.24672957e-03, 0.00000000e+00,-2.53334030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.42001716, -1.92096013, -8.42001716,  8.80312859,
       -0.73096975, -1.92096013, -0.73096975, 11.84037487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038998098621657387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42343225e-14, -7.11716125e-15,  1.00000000e+00,  1.01307968e-28,
        1.00000000e+00,  7.11716125e-15, -1.00000000e+00,  0.00000000e+00,
        1.42343225e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03308848,  0.01298615,  0.06170758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.97870959e-06, 2.73345877e-05,-2.47258238e-05,-4.37938874e-05,
 -7.68986046e-05,-2.71031919e-03,-6.12763199e-04,-1.03369117e-03,
 -7.73545880e-06, 3.06818450e-05, 4.01313964e-05, 3.29801501e-05,
 -1.03523575e-04, 5.51860867e-06,-3.33649565e-05,-3.11536210e-04,
 -3.17629294e-02,-2.68806186e-02,-1.20890313e+00, 2.27568315e-03,
 -2.63393921e-02, 3.50663602e-04]


--- Step 1396 ---
qpos:
[ 3.29204124e-03,-3.23446735e-03, 1.19275070e-02, 4.17815205e-02,
  3.78816986e-03, 7.21911039e-01,-2.79201642e-02, 6.94556262e-01,
  5.83454933e-03, 1.64582493e-02,-9.27760066e-03, 2.60024890e-02,
  1.29930818e+00, 7.60993854e-05, 1.02599125e+00, 6.35444957e-02,
  1.65517979e-02,-3.32492594e-02, 8.36633769e-02, 6.71346647e-01,
 -2.99171098e-01,-6.72546249e-01,-8.64400165e-02]

qacc:
[ 1.02118340e+00,-2.82021998e-01, 3.12825373e+00,-1.16554543e+01,
 -1.95269317e-01,-5.93160675e+01, 2.20555792e+02,-4.48973688e+02,
  8.46999533e+00, 4.37158512e+00,-1.70660603e+01, 2.67605014e+01,
  1.92253942e-01,-9.57671434e-01, 1.36702511e+01,-4.80497156e+01,
  8.90748362e-01,-6.48013578e-01,-5.69064617e+00, 1.76246535e+01,
  3.62782495e+01,-6.12643774e+01]

qfrc_actuator:
[-1.60928026e-05, 7.81806377e-05, 1.35073132e-04, 6.67986773e-05,
  1.69532726e-03, 6.95419709e-02, 7.85321989e-03, 1.09448379e-01,
 -5.02087944e-05, 5.71197946e-04, 1.08628711e-04, 2.22758071e-05,
  5.16718069e-03,-2.29914496e-03, 0.00000000e+00,-2.75985242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61918384,  0.5444692 , -8.61918384,  8.64608189,
        0.15384423,  0.5444692 ,  0.15384423, 11.07178461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036739532876857092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.55468931e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.55468931e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03340676,  0.01332861,  0.06172425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.03733361e-06,-1.81746060e-05,-2.28026887e-05,-2.82715532e-05,
 -3.16480766e-05,-2.58466397e-03,-6.55937192e-04,-1.10476340e-03,
  5.02234580e-05, 5.31898115e-06,-6.02492402e-05, 2.20276844e-05,
 -7.16983412e-05,-7.44130750e-05,-5.53335213e-05,-2.49353640e-04,
 -3.28987697e-02,-2.69868128e-02,-1.20881962e+00, 2.07028230e-03,
 -2.63543739e-02, 3.79112842e-04]


--- Step 1397 ---
qpos:
[ 3.29180909e-03,-3.23397660e-03, 1.19276915e-02, 4.17810952e-02,
  3.82180579e-03, 7.22826177e-01,-2.79163176e-02, 6.96688490e-01,
  5.83450941e-03, 1.64606822e-02,-9.27812213e-03, 2.60022300e-02,
  1.29949011e+00, 5.99483403e-05, 1.02621395e+00, 6.35397478e-02,
  1.67400033e-02,-3.31161585e-02, 8.37256575e-02, 6.73742124e-01,
 -3.03097655e-01,-6.68925487e-01,-8.21100189e-02]

qacc:
[ 6.27792613e-01,-6.11498691e-01, 2.81256377e+00,-7.54091200e+00,
 -2.80115094e-01,-4.92012762e+01, 1.77017630e+02,-3.57704316e+02,
  2.24175623e+00, 4.12465441e+00,-1.47067530e+01, 1.65602949e+01,
  1.17258796e+00,-2.77585925e+00,-1.16223859e+01, 3.81423460e+01,
  8.68594477e-01,-6.41653953e-01,-5.87998306e+00, 1.80673827e+01,
  3.44624970e+01,-5.79248829e+01]

qfrc_actuator:
[-1.25952440e-05, 4.42576211e-05, 1.20795531e-04, 5.05236872e-05,
  1.66502208e-03, 6.86812981e-02, 7.81719788e-03, 1.08679364e-01,
 -3.81688353e-05, 5.21661888e-04, 1.20447555e-05, 1.55437442e-05,
  5.14754542e-03,-2.37743553e-03, 0.00000000e+00,-2.57024980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.26914609,  2.49158581, -8.26914609,  8.72713093,
        0.30124109,  2.49158581,  0.30124109,  9.63613115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034510814282554536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.60851468e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.60851468e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03371983,  0.01366327,  0.06174057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66233172e-06,-5.00379137e-05,-2.18318827e-05,-1.83954378e-05,
 -4.41386948e-05,-2.49548812e-03,-6.75877102e-04,-9.08084646e-04,
  1.34920152e-05,-5.81490344e-05,-1.02187290e-04,-8.16967391e-06,
 -7.92109983e-05,-1.11119390e-04,-5.61582087e-05, 1.67925171e-04,
 -3.39814453e-02,-2.70354910e-02,-1.20871852e+00, 1.85464109e-03,
 -2.63661361e-02, 4.07413521e-04]


--- Step 1398 ---
qpos:
[ 3.29162060e-03,-3.23371488e-03, 1.19276314e-02, 4.17808158e-02,
  3.85466928e-03, 7.23721481e-01,-2.79133732e-02, 6.98811888e-01,
  5.83427008e-03, 1.64626996e-02,-9.27973204e-03, 2.60022501e-02,
  1.29967174e+00, 4.26642290e-05, 1.02643668e+00, 6.35341879e-02,
  1.69315876e-02,-3.29856192e-02, 8.37638250e-02, 6.76148679e-01,
 -3.06904094e-01,-6.65261587e-01,-7.78451137e-02]

qacc:
[   0.37961186,   0.6812183 ,  -3.48398636,   6.56703163,  -0.4401916 ,
  -39.57809143, 124.01910616,-218.1542507 ,  -1.76584506,   3.07081971,
  -12.91855836,  19.78824792,   0.6092308 ,  -1.82840573,   2.41036831,
   -8.55200321,   0.84471713,  -0.64038729,  -6.02827373,  18.60166378,
   33.03308197, -55.11200487]

qfrc_actuator:
[-1.04467322e-05, 4.16612688e-05, 1.12253197e-04, 5.88630873e-05,
  1.61593046e-03, 6.76858455e-02, 7.77709036e-03, 1.08244269e-01,
 -4.88389763e-05, 4.91017227e-04,-4.47693543e-05, 2.93845373e-05,
  5.12922330e-03,-2.43489741e-03, 0.00000000e+00,-2.61634203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.73607217,  3.8392661 , -7.73607217,  8.56879776,
       -0.13614439,  3.8392661 , -0.13614439,  8.36203443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032327427521666174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57573006e-14, -2.57573006e-14,  1.00000000e+00,  6.63438534e-28,
        1.00000000e+00,  2.57573006e-14, -1.00000000e+00,  0.00000000e+00,
        2.57573006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03402594,  0.0139885 ,  0.06175645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23535272e-06,-3.58919987e-05,-2.22102613e-05, 5.08179761e-06,
 -6.82692156e-05,-2.57686079e-03,-6.57818553e-04,-5.67191083e-04,
 -1.02920803e-05,-8.46970999e-05,-8.17171604e-05, 7.64982667e-06,
 -8.98852935e-05,-1.00947809e-04,-7.79080391e-06,-4.40931771e-05,
 -3.50255866e-02,-2.70378890e-02,-1.20860404e+00, 1.63193083e-03,
 -2.63754522e-02, 4.35626529e-04]


--- Step 1399 ---
qpos:
[ 3.29145917e-03,-3.23353973e-03, 1.19276527e-02, 4.17805967e-02,
  3.88692462e-03, 7.24597279e-01,-2.79116441e-02, 7.00928009e-01,
  5.83321519e-03, 1.64641748e-02,-9.28173089e-03, 2.60020582e-02,
  1.29985294e+00, 2.44805760e-05, 1.02665916e+00, 6.35294447e-02,
  1.71264497e-02,-3.28576517e-02, 8.37774234e-02, 6.78566563e-01,
 -3.10593642e-01,-6.61555692e-01,-7.36415383e-02]

qacc:
[ 2.41582553e-01,-2.18285126e-01, 3.56653210e-01, 6.22704102e-01,
 -3.44692432e-01,-3.54853274e+01, 1.06430108e+02,-1.81113939e+02,
 -7.11574359e+00,-5.22878329e-02, 6.65551265e-02,-2.74321846e+00,
  4.32330957e-01,-1.44725796e+00,-2.86903700e+00, 9.40568895e+00,
  8.19447508e-01,-6.42971716e-01,-6.14228050e+00, 1.92209042e+01,
  3.19268744e+01,-5.27306686e+01]

qfrc_actuator:
[-9.10843293e-06, 5.78888291e-05, 1.25051342e-04, 6.38910505e-05,
  1.59154619e-03, 6.67601049e-02, 7.73463674e-03, 1.07884761e-01,
 -9.05309469e-05, 4.72072835e-04,-5.98081631e-05, 1.97608385e-05,
  5.10638175e-03,-2.47953368e-03, 0.00000000e+00,-2.57027565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.2198434 ,  4.73926557, -7.2198434 ,  8.16032866,
       -0.72519633,  4.73926557, -0.72519633,  7.53159247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030201536684681812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83802407e-14, -2.75703610e-14,  1.00000000e+00,  5.06749870e-28,
        1.00000000e+00,  2.75703610e-14, -1.00000000e+00,  0.00000000e+00,
        1.83802407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03432371,  0.01430311,  0.06177183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38941621e-06,-8.21998543e-06, 2.82312365e-06, 2.82101530e-06,
 -5.39246374e-05,-2.53571729e-03,-6.63164751e-04,-4.86428653e-04,
 -4.20088352e-05,-8.29181293e-05,-4.23393107e-05,-1.59325169e-05,
 -9.79654110e-05,-8.83381810e-05,-1.29524759e-05, 4.15920324e-05,
 -3.60439569e-02,-2.70023480e-02,-1.20847934e+00, 1.40464691e-03,
 -2.63829915e-02, 4.63813496e-04]


--- Step 1400 ---
qpos:
[ 3.29131494e-03,-3.23332682e-03, 1.19277719e-02, 4.17800763e-02,
  3.91901481e-03, 7.25455083e-01,-2.79113616e-02, 7.03036302e-01,
  5.83201352e-03, 1.64650454e-02,-9.28336229e-03, 2.60017071e-02,
  1.30003342e+00, 6.35364760e-06, 1.02688104e+00, 6.35292788e-02,
  1.73244837e-02,-3.27322775e-02, 8.37661107e-02, 6.80996296e-01,
 -3.14168849e-01,-6.57808697e-01,-6.94960187e-02]

qacc:
[ 1.53155983e-01,-8.45122833e-01, 4.35578321e+00,-9.75189159e+00,
 -8.74213421e-02,-3.38558506e+01, 1.04994469e+02,-1.87939929e+02,
 -1.25841624e+00,-2.15097047e+00, 7.18570406e+00,-1.00848522e+01,
 -3.04419597e-01, 2.25168924e-01,-1.46918769e+01, 5.01459798e+01,
  7.92990827e-01,-6.48309981e-01,-6.22775502e+00, 1.99179437e+01,
  3.10899797e+01,-5.07013369e+01]

qfrc_actuator:
[-8.25711774e-06, 6.76072372e-05, 1.32672787e-04, 4.92065756e-05,
  1.59988363e-03, 6.59903139e-02, 7.70920210e-03, 1.07501575e-01,
 -9.68822049e-05, 4.60441395e-04,-3.22932830e-05, 1.41906846e-05,
  5.08617700e-03,-2.46299700e-03, 0.00000000e+00,-2.32819702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.98917917, -7.04945871,  4.98917917, 41.3174482 ,
       23.1296888 , -7.04945871, 23.1296888 , 25.00615403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028142518765807145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86250586e-15, -4.93125293e-15,  1.00000000e+00,  4.86345109e-29,
        1.00000000e+00,  4.93125293e-15, -1.00000000e+00,  0.00000000e+00,
        9.86250586e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03461207,  0.01460625,  0.06178667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.87257525e-07, 5.82064464e-06, 6.36721092e-06,-1.48839519e-05,
 -1.50875216e-05,-2.35437092e-03,-6.35634808e-04,-5.06905731e-04,
 -7.57947554e-06,-6.74759251e-05, 4.62789707e-06,-1.08954614e-05,
 -9.68217683e-05,-2.62167030e-05,-5.25469908e-06, 2.41847261e-04,
 -3.70477015e-02,-2.69349950e-02,-1.20834666e+00, 1.17475637e-03,
 -2.63893254e-02, 4.92035754e-04]


--- Step 1401 ---
qpos:
[ 3.29152696e-03,-3.23311977e-03, 1.19282724e-02, 4.17793697e-02,
  3.95094644e-03, 7.26295200e-01,-2.79121166e-02, 7.05135944e-01,
  5.83143406e-03, 1.64658004e-02,-9.28492182e-03, 2.60019391e-02,
  1.30021292e+00,-1.02539180e-05, 1.02710303e+00, 6.35303100e-02,
  1.75255795e-02,-3.26095250e-02, 8.37296397e-02, 6.83438628e-01,
 -3.17631696e-01,-6.54021288e-01,-6.54056751e-02]

qacc:
[ 3.13888165e+00,-1.46378944e+00, 5.98260059e+00,-9.79889456e+00,
 -8.31503933e-02,-3.60425577e+01, 1.15069530e+02,-2.08416153e+02,
  5.43093885e+00, 8.35874658e-01,-5.68191362e+00, 1.57617576e+01,
 -1.86686534e+00, 3.52216580e+00,-3.27869959e+00, 1.20981863e+01,
  7.65455117e-01,-6.55435742e-01,-6.28958441e+00, 2.06853358e+01,
  3.04763793e+01,-4.89575151e+01]

qfrc_actuator:
[ 1.00536823e-05, 7.33304641e-05, 1.54891838e-04, 4.07847933e-05,
  1.59214912e-03, 6.51606091e-02, 7.67694366e-03, 1.07072137e-01,
 -6.46189614e-05, 4.88982298e-04,-1.53522684e-05, 4.65896961e-05,
  5.07824779e-03,-2.35709509e-03, 0.00000000e+00,-2.27439304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.39794656,  5.80112546, -6.39794656,  6.88289721,
       -1.93386345,  5.80112546, -1.93386345,  6.50354387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00261574163577543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.1221955e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.1221955e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03489025,  0.01489737,  0.06180093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83377726e-05, 9.64857353e-06, 2.36879233e-05,-8.24145571e-06,
 -1.45070902e-05,-2.30803743e-03,-6.03186405e-04,-5.46092206e-04,
  3.20237068e-05,-8.72112331e-06, 3.20471282e-06, 2.94580307e-05,
 -6.87837607e-05, 7.74531022e-05, 2.07945671e-05, 6.57813358e-05,
 -3.80465639e-02,-2.68402521e-02,-1.20820749e+00, 9.43810776e-04,
 -2.63949354e-02, 5.20353612e-04]


--- Step 1402 ---
qpos:
[ 3.29230168e-03,-3.23286512e-03, 1.19290278e-02, 4.17785693e-02,
  3.98241100e-03, 7.27117731e-01,-2.79135087e-02, 7.07226128e-01,
  5.83090088e-03, 1.64662424e-02,-9.28536322e-03, 2.60025089e-02,
  1.30039100e+00,-2.24358877e-05, 1.02732524e+00, 6.35309993e-02,
  1.77296229e-02,-3.24894266e-02, 8.36678411e-02, 6.85894492e-01,
 -3.20983702e-01,-6.50193959e-01,-6.13679443e-02]

qacc:
[   4.94613833,  -0.85272462,   3.51046721,  -5.55807377,  -0.26181338,
  -38.4475068 , 125.4714284 ,-228.80392006,   0.44421369,  -2.84396592,
    8.11169084,  -3.81830973,  -4.58775942,   9.4960872 ,   1.74039883,
   -4.69748238,   0.73687409,  -0.66350108,  -6.33191705,  21.51556582,
   30.04679342, -47.44367675]

qfrc_actuator:
[ 3.84942347e-05, 7.66850985e-05, 1.67794303e-04, 3.61261252e-05,
  1.55707826e-03, 6.43195989e-02, 7.65851311e-03, 1.06601150e-01,
 -6.31551815e-05, 4.88121555e-04, 4.86509247e-05, 6.55865382e-05,
  5.08838344e-03,-2.07479096e-03, 0.00000000e+00,-2.29649923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.12419115,  6.08942194, -6.12419115,  8.02056793,
       -0.61931176,  6.08942194, -0.61931176,  8.01351575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002425132185651019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14449743e-14,  1.71674615e-14,  1.00000000e+00, -1.96481156e-28,
        1.00000000e+00, -1.71674615e-14, -1.00000000e+00,  0.00000000e+00,
        1.14449743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03515765,  0.01517615,  0.06181461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89646075e-05, 1.32838882e-05, 1.75201858e-05,-3.58693071e-06,
 -4.15945732e-05,-2.28787999e-03,-5.77197314e-04,-5.85670864e-04,
  2.37822906e-06,-3.81355190e-06, 6.36227356e-05, 1.93071239e-05,
 -1.05441556e-05, 2.84349339e-04, 1.05736266e-05,-1.71887250e-05,
 -3.90490717e-02,-2.67212224e-02,-1.20806265e+00, 7.13033428e-04,
 -2.64002195e-02, 5.48825862e-04]


--- Step 1403 ---
qpos:
[ 3.29341138e-03,-3.23247335e-03, 1.19296314e-02, 4.17777361e-02,
  4.01289164e-03, 7.27922914e-01,-2.79152551e-02, 7.09309186e-01,
  5.83073471e-03, 1.64662282e-02,-9.28457800e-03, 2.60026217e-02,
  1.30056792e+00,-2.91529141e-05, 1.02754770e+00, 6.35294217e-02,
  1.79364951e-02,-3.23720152e-02, 8.35806093e-02, 6.88364970e-01,
 -3.24226002e-01,-6.46327041e-01,-5.73805141e-02]

qacc:
[   2.93294535,   0.53237023,  -1.50685056,   1.09252155,  -0.5616418 ,
  -34.69140662, 106.74998115,-180.67951014,   3.24643771,  -4.97828182,
   18.79385173, -28.31531431,  -5.30131381,  11.40552807,   7.71675484,
  -25.30166418,   0.70722537,  -0.67176498,  -6.35827054,  22.4012167 ,
   29.76772132, -46.11352822]

qfrc_actuator:
[ 5.49110487e-05, 7.85674558e-05, 1.57328071e-04, 3.37073903e-05,
  1.48822491e-03, 6.35142840e-02, 7.66614650e-03, 1.06251522e-01,
 -4.43387899e-05, 4.52110862e-04, 1.04311162e-04, 4.10487320e-05,
  5.09878291e-03,-1.76116999e-03, 0.00000000e+00,-2.41634933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.85760629,  6.3462765 , -5.85760629,  9.17199373,
        0.49438599,  6.3462765 ,  0.49438599,  9.09268137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022427703538987487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47511526e-14,  1.23755763e-14,  1.00000000e+00, -3.06309777e-28,
        1.00000000e+00, -1.23755763e-14, -1.00000000e+00,  0.00000000e+00,
        2.47511526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03541388,  0.01544244,  0.06182767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72444913e-05, 1.27673211e-05,-5.70056445e-06,-1.31511140e-06,
 -8.70198826e-05,-2.23659874e-03,-5.45003644e-04,-4.63494891e-04,
  1.88809254e-05,-2.41866778e-05, 6.33751044e-05,-2.21255507e-05,
  7.10451811e-05, 3.77139974e-04,-3.87932962e-06,-1.20963323e-04,
 -4.00626989e-02,-2.65799844e-02,-1.20791240e+00, 4.83387457e-04,
 -2.64054997e-02, 5.77509455e-04]


--- Step 1404 ---
qpos:
[ 3.29401973e-03,-3.23220160e-03, 1.19305369e-02, 4.17761917e-02,
  4.04214621e-03, 7.28710221e-01,-2.79168637e-02, 7.11390840e-01,
  5.83079513e-03, 1.64661965e-02,-9.28323317e-03, 2.60024297e-02,
  1.30074421e+00,-3.08684811e-05, 1.02776986e+00, 6.35284246e-02,
  1.81460732e-02,-3.22573221e-02, 8.34678911e-02, 6.90851263e-01,
 -3.27359424e-01,-6.42420711e-01,-5.34412704e-02]

qacc:
[ -4.38934243, -2.4601664 , 11.55605017,-24.27183722, -0.70159321,
 -26.40385013, 62.22243462,-63.44310607,  1.99380204, -2.2184875 ,
   9.15661066,-15.30564415, -4.35056807,  9.83411519, -1.79282592,
   6.57293639,  0.67644491, -0.67958271, -6.37162414, 23.33509311,
  29.61062452,-44.92855143]

qfrc_actuator:
[ 2.86110109e-05, 6.17052653e-05, 1.68650596e-04,-2.89617384e-06,
  1.41755835e-03, 6.26484200e-02, 7.68939034e-03, 1.06189193e-01,
 -3.32026812e-05, 4.66289125e-04, 1.36657236e-04, 2.65551326e-05,
  5.09338975e-03,-1.50257904e-03, 0.00000000e+00,-2.37975240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.59663657,  6.57757068, -5.59663657, 10.29257805,
        1.40921787,  6.57757068,  1.40921787,  9.83542035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002068868226440347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68316515e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.68316515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0356587 ,  0.01569627,  0.06184013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58058068e-05,-1.09733838e-05, 1.32004169e-05,-3.62808270e-05,
 -1.08385763e-04,-2.25719393e-03,-5.11154643e-04,-1.70565759e-04,
  1.16680668e-05, 1.27928974e-05, 3.43801967e-05,-1.37706504e-05,
  1.22920425e-04, 3.62824648e-04,-2.14851345e-05, 2.79671940e-05,
 -4.10940065e-02,-2.64178192e-02,-1.20775650e+00, 2.55629517e-04,
 -2.64110290e-02, 6.06459289e-04]


--- Step 1405 ---
qpos:
[ 3.29430833e-03,-3.23220934e-03, 1.19322188e-02, 4.17742083e-02,
  4.07067055e-03, 7.29480078e-01,-2.79185180e-02, 7.13471029e-01,
  5.83064370e-03, 1.64663618e-02,-9.28128792e-03, 2.60016891e-02,
  1.30092008e+00,-2.78104730e-05, 1.02799174e+00, 6.35288348e-02,
  1.83582290e-02,-3.21453746e-02, 8.33296749e-02, 6.93354656e-01,
 -3.30384541e-01,-6.38475016e-01,-4.95482530e-02]

qacc:
[ -2.77744259, -3.43930418, 13.58686412,-22.22613303, -0.414158  ,
 -25.44920956, 59.89829243,-62.28917963, -1.83257362, -2.54335455,
  11.76876334,-22.37434684, -3.95221173,  9.15495243, -4.29417774,
  15.28731857,  0.64443839, -0.68639593, -6.37449777, 24.31031018,
  29.55122835,-43.85677531]

qfrc_actuator:
[ 1.28884666e-05, 5.15512562e-05, 2.10406024e-04,-2.38137857e-05,
  1.39969750e-03, 6.18247054e-02, 7.70389730e-03, 1.06118845e-01,
 -4.44337756e-05, 4.92571933e-04, 1.72943823e-04, 3.66018956e-07,
  5.08384197e-03,-1.26097596e-03, 0.00000000e+00,-2.30448587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.33958043,  6.78790525, -5.33958043, 11.35273739,
        2.1367853 ,  6.78790525,  2.1367853 , 10.31722637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019035266206714058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.29056671e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.29056671e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03589199,  0.01593777,  0.06185199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64619335e-05,-1.51457546e-05, 3.98493715e-05,-2.16353710e-05,
 -6.48252458e-05,-2.20857398e-03,-5.10449144e-04,-1.71758448e-04,
 -1.08917225e-05, 3.99383637e-05, 4.26719700e-05,-2.47222704e-05,
  1.44930021e-04, 3.54617067e-04,-1.06367899e-05, 7.31924878e-05,
 -4.21487643e-02,-2.62353885e-02,-1.20759429e+00, 3.03524956e-05,
 -2.64169984e-02, 6.35728076e-04]


--- Step 1406 ---
qpos:
[ 3.29509585e-03,-3.23241897e-03, 1.19343381e-02, 4.17730389e-02,
  4.09863407e-03, 7.30233565e-01,-2.79202887e-02, 7.15542688e-01,
  5.83035891e-03, 1.64668913e-02,-9.27923842e-03, 2.60003077e-02,
  1.30109628e+00,-2.23161928e-05, 1.02821379e+00, 6.35277680e-02,
  1.85728291e-02,-3.20361941e-02, 8.31659825e-02, 6.95876498e-01,
 -3.33301723e-01,-6.34489878e-01,-4.56996189e-02]

qacc:
[ 4.39677289e+00, 1.79070057e-01,-4.47384080e+00, 1.80212957e+01,
 -3.15327831e-01,-3.65613686e+01, 1.18336691e+02,-2.10237947e+02,
 -1.16637639e+00,-1.12702124e+00, 7.42666175e+00,-1.89570240e+01,
 -1.74732557e+00, 4.46715670e+00, 4.87791813e+00,-1.63015623e+01,
  6.11090230e-01,-6.91723570e-01,-6.36901929e+00, 2.53203547e+01,
  2.95689221e+01,-4.28717385e+01]

qfrc_actuator:
[ 3.90366079e-05, 4.56296449e-05, 2.34320724e-04, 1.79502216e-05,
  1.37800940e-03, 6.10685082e-02, 7.71329068e-03, 1.05689255e-01,
 -5.09847461e-05, 5.08157251e-04, 1.75824790e-04,-3.24746908e-05,
  5.06647832e-03,-1.17335936e-03, 0.00000000e+00,-2.38460279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.08481161,  6.98079277, -5.08481161, 12.33376098,
        2.69318537,  6.98079277,  2.69318537, 10.59808069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017467549899188098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76693797e-14, -3.97244831e-14,  1.00000000e+00,  1.89364147e-27,
        1.00000000e+00,  3.97244831e-14, -1.00000000e+00,  0.00000000e+00,
        4.76693797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03611372,  0.01616715,  0.06186325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56719386e-05,-7.10846515e-06, 2.49310336e-05, 4.20743028e-05,
 -4.99185728e-05,-2.11336243e-03,-5.05516561e-04,-5.29145796e-04,
 -6.84758640e-06, 4.56427663e-05, 1.55085833e-05,-3.01364587e-05,
  1.47882725e-04, 2.03737333e-04,-6.52433537e-07,-7.83019145e-05,
 -4.32320564e-02,-2.60328752e-02,-1.20742475e+00,-1.91980245e-04,
 -2.64235440e-02, 6.65366263e-04]


--- Step 1407 ---
qpos:
[ 3.29619023e-03,-3.23241873e-03, 1.19360302e-02, 4.17723859e-02,
  4.12588372e-03, 7.30971080e-01,-2.79221185e-02, 7.17602682e-01,
  5.82999781e-03, 1.64678562e-02,-9.27775500e-03, 2.59985813e-02,
  1.30127315e+00,-1.64156610e-05, 1.02843578e+00, 6.35257439e-02,
  1.87897343e-02,-3.19297941e-02, 8.29768623e-02, 6.98418173e-01,
 -3.36111176e-01,-6.30465112e-01,-4.18936134e-02]

qacc:
[ 2.67669111e+00, 2.53116163e+00,-1.08091885e+01, 2.02819856e+01,
 -4.03226428e-01,-4.18319139e+01, 1.45181781e+02,-2.76495514e+02,
 -6.90748894e-01, 1.44872168e+00,-2.87160309e+00,-2.51734934e+00,
  1.42882077e-01, 3.20522507e-01, 2.81262559e+00,-9.95183206e+00,
  5.76270566e-01,-6.95153419e-01,-6.35698194e+00, 2.63591243e+01,
  2.96462421e+01,-4.19516127e+01]

qfrc_actuator:
[ 5.41111336e-05, 6.00342915e-05, 2.12054061e-04, 4.29880018e-05,
  1.33639497e-03, 6.03054645e-02, 7.71970485e-03, 1.05105029e-01,
 -5.47213983e-05, 5.17078125e-04, 1.41165754e-04,-5.12420250e-05,
  5.04437343e-03,-1.19545940e-03, 0.00000000e+00,-2.43136004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.83091144,  7.15884568, -4.83091144, 13.22449338,
        3.09614838,  7.15884568,  3.09614838, 10.72569749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015984882923840288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73636402e-14,  3.47272805e-14,  1.00000000e+00,  6.02992004e-28,
        1.00000000e+00, -3.47272805e-14, -1.00000000e+00,  0.00000000e+00,
       -1.73636402e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03632396,  0.01638471,  0.06187392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57992450e-05, 1.73733373e-05,-1.92298868e-05, 2.64121477e-05,
 -6.34229156e-05,-2.07859439e-03,-4.99935156e-04,-6.87886928e-04,
 -3.91289083e-06, 3.63132789e-05,-2.43905255e-05,-1.68636842e-05,
  1.09157279e-04, 5.99834904e-05,-1.32298240e-05,-5.22166367e-05,
 -4.43483720e-02,-2.58100960e-02,-1.20724653e+00,-4.11007219e-04,
 -2.64307536e-02, 6.95421984e-04]


--- Step 1408 ---
qpos:
[ 3.29711206e-03,-3.23224802e-03, 1.19374434e-02, 4.17720331e-02,
  4.15282645e-03, 7.31692611e-01,-2.79238260e-02, 7.19653428e-01,
  5.82959511e-03, 1.64689616e-02,-9.27744450e-03, 2.59970700e-02,
  1.30145028e+00,-9.88918471e-06, 1.02865754e+00, 6.35241537e-02,
  1.90087910e-02,-3.18262565e-02, 8.27625437e-02, 7.00981862e-01,
 -3.38810966e-01,-6.26400555e-01,-3.81300747e-02]

qacc:
[-1.52611042e+00, 1.62664386e+00,-6.73334391e+00, 1.22405638e+01,
 -1.67991166e-01,-3.79815176e+01, 1.25563688e+02,-2.26377278e+02,
 -4.01812112e-01, 3.90745130e+00,-1.45694453e+01, 2.00615521e+01,
 -2.58719574e-01, 9.22991876e-01,-1.62039351e+00, 5.24576116e+00,
  5.37852609e-01,-7.15599378e-01,-6.29959395e+00, 2.77750065e+01,
  3.02686985e+01,-4.22519453e+01]

qfrc_actuator:
[ 4.47813399e-05, 6.85510647e-05, 1.98273592e-04, 5.79620259e-05,
  1.33646005e-03, 5.95444632e-02, 7.74207329e-03, 1.04647600e-01,
 -5.67731721e-05, 4.86278206e-04, 6.68587155e-05,-4.38522582e-05,
  5.03003279e-03,-1.17581812e-03, 0.00000000e+00,-2.40477242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.31305723,  7.48226665, -4.31305723, 19.29253265,
        6.14261279,  7.48226665,  6.14261279, 12.17719447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014582180738613574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61355962e-14, -1.23177737e-06,  1.00000000e+00, -9.37821044e-20,
        1.00000000e+00,  1.23177737e-06, -1.00000000e+00, -1.20370622e-35,
       -7.61355962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03649042,  0.01686205,  0.06188405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.87563849e-06, 1.53750302e-05,-1.16665975e-05, 1.55637642e-05,
 -2.75874769e-05,-2.06126751e-03,-4.81144945e-04,-5.63012306e-04,
 -2.14535153e-06,-1.63051339e-05,-7.04187267e-05, 7.77229453e-06,
  6.11086296e-05, 5.94823307e-05,-1.48476294e-05, 2.12403885e-05,
 -4.55016840e-02,-2.55665924e-02,-1.20705798e+00,-6.26446380e-04,
 -2.64386731e-02, 7.25941028e-04]


--- Step 1409 ---
qpos:
[ 3.29791517e-03,-3.23211172e-03, 1.19387624e-02, 4.17718761e-02,
  4.17971852e-03, 7.32398305e-01,-2.79248036e-02, 7.21693019e-01,
  5.82917117e-03, 1.64699803e-02,-9.27826224e-03, 2.59960318e-02,
  1.30162743e+00,-2.67399167e-06, 1.02887900e+00, 6.35242007e-02,
  1.92298406e-02,-3.17256971e-02, 8.25233452e-02, 7.03570133e-01,
 -3.41397936e-01,-6.22296138e-01,-3.44097896e-02]

qacc:
[-1.04433224e+00, 6.23687390e-01,-3.11226572e+00, 6.67317755e+00,
 -1.91857182e-02,-4.28565981e+01, 1.47250722e+02,-2.71576235e+02,
 -2.18673416e-01, 4.01306856e+00,-1.64716265e+01, 2.65254028e+01,
 -4.07069676e-01, 1.10569666e+00,-5.32632848e+00, 1.81136054e+01,
  4.98247847e-01,-7.44539695e-01,-6.21997588e+00, 2.93995785e+01,
  3.11480921e+01,-4.32743107e+01]

qfrc_actuator:
[ 3.89182683e-05, 5.57379313e-05, 1.89607368e-04, 6.69075242e-05,
  1.34365879e-03, 5.87910884e-02, 7.79160930e-03, 1.04090972e-01,
 -5.78181862e-05, 4.67271771e-04, 5.10141467e-06,-2.11903304e-05,
  5.01503834e-03,-1.14926688e-03, 0.00000000e+00,-2.31743362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.03467942,  7.63597661, -4.03467942, 22.82550962,
        7.49722769,  7.63597661,  7.49722769, 12.59773123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001331413175876095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16934069e-14, -4.16934069e-14,  1.00000000e+00,  1.73834018e-27,
        1.00000000e+00,  4.16934069e-14, -1.00000000e+00,  0.00000000e+00,
        4.16934069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03661701,  0.01748595,  0.06189323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11261700e-06,-5.98644435e-06,-6.40717091e-06, 9.50080744e-06,
 -4.99176414e-06,-2.03522346e-03,-4.44083745e-04,-6.58169536e-04,
 -1.10616448e-06,-4.23795625e-05,-7.35434876e-05, 1.96781112e-05,
  3.32435867e-05, 5.48903668e-05,-7.49827622e-06, 8.58839830e-05,
 -4.67119138e-02,-2.52914992e-02,-1.20686497e+00,-8.38847201e-04,
 -2.64481841e-02, 7.57185337e-04]


--- Step 1410 ---
qpos:
[ 3.29864165e-03,-3.23202464e-03, 1.19400226e-02, 4.17711366e-02,
  4.20631484e-03, 7.33089559e-01,-2.79256646e-02, 7.23710974e-01,
  5.82908308e-03, 1.64704983e-02,-9.27909292e-03, 2.59945588e-02,
  1.30180473e+00, 4.43146430e-06, 1.02910038e+00, 6.35252671e-02,
  1.94527255e-02,-3.16280802e-02, 8.22592757e-02, 7.06184045e-01,
 -3.43872500e-01,-6.18151610e-01,-3.07308634e-02]

qacc:
[-6.73829341e-01,-1.09999875e+00, 6.28682685e+00,-1.62370938e+01,
 -1.60185027e-01,-5.81904011e+01, 2.29355761e+02,-4.85542395e+02,
  2.93686988e+00,-1.52670140e+00, 6.30924733e+00,-1.34352680e+01,
  2.63526037e-01,-4.19049114e-01,-3.24246903e+00, 1.10858697e+01,
  4.58816009e-01,-7.35635648e-01,-6.21773439e+00, 3.03607444e+01,
  3.10822933e+01,-4.22367649e+01]

qfrc_actuator:
[ 3.51504194e-05, 4.80161723e-05, 1.83936569e-04, 3.67148349e-05,
  1.31949898e-03, 5.81195450e-02, 7.80353136e-03, 1.03001110e-01,
 -4.05102445e-05, 4.37759755e-04, 4.55633601e-06,-4.29670449e-05,
  4.99966270e-03,-1.17214071e-03, 0.00000000e+00,-2.26603144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.2367306 ,  7.52574851, -4.2367306 , 12.78704765,
        2.3366885 ,  7.52574851,  2.3366885 ,  9.95183673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012120380032962508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57998438e-14,  4.57998438e-14,  1.00000000e+00, -2.09762569e-27,
        1.00000000e+00, -4.57998438e-14, -1.00000000e+00,  0.00000000e+00,
        4.57998438e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03678622,  0.01766686,  0.06190191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94594005e-06,-1.20105270e-05,-7.38496827e-06,-3.04886792e-05,
 -2.65827085e-05,-1.93436506e-03,-4.74893625e-04,-1.19127154e-03,
  1.72657775e-05,-6.75858020e-05,-1.76771392e-05,-2.57527360e-05,
  1.62164878e-05,-2.27831476e-06, 2.72687148e-06, 5.44236943e-05,
 -4.79893024e-02,-2.49744797e-02,-1.20666923e+00,-1.04924526e-03,
 -2.64592850e-02, 7.89326696e-04]


--- Step 1411 ---
qpos:
[ 3.29897235e-03,-3.23208545e-03, 1.19415197e-02, 4.17700333e-02,
  4.23250094e-03, 7.33766627e-01,-2.79268742e-02, 7.25712925e-01,
  5.82920312e-03, 1.64704232e-02,-9.27933948e-03, 2.59928064e-02,
  1.30198220e+00, 1.08208845e-05, 1.02932195e+00, 6.35249240e-02,
  1.96381384e-02,-3.15190540e-02, 8.20893273e-02, 7.08275774e-01,
 -3.46223197e-01,-6.14593626e-01,-2.73788485e-02]

qacc:
[-3.46411914e+00,-1.60084637e+00, 6.96993186e+00,-1.35456846e+01,
 -2.27424280e-01,-4.64524120e+01, 1.75045830e+02,-3.61159215e+02,
  1.84333399e+00,-2.99489719e+00, 1.07144687e+01,-1.60391013e+01,
  5.97348423e-01,-1.33701941e+00, 4.50619958e+00,-1.54490330e+01,
 -9.36798340e+00, 2.85234842e+00, 2.35302601e+01,-1.38075230e+02,
 -3.10390872e+02,-2.62591851e+02]

qfrc_actuator:
[ 1.48924554e-05, 4.33778246e-05, 1.97817925e-04, 1.92445279e-05,
  1.29454200e-03, 5.74665344e-02, 7.81095905e-03, 1.02209840e-01,
 -3.02917553e-05, 4.20145885e-04, 4.00745934e-05,-5.51829534e-05,
  4.98404650e-03,-1.22414661e-03, 0.00000000e+00,-2.34274415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.05706448, -7.00091963, -5.05706448, 18.44331599,
       -7.08398225, -7.00091963, -7.08398225, 13.75342781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001870142453680827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89793650e-01,  3.89793650e-01,  8.34339152e-01,  1.64989383e-01,
        9.20902226e-01, -3.53153781e-01, -9.06001884e-01, -2.77555756e-17,
       -4.23273654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222064, -0.04776338,  0.06187483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03744071e-05,-1.42059493e-05, 9.42124394e-06,-1.88351676e-05,
 -3.67062731e-05,-1.88450680e-03,-4.79474533e-04,-9.01586846e-04,
  1.06921507e-05,-6.01633467e-05, 1.84952481e-05,-1.62218348e-05,
 -7.05352527e-06,-4.86472685e-05, 3.39163889e-06,-7.42655145e-05,
 -4.93036070e-02,-2.46312854e-02,-1.20645451e+00,-1.25658044e-03,
 -2.64699857e-02, 8.21981590e-04]


--- Step 1412 ---
qpos:
[ 3.29940228e-03,-3.23192929e-03, 1.19430069e-02, 4.17686989e-02,
  4.25822471e-03, 7.34429018e-01,-2.79281537e-02, 7.27708820e-01,
  5.82909986e-03, 1.64700124e-02,-9.27955393e-03, 2.59912714e-02,
  1.30215949e+00, 1.69456075e-05, 1.02954365e+00, 6.35226637e-02,
  1.97996573e-02,-3.14061531e-02, 8.19943814e-02, 7.09923976e-01,
 -3.48497917e-01,-6.11527961e-01,-2.43043695e-02]

qacc:
[ 8.66872261e-01,-1.63699057e-01, 1.97189310e+00,-6.11230644e+00,
 -2.58218877e-01,-2.99733758e+01, 9.20222492e+01,-1.53722710e+02,
 -1.94068110e+00,-8.24344886e-02,-1.26099305e+00, 5.21067104e+00,
 -4.81650679e-02,-1.79076816e-01, 5.94847108e+00,-2.05798603e+01,
 -5.97352266e+00, 9.68634445e-01, 1.87506214e+01,-1.28420554e+02,
 -2.61561380e+02,-2.12935471e+02]

qfrc_actuator:
[ 2.05955051e-05, 7.62131307e-05, 2.05405744e-04, 9.42188342e-06,
  1.26933952e-03, 5.67769074e-02, 7.83386127e-03, 1.01920295e-01,
 -4.20861921e-05, 4.09963365e-04, 4.33810604e-05,-4.38913127e-05,
  4.96295290e-03,-1.23972366e-03, 0.00000000e+00,-2.44104677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.0732126 , -4.95544553, -7.0732126 ,  6.14226416,
        3.55998179, -4.95544553,  3.55998179,  3.55498237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002202233703291062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.26033743e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.26033743e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07042884, -0.04710777,  0.06182735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11702774e-06, 2.60095096e-05, 5.14831592e-06,-1.04717700e-05,
 -4.13450657e-05,-1.88347874e-03,-4.45145526e-04,-3.91824350e-04,
 -1.15098198e-05,-4.06873359e-05,-7.39695441e-06, 9.04184313e-06,
 -3.68787484e-05,-2.82591153e-05,-1.12837226e-05,-1.03094068e-04,
 -3.36368850e-02,-1.90100838e-02,-1.20814849e+00,-4.10243469e-03,
 -2.50865681e-02, 7.43120784e-04]


--- Step 1413 ---
qpos:
[ 3.29955213e-03,-3.23160203e-03, 1.19442717e-02, 4.17676227e-02,
  4.28346403e-03, 7.35077327e-01,-2.79300189e-02, 7.29696021e-01,
  5.82920139e-03, 1.64687231e-02,-9.27949041e-03, 2.59902822e-02,
  1.30233620e+00, 2.37256036e-05, 1.02976513e+00, 6.35202309e-02,
  1.99406746e-02,-3.12899823e-02, 8.19591930e-02, 7.11197792e-01,
 -3.50716333e-01,-6.08880084e-01,-2.14662197e-02]

qacc:
[  -2.46812223,   1.38497599,  -5.69072654,  10.37926515,  -0.2711244 ,
  -32.52599996, 108.64716255,-203.71635498,   1.81004902,  -0.8176031 ,
   -1.08043185,  10.73754547,  -0.95270993,   1.67810204,   0.29309435,
   -1.28663532,  -5.12539427,   0.81751079,  14.93937089,-112.43590365,
 -220.90998788,-178.45455823]

qfrc_actuator:
[ 6.03318590e-06, 7.79690381e-05, 1.91616874e-04, 2.19534258e-05,
  1.24420591e-03, 5.61069805e-02, 7.81265113e-03, 1.01484421e-01,
 -3.12349284e-05, 3.33209151e-04, 4.54314556e-05,-1.88800504e-05,
  4.93859824e-03,-1.19810307e-03, 0.00000000e+00,-2.44471591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.71368792,  3.88404372, -7.71368792,  8.39112953,
       -0.48703349,  3.88404372, -0.48703349,  7.66911801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002685974995957817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.03335197e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.03335197e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06914527, -0.04663537,  0.06179325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44090173e-05, 1.68956460e-05,-8.16163656e-06, 1.36189804e-05,
 -4.33088554e-05,-1.83765577e-03,-4.68650418e-04,-5.25811721e-04,
  1.05052192e-05,-1.00630818e-04,-6.94127569e-06, 2.31929451e-05,
 -5.24750684e-05, 2.67541251e-05,-2.10741257e-05,-1.18882446e-05,
 -2.25848875e-02,-1.45186750e-02,-1.20930835e+00,-6.22509013e-03,
 -2.39858397e-02, 6.91931827e-04]


--- Step 1414 ---
qpos:
[ 3.29918155e-03,-3.23142280e-03, 1.19457652e-02, 4.17670603e-02,
  4.30841281e-03, 7.35711888e-01,-2.79323188e-02, 7.31672142e-01,
  5.82943193e-03, 1.64665892e-02,-9.27883668e-03, 2.59902657e-02,
  1.30251236e+00, 3.12375811e-05, 1.02998605e+00, 6.35210825e-02,
  2.00639820e-02,-3.11710149e-02, 8.19708402e-02, 7.12152614e-01,
 -3.52893069e-01,-6.06589267e-01,-1.88307635e-02]

qacc:
[-4.55778972e+00, 2.33004264e-01,-3.26671829e+00, 1.18836341e+01,
 -1.59120936e-01,-3.67682609e+01, 1.29750053e+02,-2.54429735e+02,
  1.15859743e+00,-7.65867621e-01,-2.99978937e+00, 1.95164038e+01,
 -7.75824772e-01, 1.47194748e+00,-1.06780944e+01, 3.63066574e+01,
 -4.42747050e+00, 6.99138187e-01, 1.17089130e+01,-9.89924561e+01,
 -1.88094482e+02,-1.50806080e+02]

qfrc_actuator:
[-2.03487260e-05, 6.10363852e-05, 2.00723668e-04, 4.75005214e-05,
  1.23707331e-03, 5.54541499e-02, 7.80102246e-03, 1.00930308e-01,
 -2.48876607e-05, 3.05952019e-04, 8.19747694e-05, 3.17001034e-05,
  4.91765484e-03,-1.15848324e-03, 0.00000000e+00,-2.26831458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.67159515,  3.96653561, -7.67159515,  8.61225662,
       -0.04662489,  3.96653561, -0.04662489,  8.5461874 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030397028406698307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82620322e-14,  1.82620322e-14,  1.00000000e+00, -3.33501821e-28,
        1.00000000e+00, -1.82620322e-14, -1.00000000e+00,  0.00000000e+00,
        1.82620322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.068249  , -0.04630478,  0.06176942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67888003e-05,-8.61678227e-06, 1.20468720e-05, 2.62529416e-05,
 -2.61659298e-05,-1.80410378e-03,-4.56681968e-04,-6.45996182e-04,
  6.60841075e-06,-8.39182709e-05, 1.57203803e-05, 4.64834201e-05,
 -4.48845105e-05, 3.37461514e-05,-1.49654660e-05, 1.72139915e-04,
 -1.48459283e-02,-1.08459207e-02,-1.21022054e+00,-7.84414885e-03,
 -2.31290021e-02, 6.62325297e-04]


--- Step 1415 ---
qpos:
[ 3.29953220e-03,-3.23122318e-03, 1.19473148e-02, 4.17667988e-02,
  4.33307646e-03, 7.36333214e-01,-2.79348128e-02, 7.33636519e-01,
  5.82939125e-03, 1.64644166e-02,-9.27801919e-03, 2.59897441e-02,
  1.30268820e+00, 3.89234384e-05, 1.03020670e+00, 6.35250026e-02,
  2.01718901e-02,-3.10496138e-02, 8.20183771e-02, 7.12833231e-01,
 -3.55039014e-01,-6.04605734e-01,-1.63703944e-02]

qacc:
[ 6.33181152e+00, 4.77559655e-01,-2.95368778e+00, 8.07588486e+00,
 -1.55810897e-01,-3.79293060e+01, 1.36194975e+02,-2.69272705e+02,
 -2.36003486e+00,-1.54372115e+00, 7.57037983e+00,-1.65524122e+01,
 -1.92856089e-01, 2.88953811e-01,-9.63918529e+00, 3.31897625e+01,
 -3.84982034e+00, 6.08412958e-01, 8.97242570e+00,-8.76287309e+01,
 -1.61398442e+02,-1.28485157e+02]

qfrc_actuator:
[ 1.75405060e-05, 6.86465566e-05, 2.05453145e-04, 6.27454003e-05,
  1.22298858e-03, 5.48523819e-02, 7.81297869e-03, 1.00346617e-01,
 -3.90015604e-05, 3.44215992e-04, 1.03285141e-04, 8.21334142e-06,
  4.89877680e-03,-1.15590796e-03, 0.00000000e+00,-2.11152711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.59356167,  4.11395163, -7.59356167,  8.91192683,
        0.50863653,  4.11395163,  0.50863653,  9.57520863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003286706285871105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.6889599e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.6889599e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06765131, -0.04608527,  0.06175354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71196092e-05, 6.37366574e-06, 5.32503107e-06, 1.58024022e-05,
 -2.56812530e-05,-1.73580475e-03,-4.28556504e-04,-6.76538494e-04,
 -1.39623999e-05,-3.35167258e-06, 7.53787609e-06,-2.56313206e-05,
 -3.64064533e-05,-1.49158260e-07, 8.97382559e-06, 1.63709634e-04,
 -9.42011175e-03,-7.79277296e-03,-1.21093501e+00,-9.10165128e-03,
 -2.24513134e-02, 6.47554376e-04]


--- Step 1416 ---
qpos:
[ 3.30102377e-03,-3.23089198e-03, 1.19485880e-02, 4.17667307e-02,
  4.35741148e-03, 7.36941910e-01,-2.79377982e-02, 7.35587875e-01,
  5.82952583e-03, 1.64631052e-02,-9.27768401e-03, 2.59888729e-02,
  1.30286392e+00, 4.60843018e-05, 1.03042775e+00, 6.35274178e-02,
  2.02663187e-02,-3.09260524e-02, 8.20925373e-02, 7.13276130e-01,
 -3.57162297e-01,-6.02888470e-01,-1.40623507e-02]

qacc:
[ 1.00031623e+01, 1.32620397e+00,-5.32596684e+00, 9.05535561e+00,
 -1.81043955e-01,-3.86080737e+01, 1.42815455e+02,-2.92123724e+02,
  1.49861048e+00, 1.76334953e+00,-3.16436116e+00,-2.74567616e+00,
  2.13612421e-01,-7.31076202e-01, 5.10297985e+00,-1.70613238e+01,
 -3.36988291e+00, 5.40106655e-01, 6.65581800e+00,-7.79919154e+01,
 -1.39539965e+02,-1.10356465e+02]

qfrc_actuator:
[ 7.52063197e-05, 7.31205742e-05, 1.89884653e-04, 7.18164843e-05,
  1.20484335e-03, 5.42684839e-02, 7.80351394e-03, 9.96970200e-02,
 -2.95382523e-05, 4.39077095e-04, 9.78934802e-05,-5.36709305e-06,
  4.88113734e-03,-1.19304673e-03, 0.00000000e+00,-2.19839005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.46374495,  4.34503029, -7.46374495,  9.35378548,
        1.23236279,  4.34503029,  1.23236279, 10.75327444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003446331638294886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.61073156e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.61073156e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728563, -0.04595348,  0.06174386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87223113e-05, 9.80206209e-06,-1.30710245e-05, 9.83105040e-06,
 -2.95303571e-05,-1.67498018e-03,-4.33759673e-04,-7.39729289e-04,
  9.05649868e-06, 9.35107382e-05,-6.02488380e-06,-1.39573163e-05,
 -3.80708804e-05,-4.58476416e-05, 1.80403505e-05,-7.75897010e-05,
 -5.62663726e-03,-5.21711000e-03,-1.21149471e+00,-1.00955483e-02,
 -2.19069890e-02, 6.42999711e-04]


--- Step 1417 ---
qpos:
[ 3.30250518e-03,-3.23036499e-03, 1.19499395e-02, 4.17660482e-02,
  4.38137361e-03, 7.37537335e-01,-2.79400564e-02, 7.37523492e-01,
  5.83011788e-03, 1.64620990e-02,-9.27756885e-03, 2.59885890e-02,
  1.30303959e+00, 5.22499890e-05, 1.03064882e+00, 6.35291348e-02,
  2.03488665e-02,-3.08005332e-02, 8.21854822e-02, 7.13511211e-01,
 -3.59269005e-01,-6.01403537e-01,-1.18877951e-02]

qacc:
[-9.03427917e-02,-1.22652786e+00, 7.34040810e+00,-1.82404429e+01,
 -2.04456065e-01,-4.76199778e+01, 1.79025654e+02,-3.60527531e+02,
  3.97805504e+00, 2.21964340e+00,-9.82257613e+00, 2.01299393e+01,
  6.95952446e-01,-1.76184790e+00, 2.06304274e+00,-7.34434520e+00,
 -2.97021034e+00, 4.89431914e-01, 4.69618472e+00,-6.98066422e+01,
 -1.21548910e+02,-9.55554054e+01]

qfrc_actuator:
[ 7.30193639e-05, 9.33461883e-05, 1.97952803e-04, 4.16650055e-05,
  1.18441938e-03, 5.35934817e-02, 7.83482931e-03, 9.89073370e-02,
 -6.26662906e-06, 4.24991079e-04, 7.70611649e-05, 2.25482130e-05,
  4.86423392e-03,-1.25338460e-03, 0.00000000e+00,-2.23281834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.26145679,  4.67525638, -7.26145679, 10.04095652,
        2.18156817,  4.67525638,  2.18156817, 12.02470467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035346992448689885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.85231605e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.85231605e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06710106, -0.04589131,  0.06173906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13114987e-07, 2.34172203e-05, 8.80054827e-06,-2.99986908e-05,
 -3.34822696e-05,-1.73513048e-03,-3.83214113e-04,-8.79129328e-04,
  2.35607112e-05, 3.64122051e-05,-2.72827185e-06, 3.14463096e-05,
 -4.94310999e-05,-7.97912734e-05,-6.07881878e-06,-3.77824426e-05,
 -2.99588993e-03,-3.01529828e-03,-1.21193469e+00,-1.08944687e-02,
 -2.14631791e-02, 6.45471872e-04]


--- Step 1418 ---
qpos:
[ 3.30360440e-03,-3.22956394e-03, 1.19510462e-02, 4.17650218e-02,
  4.40493016e-03, 7.38118992e-01,-2.79412128e-02, 7.39438743e-01,
  5.83063995e-03, 1.64607539e-02,-9.27736020e-03, 2.59883590e-02,
  1.30321570e+00, 5.57143002e-05, 1.03086931e+00, 6.35344259e-02,
  2.04208628e-02,-3.06732067e-02, 8.22905881e-02, 7.13563081e-01,
 -3.61363649e-01,-6.00122813e-01,-9.83119289e-03]

qacc:
[-3.36715198e+00, 3.44691922e-01, 7.58312011e-01,-6.52958019e+00,
 -2.21749295e-01,-5.75674281e+01, 2.23662459e+02,-4.61237565e+02,
 -6.01686726e-01,-5.97230161e-01, 1.25434256e+00,-2.24989321e-01,
  2.68063401e+00,-5.75951286e+00,-1.18918800e+01, 3.97855948e+01,
 -2.63785330e+00, 4.51805197e-01, 3.04025063e+00,-6.28619861e+01,
 -1.06684728e+02,-8.34809053e+01]

qfrc_actuator:
[ 5.33680831e-05, 1.05153283e-04, 1.84453437e-04, 2.42157941e-05,
  1.16280389e-03, 5.28695095e-02, 7.87183808e-03, 9.78817555e-02,
 -1.05675952e-05, 3.63500964e-04, 6.46477195e-05, 2.13058722e-05,
  4.85842202e-03,-1.41572491e-03, 0.00000000e+00,-2.04071159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.94740604,  5.13033392, -6.94740604, 11.15528171,
        3.4110736 ,  5.13033392,  3.4110736 , 13.25557823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035650352768641508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.23350317e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.23350317e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06706701, -0.0458801 ,  0.06173808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96597534e-05, 2.53965717e-05,-8.63848671e-06,-1.67285071e-05,
 -3.64107559e-05,-1.81190084e-03,-3.87803026e-04,-1.11850868e-03,
 -3.61718103e-06,-4.02983234e-05,-4.12926036e-06, 8.37428892e-07,
 -5.29408333e-05,-1.92207641e-04,-1.11808468e-05, 1.88230793e-04,
 -1.20031830e-03,-1.11017237e-03,-1.21228272e+00,-1.15472127e-02,
 -2.10959998e-02, 6.52756766e-04]


--- Step 1419 ---
qpos:
[ 3.30445966e-03,-3.22865716e-03, 1.19517616e-02, 4.17638265e-02,
  4.42826048e-03, 7.38688359e-01,-2.79434864e-02, 7.41329869e-01,
  5.83076104e-03, 1.64599670e-02,-9.27794273e-03, 2.59880625e-02,
  1.30339231e+00, 5.55738089e-05, 1.03109020e+00, 6.35375840e-02,
  2.04834195e-02,-3.05441811e-02, 8.24022645e-02, 7.13452073e-01,
 -3.63449696e-01,-5.99022847e-01,-7.87953145e-03]

qacc:
[-2.15558189e+00, 8.89720606e-01,-2.24925401e+00,-1.34304062e-01,
 -1.21043086e-01,-5.63084578e+01, 2.31810227e+02,-5.17516753e+02,
 -3.53122202e+00, 2.81900378e+00,-8.68817486e+00, 8.37803911e+00,
  3.04216632e+00,-6.91132457e+00, 6.75407720e+00,-2.34248532e+01,
 -2.35990485e+00, 4.24803904e-01, 1.64261026e+00,-5.69623201e+01,
 -9.43612682e+01,-7.34808576e+01]

qfrc_actuator:
[ 4.13669418e-05, 9.40000591e-05, 1.58305418e-04, 1.43631277e-05,
  1.15840795e-03, 5.22994877e-02, 7.82283430e-03, 9.66723000e-02,
 -3.10676382e-05, 4.33864071e-04, 3.93074668e-05, 2.06201903e-05,
  4.84857118e-03,-1.61940979e-03, 0.00000000e+00,-2.16049272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.55023064,  5.62861043, -6.55023064, 12.77169603,
        4.8124455 ,  5.62861043,  4.8124455 , 14.23679173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003549123949351628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.6457321e-07,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.6457321e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06713446, -0.04591714,  0.06174008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25546944e-05, 4.97674298e-07,-2.25654565e-05,-9.39072412e-06,
 -2.04845797e-05,-1.70953463e-03,-4.97044667e-04,-1.31036401e-03,
 -2.06217537e-05, 4.70581379e-05,-3.41295759e-05,-2.53591251e-06,
 -8.49572078e-05,-2.60584796e-04, 1.37003174e-05,-1.11273333e-04,
 -9.33785010e-06, 5.56975452e-04,-1.21256057e+00,-1.20889795e-02,
 -2.07878646e-02, 6.63313588e-04]


--- Step 1420 ---
qpos:
[ 3.30516426e-03,-3.22769945e-03, 1.19518904e-02, 4.17625435e-02,
  4.45135895e-03, 7.39246188e-01,-2.79477547e-02, 7.43203829e-01,
  5.83132479e-03, 1.64600710e-02,-9.27908460e-03, 2.59876998e-02,
  1.30356880e+00, 5.29273029e-05, 1.03131152e+00, 6.35362933e-02,
  2.05374632e-02,-3.04135346e-02, 8.25158007e-02, 7.13195011e-01,
 -3.65529796e-01,-5.98084091e-01,-6.02197466e-03]

qacc:
[-1.34165930e+00, 1.52950745e+00,-4.98152489e+00, 4.36205957e+00,
 -1.26402855e-01,-4.04685107e+01, 1.61500808e+02,-3.62434348e+02,
  3.82781535e+00, 2.59695222e+00,-7.28432293e+00, 6.39008565e+00,
  1.59289562e+00,-4.18378655e+00, 1.38917932e+01,-4.80745226e+01,
 -2.12827371e+00, 4.05206287e-01, 4.64956147e-01,-5.19704054e+01,
 -8.41282346e+01,-6.52224512e+01]

qfrc_actuator:
[ 3.39705393e-05, 8.68819670e-05, 1.24812591e-04, 9.03105509e-06,
  1.14657400e-03, 5.18081120e-02, 7.75950659e-03, 9.58259927e-02,
 -7.67025645e-06, 5.11567071e-04, 2.48110421e-05, 2.03672563e-05,
  4.83627659e-03,-1.73940164e-03, 0.00000000e+00,-2.39211853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.02703983,  6.18559357, -6.02703983, 15.05350114,
        6.25264865,  6.18559357,  6.25264865, 14.72873974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003496085645699607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19212135e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.19212135e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672878 , -0.04598889,  0.06174441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.75590962e-06,-1.19486567e-05,-3.65110045e-05,-6.27499287e-06,
 -2.09726124e-05,-1.60218918e-03,-5.09567585e-04,-9.51169979e-04,
  2.28209829e-05, 9.68887448e-05,-9.04980429e-06, 5.38036349e-07,
 -1.21951701e-04,-2.00031952e-04,-1.09558279e-05,-2.37254161e-04,
  7.40405053e-04, 2.03138610e-03,-1.21278481e+00,-1.25453903e-02,
 -2.05257245e-02, 6.76072156e-04]


--- Step 1421 ---
qpos:
[ 3.30611945e-03,-3.22671269e-03, 1.19518665e-02, 4.17611794e-02,
  4.47397444e-03, 7.39791736e-01,-2.79527928e-02, 7.45067555e-01,
  5.83216474e-03, 1.64606125e-02,-9.28052134e-03, 2.59870311e-02,
  1.30374514e+00, 4.78405187e-05, 1.03153219e+00, 6.35369168e-02,
  2.05837650e-02,-3.02813246e-02, 8.26272353e-02, 7.12805823e-01,
 -3.67605999e-01,-5.97290239e-01,-4.24949309e-03]

qacc:
[   2.19412905,   0.29390465,  -0.65708009,  -0.51667669,  -0.2695856 ,
  -32.35659216, 114.6561238 ,-229.09940707,   2.39198576,   0.76783693,
   -0.61474885,  -4.52326461,   1.92592338,  -4.66049958,  -6.93014186,
   22.40460593,  -1.9354566 ,   0.39088999,  -0.52540246, -47.76323346,
  -75.62329529, -58.38433219]

qfrc_actuator:
[ 4.70938803e-05, 9.99501089e-05, 1.22769951e-04, 6.39751052e-06,
  1.11262072e-03, 5.12260679e-02, 7.74216666e-03, 9.53245345e-02,
  5.87708161e-06, 5.04354824e-04,-8.47099410e-07, 2.64767033e-06,
  4.82787747e-03,-1.86209243e-03, 0.00000000e+00,-2.27937157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.45824968,  6.69285345, -5.45824968, 17.69798154,
        7.39005768,  6.69285345,  7.39005768, 14.66320709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003413803734781999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85830864e-07,  1.62607916e-14,  1.00000000e+00,  3.02175695e-21,
        1.00000000e+00, -1.62607916e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85830864e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06750726, -0.04608787,  0.06175054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28970679e-05,-1.46210321e-06,-9.23507360e-06,-4.53029559e-06,
 -4.33009123e-05,-1.62259744e-03,-4.32063638e-04,-5.95004853e-04,
  1.42347717e-05, 4.51423780e-05,-6.72788195e-06,-1.38678688e-05,
 -1.25317091e-04,-1.97094285e-04,-3.64473547e-05, 9.69454247e-05,
  1.16547116e-03, 3.34893356e-03,-1.21296831e+00,-1.29354174e-02,
 -2.02997388e-02, 6.90292474e-04]


--- Step 1422 ---
qpos:
[ 3.30756934e-03,-3.22590932e-03, 1.19526988e-02, 4.17600962e-02,
  4.49605156e-03, 7.40325016e-01,-2.79577556e-02, 7.46923477e-01,
  5.83281608e-03, 1.64613669e-02,-9.28213201e-03, 2.59858315e-02,
  1.30392120e+00, 4.05923186e-05, 1.03175257e+00, 6.35391491e-02,
  2.06229660e-02,-3.01475936e-02, 8.27332445e-02, 7.12296030e-01,
 -3.69679922e-01,-5.96627686e-01,-2.55456239e-03]

qacc:
[   4.37223644,  -2.06641588,   5.81636617,  -2.17636157,  -0.30069787,
  -30.28208096, 101.23661408,-185.38295847,  -1.65437318,  -0.32227524,
    3.80453426, -12.87790094,   1.58163856,  -3.99088997,  -5.43291704,
   18.0303958 ,  -1.77519218,   0.38022684,  -1.35632389, -44.23640847,
  -68.55475379, -52.70974804]

qfrc_actuator:
[ 7.21880837e-05, 1.07378860e-04, 1.74903504e-04, 2.31643668e-05,
  1.08349234e-03, 5.06659903e-02, 7.76974518e-03, 9.49411575e-02,
 -4.24884894e-06, 4.99548331e-04,-1.54903664e-05,-2.52856494e-05,
  4.81649827e-03,-1.96771329e-03, 0.00000000e+00,-2.19536863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.97123316,  7.06212558, -4.97123316, 20.04310075,
        8.02953007,  7.06212558,  8.02953007, 14.28858062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033088688389682893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.32373744e-08,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.32373744e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06777691, -0.04620791,  0.06175803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54587763e-05, 4.47861081e-06, 5.05276035e-05, 1.62966459e-05,
 -4.82374230e-05,-1.58348558e-03,-3.70707453e-04,-4.67315687e-04,
 -9.70115534e-06, 1.84596825e-05,-6.61475867e-06,-2.64983995e-05,
 -1.29079604e-04,-1.80322662e-04,-7.99455609e-06, 8.42443742e-05,
  1.34922291e-03, 4.53837952e-03,-1.21312092e+00,-1.32732191e-02,
 -2.01024413e-02, 7.05468424e-04]


--- Step 1423 ---
qpos:
[ 3.30930866e-03,-3.22511695e-03, 1.19541174e-02, 4.17592179e-02,
  4.51780100e-03, 7.40846814e-01,-2.79628288e-02, 7.48771325e-01,
  5.83334137e-03, 1.64619112e-02,-9.28314620e-03, 2.59839627e-02,
  1.30409652e+00, 3.27547641e-05, 1.03197313e+00, 6.35403400e-02,
  2.06555982e-02,-3.00123748e-02, 8.28310475e-02, 7.11675140e-01,
 -3.71752872e-01,-5.96085086e-01,-9.30915497e-04]

qacc:
[ 2.55918706e+00,-1.23581119e+00, 3.51132651e+00,-8.83690523e-01,
 -1.80629486e-01,-2.92182369e+01, 9.96571963e+01,-1.87772500e+02,
 -1.07746898e+00,-3.32028864e+00, 1.42651380e+01,-2.66502709e+01,
 -1.85898701e-01,-4.12210253e-01, 3.39515678e+00,-1.15147987e+01,
 -1.64221586e+00, 3.71988153e-01,-2.05158195e+00,-4.13003900e+01,
 -6.26854491e+01,-4.79919396e+01]

qfrc_actuator:
[ 8.63678332e-05, 1.11624796e-04, 2.05336892e-04, 3.34893152e-05,
  1.07526011e-03, 5.01594981e-02, 7.78823216e-03, 9.45415292e-02,
 -1.04717701e-05, 4.78482344e-04, 1.19775650e-05,-5.89998930e-05,
  4.80334726e-03,-1.97363178e-03, 0.00000000e+00,-2.25334098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.71225127,  7.23750405, -4.71225127, 21.63715273,
        8.46465639,  7.23750405,  8.46465639, 14.14759894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003186782471063208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95582239e-08,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.95582239e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06808387, -0.04634396,  0.06176654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49005738e-05, 1.78530119e-05, 3.81265662e-05, 1.25798722e-05,
 -2.95072923e-05,-1.49099934e-03,-3.60577863e-04,-4.77396227e-04,
 -6.49269746e-06,-1.32522814e-05, 2.95631650e-05,-3.36626288e-05,
 -1.28729749e-04,-7.77533225e-05, 1.95872778e-06,-5.51770922e-05,
  1.35135243e-03, 5.62312020e-03,-1.21325020e+00,-1.35694628e-02,
 -1.99281206e-02, 7.21259933e-04]


--- Step 1424 ---
qpos:
[ 3.31051464e-03,-3.22416976e-03, 1.19556040e-02, 4.17581396e-02,
  4.53945568e-03, 7.41358065e-01,-2.79687014e-02, 7.50609603e-01,
  5.83378820e-03, 1.64619830e-02,-9.28399913e-03, 2.59828050e-02,
  1.30427092e+00, 2.50252881e-05, 1.03219350e+00, 6.35421693e-02,
  2.06820994e-02,-2.98756955e-02, 8.29183265e-02, 7.10950965e-01,
 -3.73825904e-01,-5.95653025e-01, 6.26604943e-04]

qacc:
[-4.68189825e+00,-3.88979514e-01, 2.54324999e+00,-6.24398906e+00,
 -4.83404318e-02,-2.87905320e+01, 1.03681249e+02,-2.11119663e+02,
 -6.70739934e-01, 3.90118113e-01,-5.29763998e+00, 1.76937440e+01,
 -7.38772145e-01, 8.43800056e-01,-2.14185240e+00, 7.22644346e+00,
 -1.53272413e+00, 3.65096427e-01,-2.63098811e+00,-3.88840472e+01,
 -5.78257986e+01,-4.41008807e+01]

qfrc_actuator:
[ 5.85010244e-05, 1.13862004e-04, 2.04925180e-04, 2.21599382e-05,
  1.07957024e-03, 4.96892771e-02, 7.76591458e-03, 9.40645305e-02,
 -1.43400128e-05, 4.30245803e-04, 1.07534846e-05,-2.48214518e-05,
  4.77320854e-03,-1.95594161e-03, 0.00000000e+00,-2.21696524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.70348348,  7.24320509, -4.70348348, 22.22547594,
        8.82429317,  7.24320509,  8.82429317, 14.36655029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030521850241021576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53375639e-07,  1.53375688e-07,  1.00000000e+00, -2.35240942e-14,
        1.00000000e+00, -1.53375688e-07, -1.00000000e+00,  0.00000000e+00,
        1.53375639e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06842579, -0.04648725,  0.06177577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74420078e-05, 2.05910518e-05, 8.38091807e-06,-9.00438230e-06,
 -8.77975565e-06,-1.40129241e-03,-3.81859993e-04,-5.51367463e-04,
 -4.05845486e-06,-5.09874828e-05,-1.47449041e-06, 3.39839014e-05,
 -1.21588540e-04,-3.01882785e-05,-1.08541509e-05, 3.22760190e-05,
  1.21455130e-03, 6.62242874e-03,-1.21336196e+00,-1.38322552e-02,
 -1.97723755e-02, 7.37444991e-04]


--- Step 1425 ---
qpos:
[ 3.31137748e-03,-3.22321262e-03, 1.19568589e-02, 4.17573194e-02,
  4.56140077e-03, 7.41858173e-01,-2.79750884e-02, 7.52440324e-01,
  5.83383991e-03, 1.64619670e-02,-9.28473033e-03, 2.59823646e-02,
  1.30444463e+00, 1.71661883e-05, 1.03241365e+00, 6.35453990e-02,
  2.07028345e-02,-2.97375794e-02, 8.29931533e-02, 7.10129906e-01,
 -3.75899956e-01,-5.95323639e-01, 2.12233682e-03]

qacc:
[-3.01904322e+00, 1.19920807e+00,-5.33495586e+00, 1.01527988e+01,
  1.71751811e-01,-2.67437327e+01, 9.04975088e+01,-1.72544119e+02,
 -3.44014968e+00, 1.02694093e+00,-6.84679104e+00, 1.91177429e+01,
 -3.35731722e-01, 1.55232043e-01,-4.54088339e+00, 1.54467222e+01,
 -1.44154419e+00, 3.59189665e-01,-3.11306109e+00,-3.69064582e+01,
 -5.38038505e+01,-4.08211738e+01]

qfrc_actuator:
[ 4.16185594e-05, 9.69799334e-05, 1.86289987e-04, 3.36662937e-05,
  1.10905657e-03, 4.91202100e-02, 7.73760019e-03, 9.36878572e-02,
 -3.45452468e-05, 4.54816554e-04, 2.80160811e-05, 1.34746153e-05,
  4.74889624e-03,-1.96005320e-03, 0.00000000e+00,-2.14299674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.20202574,  6.89388897, -5.20202574, 21.06591989,
        9.37915766,  6.89388897,  9.37915766, 15.71373604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029087954985443703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48894939e-07,  2.48894960e-07,  1.00000000e+00, -6.19486958e-14,
        1.00000000e+00, -2.48894960e-07, -1.00000000e+00,  0.00000000e+00,
        2.48894939e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06877793, -0.04664341,  0.06178551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76612170e-05,-4.08480717e-06,-1.36875277e-05, 1.25009857e-05,
  2.54667208e-05,-1.45679169e-03,-3.74591634e-04,-4.50133388e-04,
 -2.03415898e-05,-2.78002796e-06, 7.73702651e-06, 3.67259843e-05,
 -1.00493789e-04,-3.93044633e-05,-6.11229356e-06, 7.33139754e-05,
  9.69087253e-04, 7.55228892e-03,-1.21346079e+00,-1.40677870e-02,
 -1.96318136e-02, 7.53886205e-04]


--- Step 1426 ---
qpos:
[ 3.31203075e-03,-3.22195189e-03, 1.19574740e-02, 4.17566343e-02,
  4.58357137e-03, 7.42346745e-01,-2.79813272e-02, 7.54267468e-01,
  5.83364882e-03, 1.64619822e-02,-9.28499521e-03, 2.59816556e-02,
  1.30461786e+00, 8.93413566e-06, 1.03263372e+00, 6.35494690e-02,
  2.07095296e-02,-2.95915892e-02, 8.30548901e-02, 7.09226046e-01,
 -3.77957002e-01,-5.95091790e-01, 3.56096126e-03]

qacc:
[-1.86466030e+00, 2.47188771e+00,-8.79433608e+00, 1.19241274e+01,
  1.34805314e-01,-2.19469871e+01, 6.33371265e+01,-9.61009565e+01,
 -2.10374069e+00,-1.81065228e+00, 7.65646938e+00,-1.30790607e+01,
 -2.48065482e-02,-4.02748922e-01,-2.66286200e+00, 9.12531430e+00,
 -3.51000672e+00, 1.96856373e+00,-3.27247052e+00,-2.66262644e+01,
 -4.85634442e+01,-4.35833357e+01]

qfrc_actuator:
[ 3.13498250e-05, 1.21967133e-04, 1.56993402e-04, 4.07433197e-05,
  1.11779609e-03, 4.85676593e-02, 7.75898013e-03, 9.35152152e-02,
 -4.64520062e-05, 4.69618089e-04, 5.63457082e-05, 6.92827008e-07,
  4.73341837e-03,-1.97705137e-03, 0.00000000e+00,-2.10074778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.76800518,  6.4278218 ,  5.76800518,  9.64753974,
       -0.90737876,  6.4278218 , -0.90737876,  9.45059987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002983732250348614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.68847804e-01,  2.68851156e-01,  9.24899948e-01,  7.50429959e-02,
        9.63181736e-01, -2.58165631e-01, -9.60254866e-01, -1.38777878e-17,
       -2.79124691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06913349, -0.04680978,  0.06179557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07773508e-05, 2.03548421e-05,-3.14178229e-05, 6.66923335e-06,
  1.96937438e-05,-1.46572541e-03,-3.31776000e-04,-2.45506077e-04,
 -1.24935745e-05, 1.64221602e-05, 2.99897019e-05,-1.19149596e-05,
 -8.17204615e-05,-4.94138010e-05, 8.89793281e-07, 4.45327351e-05,
  6.36558429e-04, 8.42620767e-03,-1.21355013e+00,-1.42808481e-02,
 -1.95037630e-02, 7.70503892e-04]


--- Step 1427 ---
qpos:
[ 3.31255567e-03,-3.22048419e-03, 1.19576851e-02, 4.17567258e-02,
  4.60579835e-03, 7.42824605e-01,-2.79872202e-02, 7.56092026e-01,
  5.83366144e-03, 1.64618647e-02,-9.28565593e-03, 2.59808806e-02,
  1.30479075e+00, 1.83214786e-07, 1.03285367e+00, 6.35546751e-02,
  2.07042230e-02,-2.94391117e-02, 8.31020359e-02, 7.08241659e-01,
 -3.80001880e-01,-5.94951988e-01, 4.94522320e-03]

qacc:
[-1.14244271e+00, 3.00655373e+00,-1.35945874e+01, 2.75214326e+01,
  3.79288929e-02,-1.96310957e+01, 5.43637177e+01,-7.56796697e+01,
  1.76650831e+00, 7.91431642e-01,-2.80298714e+00, 2.39531324e+00,
  2.17497081e-01,-8.15231014e-01,-3.63902798e+00, 1.24025894e+01,
 -3.00042101e+00, 1.62179966e+00,-3.64779203e+00,-2.72419625e+01,
 -4.63499345e+01,-4.01499867e+01]

qfrc_actuator:
[ 2.50530171e-05, 1.36272999e-04, 1.39553193e-04, 8.06877934e-05,
  1.11403625e-03, 4.81186322e-02, 7.80972008e-03, 9.33930236e-02,
 -3.56213080e-05, 4.25216335e-04, 1.99117597e-05,-6.53156852e-06,
  4.72324707e-03,-2.00148631e-03, 0.00000000e+00,-2.04202526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.34207224, -5.86215801, -6.34207224,  5.41908309,
        3.48066797, -5.86215801,  3.48066797,  4.87074564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002843719830749141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28198523,  0.28198881,  0.91704233,  0.08288015,  0.95941769,
       -0.26953399, -0.95583221,  0.        , -0.29391289])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06949449, -0.04696621,  0.06180578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.60018908e-06, 1.94273661e-05,-1.68953867e-05, 3.98567141e-05,
  4.66888510e-06,-1.35106944e-03,-2.92586723e-04,-1.89454266e-04,
  1.04772080e-05,-2.95350326e-05,-2.97553174e-05,-5.71222523e-06,
 -6.81490502e-05,-5.47827135e-05, 6.67133581e-07, 6.02307987e-05,
  2.63821468e-04, 9.10359908e-03,-1.21372522e+00,-1.44644945e-02,
 -1.94173211e-02, 7.85833348e-04]


--- Step 1428 ---
qpos:
[ 3.31300108e-03,-3.21915732e-03, 1.19578453e-02, 4.17569702e-02,
  4.62792460e-03, 7.43292060e-01,-2.79928128e-02, 7.57909858e-01,
  5.83345918e-03, 1.64610603e-02,-9.28619923e-03, 2.59800624e-02,
  1.30496335e+00,-9.13928835e-06, 1.03307336e+00, 6.35622086e-02,
  2.06886065e-02,-2.92813028e-02, 8.31333599e-02, 7.07178477e-01,
 -3.82038681e-01,-5.94899690e-01, 6.27739008e-03]

qacc:
[-6.96854702e-01, 2.72149419e-01,-1.88244810e+00, 4.70814774e+00,
 -5.11432834e-02,-2.64854915e+01, 8.85305090e+01,-1.60403974e+02,
 -1.85877457e+00,-1.32128589e+00, 3.58207312e+00,-4.01718136e+00,
  3.68486185e-01,-1.06240226e+00,-7.43247483e+00, 2.53768343e+01,
 -2.57745560e+00, 1.33284048e+00,-3.95541020e+00,-2.78246370e+01,
 -4.45484510e+01,-3.72814181e+01]

qfrc_actuator:
[ 2.11419834e-05, 1.08639993e-04, 1.29247138e-04, 8.63992303e-05,
  1.10285573e-03, 4.76112422e-02, 7.82456102e-03, 9.30530050e-02,
 -4.70027989e-05, 3.63196574e-04, 1.63058051e-05,-1.05165216e-05,
  4.71093837e-03,-2.03008821e-03, 0.00000000e+00,-1.92079272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.37710864, -5.82402458, -6.37710864,  5.47423168,
        3.46242684, -5.82402458,  3.46242684,  4.84512412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002700315258266803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94348238e-01,  2.94352027e-01,  9.09239242e-01,  9.06584350e-02,
        9.55697067e-01, -2.80043146e-01, -9.51388545e-01, -1.38777878e-17,
       -3.07993242e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06985009, -0.04711712,  0.06181602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09811761e-06,-1.86115253e-05,-7.01517060e-06, 6.73107568e-06,
 -9.31413597e-06,-1.33561488e-03,-2.99090275e-04,-4.00772878e-04,
 -1.10912143e-05,-8.49096949e-05,-1.35590491e-05,-6.38835517e-06,
 -6.38390338e-05,-5.70102125e-05, 2.58858288e-06, 1.23639146e-04,
 -1.68130264e-04, 9.77148490e-03,-1.21387069e+00,-1.46335506e-02,
 -1.93325892e-02, 8.01379222e-04]


--- Step 1429 ---
qpos:
[ 3.31339608e-03,-3.21809887e-03, 1.19582580e-02, 4.17569316e-02,
  4.64943452e-03, 7.43749570e-01,-2.79992638e-02, 7.59720530e-01,
  5.83381155e-03, 1.64598169e-02,-9.28605288e-03, 2.59794764e-02,
  1.30513554e+00,-1.87686859e-05, 1.03329315e+00, 6.35701209e-02,
  2.06640830e-02,-2.91191252e-02, 8.31478598e-02, 7.06037774e-01,
 -3.84070887e-01,-5.94931149e-01, 7.55933051e-03]

qacc:
[-4.30136667e-01,-1.64303936e+00, 6.53798962e+00,-1.16401949e+01,
 -3.45961357e-01,-2.35041533e+01, 8.04496907e+01,-1.58453586e+02,
  4.86629521e+00,-2.03913349e+00, 5.43170652e+00,-2.17366848e+00,
 -5.39836245e-02,-2.84248196e-01,-1.01601397e+00, 3.73662973e+00,
 -2.22677583e+00, 1.09218530e+00,-4.20603659e+00,-2.83858323e+01,
 -4.30946711e+01,-3.48825408e+01]

qfrc_actuator:
[ 1.86648961e-05, 9.16139456e-05, 1.40782525e-04, 7.18840444e-05,
  1.05185209e-03, 4.71260685e-02, 7.78226457e-03, 9.26939813e-02,
 -1.81165899e-05, 3.79976577e-04, 6.75469959e-05, 5.19829010e-06,
  4.69202957e-03,-2.04317741e-03, 0.00000000e+00,-1.90572093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.42237822, -5.77406571, -6.42237822,  5.55569563,
        3.42656563, -5.77406571,  3.42656563,  4.82506296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025555562669041564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30616192,  0.3061659 ,  0.90140297,  0.0984648 ,  0.95197817,
       -0.2899004 , -0.94687357,  0.        , -0.32160603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07019815, -0.04726238,  0.06182619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60472807e-06,-2.86476187e-05, 7.04174786e-06,-1.54279112e-05,
 -5.52598001e-05,-1.31317474e-03,-3.60384622e-04,-4.24022814e-04,
  2.85361882e-05,-3.37438028e-05, 3.18286172e-05, 1.14878428e-05,
 -6.83635216e-05,-4.10756976e-05, 1.08060262e-05, 2.13144371e-05,
 -6.54987580e-04, 1.04350143e-02,-1.21399385e+00,-1.47901823e-02,
 -1.92497197e-02, 8.17182622e-04]


--- Step 1430 ---
qpos:
[ 3.31410315e-03,-3.21729369e-03, 1.19587769e-02, 4.17574184e-02,
  4.67023859e-03, 7.44197879e-01,-2.80067658e-02, 7.61520676e-01,
  5.83485160e-03, 1.64589025e-02,-9.28619395e-03, 2.59790507e-02,
  1.30530697e+00,-2.74468974e-05, 1.03351325e+00, 6.35758202e-02,
  2.06400462e-02,-2.89595403e-02, 8.31437783e-02, 7.04812191e-01,
 -3.86119224e-01,-5.95041532e-01, 8.79176899e-03]

qacc:
[ 2.74711754e+00, 4.45530607e-01,-4.29894515e+00, 1.34128939e+01,
 -3.96732238e-01,-2.79999170e+01, 1.05379990e+02,-2.24839715e+02,
  5.98302045e+00, 1.55653335e+00,-5.61565374e+00, 8.62837416e+00,
 -1.47285891e+00, 2.58853944e+00, 7.27025198e+00,-2.44710438e+01,
  1.21692360e-01,-6.48165922e-01,-4.64537751e+00,-3.70181884e+01,
 -4.35432927e+01,-2.75118317e+01]

qfrc_actuator:
[ 3.48035277e-05, 8.11359822e-05, 1.47387159e-04, 9.88653431e-05,
  1.01301574e-03, 4.67111847e-02, 7.74222945e-03, 9.21669046e-02,
  1.64940399e-05, 4.26310633e-04, 6.23141224e-05, 1.47222454e-05,
  4.67450709e-03,-1.97598450e-03, 0.00000000e+00,-2.02433853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.17392911, -6.03898801, -6.17392911,  8.36859293,
        0.27375404, -6.03898801,  0.27375404,  8.35649257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021544718543608857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28827748e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.28827748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07054591, -0.04739642,  0.06183619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60510292e-05,-2.57493228e-05, 1.00340456e-06, 2.56943440e-05,
 -6.32403463e-05,-1.24315068e-03,-3.61400967e-04,-5.93653741e-04,
  3.54112191e-05, 3.45869523e-05,-7.87191813e-06, 9.40540095e-06,
 -6.59118410e-05, 4.19064097e-05, 2.08945331e-06,-1.17274308e-04,
 -1.19415859e-03, 1.10984575e-02,-1.21410062e+00,-1.49360561e-02,
 -1.91688425e-02, 8.33283280e-04]


--- Step 1431 ---
qpos:
[ 3.31499799e-03,-3.21664111e-03, 1.19593798e-02, 4.17575223e-02,
  4.69058226e-03, 7.44637409e-01,-2.80144740e-02, 7.63303846e-01,
  5.83595369e-03, 1.64583587e-02,-9.28647971e-03, 2.59790720e-02,
  1.30547751e+00,-3.42467190e-05, 1.03373335e+00, 6.35800615e-02,
  2.06221649e-02,-2.88251554e-02, 8.31752984e-02, 7.03787894e-01,
 -3.87920548e-01,-5.95064544e-01, 9.92150984e-03]

qacc:
[ 1.65300268e+00,-1.22865878e+00, 5.69716605e+00,-1.23363924e+01,
 -2.55282123e-01,-4.12182256e+01, 1.66785004e+02,-3.64061720e+02,
  5.30556468e-01, 1.81313756e+00,-7.64343947e+00, 1.53397596e+01,
 -2.23125376e+00, 4.32433263e+00, 4.58659575e+00,-1.56070275e+01,
  1.53885471e+00,-6.29999573e+00, 8.90043758e+00, 9.57388936e+01,
  1.09418130e+02,-9.37002417e+01]

qfrc_actuator:
[ 4.40166296e-05, 7.46790978e-05, 1.51078645e-04, 7.90390126e-05,
  9.99568435e-04, 4.63062046e-02, 7.73959244e-03, 9.13144426e-02,
  1.86791564e-05, 4.54279321e-04, 5.94032749e-05, 3.82633611e-05,
  4.65786352e-03,-1.86175766e-03, 0.00000000e+00,-2.09646097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.92221363,  5.16427491, -6.92221363, 28.17354009,
       26.18770525,  5.16427491, 26.18770525, 43.73846286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002118551576151151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.93036109e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.93036109e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02432808,  0.01155757,  0.06183824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.65702530e-06,-1.95809932e-05,-6.32382764e-07,-2.03992549e-05,
 -4.13542688e-05,-1.20015489e-03,-3.15311334e-04,-9.20317691e-04,
  3.20909530e-06, 4.61382884e-05, 3.60233923e-06, 2.49360151e-05,
 -4.45320330e-05, 1.08982034e-04,-1.80759050e-05,-7.97668248e-05,
 -1.83135237e-03, 1.19217037e-02,-1.21412005e+00,-1.50836805e-02,
 -1.90621239e-02, 8.51419559e-04]


--- Step 1432 ---
qpos:
[ 3.31599659e-03,-3.21640451e-03, 1.19601656e-02, 4.17570699e-02,
  4.71034662e-03, 7.45067843e-01,-2.80218593e-02, 7.65070513e-01,
  5.83672888e-03, 1.64579921e-02,-9.28618687e-03, 2.59796947e-02,
  1.30564742e+00,-3.93875484e-05, 1.03395324e+00, 6.35840465e-02,
  2.06128354e-02,-2.87119862e-02, 8.32266158e-02, 7.02983147e-01,
 -3.89489438e-01,-5.94972390e-01, 1.09785213e-02]

qacc:
[ 9.23385537e-01,-2.20973475e+00, 9.42427895e+00,-1.90322128e+01,
 -3.22209704e-01,-4.22173116e+01, 1.68240832e+02,-3.58972042e+02,
 -2.83557505e+00,-1.39186962e-01,-1.69356466e+00, 1.10367897e+01,
 -1.77231508e+00, 3.58254811e+00, 6.24581777e-01,-2.26330380e+00,
  2.13797877e+00,-5.30394098e+00, 4.94929365e+00, 1.03308146e+02,
  1.18802859e+02,-7.35014767e+01]

qfrc_actuator:
[ 4.90739025e-05, 3.51302364e-05, 1.53002037e-04, 4.95787158e-05,
  9.65886202e-04, 4.58571666e-02, 7.75896986e-03, 9.04904403e-02,
  1.75953061e-06, 4.71055790e-04, 9.33631487e-05, 6.98639614e-05,
  4.64178629e-03,-1.77387602e-03, 0.00000000e+00,-2.10505083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61882187, -0.55016946,  8.61882187,  8.64134934,
        0.07810483, -0.55016946,  0.07810483,  9.85993498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023328671752814722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75904945e-14,  5.94881181e-15,  1.00000000e+00, -2.83106896e-28,
        1.00000000e+00, -5.94881181e-15, -1.00000000e+00,  0.00000000e+00,
        4.75904945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03459982,  0.01731012,  0.06182313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32367898e-06,-5.15333749e-05,-2.92112577e-06,-3.07216490e-05,
 -5.19856962e-05,-1.22219460e-03,-2.89403150e-04,-8.96070192e-04,
 -1.68147278e-05, 4.44176090e-05, 4.48075447e-05, 3.41896474e-05,
 -1.62561118e-05, 1.03308473e-04,-2.20917830e-05,-1.64720268e-05,
 -9.67843883e-04, 8.78570450e-03,-1.21466315e+00,-1.48130082e-02,
 -1.93672225e-02, 8.23506224e-04]


--- Step 1433 ---
qpos:
[ 3.31670304e-03,-3.21627950e-03, 1.19602947e-02, 4.17562876e-02,
  4.72914791e-03, 7.45489174e-01,-2.80289140e-02, 7.66818727e-01,
  5.83695045e-03, 1.64579248e-02,-9.28633128e-03, 2.59807461e-02,
  1.30581681e+00,-4.30601884e-05, 1.03417307e+00, 6.35871891e-02,
  2.06109857e-02,-2.86167421e-02, 8.32908719e-02, 7.02372485e-01,
 -3.90852166e-01,-5.94780877e-01, 1.19660454e-02]

qacc:
[  -2.58320145,   1.01377075,  -2.42819268,  -2.15586289,  -0.539854  ,
  -45.70684827, 184.78163703,-398.77210546,  -4.84691382,   2.50962466,
  -10.16833181,  18.04979968,  -1.59541534,   3.21761951,   2.58530421,
   -8.85915446,   1.86991696,  -4.48126638,   3.2347054 ,  90.13542589,
  105.06273529, -67.4704129 ]

qfrc_actuator:
[ 3.38939286e-05, 2.93084894e-05, 1.18226738e-04, 3.24172747e-05,
  9.02613438e-04, 4.54032756e-02, 7.77335677e-03, 8.95655632e-02,
 -2.62588147e-05, 4.63409299e-04, 6.00168855e-05, 8.82144147e-05,
  4.61540505e-03,-1.70233347e-03, 0.00000000e+00,-2.14715029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.42580388, -1.89541705,  8.42580388,  8.58249112,
       -0.23948254, -1.89541705, -0.23948254,  7.57177846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002486323637387808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46531983e-14,  2.23265992e-14,  1.00000000e+00, -9.96954060e-28,
        1.00000000e+00, -2.23265992e-14, -1.00000000e+00,  0.00000000e+00,
        4.46531983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03436692,  0.0171594 ,  0.06181261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50463899e-05,-3.65766479e-05,-4.68547623e-05,-2.00697014e-05,
 -8.62593633e-05,-1.23295395e-03,-2.94850146e-04,-9.96303503e-04,
 -2.84888307e-05, 2.79179471e-05,-1.74682552e-05, 2.24693354e-05,
 -1.18182869e-05, 9.22414885e-05,-1.59964874e-05,-4.67767897e-05,
 -2.01305069e-04, 6.05502716e-03,-1.21509000e+00,-1.45803374e-02,
 -1.96275822e-02, 7.99268180e-04]


--- Step 1434 ---
qpos:
[ 3.31722197e-03,-3.21613252e-03, 1.19599086e-02, 4.17549334e-02,
  4.74702324e-03, 7.45901942e-01,-2.80367846e-02, 7.68546745e-01,
  5.83683426e-03, 1.64582866e-02,-9.28748169e-03, 2.59820333e-02,
  1.30598559e+00,-4.49235182e-05, 1.03439295e+00, 6.35884371e-02,
  2.06157463e-02,-2.85367652e-02, 8.33622719e-02, 7.01934752e-01,
 -3.92030551e-01,-5.94502790e-01, 1.28873450e-02]

qacc:
[-1.66281006e+00, 2.93762239e-01, 1.41316861e+00,-1.05075702e+01,
 -5.19521271e-01,-4.49758348e+01, 1.87628464e+02,-4.23438983e+02,
 -2.98418834e+00, 3.86983862e+00,-1.39598407e+01, 1.93190619e+01,
 -1.98210599e+00, 4.00846328e+00, 5.97394553e+00,-2.03750010e+01,
  1.65260104e+00,-3.81681171e+00, 1.78596544e+00, 7.93570395e+01,
  9.36701064e+01,-6.21949531e+01]

qfrc_actuator:
[ 2.46786573e-05, 4.35850298e-05, 9.77039391e-05, 4.87856796e-06,
  8.57707102e-04, 4.49856226e-02, 7.73135446e-03, 8.85532075e-02,
 -4.28262661e-05, 4.76421436e-04, 4.82397190e-06, 9.85468386e-05,
  4.59350723e-03,-1.60556191e-03, 0.00000000e+00,-2.24417207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.41832042, -1.92838227,  8.41832042,  8.59643927,
       -0.17428913, -1.92838227, -0.17428913,  7.87550735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025818825027622352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15002624e-14,  1.61251968e-14,  1.00000000e+00, -3.46695962e-28,
        1.00000000e+00, -1.61251968e-14, -1.00000000e+00,  0.00000000e+00,
        2.15002624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03422537,  0.01707857,  0.06180631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.65427239e-06,-1.67266600e-05,-3.45446980e-05,-3.11158248e-05,
 -8.29667293e-05,-1.20694654e-03,-3.57011387e-04,-1.08647284e-03,
 -1.73747622e-05, 2.59711631e-05,-5.07986928e-05, 1.13610533e-05,
 -7.42162379e-06, 1.15918568e-04,-1.69142897e-05,-1.02688516e-04,
  2.10679839e-04, 4.02524369e-03,-1.21540298e+00,-1.44070148e-02,
 -1.98240188e-02, 7.83661804e-04]


--- Step 1435 ---
qpos:
[ 3.31728134e-03,-3.21599728e-03, 1.19591872e-02, 4.17539418e-02,
  4.76411630e-03, 7.46305967e-01,-2.80449999e-02, 7.70257452e-01,
  5.83686490e-03, 1.64590346e-02,-9.28879190e-03, 2.59837262e-02,
  1.30615406e+00,-4.55494484e-05, 1.03461254e+00, 6.35898266e-02,
  2.06264093e-02,-2.84699087e-02, 8.34359296e-02, 7.01652328e-01,
 -3.93042773e-01,-5.94148506e-01, 1.37455983e-02]

qacc:
[  -4.04370102,   1.67709312,  -7.51741494,  14.31991898,  -0.4376338 ,
  -41.34298109, 167.66594542,-368.00257387,   1.26923954,   1.78994233,
   -7.35951017,  14.35926475,  -1.17982658,   2.51337712,  -0.74033715,
    2.22893223,   1.4755877 ,  -3.28010489,   0.56440698,  70.51106932,
   84.19535067, -57.5845786 ]

qfrc_actuator:
[ 1.30180510e-06, 5.20789818e-05, 8.58537955e-05, 2.47454719e-05,
  8.24168746e-04, 4.45750611e-02, 7.72754351e-03, 8.76927685e-02,
 -3.47649828e-05, 5.19331712e-04, 8.27725534e-06, 1.21842664e-04,
  4.57965074e-03,-1.54783922e-03, 0.00000000e+00,-2.23073712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.40764533, -1.97440544,  8.40764533,  8.61753618,
       -0.0801733 , -1.97440544, -0.0801733 ,  8.29496029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026303592641432963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11040188e-14,  2.11040188e-14,  1.00000000e+00, -4.45379607e-28,
        1.00000000e+00, -2.11040188e-14, -1.00000000e+00,  0.00000000e+00,
        2.11040188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03415641,  0.0170532 ,  0.06180337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36548024e-05,-9.33060928e-06,-2.06309516e-05, 1.73531919e-05,
 -7.01641672e-05,-1.20062538e-03,-3.23576916e-04,-9.37527486e-04,
  7.57407269e-06, 4.74182545e-05, 2.96108996e-06, 2.28718079e-05,
  8.54330916e-06, 8.34521461e-05,-2.38837593e-05, 4.46827537e-06,
  3.75924670e-04, 2.52457239e-03,-1.21563489e+00,-1.42793377e-02,
 -1.99715640e-02, 7.74289470e-04]


--- Step 1436 ---
qpos:
[ 3.31671505e-03,-3.21589117e-03, 1.19582649e-02, 4.17538790e-02,
  4.78056910e-03, 7.46700977e-01,-2.80529648e-02, 7.71951769e-01,
  5.83699203e-03, 1.64597231e-02,-9.28932454e-03, 2.59856765e-02,
  1.30632246e+00,-4.58807429e-05, 1.03483176e+00, 6.35929948e-02,
  2.06423955e-02,-2.84144385e-02, 8.35077328e-02, 7.01510510e-01,
 -3.93904009e-01,-5.93726463e-01, 1.45438286e-02]

qacc:
[-5.49676108e+00, 2.44848269e+00,-1.26846852e+01, 2.90767844e+01,
 -3.56309571e-01,-4.16669649e+01, 1.65813433e+02,-3.54259392e+02,
  8.66948995e-01,-1.72376499e+00, 4.94246980e+00,-1.68425431e+00,
 -1.52481482e-01, 4.10327309e-01,-5.91081444e+00, 1.99062599e+01,
  1.33080738e+00,-2.84654077e+00,-4.63604932e-01, 6.32362047e+01,
  7.63004138e+01,-5.35617970e+01]

qfrc_actuator:
[-3.02249518e-05, 5.71282943e-05, 7.92334221e-05, 7.23499988e-05,
  7.97677868e-04, 4.41368553e-02, 7.74650252e-03, 8.68754134e-02,
 -3.00285682e-05, 5.09041724e-04, 4.64744460e-05, 1.34899457e-04,
  4.55996315e-03,-1.54920294e-03, 0.00000000e+00,-2.13455362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.39514148, -2.02691304,  8.39514148,  8.64857717,
        0.05058646, -2.02691304,  0.05058646,  8.84588447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00264079458806106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.25515611e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.25515611e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03414494,  0.01707169,  0.06180309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22031888e-05,-3.68914107e-06,-1.04782951e-05, 4.68332499e-05,
 -5.75046467e-05,-1.21260257e-03,-2.90831080e-04,-8.89841383e-04,
  4.97036571e-06, 1.78055995e-05, 4.91507191e-05, 1.56336130e-05,
  4.24961192e-06, 2.04819884e-05,-1.38600192e-05, 9.25787920e-05,
  3.68204758e-04, 1.42740629e-03,-1.21580825e+00,-1.41869451e-02,
 -2.00814739e-02, 7.69456692e-04]


--- Step 1437 ---
qpos:
[ 3.31646504e-03,-3.21598594e-03, 1.19576605e-02, 4.17536823e-02,
  4.79669168e-03, 7.47087436e-01,-2.80611762e-02, 7.73629293e-01,
  5.83717503e-03, 1.64605556e-02,-9.28995598e-03, 2.59874577e-02,
  1.30649079e+00,-4.61049693e-05, 1.03505081e+00, 6.35975905e-02,
  2.06632295e-02,-2.83689532e-02, 8.35742275e-02, 7.01497021e-01,
 -3.94626944e-01,-5.93243523e-01, 1.52848591e-02]

qacc:
[ 2.78943943e+00,-1.43575845e+00, 5.28901486e+00,-7.95566999e+00,
 -1.80839912e-01,-4.04125985e+01, 1.63341467e+02,-3.57075859e+02,
  4.81555329e-01, 1.17280064e-01, 5.70648701e-01,-3.44479872e+00,
 -4.99388954e-02, 1.20361390e-01,-4.54643229e+00, 1.55654667e+01,
  1.21193856e+00,-2.49625399e+00,-1.32712738e+00, 5.72469026e+01,
  6.97160525e+01,-5.00591653e+01]

qfrc_actuator:
[-1.30338286e-05, 4.23802863e-05, 9.35033259e-05, 6.48752912e-05,
  7.93339008e-04, 4.37390895e-02, 7.74316096e-03, 8.60366548e-02,
 -2.72954631e-05, 5.02628045e-04, 3.36340175e-05, 1.24046391e-04,
  4.54741699e-03,-1.55006544e-03, 0.00000000e+00,-2.06142540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.3828162 , -2.07729857,  8.3828162 ,  8.6934153 ,
        0.23022862, -2.07729857,  0.23022862,  9.56543769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002620744746513151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.29536035e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.29536035e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03417876,  0.01712463,  0.06180489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62716479e-05,-1.69715577e-05, 1.38494453e-05,-7.08022156e-06,
 -2.97989529e-05,-1.17031296e-03,-3.10056012e-04,-9.09527963e-04,
  2.88118279e-06, 1.43451348e-05,-2.57379225e-06,-8.08998302e-06,
 -5.53771389e-06, 5.15907637e-06, 8.20271367e-07, 7.57644965e-05,
  2.38161621e-04, 6.41261776e-04,-1.21593866e+00,-1.41219594e-02,
 -2.01622263e-02, 7.67958806e-04]


--- Step 1438 ---
qpos:
[ 3.31642260e-03,-3.21608500e-03, 1.19571658e-02, 4.17533868e-02,
  4.81276837e-03, 7.47465987e-01,-2.80701985e-02, 7.75293338e-01,
  5.83739015e-03, 1.64607154e-02,-9.29063967e-03, 2.59895438e-02,
  1.30665945e+00,-4.76461121e-05, 1.03526968e+00, 6.36040183e-02,
  2.06885193e-02,-2.83323207e-02, 8.36325177e-02, 7.01601609e-01,
 -3.95222179e-01,-5.92705263e-01, 1.59712874e-02]

qacc:
[ 1.82526740e+00,-5.19556729e-01, 2.25450291e+00,-4.12855226e+00,
 -2.08591700e-02,-3.21417033e+01, 1.28307176e+02,-2.82966960e+02,
  2.90228288e-01,-1.15754162e-01,-2.16604043e+00, 8.02443386e+00,
  1.38891503e+00,-2.87673779e+00,-5.91897188e+00, 2.00337787e+01,
  1.11396760e+00,-2.21320104e+00,-2.05114015e+00, 5.23152977e+01,
  6.42253978e+01,-4.70172498e+01]

qfrc_actuator:
[-2.80892518e-06, 5.14425512e-05, 1.02116297e-04, 6.05494760e-05,
  8.02237424e-04, 4.34042341e-02, 7.72683593e-03, 8.53695396e-02,
 -2.57623149e-05, 4.09597270e-04, 8.48898442e-06, 1.34676226e-04,
  4.53915926e-03,-1.63932064e-03, 0.00000000e+00,-1.96698531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.37366378, -2.11389019,  8.37366378,  8.7552637 ,
        0.47099377, -2.11389019,  0.47099377, 10.50209134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025765215597201574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30899955e-14,  1.07724989e-14,  1.00000000e+00, -4.64186928e-28,
        1.00000000e+00, -1.07724989e-14, -1.00000000e+00,  0.00000000e+00,
        4.30899955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03424799,  0.01720438,  0.06180834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06831587e-05, 2.14653877e-06, 6.57645969e-06,-4.71001980e-06,
 -4.36839996e-06,-1.08812534e-03,-3.17333973e-04,-7.37411917e-04,
  1.62352571e-06,-8.59123790e-05,-2.27850402e-05, 1.09935767e-05,
 -1.02479594e-05,-8.91780706e-05, 4.82177695e-06, 9.78190442e-05,
  2.05661763e-05, 9.76769086e-05,-1.21603705e+00,-1.40783657e-02,
 -2.02202345e-02, 7.68935993e-04]


--- Step 1439 ---
qpos:
[ 3.31615826e-03,-3.21616973e-03, 1.19567278e-02, 4.17537335e-02,
  4.82881327e-03, 7.47835805e-01,-2.80787835e-02, 7.76953706e-01,
  5.83727738e-03, 1.64598846e-02,-9.29107040e-03, 2.59907266e-02,
  1.30682839e+00,-5.09831818e-05, 1.03548918e+00, 6.36061626e-02,
  2.07179406e-02,-2.83036259e-02, 8.36801797e-02, 7.01815719e-01,
 -3.95698567e-01,-5.92116204e-01, 1.66054737e-02]

qacc:
[-1.94576156e+00, 1.18787442e+00,-6.90999694e+00, 1.79124508e+01,
 -1.29448050e-02,-1.91900332e+01, 5.87374853e+01,-9.43526618e+01,
 -2.83549149e+00,-3.87038717e+00, 1.57242768e+01,-3.10444292e+01,
  1.33070236e+00,-3.13513207e+00, 1.37320252e+01,-4.69908563e+01,
  1.03287389e+00,-1.98441636e+00,-2.65704150e+00, 4.82579087e+01,
  5.96519660e+01,-4.43832176e+01]

qfrc_actuator:
[-1.45341767e-05, 5.69221023e-05, 1.07416116e-04, 9.36366802e-05,
  8.01173341e-04, 4.30033885e-02, 7.77439422e-03, 8.51993717e-02,
 -4.27003850e-05, 3.36365868e-04, 1.14594233e-05, 8.67787811e-05,
  4.52811541e-03,-1.74472506e-03, 0.00000000e+00,-2.19803381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.37199354, -2.12049545,  8.37199354,  8.83806809,
        0.79635557, -2.12049545,  0.79635557, 11.78047964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025133915545669794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41723066e-14,  1.10430767e-14,  1.00000000e+00, -4.87798169e-28,
        1.00000000e+00, -1.10430767e-14, -1.00000000e+00,  0.00000000e+00,
        4.41723066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03434455,  0.0173047 ,  0.06181304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14193929e-05, 7.85042942e-06, 6.39744059e-06, 3.33165775e-05,
 -3.12577262e-06,-1.10369181e-03,-2.32419612e-04,-2.34017909e-04,
 -1.69208285e-05,-1.25510777e-04,-1.72003980e-05,-5.21570984e-05,
 -3.77906418e-05,-1.28425141e-04, 9.55152595e-06,-2.25855354e-04,
 -2.60785403e-04,-2.54219697e-04,-1.21611107e+00,-1.40515580e-02,
 -2.02603667e-02, 7.71773478e-04]


--- Step 1440 ---
qpos:
[ 3.31541057e-03,-3.21613483e-03, 1.19560419e-02, 4.17544815e-02,
  4.84456724e-03, 7.48196706e-01,-2.80860836e-02, 7.78608396e-01,
  5.83696188e-03, 1.64588357e-02,-9.29209359e-03, 2.59916310e-02,
  1.30699717e+00,-5.52753881e-05, 1.03570935e+00, 6.36005247e-02,
  2.07512236e-02,-2.82821288e-02, 8.37151892e-02, 7.02132219e-01,
 -3.96063488e-01,-5.91479992e-01, 1.71895391e-02]

qacc:
[-4.25196141e+00, 1.68667990e+00,-7.46227919e+00, 1.46972959e+01,
 -1.58618393e-01,-2.52830711e+01, 8.37595642e+01,-1.42599078e+02,
 -1.78297488e+00, 7.97949590e-01,-2.08200508e+00,-1.63497454e+00,
  1.32764897e-01,-9.18789301e-01, 2.44368227e+01,-8.41453507e+01,
  9.65401080e-01,-1.79941159e+00,-3.16311302e+00, 4.49257754e+01,
  5.58508200e+01,-4.21098452e+01]

qfrc_actuator:
[-3.90830789e-05, 6.02351369e-05, 9.29845581e-05, 1.12964986e-04,
  7.76383362e-04, 4.25669349e-02, 7.84160610e-03, 8.49146512e-02,
 -5.26213792e-05, 3.64364237e-04,-4.49043220e-06, 7.58618712e-05,
  4.51539198e-03,-1.78780269e-03, 0.00000000e+00,-2.60124000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.3838    , -2.07332449,  8.3838    ,  8.92037998,
        1.14846289, -2.07332449,  1.14846289, 13.28034639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024357419516381415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27902431e-14,  1.13951216e-14,  1.00000000e+00, -2.59697591e-28,
        1.00000000e+00, -1.13951216e-14, -1.00000000e+00,  0.00000000e+00,
        2.27902431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03446187,  0.01742046,  0.06181869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48724301e-05, 1.04558123e-05,-1.08631269e-05, 2.05354316e-05,
 -2.63154464e-05,-1.11336104e-03,-1.90120389e-04,-3.35281395e-04,
 -1.04498168e-05,-4.79499433e-05,-4.57864446e-05,-1.79049342e-05,
 -6.49041071e-05,-8.13691597e-05,-2.62478089e-05,-4.15886217e-04,
 -5.89735884e-04,-4.52307610e-04,-1.21616611e+00,-1.40380022e-02,
 -2.02863252e-02, 7.76032024e-04]


--- Step 1441 ---
qpos:
[ 3.31471931e-03,-3.21593735e-03, 1.19549052e-02, 4.17551190e-02,
  4.85995802e-03, 7.48550126e-01,-2.80933596e-02, 7.80250169e-01,
  5.83687441e-03, 1.64576801e-02,-9.29350252e-03, 2.59934035e-02,
  1.30716578e+00,-6.06570316e-05, 1.03592872e+00, 6.35954372e-02,
  2.07881421e-02,-2.82672304e-02, 8.37358590e-02, 7.02545179e-01,
 -3.96323073e-01,-5.90799548e-01, 1.77253705e-02]

qacc:
[ 4.78217512e-01, 1.24648951e+00,-3.66747056e+00, 2.35722170e+00,
 -2.00087976e-01,-3.28161159e+01, 1.29569311e+02,-2.76843828e+02,
  1.97901253e+00, 2.72032758e+00,-1.35761330e+01, 2.93029725e+01,
  7.88153131e-01,-2.00130820e+00,-2.91874630e+00, 8.31289927e+00,
  9.08888292e-01,-1.64969158e+00,-3.58494192e+00, 4.21970671e+01,
  5.27019798e+01,-4.01548017e+01]

qfrc_actuator:
[-3.54707064e-05, 6.21372169e-05, 6.69961174e-05, 1.06269386e-04,
  7.55382348e-04, 4.22370635e-02, 7.84857707e-03, 8.42628761e-02,
 -4.05735118e-05, 3.81713724e-04,-1.32955934e-05, 1.22374875e-04,
  4.50169033e-03,-1.84686457e-03, 0.00000000e+00,-2.55219711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.41583328, -1.93920786,  8.41583328,  8.99744307,
        1.56702349, -1.93920786,  1.56702349, 15.43697986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023472194983719663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09492460e-14,  1.77373115e-14,  1.00000000e+00, -1.25844888e-27,
        1.00000000e+00, -1.77373115e-14, -1.00000000e+00,  0.00000000e+00,
        7.09492460e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03459458,  0.01754751,  0.06182505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90758201e-06, 6.38357591e-06,-2.44484416e-05,-6.22290168e-06,
 -3.27510461e-05,-1.00694124e-03,-2.50385955e-04,-7.03540177e-04,
  1.17299786e-05,-1.96462604e-05,-2.49466693e-05, 4.25284088e-05,
 -7.09514935e-05,-9.23414734e-05,-6.35210897e-05, 2.12969105e-05,
 -9.55472210e-04,-5.24799030e-04,-1.21620592e+00,-1.40349854e-02,
 -2.03009275e-02, 7.81399000e-04]


--- Step 1442 ---
qpos:
[ 3.31476631e-03,-3.21564846e-03, 1.19540426e-02, 4.17552847e-02,
  4.87517975e-03, 7.48896876e-01,-2.81015714e-02, 7.81880646e-01,
  5.83658655e-03, 1.64568736e-02,-9.29520291e-03, 2.59946170e-02,
  1.30733424e+00,-6.70801038e-05, 1.03614803e+00, 6.35881880e-02,
  2.08285051e-02,-2.82584455e-02, 8.37407856e-02, 7.03049677e-01,
 -3.96482400e-01,-5.90077185e-01, 1.82146302e-02]

qacc:
[ 6.48662965e+00,-1.63069196e+00, 7.95684297e+00,-1.65995021e+01,
 -9.15821996e-02,-2.62673631e+01, 1.04954126e+02,-2.34014963e+02,
 -1.76304274e+00, 1.28677655e-01, 2.57711720e+00,-1.20500795e+01,
  5.67584817e-01,-1.62979358e+00, 6.38773472e+00,-2.26030479e+01,
  8.61143796e-01,-1.52836536e+00,-3.93579715e+00, 3.99714858e+01,
  5.01054473e+01,-3.84801083e+01]

qfrc_actuator:
[ 2.44463048e-06, 8.08545505e-05, 8.76334910e-05, 8.43107761e-05,
  7.54595976e-04, 4.19555186e-02, 7.82015031e-03, 8.37021724e-02,
 -5.11992514e-05, 4.28154927e-04,-1.77836783e-05, 9.57948957e-05,
  4.49806003e-03,-1.89724800e-03, 0.00000000e+00,-2.66308768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47364089, -1.66858831,  8.47364089,  9.0013382 ,
        1.85346103, -1.66858831,  1.85346103, 18.0488491 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022508469425397207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86493576e-14,  1.84967545e-14,  1.00000000e+00, -1.82469295e-27,
        1.00000000e+00, -1.84967545e-14, -1.00000000e+00,  0.00000000e+00,
        9.86493576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0347383,  0.0176824,  0.0618319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80020456e-05, 1.69784771e-05, 1.87394676e-05,-2.26516132e-05,
 -1.53585726e-05,-9.23968999e-04,-2.82987425e-04,-6.18805854e-04,
 -1.03018625e-05, 3.21825157e-05,-1.01220028e-05,-2.74561495e-05,
 -6.63598205e-05,-8.78908022e-05,-2.78155016e-05,-1.18084421e-04,
 -1.35093347e-03,-4.92665753e-04,-1.21623309e+00,-1.40404262e-02,
 -2.03063157e-02, 7.87653608e-04]


--- Step 1443 ---
qpos:
[ 3.31526711e-03,-3.21490223e-03, 1.19532535e-02, 4.17551519e-02,
  4.89065133e-03, 7.49237016e-01,-2.81107998e-02, 7.83499303e-01,
  5.83617391e-03, 1.64559189e-02,-9.29647920e-03, 2.59951713e-02,
  1.30750225e+00,-7.36055102e-05, 1.03636718e+00, 6.35796271e-02,
  2.08721496e-02,-2.82553799e-02, 8.37288044e-02, 7.03641647e-01,
 -3.96545653e-01,-5.89314711e-01, 1.86587691e-02]

qacc:
[ 3.97728050e+00,-2.23500616e-01, 2.91922149e+00,-8.52215666e+00,
  1.45545667e-01,-2.68889199e+01, 1.08383180e+02,-2.43638862e+02,
 -1.07295322e+00,-2.73613923e+00, 1.22583410e+01,-2.42392702e+01,
 -3.33276375e-01, 2.60859339e-01, 3.73270893e+00,-1.33718218e+01,
  8.20349321e-01,-1.42983374e+00,-4.22695970e+00, 3.81659843e+01,
  4.79774042e+01,-3.70517097e+01]

qfrc_actuator:
[ 2.47320684e-05, 1.27419812e-04, 1.00196412e-04, 7.13523397e-05,
  7.83642152e-04, 4.16341419e-02, 7.77143513e-03, 8.31108949e-02,
 -5.73393208e-05, 4.02874861e-04,-1.86885915e-06, 6.19442896e-05,
  4.48982556e-03,-1.88877872e-03, 0.00000000e+00,-2.72542533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55333788, -1.19464974,  8.55333788,  8.88763379,
        1.79901979, -1.19464974,  1.79901979, 21.51681185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021491209958480334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16594006e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.16594006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03488943,  0.01782236,  0.06183909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33759419e-05, 5.89724317e-05, 1.75989422e-05,-1.20243432e-05,
  2.21529456e-05,-9.21071574e-04,-2.87808347e-04,-6.45638797e-04,
 -6.42666216e-06,-1.05089845e-05, 2.03925449e-05,-3.33527632e-05,
 -6.72066304e-05,-2.69701699e-05,-2.94638683e-05,-7.32981782e-05,
 -1.77169816e-03,-3.71426717e-04,-1.21624935e+00,-1.40527311e-02,
 -2.03041141e-02, 7.94641968e-04]


--- Step 1444 ---
qpos:
[ 3.31568658e-03,-3.21367703e-03, 1.19520496e-02, 4.17545503e-02,
  4.90675339e-03, 7.49570490e-01,-2.81207263e-02, 7.85101712e-01,
  5.83638067e-03, 1.64544694e-02,-9.29682612e-03, 2.59956709e-02,
  1.30766962e+00,-7.95061204e-05, 1.03658553e+00, 6.35753613e-02,
  2.09189340e-02,-2.82577124e-02, 8.36989511e-02, 7.04317736e-01,
 -3.96516252e-01,-5.88513502e-01, 1.90590407e-02]

qacc:
[-7.35418019e-01, 8.27693856e-01,-5.26324796e-02,-7.75008177e+00,
  3.61911999e-01,-3.56700365e+01, 1.48587947e+02,-3.36140128e+02,
  5.43946986e+00,-3.37457895e+00, 1.12961190e+01,-1.33444155e+01,
 -6.85470239e-01, 1.21903861e+00,-1.40951052e+01, 4.77209237e+01,
  7.84986625e-01,-1.34953859e+00,-4.46801035e+00, 3.67114542e+01,
  4.62472667e+01,-3.58391169e+01]

qfrc_actuator:
[ 1.98793023e-05, 1.37033444e-04, 7.25005667e-05, 4.60568451e-05,
  8.30236577e-04, 4.12914724e-02, 7.72875480e-03, 8.22932843e-02,
 -2.52781696e-05, 3.70425042e-04, 4.34413468e-05, 5.95603407e-05,
  4.47353493e-03,-1.84552032e-03, 0.00000000e+00,-2.49232707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62530887, -0.43683384,  8.62530887,  8.68043274,
        0.87014688, -0.43683384,  0.87014688, 25.81746285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002044094902698468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35784183e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35784183e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03504508,  0.01796509,  0.06184647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.16808216e-06, 4.57002052e-05,-1.37639595e-05,-2.23951642e-05,
  5.62566529e-05,-9.42393151e-04,-2.82480599e-04,-8.72573390e-04,
  3.18696011e-05,-3.54987424e-05, 4.45218549e-05,-2.77387211e-06,
 -6.13267988e-05, 2.17773249e-05,-2.53096221e-05, 2.24428582e-04,
 -2.21520152e-03,-1.72475202e-04,-1.21625580e+00,-1.40706847e-02,
 -2.02955477e-02, 8.02259119e-04]


--- Step 1445 ---
qpos:
[ 3.31570001e-03,-3.21218291e-03, 1.19505761e-02, 4.17540133e-02,
  4.92356779e-03, 7.49897408e-01,-2.81307261e-02, 7.86683181e-01,
  5.83662483e-03, 1.64528696e-02,-9.29647518e-03, 2.59968000e-02,
  1.30783643e+00,-8.46315482e-05, 1.03680408e+00, 6.35705104e-02,
  2.09681381e-02,-2.82660742e-02, 8.36580044e-02, 7.05075121e-01,
 -3.96381426e-01,-5.87685760e-01, 1.93981165e-02]

qacc:
[-3.57683548e+00, 1.24931366e+00,-4.19868013e+00, 5.53554756e+00,
  4.09384571e-01,-4.55219241e+01, 1.93238070e+02,-4.36076391e+02,
  3.50961544e-01,-8.53821936e-01, 9.67594064e-02, 9.79546109e+00,
 -1.08295043e+00, 1.94702434e+00, 2.16969504e+00,-6.92401178e+00,
  6.04914167e-01,-1.50729226e+00,-2.77332909e+00, 3.54895290e+01,
  4.43939371e+01,-4.80868796e+01]

qfrc_actuator:
[-9.03973668e-07, 1.42024164e-04, 5.66134033e-05, 4.91541006e-05,
  8.69126754e-04, 4.09742336e-02, 7.72528863e-03, 8.12425138e-02,
 -2.42484553e-05, 3.87337039e-04, 8.79612556e-05, 9.34682635e-05,
  4.45776984e-03,-1.79982728e-03, 0.00000000e+00,-2.53086514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019575416934978843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41787915e-14,  2.83575831e-14,  1.00000000e+00, -4.02076259e-28,
        1.00000000e+00, -2.83575831e-14, -1.00000000e+00,  0.00000000e+00,
        1.41787915e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02450374,  0.01202628,  0.06185254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08870963e-05, 2.67122801e-05,-8.91700523e-06, 4.14399006e-06,
  6.36153122e-05,-9.35275962e-04,-2.53831865e-04,-1.11128103e-03,
  1.92437497e-06, 6.20581633e-06, 4.25938005e-05, 3.38747747e-05,
 -4.53157885e-05, 3.65937445e-05, 1.07810177e-05,-2.98346765e-05,
 -2.68018187e-03, 9.59285722e-05,-1.21625304e+00,-1.40933650e-02,
 -2.02815328e-02, 8.10435936e-04]


--- Step 1446 ---
qpos:
[ 3.31546425e-03,-3.21055267e-03, 1.19489505e-02, 4.17538720e-02,
  4.94107535e-03, 7.50217880e-01,-2.81401176e-02, 7.88241076e-01,
  5.83653423e-03, 1.64517704e-02,-9.29551921e-03, 2.59972119e-02,
  1.30800261e+00,-8.86208300e-05, 1.03702291e+00, 6.35632407e-02,
  2.10035990e-02,-2.82716961e-02, 8.36369382e-02, 7.05622342e-01,
 -3.96280250e-01,-5.87089538e-01, 1.96201028e-02]

qacc:
[-2.19410621e+00, 1.42529644e+00,-6.48235049e+00, 1.34637207e+01,
  3.99415369e-01,-5.18804369e+01, 2.21047609e+02,-4.94584974e+02,
 -2.90973080e+00,-2.50001394e+00, 1.29116887e+01,-2.66696721e+01,
 -1.51193561e+00, 2.82078091e+00, 7.82597278e+00,-2.65043295e+01,
 -3.43578489e+00, 6.84949341e-01, 4.97009474e+00,-9.01663144e+01,
 -1.19842344e+02,-7.52379456e+01]

qfrc_actuator:
[-1.31356921e-05, 1.44259590e-04, 4.78322570e-05, 6.89411823e-05,
  9.03060334e-04, 4.06748094e-02, 7.76275814e-03, 8.00630380e-02,
 -4.15033657e-05, 4.51472224e-04, 1.31866732e-04, 5.97257795e-05,
  4.43701085e-03,-1.73532113e-03, 0.00000000e+00,-2.65821241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019530968631044643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42110594e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.42110594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099991, -0.0476874 ,  0.06185287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28202809e-05, 1.54656144e-05,-4.21673308e-06, 2.07054417e-05,
  6.19228017e-05,-9.15737959e-04,-2.15441434e-04,-1.24410928e-03,
 -1.72051969e-05, 7.79082800e-05, 5.16180583e-05,-3.13432568e-05,
 -3.79133659e-05, 6.26853468e-05,-4.02188234e-06,-1.28901081e-04,
 -3.12623713e-03, 4.86632163e-04,-1.21624699e+00,-1.41321105e-02,
 -2.02536878e-02, 8.19101166e-04]


--- Step 1447 ---
qpos:
[ 3.31508383e-03,-3.20928624e-03, 1.19475027e-02, 4.17533202e-02,
  4.95903371e-03, 7.50531483e-01,-2.81489135e-02, 7.89777238e-01,
  5.83623755e-03, 1.64511186e-02,-9.29422256e-03, 2.59958597e-02,
  1.30816794e+00,-9.04285860e-05, 1.03724144e+00, 6.35565074e-02,
  2.10267935e-02,-2.82748922e-02, 8.36294846e-02, 7.05983018e-01,
 -3.96209647e-01,-5.86699515e-01, 1.97375916e-02]

qacc:
[-1.25797240e+00,-1.82168094e+00, 7.53293295e+00,-1.46557910e+01,
  2.62180697e-01,-4.91243662e+01, 2.06423310e+02,-4.57385824e+02,
 -1.79532373e+00,-3.98888898e+00, 2.25350930e+01,-5.39468205e+01,
 -2.30143865e+00, 4.63822299e+00,-1.84808789e+00, 6.31253652e+00,
 -3.06660949e+00, 6.06470253e-01, 3.40316124e+00,-8.04466779e+01,
 -1.06504028e+02,-6.69193911e+01]

qfrc_actuator:
[-2.02308997e-05, 9.16091856e-05, 4.33051319e-05, 4.51272798e-05,
  9.16001560e-04, 4.03175759e-02, 7.78863146e-03, 7.89771237e-02,
 -5.16192088e-05, 4.54587415e-04, 1.39711988e-04,-3.12646956e-05,
  4.41860635e-03,-1.60694026e-03, 0.00000000e+00,-2.62374579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.97753048,  6.23345059, -5.97753048, 31.80257732,
       22.21510321,  6.23345059, 22.21510321, 29.93940511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020725985864329527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01750379e-14,  1.33916793e-14,  1.00000000e+00, -5.38011225e-28,
        1.00000000e+00, -1.33916793e-14, -1.00000000e+00,  0.00000000e+00,
        4.01750379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070073, -0.04755251,  0.06184462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.45915016e-06,-4.40295137e-05,-1.13451541e-06,-2.28933921e-05,
  4.01972164e-05,-9.59358844e-04,-2.22685744e-04,-1.15160431e-03,
 -1.05850631e-05, 5.60226258e-05, 2.92129937e-05,-8.64756313e-05,
 -2.56261960e-05, 1.34574615e-04,-2.16488062e-05, 2.55453263e-05,
 -1.61404046e-03, 2.87886575e-04,-1.21632721e+00,-1.42584104e-02,
 -2.01522628e-02, 8.03199016e-04]


--- Step 1448 ---
qpos:
[ 3.31462140e-03,-3.20867894e-03, 1.19464865e-02, 4.17521636e-02,
  4.97719510e-03, 7.50837553e-01,-2.81567653e-02, 7.91291927e-01,
  5.83582246e-03, 1.64501284e-02,-9.29283323e-03, 2.59952744e-02,
  1.30833245e+00,-8.95812816e-05, 1.03745981e+00, 6.35501966e-02,
  2.10389501e-02,-2.82759253e-02, 8.36303450e-02, 7.06176614e-01,
 -3.96166929e-01,-5.86494545e-01, 1.97611490e-02]

qacc:
[-6.95412249e-01,-3.32314067e+00, 1.31375835e+01,-2.38087931e+01,
  1.22667652e-01,-5.04696910e+01, 2.09019689e+02,-4.55794853e+02,
 -1.02359570e+00, 8.74514213e-01,-7.00158443e+00, 2.03716424e+01,
 -2.65302418e+00, 5.50569491e+00,-1.27122067e+00, 4.66413256e+00,
 -2.75946522e+00, 5.40730664e-01, 2.07849377e+00,-7.23233932e+01,
 -9.54512022e+01,-5.99878240e+01]

qfrc_actuator:
[-2.42490721e-05, 4.19780270e-05, 5.88139138e-05, 1.35532976e-05,
  9.16312462e-04, 3.99109058e-02, 7.82506908e-03, 7.79016757e-02,
 -5.74464004e-05, 3.85438292e-04, 1.25943438e-04, 4.50351066e-06,
  4.40165793e-03,-1.45948702e-03, 0.00000000e+00,-2.60069431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.56293709,  6.60609626, -5.56293709, 37.4297944 ,
       24.24670152,  6.60609626, 24.24670152, 29.05430338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002144272636416318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07052392, -0.04747338,  0.06183976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24742941e-06,-7.54965797e-05, 5.48643287e-06,-3.39428929e-05,
  1.79661128e-05,-1.03104055e-03,-2.18662204e-04,-1.14075116e-03,
 -6.10965443e-06,-3.54856025e-05,-1.59464622e-06, 3.74988147e-05,
 -1.88176010e-07, 1.73219925e-04,-1.11615083e-05, 2.08129565e-05,
 -6.85701641e-04, 1.52758760e-04,-1.21638400e+00,-1.43342357e-02,
 -2.00926403e-02, 7.93356879e-04]


--- Step 1449 ---
qpos:
[ 3.31411417e-03,-3.20850530e-03, 1.19455938e-02, 4.17506303e-02,
  4.99556376e-03, 7.51136869e-01,-2.81646037e-02, 7.92782944e-01,
  5.83568529e-03, 1.64489819e-02,-9.29107471e-03, 2.59950801e-02,
  1.30849657e+00,-8.71237658e-05, 1.03767836e+00, 6.35418406e-02,
  2.10410931e-02,-2.82750159e-02, 8.36350409e-02, 7.06219214e-01,
 -3.96149743e-01,-5.86456927e-01, 1.96996614e-02]

qacc:
[-3.82018910e-01,-1.69452253e+00, 6.80032381e+00,-1.31978845e+01,
  1.24230289e-01,-5.07994919e+01, 2.16780970e+02,-4.90558315e+02,
  2.43837130e+00,-4.38206304e-01,-3.96805709e-01, 6.69888922e+00,
 -1.67704198e+00, 3.47987803e+00, 6.58574814e+00,-2.23090151e+01,
 -2.50342167e+00, 4.85631000e-01, 9.58874127e-01,-6.55176025e+01,
 -8.62710947e+01,-5.41989965e+01]

qfrc_actuator:
[-2.64257856e-05, 3.01045253e-05, 6.82667240e-05,-4.56560893e-06,
  9.26865273e-04, 3.96022525e-02, 7.83175323e-03, 7.67166740e-02,
 -4.29529997e-05, 3.97805786e-04, 1.52576231e-04, 2.57384170e-05,
  4.37495892e-03,-1.39069967e-03, 0.00000000e+00,-2.70886103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.10725614,  6.96438882, -5.10725614, 44.08057524,
       25.99261356,  6.96438882, 25.99261356, 27.69775417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00217697632288584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27495992e-14,  1.27495992e-14,  1.00000000e+00,  1.62552280e-28,
        1.00000000e+00, -1.27495992e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27495992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07044444, -0.04743864,  0.06183759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32351153e-06,-5.44195079e-05,-6.63207758e-06,-2.18199698e-05,
  1.83736937e-05,-9.71382167e-04,-2.61756367e-04,-1.25232918e-03,
  1.43025533e-05,-6.18122230e-06, 2.04002912e-05, 2.03893992e-05,
  1.36233088e-05, 1.09471927e-04,-7.39090966e-06,-1.09446234e-04,
 -1.87237144e-04, 6.50371366e-05,-1.21642161e+00,-1.43721668e-02,
 -2.00645398e-02, 7.87931174e-04]


--- Step 1450 ---
qpos:
[ 3.31358454e-03,-3.20841203e-03, 1.19443694e-02, 4.17488777e-02,
  5.01401126e-03, 7.51430320e-01,-2.81736581e-02, 7.94251240e-01,
  5.83606780e-03, 1.64474978e-02,-9.28857245e-03, 2.59941028e-02,
  1.30866063e+00,-8.42126213e-05, 1.03789642e+00, 6.35355893e-02,
  2.10340777e-02,-2.82723490e-02, 8.36397886e-02, 7.06124123e-01,
 -3.96156029e-01,-5.86571826e-01, 1.95606152e-02]

qacc:
[-2.05876092e-01, 3.69828110e-01,-5.46459342e-01,-2.66032405e+00,
  4.99985010e-02,-4.46037598e+01, 1.95191468e+02,-4.59041707e+02,
  4.56073426e+00,-4.14584640e+00, 1.74255374e+01,-3.19015129e+01,
 -2.49425296e-01, 6.64462812e-01,-7.05673908e+00, 2.36889771e+01,
 -2.28957741e+00, 4.39365589e-01, 1.29604346e-02,-5.98060163e+01,
 -7.86363746e+01,-4.93575002e+01]

qfrc_actuator:
[-2.75020488e-05, 4.09237925e-05, 5.64686631e-05,-1.45976343e-05,
  9.25725124e-04, 3.93546454e-02, 7.78563319e-03, 7.55832419e-02,
 -1.66162190e-05, 3.70273430e-04, 1.85383616e-04,-1.49354604e-05,
  4.35305222e-03,-1.38688166e-03, 0.00000000e+00,-2.59166524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.67624687,  7.26081897, -4.67624687, 51.92407623,
       27.87895294,  7.26081897, 27.87895294, 26.59148232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021781362273487342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82284293e-14,  1.27428098e-14,  1.00000000e+00, -4.87137603e-28,
        1.00000000e+00, -1.27428098e-14, -1.00000000e+00,  0.00000000e+00,
        3.82284293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07044218, -0.04743917,  0.06183755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15959904e-06,-2.19083485e-05,-2.45980888e-05,-1.30121332e-05,
  6.87438655e-06,-8.89350771e-04,-3.11066163e-04,-1.20251128e-03,
  2.67410754e-05,-2.58752615e-05, 3.47413475e-05,-3.98376419e-05,
  1.09699544e-05, 3.29758995e-05,-2.04449531e-05, 1.09051804e-04,
 -8.70664852e-06, 1.31327057e-05,-1.21644405e+00,-1.43812273e-02,
 -2.00605330e-02, 7.85750432e-04]


--- Step 1451 ---
qpos:
[ 3.31304609e-03,-3.20844197e-03, 1.19432438e-02, 4.17473390e-02,
  5.03240341e-03, 7.51717591e-01,-2.81829396e-02, 7.95696567e-01,
  5.83676311e-03, 1.64457943e-02,-9.28601055e-03, 2.59933692e-02,
  1.30882468e+00,-8.11491317e-05, 1.03811414e+00, 6.35320807e-02,
  2.10186198e-02,-2.82680806e-02, 8.36413936e-02, 7.05902349e-01,
 -3.96183982e-01,-5.86826798e-01, 1.93503242e-02]

qacc:
[-7.20155100e-02, 1.70061273e-03,-1.14430759e+00, 4.77722634e+00,
 -2.46718437e-02,-4.81243584e+01, 2.06839807e+02,-4.72412007e+02,
  2.73389498e+00, 3.98620612e-02,-1.60091903e+00, 5.89507072e+00,
  4.90294156e-02, 2.63172579e-02,-8.77608044e+00, 2.99801131e+01,
 -2.11062772e+00, 4.00388725e-01,-7.85693665e-01,-5.50079427e+01,
 -7.22847897e+01,-4.53055942e+01]

qfrc_actuator:
[-2.79225069e-05, 4.74262679e-05, 6.78313650e-05,-2.03153086e-06,
  9.17614739e-04, 3.90567138e-02, 7.78006516e-03, 7.44360132e-02,
 -1.27895135e-06, 3.54550301e-04, 1.85868274e-04,-2.97373358e-06,
  4.34465677e-03,-1.38602748e-03, 0.00000000e+00,-2.44909958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.35048714,  7.46056556, -4.35048714, 61.61073231,
       30.89099721,  7.46056556, 30.89099721, 26.6498621 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00215398153817864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28857073e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28857073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07050096, -0.04746758,  0.0618392 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58299181e-07,-1.13707788e-05, 3.37520134e-06, 1.05297626e-05,
 -5.17001321e-06,-9.02019166e-04,-2.58288648e-04,-1.21391328e-03,
  1.60927211e-05,-2.46864392e-05,-1.96993800e-06, 1.12785112e-05,
  5.30379628e-06, 1.13537035e-05, 1.16613513e-07, 1.45418621e-04,
 -7.13222448e-05,-1.12859278e-05,-1.21645479e+00,-1.43679164e-02,
 -2.00752269e-02, 7.85976841e-04]


--- Step 1452 ---
qpos:
[ 3.31285168e-03,-3.20858609e-03, 1.19425282e-02, 4.17459394e-02,
  5.05103091e-03, 7.51998667e-01,-2.81925600e-02, 7.97118626e-01,
  5.83729188e-03, 1.64443721e-02,-9.28423074e-03, 2.59927786e-02,
  1.30898871e+00,-7.80335360e-05, 1.03833171e+00, 6.35309588e-02,
  2.09953198e-02,-2.82623427e-02, 8.36371607e-02, 7.05562990e-01,
 -3.96232017e-01,-5.87211405e-01, 1.90741169e-02]

qacc:
[ 3.03466743e+00,-1.01664072e+00, 2.80848198e+00,-9.61870861e-01,
  1.39338403e-01,-4.83549352e+01, 2.08198818e+02,-4.77054577e+02,
 -1.48162305e+00, 2.85489986e+00,-1.02387881e+01, 1.37516709e+01,
  8.96396948e-02,-1.06967890e-01,-7.42584846e+00, 2.56541082e+01,
 -1.96053928e+00, 3.67381707e-01,-1.45944834e+00,-5.09757542e+01,
 -6.70042308e+01,-4.19148703e+01]

qfrc_actuator:
[-1.02014816e-05, 5.14136509e-05, 9.27925341e-05, 5.99528608e-06,
  9.40930116e-04, 3.87490020e-02, 7.76282052e-03, 7.32720902e-02,
 -1.02950321e-05, 3.81434636e-04, 1.49593256e-04, 4.35052356e-06,
  4.33904027e-03,-1.38683178e-03, 0.00000000e+00,-2.32829698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002109736010876516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07060761, -0.04751788,  0.06184218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77049764e-05,-1.20373483e-06, 2.34100857e-05, 7.86765084e-06,
  2.09229354e-05,-9.08479680e-04,-2.66574772e-04,-1.22962460e-03,
 -8.56668973e-06, 1.31971150e-05,-4.12350756e-05, 6.41686231e-06,
  1.16308967e-07, 3.14021507e-06, 1.27847519e-05, 1.28121233e-04,
 -3.18532442e-04,-1.42279419e-05,-1.21645682e+00,-1.43369243e-02,
 -2.01046937e-02, 7.88010477e-04]


--- Step 1453 ---
qpos:
[ 3.31287102e-03,-3.20853299e-03, 1.19416969e-02, 4.17449883e-02,
  5.06983376e-03, 7.52274168e-01,-2.82034463e-02, 7.98516000e-01,
  5.83770896e-03, 1.64426848e-02,-9.28274631e-03, 2.59930079e-02,
  1.30915257e+00,-7.46161976e-05, 1.03854905e+00, 6.35333054e-02,
  2.09646825e-02,-2.82552479e-02, 8.36248189e-02, 7.05113542e-01,
 -3.96298738e-01,-5.87716894e-01, 1.87364913e-02]

qacc:
[ 1.86921518e+00, 1.50524364e+00,-6.88681654e+00, 1.46939067e+01,
  1.04601623e-01,-4.75185107e+01, 2.09855158e+02,-4.96295127e+02,
 -9.78323580e-01, 2.16497156e+00,-1.16860299e+01, 2.65394242e+01,
 -1.43708251e-01, 3.61921159e-01,-1.08072715e+01, 3.73330245e+01,
 -1.83430101e+00, 3.39222048e-01,-2.02724421e+00,-4.75878005e+01,
 -6.26216645e+01,-3.90799884e+01]

qfrc_actuator:
[ 3.02466365e-07, 7.16848720e-05, 9.00567691e-05, 2.90403689e-05,
  9.47327139e-04, 3.84911672e-02, 7.70326745e-03, 7.20366259e-02,
 -1.58162628e-05, 3.44707468e-04, 1.27585575e-04, 4.44007348e-05,
  4.32976662e-03,-1.37083923e-03, 0.00000000e+00,-2.15028302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002049776858448725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.70815582e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.70815582e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075143, -0.04758517,  0.06184618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10080291e-05, 2.47940532e-05, 1.83888137e-07, 2.39610804e-05,
  1.55569750e-05,-8.64128427e-04,-3.11511441e-04,-1.30195571e-03,
 -5.76359918e-06,-3.75592600e-05,-2.41405529e-05, 3.93148515e-05,
 -8.28996568e-06, 1.67360754e-05, 1.59138990e-05, 1.85810836e-04,
 -7.09783857e-04,-3.03783289e-08,-1.21645267e+00,-1.42916341e-02,
 -2.01460686e-02, 7.91422306e-04]


--- Step 1454 ---
qpos:
[ 3.31232651e-03,-3.20838840e-03, 1.19405641e-02, 4.17450381e-02,
  5.08807926e-03, 7.52543934e-01,-2.82153780e-02, 7.99889764e-01,
  5.83840088e-03, 1.64412409e-02,-9.28146204e-03, 2.59932977e-02,
  1.30931623e+00,-7.09622912e-05, 1.03876656e+00, 6.35364309e-02,
  2.09271344e-02,-2.82468932e-02, 8.36024565e-02, 7.04560158e-01,
 -3.96382908e-01,-5.88335936e-01, 1.83412440e-02]

qacc:
[-4.95933173e+00, 3.03650179e+00,-1.48556413e+01, 3.25684550e+01,
 -3.08566127e-01,-4.64127986e+01, 2.03127526e+02,-4.76331385e+02,
  2.38675057e+00, 1.00076067e+00,-3.36501639e+00, 4.56087085e+00,
 -3.03529456e-01, 5.41080628e-01,-2.05478325e+00, 7.64312752e+00,
 -1.72773057e+00, 3.14955544e-01,-2.50515203e+00,-4.47430776e+01,
 -5.89948422e+01,-3.67139255e+01]

qfrc_actuator:
[-2.90364040e-05, 6.59554014e-05, 7.10646644e-05, 7.84839902e-05,
  8.90281096e-04, 3.82118581e-02, 7.65489690e-03, 7.08577242e-02,
 -1.47618471e-06, 3.94515619e-04, 1.31717059e-04, 5.00945703e-05,
  4.31298634e-03,-1.36279168e-03, 0.00000000e+00,-2.11750482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019777669822697574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80675892e-14, -1.40337946e-14,  1.00000000e+00, -3.93894782e-28,
        1.00000000e+00,  1.40337946e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80675892e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07092365, -0.04766545,  0.06185097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90168005e-05, 9.21344885e-06,-1.30082578e-05, 5.09818803e-05,
 -5.02519883e-05,-8.72152964e-04,-2.98877189e-04,-1.24686071e-03,
  1.41573124e-05, 2.55455559e-05,-5.23746749e-06, 4.01436926e-06,
 -1.71762218e-05, 9.89843463e-06, 2.37077014e-05, 4.41758233e-05,
 -1.21611070e-03, 2.81843064e-05,-1.21644444e+00,-1.42344769e-02,
 -2.01972625e-02, 7.95906823e-04]


--- Step 1455 ---
qpos:
[ 3.31143480e-03,-3.20837050e-03, 1.19398764e-02, 4.17456564e-02,
  5.10561962e-03, 7.52807350e-01,-2.82277997e-02, 8.01242878e-01,
  5.83925951e-03, 1.64397016e-02,-9.28054584e-03, 2.59930178e-02,
  1.30947972e+00,-6.74238244e-05, 1.03898440e+00, 6.35379425e-02,
  2.08932459e-02,-2.82509158e-02, 8.35942104e-02, 7.04161647e-01,
 -3.96273702e-01,-5.88901632e-01, 1.78436737e-02]

qacc:
[-3.03097573e+00,-2.34115702e-01,-1.79618328e+00, 1.10028896e+01,
 -3.91513415e-01,-4.34873564e+01, 1.84951222e+02,-4.22130853e+02,
  1.44368663e+00,-2.72818849e-01, 3.19021608e+00,-1.23854450e+01,
 -1.52776219e-01, 8.50439516e-02, 5.35703073e+00,-1.80295600e+01,
  9.14912089e-01,-3.09431729e+00, 3.52909499e+00, 6.92059793e+01,
  8.28573877e+01,-8.37789131e+01]

qfrc_actuator:
[-4.60836217e-05, 6.24049898e-05, 9.58086750e-05, 1.07529717e-04,
  8.49089691e-04, 3.78865489e-02, 7.63127462e-03, 6.98280751e-02,
  6.68618088e-06, 3.53821577e-04, 9.82970662e-05, 1.78534144e-05,
  4.29171165e-03,-1.37731929e-03, 0.00000000e+00,-2.20607131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020034860037885377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02439772,  0.01205196,  0.06184887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78714256e-05, 1.09817267e-06, 2.68221864e-05, 2.99861096e-05,
 -6.35547204e-05,-9.18002883e-04,-2.72436708e-04,-1.09623003e-03,
  8.57394986e-06,-2.72748997e-05,-2.86480504e-05,-3.12502609e-05,
 -2.85069560e-05,-1.62633568e-05, 1.03348904e-05,-8.43400271e-05,
 -1.81698713e-03, 6.81825119e-05,-1.21643394e+00,-1.41671863e-02,
 -2.02567560e-02, 8.01248252e-04]


--- Step 1456 ---
qpos:
[ 3.31103516e-03,-3.20830300e-03, 1.19397448e-02, 4.17462419e-02,
  5.12269668e-03, 7.53064463e-01,-2.82394652e-02, 8.02576839e-01,
  5.84055474e-03, 1.64375610e-02,-9.28037236e-03, 2.59927923e-02,
  1.30964298e+00,-6.40232146e-05, 1.03920292e+00, 6.35330384e-02,
  2.08627162e-02,-2.82659022e-02, 8.35947375e-02, 7.03902156e-01,
 -3.95989667e-01,-5.89420325e-01, 1.72516326e-02]

qacc:
[ 4.33554558e+00,-1.56538189e+00, 5.79995382e+00,-7.27796110e+00,
 -2.54258153e-01,-4.41480293e+01, 1.83400760e+02,-4.01983768e+02,
  3.79486791e+00, 1.38554719e+00,-6.33519991e+00, 8.91832143e+00,
 -4.77452114e-01, 5.35294574e-01, 2.04029809e+01,-6.98476338e+01,
  8.39721526e-01,-2.74092983e+00, 2.19326350e+00, 6.17011366e+01,
  7.46419143e+01,-7.66670821e+01]

qfrc_actuator:
[-2.02416785e-05, 7.80962270e-05, 1.28415762e-04, 1.06616071e-04,
  8.35534415e-04, 3.76253122e-02, 7.69337439e-03, 6.88767093e-02,
  2.88927565e-05, 2.76820208e-04, 4.25941723e-05, 1.67150713e-05,
  4.27307048e-03,-1.38738197e-03, 0.00000000e+00,-2.54288956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.06527407, -4.96675741,  7.06527407, 11.48907329,
        4.05801488, -4.96675741,  4.05801488, 14.40894018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020716906618452116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33975483e-14,  2.00963224e-14,  1.00000000e+00, -2.69241449e-28,
        1.00000000e+00, -2.00963224e-14, -1.00000000e+00,  0.00000000e+00,
        1.33975483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02431516,  0.01198566,  0.06184395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53314732e-05, 2.31326323e-05, 3.71832693e-05, 6.46287010e-07,
 -4.18299970e-05,-8.68777288e-04,-1.87980328e-04,-1.01528860e-03,
  2.24413037e-05,-9.94591604e-05,-6.59383603e-05,-3.90479515e-06,
 -3.88541639e-05,-2.03602916e-05,-1.00274967e-05,-3.41451883e-04,
 -1.17093005e-03,-3.13387790e-04,-1.21644898e+00,-1.41425122e-02,
 -2.02766686e-02, 7.90028927e-04]


--- Step 1457 ---
qpos:
[ 3.31094809e-03,-3.20801743e-03, 1.19396794e-02, 4.17468241e-02,
  5.13960253e-03, 7.53315511e-01,-2.82505441e-02, 8.03893485e-01,
  5.84210565e-03, 1.64352422e-02,-9.28077557e-03, 2.59921443e-02,
  1.30980611e+00,-6.08146610e-05, 1.03942155e+00, 6.35227979e-02,
  2.08360371e-02,-2.82906551e-02, 8.35971695e-02, 7.03778167e-01,
 -3.95545148e-01,-5.89886006e-01, 1.65778976e-02]

qacc:
[ 2.74191805e+00, 9.06688079e-02, 9.96000971e-02,-4.13505131e-01,
 -9.01689671e-02,-4.01188981e+01, 1.65794573e+02,-3.62896790e+02,
  2.21468969e+00, 5.01990342e-01,-3.55015674e-01,-5.89717931e+00,
 -2.70344736e-01, 2.23330698e-01, 1.62749287e+01,-5.66840781e+01,
  9.62611629e-01,-2.44163644e+00, 4.76247213e-01, 5.96928381e+01,
  7.33817284e+01,-6.67217282e+01]

qfrc_actuator:
[-4.87189511e-06, 8.74542096e-05, 1.29946393e-04, 1.05853406e-04,
  8.38601037e-04, 3.73517544e-02, 7.73484674e-03, 6.80145817e-02,
  4.14366513e-05, 3.02846861e-04, 2.73013075e-05,-1.66294547e-06,
  4.27199791e-03,-1.39469711e-03, 0.00000000e+00,-2.81017993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.10142307, -4.91493309,  7.10142307, 11.20633623,
        3.71326777, -4.91493309,  3.71326777, 14.00154052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021033483451434977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02392466e-07,  1.97938508e-14,  1.00000000e+00, -7.96489646e-21,
        1.00000000e+00, -1.97938508e-14, -1.00000000e+00,  0.00000000e+00,
        4.02392466e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02837499,  0.01429213,  0.06184167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60976821e-05, 3.00097023e-05, 1.09097684e-05, 1.52533015e-06,
 -1.55810994e-05,-8.34020867e-04,-1.86393074e-04,-9.19958449e-04,
  1.31486680e-05,-4.32914274e-05,-4.40704159e-05,-2.49935784e-05,
 -2.88774659e-05,-2.05972413e-05,-4.83126881e-05,-2.88922922e-04,
 -6.81239017e-04,-4.14873556e-04,-1.21643652e+00,-1.41367721e-02,
 -2.02771547e-02, 7.82158169e-04]


--- Step 1458 ---
qpos:
[ 3.31070136e-03,-3.20765044e-03, 1.19394110e-02, 4.17477746e-02,
  5.15677389e-03, 7.53560736e-01,-2.82618384e-02, 8.05194750e-01,
  5.84344977e-03, 1.64329774e-02,-9.28126432e-03, 2.59908703e-02,
  1.30996904e+00,-5.74792646e-05, 1.03963941e+00, 6.35133886e-02,
  2.08138209e-02,-2.83240466e-02, 8.35942390e-02, 7.03788388e-01,
 -3.94954401e-01,-5.90289867e-01, 1.58366545e-02]

qacc:
[-1.40907171e+00, 1.43748988e+00,-6.51831743e+00, 1.31522890e+01,
  1.54723009e-01,-3.42078802e+01, 1.41755162e+02,-3.16760286e+02,
 -1.80757601e+00,-9.74583928e-01, 6.22719416e+00,-1.69692944e+01,
 -1.66232428e-01, 2.60212810e-01,-3.62354222e+00, 1.10680350e+01,
  1.11575380e+00,-2.15966442e+00,-1.34060073e+00, 5.86001342e+01,
  7.34774881e+01,-5.57700011e+01]

qfrc_actuator:
[-1.35553826e-05, 7.50712905e-05, 1.13098491e-04, 1.22917581e-04,
  8.69286658e-04, 3.70730873e-02, 7.72830447e-03, 6.72473244e-02,
  3.04365836e-05, 3.37249954e-04, 3.63855171e-05,-2.99296452e-05,
  4.27081455e-03,-1.38250175e-03, 0.00000000e+00,-2.75022458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.14095147, -4.85732323,  7.14095147, 10.54638498,
        2.80800124, -4.85732323,  2.80800124, 12.76452222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021127747268725183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62740511e-14,  2.29897948e-14,  1.00000000e+00, -6.04035043e-28,
        1.00000000e+00, -2.29897948e-14, -1.00000000e+00,  0.00000000e+00,
        2.62740511e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03485564,  0.01798586,  0.06184099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21594071e-06, 6.71234492e-06,-9.25719180e-06, 1.87544136e-05,
  2.36760160e-05,-8.16088526e-04,-2.24283044e-04,-8.21718488e-04,
 -1.06433182e-05, 1.19447789e-07,-6.11690346e-06,-3.21259415e-05,
 -2.37510134e-05, 1.38804653e-06,-5.76509495e-05, 3.69022259e-05,
 -2.79310208e-04,-2.84449212e-04,-1.21640525e+00,-1.41506485e-02,
 -2.02584472e-02, 7.76606444e-04]


--- Step 1459 ---
qpos:
[ 3.31035265e-03,-3.20728366e-03, 1.19390111e-02, 4.17485830e-02,
  5.17438694e-03, 7.53800708e-01,-2.82733311e-02, 8.06478012e-01,
  5.84465161e-03, 1.64306766e-02,-9.28171524e-03, 2.59903056e-02,
  1.31013174e+00,-5.40061626e-05, 1.03985684e+00, 6.35053395e-02,
  2.07957316e-02,-2.83653048e-02, 8.35831381e-02, 7.03921654e-01,
 -3.94228723e-01,-5.90637001e-01, 1.50317059e-02]

qacc:
[-8.99162489e-01, 7.63426465e-02, 3.30215307e-01,-2.58280147e+00,
  2.54122620e-01,-3.81227062e+01, 1.62044560e+02,-3.68103840e+02,
 -1.23863876e+00, 1.30933281e+00,-7.72792962e+00, 1.99648475e+01,
 -1.80143137e-01, 2.78638159e-01,-4.73277355e+00, 1.56586196e+01,
  1.03171805e+00,-1.96666424e+00,-2.04263008e+00, 5.34270588e+01,
  6.77900317e+01,-5.20141108e+01]

qfrc_actuator:
[-1.85709735e-05, 6.74458999e-05, 1.03218941e-04, 1.14802162e-04,
  8.98422813e-04, 3.68467954e-02, 7.72902615e-03, 6.63467038e-02,
  2.34229757e-05, 3.41012763e-04, 4.20828661e-05, 7.25334699e-06,
  4.25892423e-03,-1.37659480e-03, 0.00000000e+00,-2.67548116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.05414608, -4.98254954,  7.05414608, 11.56972763,
        4.15296988, -4.98254954,  4.15296988, 14.51601541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020968414874151103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.30921243e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.30921243e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03487525,  0.01801225,  0.06184208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24875226e-06,-4.99495616e-06,-8.98700944e-06,-7.78508899e-06,
  3.95396627e-05,-7.57764097e-04,-2.14744155e-04,-9.53428226e-04,
 -7.32499640e-06, 1.28045120e-06, 3.89385706e-06, 3.63609297e-05,
 -2.57922739e-05, 1.14264972e-06,-2.36106196e-05, 6.91371867e-05,
  3.28906657e-05, 4.86831620e-05,-1.21636156e+00,-1.41813137e-02,
 -2.02240420e-02, 7.73221905e-04]


--- Step 1460 ---
qpos:
[ 3.30960143e-03,-3.20686560e-03, 1.19387635e-02, 4.17489163e-02,
  5.19230887e-03, 7.54036103e-01,-2.82852672e-02, 8.07740436e-01,
  5.84576000e-03, 1.64281190e-02,-9.28229918e-03, 2.59909219e-02,
  1.31029429e+00,-5.09476654e-05, 1.04007392e+00, 6.34995391e-02,
  2.07814815e-02,-2.84137925e-02, 8.35614982e-02, 7.04168581e-01,
 -3.93377542e-01,-5.90931499e-01, 1.41662652e-02]

qacc:
[-3.52934271e+00,-1.33079324e+00, 6.85923531e+00,-1.53744789e+01,
  1.79261891e-01,-4.15594742e+01, 1.81429079e+02,-4.21263646e+02,
 -8.14034672e-01, 2.46509797e+00,-1.42657307e+01, 3.51041717e+01,
  3.51594772e-01,-8.69689301e-01,-7.32842432e+00, 2.48231201e+01,
  9.59796312e-01,-1.80735883e+00,-2.63475437e+00, 4.91075566e+01,
  6.30727273e+01,-4.88330832e+01]

qfrc_actuator:
[-3.91323007e-05, 8.04767064e-05, 1.15282784e-04, 9.19422229e-05,
  9.08594279e-04, 3.66536888e-02, 7.71642251e-03, 6.53038285e-02,
  1.88194415e-05, 3.08707040e-04, 2.79063164e-05, 6.48687194e-05,
  4.23529355e-03,-1.41002776e-03, 0.00000000e+00,-2.55722098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.10906922, -4.90386701,  7.10906922, 11.8633984 ,
        4.67818835, -4.90386701,  4.67818835, 15.41826958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020606099704430295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.0204388e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.0204388e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03492528,  0.01806412,  0.06184458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07127990e-05, 8.03670871e-06, 9.65496320e-06,-2.35378701e-05,
  2.76262039e-05,-6.94570491e-04,-2.19355430e-04,-1.09634345e-03,
 -4.82258889e-06,-2.91360439e-05,-1.21393544e-05, 5.85205607e-05,
 -3.82707668e-05,-3.89847289e-05,-6.02137207e-06, 1.18441668e-04,
  2.35776460e-04, 5.20542555e-04,-1.21630696e+00,-1.42179110e-02,
 -2.01836393e-02, 7.71739527e-04]


--- Step 1461 ---
qpos:
[ 3.30895456e-03,-3.20644231e-03, 1.19383958e-02, 4.17489977e-02,
  5.20995922e-03, 7.54267005e-01,-2.82972133e-02, 8.08983955e-01,
  5.84645960e-03, 1.64251602e-02,-9.28290528e-03, 2.59915450e-02,
  1.31045672e+00,-4.90077607e-05, 1.04029062e+00, 6.34975187e-02,
  2.07696867e-02,-2.84695476e-02, 8.35335922e-02, 7.04510529e-01,
 -3.92402149e-01,-5.91194118e-01, 1.32281220e-02]

qacc:
[ 9.11944210e-01,-1.78220482e-01, 1.70458358e+00,-5.86988763e+00,
 -1.47521532e-01,-3.92069444e+01, 1.68933517e+02,-3.85752199e+02,
 -3.55922392e+00,-4.47375753e-01, 8.09277932e-01,-3.74403939e-01,
  1.02050649e+00,-2.33912716e+00,-1.20709844e+01, 4.11860773e+01,
  6.13822505e-01,-1.81686840e+00,-1.56651310e+00, 4.11674604e+01,
  5.27195709e+01,-5.67007092e+01]

qfrc_actuator:
[-3.31744601e-05, 7.03445699e-05, 1.04776061e-04, 7.83780761e-05,
  8.71837790e-04, 3.64641662e-02, 7.73165350e-03, 6.43631621e-02,
 -2.08260120e-06, 2.72748115e-04, 1.97137703e-05, 6.29775515e-05,
  4.20462022e-03,-1.48432007e-03, 0.00000000e+00,-2.36102554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002010491541304671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07080520e-14,  3.45134200e-14,  1.00000000e+00, -7.14705697e-28,
        1.00000000e+00, -3.45134200e-14, -1.00000000e+00,  0.00000000e+00,
        2.07080520e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02436029,  0.01207844,  0.06184803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37011705e-06,-4.66981871e-06,-8.47314030e-06,-1.33441144e-05,
 -2.45735036e-05,-6.61479226e-04,-1.83835124e-04,-9.95322724e-04,
 -2.10609719e-05,-5.21517886e-05,-1.36446555e-05,-2.41484546e-06,
 -6.14778789e-05,-9.23406687e-05, 6.98266582e-06, 2.01242595e-04,
  3.53055208e-04, 1.10069677e-03,-1.21624346e+00,-1.42585469e-02,
 -2.01390931e-02, 7.71696960e-04]


--- Step 1462 ---
qpos:
[ 3.30838433e-03,-3.20642813e-03, 1.19375033e-02, 4.17496890e-02,
  5.22697010e-03, 7.54493105e-01,-2.83094790e-02, 8.10210365e-01,
  5.84655807e-03, 1.64219051e-02,-9.28389307e-03, 2.59918077e-02,
  1.31061904e+00,-4.84924721e-05, 1.04050754e+00, 6.34958440e-02,
  2.07602011e-02,-2.85320801e-02, 8.34972937e-02, 7.04941266e-01,
 -3.91309532e-01,-5.91426516e-01, 1.22204030e-02]

qacc:
[ 6.63557318e-01, 2.18271595e+00,-1.11412738e+01, 2.28360725e+01,
 -3.54973669e-01,-3.55953629e+01, 1.51967574e+02,-3.47491607e+02,
 -5.24992966e+00,-5.66993126e-02, 1.17341113e+00,-6.60238046e+00,
  1.02462420e+00,-2.55568361e+00,-8.29448408e-01, 3.12352228e+00,
  5.77308427e-01,-1.69435418e+00,-2.09812368e+00, 3.83466144e+01,
  4.97666613e+01,-5.38173822e+01]

qfrc_actuator:
[-2.94036230e-05, 1.08349408e-05, 6.31858587e-05, 1.05863379e-04,
  8.25134070e-04, 3.62075295e-02, 7.71007127e-03, 6.35079777e-02,
 -3.24110216e-05, 2.52596978e-04,-2.69864161e-06, 4.38369258e-05,
  4.18570042e-03,-1.56450552e-03, 0.00000000e+00,-2.35128389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.32434712, -4.57610272,  7.32434712, 13.6280102 ,
        7.98945179, -4.57610272,  7.98945179, 21.42399577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019520992009088717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.10916115e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.10916115e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02442062,  0.01214491,  0.06185207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92208943e-06,-6.44500426e-05,-4.40605317e-05, 2.67319054e-05,
 -5.76872904e-05,-6.99606844e-04,-2.06751420e-04,-9.05363537e-04,
 -3.09595504e-05,-5.21290177e-05,-3.49074053e-05,-2.18870878e-05,
 -7.50287854e-05,-1.16360817e-04, 2.19713980e-05, 2.10140698e-05,
  4.20761057e-04, 1.72835270e-03,-1.21616535e+00,-1.42959118e-02,
 -2.00957955e-02, 7.72230886e-04]


--- Step 1463 ---
qpos:
[ 3.30786404e-03,-3.20718073e-03, 1.19365771e-02, 4.17507175e-02,
  5.24351186e-03, 7.54713963e-01,-2.83223527e-02, 8.11420148e-01,
  5.84629171e-03, 1.64184860e-02,-9.28527231e-03, 2.59925135e-02,
  1.31078108e+00,-4.90022616e-05, 1.04072420e+00, 6.34970039e-02,
  2.07528956e-02,-2.86009861e-02, 8.34508214e-02, 7.05455553e-01,
 -3.90105451e-01,-5.91629931e-01, 1.11456420e-02]

qacc:
[ 4.50515902e-01,-2.25904618e-01,-2.08803247e+00, 8.53883703e+00,
 -2.59177443e-01,-3.45366593e+01, 1.46486699e+02,-3.36002125e+02,
 -3.19112586e+00, 1.79581351e+00,-8.57753621e+00, 1.69810919e+01,
  7.53487663e-01,-1.93936337e+00,-9.01570657e+00, 3.08072929e+01,
  5.45013933e-01,-1.59337419e+00,-2.54345992e+00, 3.59862863e+01,
  4.73582676e+01,-5.14315391e+01]

qfrc_actuator:
[-2.69590173e-05,-4.23836815e-05, 5.66563509e-05, 1.21712057e-04,
  8.08443799e-04, 3.59127307e-02, 7.66671471e-03, 6.26743413e-02,
 -5.02867887e-05, 2.59738816e-04,-1.55219692e-05, 6.79689935e-05,
  4.17383686e-03,-1.61196814e-03, 0.00000000e+00,-2.20295545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.46253477, -4.34710843,  7.46253477, 13.53274835,
        8.40545889, -4.34710843,  8.40545889, 23.06573209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018837521881804181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47341969e-14,  2.21012953e-14,  1.00000000e+00, -3.25644837e-28,
        1.00000000e+00, -2.21012953e-14, -1.00000000e+00,  0.00000000e+00,
        1.47341969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02449213,  0.01222197,  0.06185682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53522872e-06,-9.72033924e-05,-2.43346239e-05, 1.20840465e-05,
 -4.23863452e-05,-7.60279937e-04,-2.35910540e-04,-8.83764455e-04,
 -1.87903645e-05,-3.00392521e-05,-2.85978148e-05, 2.02745195e-05,
 -8.14769927e-05,-9.23325937e-05, 7.09171110e-06, 1.51081421e-04,
  4.52280711e-04, 2.42432427e-03,-1.21607921e+00,-1.43355774e-02,
 -2.00498148e-02, 7.73364305e-04]


--- Step 1464 ---
qpos:
[ 3.30841159e-03,-3.20828451e-03, 1.19359760e-02, 4.17515037e-02,
  5.25946671e-03, 7.54928589e-01,-2.83342861e-02, 8.12610535e-01,
  5.84581242e-03, 1.64150066e-02,-9.28631085e-03, 2.59930925e-02,
  1.31094248e+00,-4.93635386e-05, 1.04094104e+00, 6.34982512e-02,
  2.07334196e-02,-2.86686232e-02, 8.34137878e-02, 7.05794627e-01,
 -3.88932340e-01,-5.92018712e-01, 9.97119339e-03]

qacc:
[ 9.38867912e+00,-1.89043352e+00, 7.05637561e+00,-1.14732840e+01,
 -3.23054938e-01,-4.49031312e+01, 1.85872901e+02,-4.05503554e+02,
 -1.84559454e+00,-1.28924616e+00, 5.02281922e+00,-7.72393931e+00,
 -6.07377313e-01, 7.71605703e-01, 6.10279404e-02, 2.98160930e-01,
 -3.04260143e+00, 3.17244875e-01, 2.35969324e+00,-7.56214549e+01,
 -9.75971838e+01,-6.11811432e+01]

qfrc_actuator:
[ 2.79438023e-05,-2.02958479e-05, 8.86344915e-05, 1.12854998e-04,
  7.74341778e-04, 3.55618899e-02, 7.69947296e-03, 6.17002228e-02,
 -6.06868072e-05, 2.83242536e-04, 1.30758649e-05, 6.41474145e-05,
  4.16090078e-03,-1.58636885e-03, 0.00000000e+00,-2.20488616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019392852923804799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86245409e-14,  1.43122705e-14,  1.00000000e+00, -4.09682172e-28,
        1.00000000e+00, -1.43122705e-14, -1.00000000e+00,  0.00000000e+00,
        2.86245409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100872, -0.04766675,  0.06185282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49447197e-05,-3.67388553e-05, 9.33904901e-06,-1.36261730e-05,
 -5.30171325e-05,-8.54863805e-04,-1.74484119e-04,-1.02666442e-03,
 -1.09609208e-05, 1.79811458e-06, 1.96269291e-05,-5.69396213e-06,
 -8.04136000e-05,-1.52029355e-05, 1.59333842e-05, 6.44232299e-06,
  4.54003012e-04, 3.17883974e-03,-1.21598518e+00,-1.43769550e-02,
 -2.00017777e-02, 7.74966015e-04]


--- Step 1465 ---
qpos:
[ 3.30892291e-03,-3.20942124e-03, 1.19352941e-02, 4.17525091e-02,
  5.27466932e-03, 7.55137404e-01,-2.83459608e-02, 8.13777561e-01,
  5.84521126e-03, 1.64121114e-02,-9.28728954e-03, 2.59932111e-02,
  1.31110333e+00,-4.95167380e-05, 1.04115847e+00, 6.34951313e-02,
  2.07030111e-02,-2.87350719e-02, 8.33815031e-02, 7.05975181e-01,
 -3.87785198e-01,-5.92575637e-01, 8.70623073e-03]

qacc:
[-3.19878613e-01, 6.34538470e-01,-3.24859216e+00, 7.19147120e+00,
 -4.16053431e-01,-4.94716090e+01, 2.11284812e+02,-4.77762310e+02,
 -1.07126000e+00,-3.40874955e-01, 4.28308936e+00,-1.27805062e+01,
 -8.69637485e-01, 1.23638795e+00, 1.41024041e+01,-4.79450132e+01,
 -2.73314984e+00, 2.97081027e-01, 1.18721631e+00,-6.76224441e+01,
 -8.85293322e+01,-5.61630620e+01]

qfrc_actuator:
[ 2.45205025e-05,-6.39092823e-06, 9.01141727e-05, 1.25124179e-04,
  7.30098141e-04, 3.52692750e-02, 7.70558445e-03, 6.05269665e-02,
 -6.66073394e-05, 3.52030570e-04, 3.04455684e-05, 4.39463147e-05,
  4.14203718e-03,-1.57095387e-03, 0.00000000e+00,-2.43738028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.63027802, -4.0454461 ,  7.63027802,  9.81375572,
        2.22072639, -4.0454461 ,  2.22072639, 12.82496469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019898078209528852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39488725e-14,  2.78977450e-14,  1.00000000e+00,  3.89142089e-28,
        1.00000000e+00, -2.78977450e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39488725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07088043, -0.04760161,  0.06184918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86692304e-06,-5.23145851e-06,-5.41470253e-06, 1.07530201e-05,
 -6.78983145e-05,-8.41516042e-04,-2.17083903e-04,-1.23024031e-03,
 -6.24662480e-06, 7.37352504e-05, 2.00130784e-05,-1.95465926e-05,
 -6.77892658e-05,-6.95557139e-06, 2.22356274e-06,-2.31415795e-04,
  6.55843048e-04, 2.10846461e-03,-1.21601533e+00,-1.41671722e-02,
 -2.01701062e-02, 7.60615471e-04]


--- Step 1466 ---
qpos:
[ 3.30904474e-03,-3.21033927e-03, 1.19339852e-02, 4.17529683e-02,
  5.28898264e-03, 7.55342228e-01,-2.83585186e-02, 8.14919944e-01,
  5.84488846e-03, 1.64096707e-02,-9.28809593e-03, 2.59941308e-02,
  1.31126381e+00,-4.97973960e-05, 1.04137576e+00, 6.34902672e-02,
  2.06626988e-02,-2.88004132e-02, 8.33499984e-02, 7.06011013e-01,
 -3.86659847e-01,-5.93286157e-01, 7.35856264e-03]

qacc:
[-3.44232448e+00, 9.23343803e-01,-5.57089417e-01,-8.06316996e+00,
 -4.94630148e-01,-4.62368128e+01, 2.06590352e+02,-4.90279603e+02,
  2.42596464e+00, 1.76353629e+00,-8.80721797e+00, 2.20711514e+01,
 -2.82692208e-01, 1.95372899e-01, 5.08552217e+00,-1.80396957e+01,
 -2.47592834e+00, 2.76845567e-01, 1.95006732e-01,-6.09258261e+01,
 -8.09663342e+01,-5.18888653e+01]

qfrc_actuator:
[ 4.53110439e-06, 2.42648658e-06, 5.58179464e-05, 9.64468099e-05,
  6.80169625e-04, 3.51734396e-02, 7.69601341e-03, 5.92992078e-02,
 -5.20934435e-05, 3.76358343e-04, 4.12229472e-05, 8.53123281e-05,
  4.12495808e-03,-1.57952109e-03, 0.00000000e+00,-2.51975054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.62928121, -4.04732566,  7.62928121, 10.02887998,
        2.6249182 , -4.04732566,  2.6249182 , 13.58438136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002006647442046039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.38318147e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.38318147e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0708361 , -0.04757622,  0.06184789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00405301e-05, 5.27878120e-06,-3.56530606e-05,-2.88777105e-05,
 -8.01962073e-05,-6.52421936e-04,-2.41252994e-04,-1.29013000e-03,
  1.43504208e-05, 6.89692325e-05, 2.78417940e-05, 4.48464678e-05,
 -5.76266026e-05,-2.56807867e-05,-3.09330502e-05,-9.63945065e-05,
  5.50536853e-04, 1.17408560e-03,-1.21603278e+00,-1.39437097e-02,
 -2.03474831e-02, 7.50137249e-04]


--- Step 1467 ---
qpos:
[ 3.30927098e-03,-3.21104478e-03, 1.19325197e-02, 4.17527033e-02,
  5.30270748e-03, 7.55543334e-01,-2.83709573e-02, 8.16040016e-01,
  5.84439685e-03, 1.64078813e-02,-9.28855721e-03, 2.59955012e-02,
  1.31142393e+00,-5.01865993e-05, 1.04159257e+00, 6.34867479e-02,
  2.06133407e-02,-2.88647262e-02, 8.33159159e-02, 7.05913526e-01,
 -3.85552759e-01,-5.94137982e-01, 5.93484316e-03]

qacc:
[ 9.07437284e-01,-7.76003862e-01, 6.22619270e+00,-1.86595957e+01,
 -3.25067373e-01,-4.44788220e+01, 1.95438201e+02,-4.51341441e+02,
 -1.47244371e+00, 8.26836424e-01,-3.59698963e+00, 1.03600767e+01,
 -9.44884905e-02,-7.12419254e-02,-4.77337603e+00, 1.56645937e+01,
 -2.26146456e+00, 2.57089387e-01,-6.44471472e-01,-5.53014515e+01,
 -7.46588858e+01,-4.82568104e+01]

qfrc_actuator:
[ 1.04750542e-05, 2.57055568e-05, 5.38926713e-05, 6.16317794e-05,
  6.62773391e-04, 3.50541564e-02, 7.73132899e-03, 5.81913953e-02,
 -6.11756341e-05, 4.27163884e-04, 6.56611844e-05, 1.09283383e-04,
  4.10895340e-03,-1.58447268e-03, 0.00000000e+00,-2.44191204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.60011021, -4.10184125,  7.60011021, 10.27490726,
        3.03598102, -4.10184125,  3.03598102, 14.26159117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001996285138589654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39036128e-14, -2.78072256e-14,  1.00000000e+00, -3.86620898e-28,
        1.00000000e+00,  2.78072256e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39036128e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085864, -0.04758232,  0.06184845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.38175443e-06, 1.76698471e-05,-6.19981463e-06,-3.63800174e-05,
 -5.31093232e-05,-5.77593902e-04,-1.63410741e-04,-1.16593999e-03,
 -8.65814763e-06, 9.71462687e-05, 4.37008375e-05, 2.87673515e-05,
 -5.53291150e-05,-2.40067480e-05,-2.84758575e-05, 6.76945117e-05,
  2.16461765e-04, 3.47817209e-04,-1.21604013e+00,-1.37099677e-02,
 -2.05308791e-02, 7.42528950e-04]


--- Step 1468 ---
qpos:
[ 3.30922179e-03,-3.21178035e-03, 1.19313860e-02, 4.17520199e-02,
  5.31639217e-03, 7.55740578e-01,-2.83834977e-02, 8.17138116e-01,
  5.84345493e-03, 1.64073048e-02,-9.28922471e-03, 2.59967681e-02,
  1.31158364e+00,-5.04004043e-05, 1.04180885e+00, 6.34868113e-02,
  2.05556546e-02,-2.89280867e-02, 8.32764155e-02, 7.05692139e-01,
 -3.84460922e-01,-5.95120730e-01, 4.44074559e-03]

qacc:
[-2.40683628e+00,-1.82506914e+00, 8.22165723e+00,-1.59754154e+01,
 -1.69925697e-02,-4.34604543e+01, 1.90909721e+02,-4.42650822e+02,
 -3.95465598e+00, 1.97422628e+00,-4.26288655e+00, 1.89426499e+00,
 -2.08631120e-01, 2.80527843e-01,-1.15769142e+01, 3.94086287e+01,
 -2.08201563e+00, 2.38130754e-01,-1.35446012e+00,-5.05637667e+01,
 -6.94048807e+01,-4.51811825e+01]

qfrc_actuator:
[-3.86435164e-06, 2.20750599e-05, 7.11702610e-05, 4.12833575e-05,
  6.82704070e-04, 3.48511168e-02, 7.72191707e-03, 5.70920667e-02,
 -8.40796425e-05, 5.11230104e-04, 6.25489398e-05, 1.05094855e-04,
  4.09893211e-03,-1.56947019e-03, 0.00000000e+00,-2.25258713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.52702457, -4.23446313,  7.52702457, 10.56760424,
        3.43290166, -4.23446313,  3.43290166, 14.73856229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001964165526289703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41309758e-14,  1.41309758e-14,  1.00000000e+00, -1.99684478e-28,
        1.00000000e+00, -1.41309758e-14, -1.00000000e+00,  0.00000000e+00,
        1.41309758e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709342 , -0.04761323,  0.06185049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41743939e-05, 3.45598815e-06, 1.89304100e-05,-2.05090891e-05,
 -3.74143880e-06,-6.00063166e-04,-1.80354422e-04,-1.14978185e-03,
 -2.31271288e-05, 1.48713380e-04, 2.33558328e-05, 2.04878378e-06,
 -4.72684909e-05,-3.31773056e-06,-8.36386286e-06, 1.88807325e-04,
 -2.90555011e-04,-3.91734401e-04,-1.21603984e+00,-1.34681789e-02,
 -2.07182842e-02, 7.37066807e-04]


--- Step 1469 ---
qpos:
[ 3.30865617e-03,-3.21224410e-03, 1.19297666e-02, 4.17514613e-02,
  5.33013125e-03, 7.55934160e-01,-2.83961948e-02, 8.18214476e-01,
  5.84224633e-03, 1.64070565e-02,-9.28950945e-03, 2.59973578e-02,
  1.31174314e+00,-5.07665952e-05, 1.04202510e+00, 6.34884392e-02,
  2.04902435e-02,-2.89905667e-02, 8.32290966e-02, 7.05354610e-01,
 -3.83381732e-01,-5.96225646e-01, 2.88110773e-03]

qacc:
[-4.55259167e+00, 1.98353198e+00,-7.06130040e+00, 9.77915275e+00,
  3.59585500e-02,-4.26300002e+01, 1.87841397e+02,-4.36919711e+02,
 -2.32001938e+00,-2.02555997e+00, 1.07186382e+01,-2.33004642e+01,
  5.36123795e-02,-2.61776991e-01,-4.77052231e+00, 1.66140994e+01,
 -1.93122380e+00, 2.20114632e-01,-1.95461695e+00,-4.65619386e+01,
 -6.50389138e+01,-4.25890726e+01]

qfrc_actuator:
[-3.00356855e-05, 3.79616633e-05, 4.62858707e-05, 4.73512358e-05,
  6.89212689e-04, 3.46882183e-02, 7.72134713e-03, 5.60064122e-02,
 -9.71750993e-05, 4.72409497e-04, 6.10723357e-05, 6.66317936e-05,
  4.09251740e-03,-1.57824105e-03, 0.00000000e+00,-2.17667234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.3946889 , -4.46154155,  7.3946889 , 10.92695759,
        3.79649713, -4.46154155,  3.79649713, 14.92878854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019148604361833368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44948295e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.44948295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105141, -0.04766355,  0.06185369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65701580e-05, 2.08874578e-05,-2.25245886e-05, 6.47802202e-06,
  4.77926449e-06,-5.75052358e-04,-1.77377410e-04,-1.13699895e-03,
 -1.37097835e-05, 4.92679010e-05, 3.22015487e-05,-3.12413272e-05,
 -3.37491696e-05,-2.05993346e-05, 1.38726455e-05, 8.46118454e-05,
 -9.30863778e-04,-1.06121189e-03,-1.21603413e+00,-1.32197386e-02,
 -2.09084032e-02, 7.33226941e-04]


--- Step 1470 ---
qpos:
[ 3.30778127e-03,-3.21254232e-03, 1.19278361e-02, 4.17516721e-02,
  5.34348230e-03, 7.56124280e-01,-2.84083632e-02, 8.19268351e-01,
  5.84123513e-03, 1.64066821e-02,-9.28900964e-03, 2.59982049e-02,
  1.31190268e+00,-5.20597590e-05, 1.04224141e+00, 6.34906372e-02,
  2.04176171e-02,-2.90522344e-02, 8.31719314e-02, 7.04907301e-01,
 -3.82312903e-01,-5.97445356e-01, 1.26005411e-03]

qacc:
[-2.72674272e+00, 2.67982971e+00,-1.24733287e+01, 2.61509797e+01,
 -2.11947370e-01,-4.55277841e+01, 1.99470440e+02,-4.56696311e+02,
  1.74852693e+00,-1.83292089e+00, 5.20084609e+00,-1.90086737e+00,
  7.76844479e-01,-1.78224585e+00,-1.71157634e+00, 5.93656879e+00,
 -1.80384640e+00, 2.03060950e-01,-2.46159964e+00,-4.31724441e+01,
 -6.14244593e+01,-4.04179631e+01]

qfrc_actuator:
[-4.52023826e-05, 4.75160255e-05, 3.22944824e-05, 8.66458533e-05,
  6.52084330e-04, 3.45507479e-02, 7.76168334e-03, 5.48842614e-02,
 -8.66362941e-05, 4.49019548e-04, 9.55758664e-05, 7.92296493e-05,
  4.08293747e-03,-1.63652355e-03, 0.00000000e+00,-2.15046603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.19108493, -4.78278939,  7.19108493, 11.34046847,
        4.06571269, -4.78278939,  4.06571269, 14.74929959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018522048946772451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99703080e-14,  1.49851540e-14,  1.00000000e+00, -4.49109682e-28,
        1.00000000e+00, -1.49851540e-14, -1.00000000e+00,  0.00000000e+00,
        2.99703080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07120099, -0.04772886,  0.06185779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59123570e-05, 1.68890863e-05,-1.21999030e-05, 3.95431303e-05,
 -3.50653098e-05,-5.34583782e-04,-1.30706550e-04,-1.17227095e-03,
  1.01620514e-05, 9.47621072e-06, 4.75700525e-05, 1.52156003e-05,
 -3.33373616e-05,-7.09967315e-05, 1.10602399e-05, 3.16014359e-05,
 -1.67649362e-03,-1.67372893e-03,-1.21602495e+00,-1.29654406e-02,
 -2.11004402e-02, 7.30629861e-04]


--- Step 1471 ---
qpos:
[ 3.30707628e-03,-3.21293218e-03, 1.19261553e-02, 4.17520009e-02,
  5.35615989e-03, 7.56310891e-01,-2.84201698e-02, 8.20304040e-01,
  5.84104726e-03, 1.64068837e-02,-9.28864393e-03, 2.59995148e-02,
  1.31206217e+00,-5.42914546e-05, 1.04245757e+00, 6.34944787e-02,
  2.03465536e-02,-2.91247072e-02, 8.31297424e-02, 7.04569360e-01,
 -3.81062170e-01,-5.98642971e-01,-4.82627630e-04]

qacc:
[ 1.50080975e+00,-5.78890890e-01, 1.38529522e+00, 3.30199055e-01,
 -3.73129045e-01,-3.75662920e+01, 1.62559333e+02,-3.69808453e+02,
  7.16735701e+00, 2.07483154e+00,-8.27176094e+00, 1.60984229e+01,
  7.84873989e-01,-1.83820635e+00,-5.26387360e+00, 1.79092737e+01,
  3.90743031e-01,-2.70124474e+00, 3.74407785e+00, 4.87005253e+01,
  6.35941549e+01,-9.30527864e+01]

qfrc_actuator:
[-3.60142439e-05, 3.55159823e-05, 4.26111430e-05, 9.19240169e-05,
  6.06947076e-04, 3.43942954e-02, 7.79043513e-03, 5.39804384e-02,
 -4.45217081e-05, 5.06221523e-04, 9.78547014e-05, 1.04047753e-04,
  4.07144382e-03,-1.68817223e-03, 0.00000000e+00,-2.06495299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018921587152693903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46687354e-14,  2.93374709e-14,  1.00000000e+00, -4.30343599e-28,
        1.00000000e+00, -2.93374709e-14, -1.00000000e+00,  0.00000000e+00,
        1.46687354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01627252,  0.00659509,  0.06185449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74251202e-06,-3.35162565e-06, 1.36979727e-05, 6.35456026e-06,
 -6.07923102e-05,-5.22903070e-04,-1.29869151e-04,-9.51942935e-04,
  4.24061153e-05, 7.29856006e-05, 1.06172078e-05, 2.71635009e-05,
 -4.70358455e-05,-7.60075797e-05, 4.06621989e-06, 8.76202743e-05,
 -2.50794658e-03,-2.23974062e-03,-1.21601401e+00,-1.27056478e-02,
 -2.12939462e-02, 7.29000981e-04]


--- Step 1472 ---
qpos:
[ 3.30614172e-03,-3.21322127e-03, 1.19245864e-02, 4.17516847e-02,
  5.36838278e-03, 7.56493616e-01,-2.84320733e-02, 8.21323660e-01,
  5.84136565e-03, 1.64078884e-02,-9.28886031e-03, 2.59997320e-02,
  1.31222139e+00,-5.68955404e-05, 1.04267349e+00, 6.35009822e-02,
  2.02804239e-02,-2.92070567e-02, 8.30864926e-02, 7.04379072e-01,
 -3.79630159e-01,-5.99771358e-01,-2.32001482e-03]

qacc:
[-2.01355472e+00,-1.50522070e+00, 8.28716968e+00,-1.97064360e+01,
 -2.50807956e-01,-3.30904505e+01, 1.41953058e+02,-3.24492920e+02,
  4.38295852e+00, 4.30421906e-01, 4.60444852e+00,-2.31609701e+01,
  2.49197896e-01,-7.28692339e-01,-8.40599938e+00, 2.88467820e+01,
  1.23345021e+00,-2.46920607e+00,-2.65222376e-01, 6.36295393e+01,
  8.66713533e+01,-7.43981039e+01]

qfrc_actuator:
[-4.80739431e-05, 4.62795160e-05, 4.93236728e-05, 5.93833173e-05,
  5.92950400e-04, 3.41746273e-02, 7.77668658e-03, 5.31768014e-02,
 -1.96718106e-05, 5.40116477e-04, 6.36509123e-05, 4.71264314e-05,
  4.06413504e-03,-1.69995301e-03, 0.00000000e+00,-1.92740469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00,  7.15912518e+00, -4.83049724e+00,  7.15912518e+00,
        8.63774657e+00,  2.04960588e-03, -4.83049724e+00,  2.04960588e-03,
        8.63940129e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.001952462666490476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68627018e-14,  1.42156755e-14,  1.00000000e+00, -8.08341715e-28,
        1.00000000e+00, -1.42156755e-14, -1.00000000e+00,  0.00000000e+00,
        5.68627018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03500487,  0.01821522,  0.06184986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18097714e-05, 1.20291952e-05, 7.95113358e-06,-3.20829137e-05,
 -4.11027421e-05,-5.71990632e-04,-1.63132630e-04,-8.46397313e-04,
  2.60906073e-05, 7.80658530e-05,-1.68914446e-05,-5.29035594e-05,
 -5.17007181e-05,-4.05555081e-05, 7.60526016e-06, 1.42000890e-04,
 -1.74956275e-03,-1.84338356e-03,-1.21587416e+00,-1.27167442e-02,
 -2.12594532e-02, 7.17795706e-04]


--- Step 1473 ---
qpos:
[ 3.30472530e-03,-3.21362795e-03, 1.19229444e-02, 4.17506772e-02,
  5.38025884e-03, 7.56672837e-01,-2.84439958e-02, 8.22321872e-01,
  5.84163561e-03, 1.64088118e-02,-9.28861163e-03, 2.59999982e-02,
  1.31238018e+00,-5.91677109e-05, 1.04288936e+00, 6.35094138e-02,
  2.02187643e-02,-2.92983159e-02, 8.30386059e-02, 7.04321557e-01,
 -3.78032499e-01,-6.00836540e-01,-4.24585336e-03]

qacc:
[-4.23006048e+00,-1.36770373e+00, 7.58128065e+00,-1.93542185e+01,
 -1.89322893e-01,-4.21788821e+01, 1.85466520e+02,-4.29976985e+02,
 -4.06460991e-01,-1.30571274e+00, 4.29413094e+00,-4.13134176e+00,
 -4.66700356e-01, 7.64924038e-01,-5.85860462e+00, 2.04750818e+01,
  1.11752053e+00,-2.22739861e+00,-1.15922559e+00, 5.69438070e+01,
  7.90585827e+01,-6.86764708e+01]

qfrc_actuator:
[-7.25508274e-05, 1.72875456e-05, 3.61589589e-05, 2.26197266e-05,
  5.79936065e-04, 3.40075726e-02, 7.77325687e-03, 5.21011338e-02,
 -2.29456104e-05, 5.06311754e-04, 7.90697158e-05, 4.90476202e-05,
  4.05935827e-03,-1.67025115e-03, 0.00000000e+00,-1.83132160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.03156765, -5.0143627 ,  7.03156765, 10.22043881,
        2.22132551, -5.0143627 ,  2.22132551, 11.75129598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001979053839402632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41480158e-14,  2.45431713e-14,  1.00000000e+00, -2.06525916e-27,
        1.00000000e+00, -2.45431713e-14, -1.00000000e+00,  0.00000000e+00,
        8.41480158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03495631,  0.01817771,  0.06184768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48054743e-05,-2.19688190e-05,-1.07870136e-05,-3.65922008e-05,
 -3.13718080e-05,-5.49547601e-04,-1.63113343e-04,-1.11869802e-03,
 -2.49280796e-06, 4.06965563e-06, 2.76229026e-05, 3.64932143e-06,
 -4.32827818e-05, 8.07458261e-06, 1.50874094e-05, 1.03981113e-04,
 -7.63766184e-04,-9.69214292e-04,-1.21572039e+00,-1.28166658e-02,
 -2.11548963e-02, 7.07450545e-04]


--- Step 1474 ---
qpos:
[ 3.30337165e-03,-3.21447827e-03, 1.19215895e-02, 4.17492549e-02,
  5.39164648e-03, 7.56849056e-01,-2.84560806e-02, 8.23297655e-01,
  5.84151982e-03, 1.64094067e-02,-9.28747051e-03, 2.60006329e-02,
  1.31253864e+00,-6.13573740e-05, 1.04310551e+00, 6.35169321e-02,
  2.01611781e-02,-2.93976811e-02, 8.29830479e-02, 7.04384238e-01,
 -3.76282293e-01,-6.01843301e-01,-6.25485629e-03]

qacc:
[ 5.67347916e-01,-2.24545201e+00, 8.90309040e+00,-1.62113402e+01,
 -2.68958246e-01,-4.29126120e+01, 1.91101429e+02,-4.47815934e+02,
 -3.33075200e+00,-2.16315706e+00, 5.53775526e+00,-3.55122004e-01,
 -3.84711758e-01, 5.06981422e-01, 3.19436509e+00,-1.05145958e+01,
  1.01834721e+00,-2.02652567e+00,-1.91781350e+00, 5.13317579e+01,
  7.27261719e+01,-6.38174107e+01]

qfrc_actuator:
[-6.86286382e-05,-1.76270403e-05, 4.67134331e-05, 1.37937386e-06,
  5.49832494e-04, 3.38910129e-02, 7.77597952e-03, 5.09805306e-02,
 -4.27414469e-05, 4.85708370e-04, 1.23447745e-04, 6.78171170e-05,
  4.04014704e-03,-1.66947294e-03, 0.00000000e+00,-1.88471708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.09895189, -4.91850169,  7.09895189, 10.31104304,
        2.41709147, -4.91850169,  2.41709147, 12.12499028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001976911290573362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80797381e-14,  1.05299018e-14,  1.00000000e+00, -2.95676884e-28,
        1.00000000e+00, -1.05299018e-14, -1.00000000e+00,  0.00000000e+00,
        2.80797381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03495143,  0.01817905,  0.06184755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21309188e-06,-5.09631027e-05, 3.45055457e-06,-2.32588565e-05,
 -4.41267139e-05,-4.95541939e-04,-1.60811068e-04,-1.16897519e-03,
 -1.98639044e-05,-1.25022784e-05, 4.87333624e-05, 1.99676473e-05,
 -4.15192847e-05,-7.44730519e-06, 1.34914354e-05,-4.68384693e-05,
  3.20026806e-05, 5.09786578e-05,-1.21555538e+00,-1.29164157e-02,
 -2.10515430e-02, 6.99743953e-04]


--- Step 1475 ---
qpos:
[ 3.30242012e-03,-3.21553767e-03, 1.19205019e-02, 4.17485961e-02,
  5.40256916e-03, 7.57022169e-01,-2.84683853e-02, 8.24251734e-01,
  5.84116707e-03, 1.64106116e-02,-9.28666063e-03, 2.60004153e-02,
  1.31269669e+00,-6.34512031e-05, 1.04332178e+00, 6.35231016e-02,
  2.01073243e-02,-2.95044820e-02, 8.29172464e-02, 7.04556470e-01,
 -3.74390519e-01,-6.02795423e-01,-8.34260255e-03]

qacc:
[ 3.54194163e+00, 5.43179835e-01,-5.57040660e+00, 1.85206115e+01,
 -2.55857669e-01,-4.16102693e+01, 1.84794086e+02,-4.32872886e+02,
 -2.08799150e+00,-1.86653815e-02, 4.84244314e+00,-1.95221661e+01,
 -4.78154527e-01, 6.23567184e-01, 4.29003515e+00,-1.46614364e+01,
  9.33111360e-01,-1.85891175e+00,-2.56086168e+00, 4.66034705e+01,
  6.74671780e+01,-5.97113029e+01]

qfrc_actuator:
[-4.80188938e-05,-2.46421495e-06, 7.11684118e-05, 4.27109068e-05,
  5.27508358e-04, 3.37346374e-02, 7.76479177e-03, 4.98958075e-02,
 -5.43411845e-05, 5.44316030e-04, 1.13577392e-04, 2.53458919e-05,
  4.01228184e-03,-1.66817966e-03, 0.00000000e+00,-1.95471905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.19241372, -4.78079091,  7.19241372, 10.31293844,
        2.52230642, -4.78079091,  2.52230642, 12.43102265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019517587588921484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68832095e-14,  2.13312036e-14,  1.00000000e+00, -1.21338732e-27,
        1.00000000e+00, -2.13312036e-14, -1.00000000e+00,  0.00000000e+00,
        5.68832095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03498123,  0.01821147,  0.06184906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06886709e-05,-1.35641443e-05, 1.35787304e-05, 3.88233638e-05,
 -4.20199484e-05,-5.06496117e-04,-1.65234179e-04,-1.13234977e-03,
 -1.21731042e-05, 6.24949595e-05,-5.78046460e-06,-4.09366603e-05,
 -5.31825121e-05,-9.98711199e-06,-4.58975818e-06,-7.21917988e-05,
  6.79639152e-04, 1.17487856e-03,-1.21538165e+00,-1.30140155e-02,
 -2.09510739e-02, 6.93945852e-04]


--- Step 1476 ---
qpos:
[ 3.30172284e-03,-3.21646692e-03, 1.19195627e-02, 4.17484012e-02,
  5.41328792e-03, 7.57191960e-01,-2.84808109e-02, 8.25186785e-01,
  5.84067818e-03, 1.64121310e-02,-9.28621502e-03, 2.60004215e-02,
  1.31285417e+00,-6.49506704e-05, 1.04353879e+00, 6.35220149e-02,
  2.00569083e-02,-2.96181562e-02, 8.28390229e-02, 7.04829222e-01,
 -3.72366357e-01,-6.03695866e-01,-1.05054463e-02]

qacc:
[ 2.23427650e+00, 7.09161610e-01,-4.24323319e+00, 1.19446093e+01,
 -1.09611597e-01,-3.74593226e+01, 1.64207862e+02,-3.80954384e+02,
 -1.20404883e+00, 1.89692661e+00,-7.10151008e+00, 1.13218071e+01,
 -1.36063718e+00, 2.22346018e+00, 2.30981401e+01,-7.89791860e+01,
  8.59420992e-01,-1.71830921e+00,-3.10551935e+00, 4.26048554e+01,
  6.31121831e+01,-5.62637897e+01]

qfrc_actuator:
[-3.55137113e-05, 2.49353216e-05, 8.61160390e-05, 6.73151751e-05,
  5.27776408e-04, 3.35734304e-02, 7.76313298e-03, 4.89473740e-02,
 -6.10177529e-05, 5.43127411e-04, 8.97773357e-05, 3.59668989e-05,
  3.98989533e-03,-1.63111840e-03, 0.00000000e+00,-2.33567868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.31419592, -4.59231041,  7.31419592, 10.21719916,
        2.5178047 , -4.59231041,  2.5178047 , 12.64648387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019083966509868752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90878478e-14,  2.90878478e-14,  1.00000000e+00, -8.46102887e-28,
        1.00000000e+00, -2.90878478e-14, -1.00000000e+00,  0.00000000e+00,
        2.90878478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03503834,  0.01826854,  0.06185188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30921797e-05, 2.43449906e-05, 1.51884963e-05, 2.52544500e-05,
 -1.84954518e-05,-5.16937817e-04,-1.57212771e-04,-9.95726450e-04,
 -6.99715708e-06, 3.07526254e-05,-1.30422382e-05, 1.22989036e-05,
 -5.51293465e-05, 2.25689169e-05,-1.50159803e-05,-3.86713199e-04,
  1.21043856e-03, 2.37388345e-03,-1.21520030e+00,-1.31084387e-02,
 -2.08543472e-02, 6.89534687e-04]


--- Step 1477 ---
qpos:
[ 3.30118101e-03,-3.21720343e-03, 1.19191161e-02, 4.17474343e-02,
  5.42387163e-03, 7.57357974e-01,-2.84927663e-02, 8.26103546e-01,
  5.84045829e-03, 1.64134290e-02,-9.28551922e-03, 2.60002364e-02,
  1.31301108e+00,-6.54899261e-05, 1.04375577e+00, 6.35160365e-02,
  2.00096731e-02,-2.97382288e-02, 8.27465332e-02, 7.05194825e-01,
 -3.70217458e-01,-6.04546916e-01,-1.27404356e-02]

qacc:
[ 1.37620012e+00,-2.71682270e+00, 1.33078819e+01,-2.75903331e+01,
 -7.03494961e-02,-3.83494816e+01, 1.64556496e+02,-3.71729532e+02,
  2.35769557e+00,-1.39025729e+00, 5.33242806e+00,-8.87199296e+00,
 -1.46792910e+00, 2.63253532e+00, 1.48445907e+01,-5.17143698e+01,
  7.95232050e-01,-1.59961303e+00,-3.56654311e+00, 3.92099904e+01,
  5.95213213e+01,-5.33930902e+01]

qfrc_actuator:
[-2.78842394e-05, 4.16686515e-05, 1.13123955e-04, 2.86194450e-05,
  5.23772087e-04, 3.33752776e-02, 7.78493302e-03, 4.80334643e-02,
 -4.69938162e-05, 5.06112525e-04, 9.32902608e-05, 2.44500731e-05,
  3.97615066e-03,-1.57313320e-03, 0.00000000e+00,-2.57721875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.46000164, -4.35145405,  7.46000164, 10.01573015,
        2.36474436, -4.35145405,  2.36474436, 12.69041007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018508455012826303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99846407e-14,  1.49961602e-14,  1.00000000e+00, -8.99539281e-28,
        1.00000000e+00, -1.49961602e-14, -1.00000000e+00,  0.00000000e+00,
        5.99846407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03511673,  0.01834493,  0.0618557 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01316611e-06, 3.46179418e-05, 3.48035684e-05,-3.66315235e-05,
 -1.22983724e-05,-5.53412758e-04,-1.30650392e-04,-9.58228611e-04,
  1.38393800e-05,-2.20490535e-05, 8.66122165e-06,-1.04150660e-05,
 -4.07183307e-05, 5.10952206e-05,-5.60681126e-05,-2.66426270e-04,
  1.64797237e-03, 3.62915452e-03,-1.21501154e+00,-1.31993199e-02,
 -2.07616685e-02, 6.86138093e-04]


--- Step 1478 ---
qpos:
[ 3.30107999e-03,-3.21775095e-03, 1.19189743e-02, 4.17467154e-02,
  5.43451931e-03, 7.57520426e-01,-2.85044399e-02, 8.27001517e-01,
  5.84040856e-03, 1.64140168e-02,-9.28392378e-03, 2.59992426e-02,
  1.31316758e+00,-6.53311494e-05, 1.04397162e+00, 6.35138307e-02,
  1.99633121e-02,-2.98655717e-02, 8.26509330e-02, 7.05627841e-01,
 -3.67937218e-01,-6.05379561e-01,-1.50711417e-02]

qacc:
[ 3.87547287e+00,-9.84337331e-02,-3.46404878e-01, 4.02682112e+00,
  4.11464401e-02,-3.84295274e+01, 1.66316893e+02,-3.79474766e+02,
  1.52381415e+00,-5.12062174e+00, 2.03045829e+01,-3.52079806e+01,
 -5.68001254e-01, 1.17483995e+00,-1.30097735e+01, 4.32032508e+01,
  2.18537979e-01,-1.81759663e+00,-7.77641946e-01, 2.97392347e+01,
  4.54216113e+01,-6.96141963e+01]

qfrc_actuator:
[-5.43046699e-06, 5.18876079e-05, 1.29211717e-04, 4.17573206e-05,
  5.34969671e-04, 3.32099997e-02, 7.80251319e-03, 4.70938820e-02,
 -3.86529020e-05, 4.48011912e-04, 1.30474841e-04,-1.77764409e-05,
  3.96228615e-03,-1.53870251e-03, 0.00000000e+00,-2.36176370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018004348526698688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54160399e-14,  1.54160399e-14,  1.00000000e+00, -2.37654288e-28,
        1.00000000e+00, -1.54160399e-14, -1.00000000e+00,  0.00000000e+00,
        1.54160399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01630398,  0.00668156,  0.06185899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26972030e-05, 3.52355934e-05, 2.62735924e-05, 1.51165406e-05,
  5.65627298e-06,-5.34126439e-04,-1.37817866e-04,-9.83442157e-04,
  8.73478988e-06,-6.91384071e-05, 3.33127956e-05,-4.30790724e-05,
 -2.62274639e-05, 3.77528668e-05,-5.87769034e-05, 1.92658533e-04,
  2.01012823e-03, 4.92880654e-03,-1.21481501e+00,-1.32867467e-02,
 -2.06729800e-02, 6.83490879e-04]


--- Step 1479 ---
qpos:
[ 3.30124885e-03,-3.21782225e-03, 1.19183452e-02, 4.17465229e-02,
  5.44522239e-03, 7.57679405e-01,-2.85166585e-02, 8.27885419e-01,
  5.83976965e-03, 1.64140295e-02,-9.28219765e-03, 2.59984779e-02,
  1.31332419e+00,-6.58351047e-05, 1.04418766e+00, 6.35094209e-02,
  1.99048509e-02,-2.99924445e-02, 8.25631404e-02, 7.05880250e-01,
 -3.65667637e-01,-6.06393933e-01,-1.75114156e-02]

qacc:
[ 2.34565076e+00, 3.07230587e+00,-1.22688508e+01, 2.18132585e+01,
  3.47084251e-02,-2.77802833e+01, 1.19880215e+02,-2.79155817e+02,
 -5.12471088e+00,-6.43782001e-01, 2.42931025e-01, 3.91680000e+00,
  4.48396623e-01,-1.08519746e+00, 6.89891841e+00,-2.38178915e+01,
 -3.02505229e+00, 1.17554805e-01, 1.95193630e+00,-6.87821905e+01,
 -9.87072866e+01,-7.02243831e+01]

qfrc_actuator:
[ 7.81772456e-06, 7.58772276e-05, 1.03232989e-04, 6.75313695e-05,
  5.37390763e-04, 3.30479887e-02, 7.78205632e-03, 4.63952501e-02,
 -6.92358232e-05, 4.13342605e-04, 1.33854996e-04,-6.72443731e-06,
  3.95368079e-03,-1.58953695e-03, 0.00000000e+00,-2.48240874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018483454368799501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00657757e-14, -1.50164439e-14,  1.00000000e+00, -9.01974353e-28,
        1.00000000e+00,  1.50164439e-14, -1.00000000e+00,  0.00000000e+00,
       -6.00657757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111494, -0.04764956,  0.06185514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39073247e-05, 4.97991611e-05,-1.49326660e-05, 2.84890102e-05,
  4.88072400e-06,-5.22292788e-04,-1.73586645e-04,-7.42627988e-04,
 -3.03529146e-05,-6.83316646e-05,-8.31246338e-06, 8.40036791e-06,
 -1.49883205e-05,-4.77421364e-05,-6.20490121e-06,-1.17586412e-04,
  2.31712482e-03, 6.10221601e-03,-1.21457885e+00,-1.33403648e-02,
 -2.06066523e-02, 6.80066959e-04]


--- Step 1480 ---
qpos:
[ 3.30088582e-03,-3.21775577e-03, 1.19172876e-02, 4.17463356e-02,
  5.45591878e-03, 7.57833735e-01,-2.85279610e-02, 8.28753756e-01,
  5.83876890e-03, 1.64140255e-02,-9.28123394e-03, 2.59978417e-02,
  1.31348112e+00,-6.79831405e-05, 1.04440355e+00, 6.35042617e-02,
  1.98355846e-02,-3.01188243e-02, 8.24785505e-02, 7.05968157e-01,
 -3.63403546e-01,-6.07572855e-01,-2.00511868e-02]

qacc:
[-4.68439026e+00, 1.40004062e+00,-4.73348773e+00, 5.39040108e+00,
  1.98266972e-03,-3.59021460e+01, 1.48337013e+02,-3.22548135e+02,
 -3.17936950e+00, 2.37946670e+00,-9.04767178e+00, 1.24900351e+01,
  1.48069343e+00,-3.21188952e+00, 1.90258906e+00,-7.30102791e+00,
 -2.70128996e+00, 1.23239207e-01, 8.00645360e-01,-6.07409885e+01,
 -8.98093686e+01,-6.49777840e+01]

qfrc_actuator:
[-1.99681028e-05, 5.45085307e-05, 7.04371438e-05, 6.50043444e-05,
  5.34528951e-04, 3.27650065e-02, 7.81050195e-03, 4.56131982e-02,
 -8.69765049e-05, 4.28386228e-04, 9.96089615e-05, 7.52210607e-08,
  3.94820016e-03,-1.69044893e-03, 0.00000000e+00,-2.51620429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.5302838 , -4.22866442,  7.5302838 ,  8.31246891,
       -0.57678241, -4.22866442, -0.57678241,  7.60924614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018933929850978165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.46591732e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.46591732e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709856 , -0.04758517,  0.06185149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73719900e-05, 4.62965939e-06,-2.33551666e-05,-3.54616809e-07,
 -7.48374022e-07,-6.35679275e-04,-1.19058239e-04,-8.21335717e-04,
 -1.86329339e-05,-2.45564812e-05,-4.91121397e-05, 3.74618821e-06,
 -2.57413966e-05,-1.15253271e-04,-2.02245946e-05,-4.21489141e-05,
  1.96888057e-03, 4.19227291e-03,-1.21461200e+00,-1.28620130e-02,
 -2.09471329e-02, 6.60344050e-04]


--- Step 1481 ---
qpos:
[ 3.30019302e-03,-3.21796466e-03, 1.19163120e-02, 4.17461384e-02,
  5.46674246e-03, 7.57983646e-01,-2.85377638e-02, 8.29601073e-01,
  5.83790767e-03, 1.64142657e-02,-9.28113498e-03, 2.59969198e-02,
  1.31363804e+00,-7.12903871e-05, 1.04461930e+00, 6.34987006e-02,
  1.97494905e-02,-3.02394524e-02, 8.23940350e-02, 7.05911787e-01,
 -3.61125279e-01,-6.08902842e-01,-2.26806262e-02]

qacc:
[-2.88711061e+00,-6.08086151e-01, 1.69182564e+00,-1.80333546e+00,
  7.85079939e-02,-4.67449420e+01, 1.97540068e+02,-4.34212098e+02,
  1.18550826e+00, 2.14893557e+00,-5.99134466e+00, 2.25217551e+00,
  8.68036686e-01,-2.09231520e+00, 9.13641417e-01,-3.70774540e+00,
 -4.20693197e+00, 1.43791688e+00, 1.86043327e-02,-4.69367098e+01,
 -8.07181126e+01,-6.48538353e+01]

qfrc_actuator:
[-3.61752471e-05, 2.38254113e-05, 6.91923862e-05, 6.35599096e-05,
  5.46289951e-04, 3.25540268e-02, 7.88479852e-03, 4.45574349e-02,
 -7.92508774e-05, 4.55176620e-04, 6.13806743e-05,-1.34202247e-05,
  3.93924477e-03,-1.74915045e-03, 0.00000000e+00,-2.53396826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.11434571, 6.09930762, 6.11434571, 8.36823212,
       0.2687926 , 6.09930762, 0.2687926 , 8.36690832, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00212571072653311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13536957e-01,  3.13536957e-01,  8.96319783e-01,  1.03525599e-01,
        9.49575998e-01, -2.95952486e-01, -9.43915794e-01, -1.38777878e-17,
       -3.30186270e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094176, -0.04755994,  0.0618502 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69833230e-05,-3.29315283e-05,-3.16389039e-06,-2.05734899e-06,
  1.13504921e-05,-6.18226387e-04,-9.17113813e-05,-1.09887613e-03,
  7.18562496e-06, 3.05462530e-06,-4.92304206e-05,-1.61743581e-05,
 -5.11680186e-05,-9.14466585e-05,-1.68471077e-05,-2.33942619e-05,
  1.36956944e-03, 2.48221992e-03,-1.21462832e+00,-1.23815406e-02,
 -2.12792310e-02, 6.44236713e-04]


--- Step 1482 ---
qpos:
[ 3.30000082e-03,-3.21822928e-03, 1.19155226e-02, 4.17458899e-02,
  5.47765214e-03, 7.58129774e-01,-2.85474675e-02, 8.30429504e-01,
  5.83680086e-03, 1.64144883e-02,-9.28151954e-03, 2.59968863e-02,
  1.31379470e+00,-7.50790549e-05, 1.04483521e+00, 6.34905942e-02,
  1.96490586e-02,-3.03555225e-02, 8.23061066e-02, 7.05720564e-01,
 -3.58832584e-01,-6.10371100e-01,-2.53925716e-02]

qacc:
[ 4.40058312e+00,-7.08504995e-01, 2.62055476e+00,-3.74832501e+00,
  5.34479185e-02,-3.83669298e+01, 1.65729999e+02,-3.79338723e+02,
 -2.15616190e+00, 3.16112448e+00,-1.50487112e+01, 3.12021881e+01,
  1.52810775e-02,-4.49051757e-01, 7.91066925e+00,-2.73559919e+01,
 -3.58444469e+00, 1.13952550e+00,-8.53225989e-01,-4.28085601e+01,
 -7.47989957e+01,-6.00095710e+01]

qfrc_actuator:
[-9.91929092e-06, 4.11695814e-05, 8.65392285e-05, 6.27781186e-05,
  5.48940708e-04, 3.23878782e-02, 7.89689251e-03, 4.36154151e-02,
 -9.21073516e-05, 4.53255679e-04, 3.89229710e-05, 3.22806198e-05,
  3.93354893e-03,-1.76460030e-03, 0.00000000e+00,-2.66642944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.59896244, -8.23602884, -2.59896244,  3.57355701,
        1.59761999, -8.23602884,  1.59761999,  8.13221844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002106525774080036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11854548e-01,  3.11854548e-01,  8.97492887e-01,  1.02357861e-01,
        9.50129855e-01, -2.94577880e-01, -9.44600238e-01, -1.38777878e-17,
       -3.28223081e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095959, -0.0475589 ,  0.06185081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57626259e-05,-1.79713088e-06, 1.00995066e-05,-2.33802986e-06,
  7.63876213e-06,-5.67350572e-04,-1.55733585e-04,-9.89939854e-04,
 -1.26460979e-05,-1.10831585e-05,-2.84532223e-05, 4.38143801e-05,
 -5.65145094e-05,-4.86173909e-05,-1.37319749e-05,-1.36711104e-04,
  6.31147324e-04, 1.01957304e-03,-1.21452218e+00,-1.19064295e-02,
 -2.15707311e-02, 6.30978061e-04]


--- Step 1483 ---
qpos:
[ 3.29977975e-03,-3.21865373e-03, 1.19152826e-02, 4.17452762e-02,
  5.48856881e-03, 7.58272473e-01,-2.85577536e-02, 8.31239855e-01,
  5.83589363e-03, 1.64144871e-02,-9.28211748e-03, 2.59977536e-02,
  1.31395109e+00,-7.93548718e-05, 1.04505115e+00, 6.34799400e-02,
  1.95363579e-02,-3.04680328e-02, 8.22118091e-02, 7.05402270e-01,
 -3.56525129e-01,-6.11966755e-01,-2.81808531e-02]

qacc:
[-2.33484963e-01,-2.49979905e+00, 1.01471770e+01,-1.72269561e+01,
  8.24204075e-03,-3.46368962e+01, 1.52013206e+02,-3.57094972e+02,
  1.73844854e+00, 2.15173844e+00,-1.19104143e+01, 2.80128435e+01,
  1.97044632e-02,-4.62822667e-01, 7.70932317e+00,-2.69557057e+01,
 -3.06719505e+00, 8.89938486e-01,-1.59226847e+00,-3.92691988e+01,
 -6.98500909e+01,-5.59117069e+01]

qfrc_actuator:
[-1.21418243e-05, 3.39627485e-05, 1.14904038e-04, 4.46865863e-05,
  5.46115689e-04, 3.22320087e-02, 7.87246564e-03, 4.27124091e-02,
 -8.14785309e-05, 4.34272039e-04, 2.58922809e-05, 7.69341212e-05,
  3.91917969e-03,-1.78981853e-03, 0.00000000e+00,-2.79439429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.58301421, -8.2410445 , -2.58301421,  3.5810051 ,
        1.58451552, -8.2410445 ,  1.58451552,  8.13972439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020652438718286605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11159750e-01,  3.11159750e-01,  8.97975067e-01,  1.01877848e-01,
        9.50357622e-01, -2.94009003e-01, -9.44881217e-01,  1.38777878e-17,
       -3.27413326e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710268 , -0.04757703,  0.06185292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48795617e-06,-6.19687866e-06, 2.91686794e-05,-1.78626812e-05,
  5.15776104e-07,-5.37807739e-04,-1.86212320e-04,-9.48747523e-04,
  1.02620824e-05,-2.91925905e-05,-1.73073169e-05, 4.40474786e-05,
 -5.83109358e-05,-4.94481020e-05,-2.59753181e-05,-1.38354979e-04,
 -2.39246092e-04,-3.39994662e-04,-1.21442538e+00,-1.14284427e-02,
 -2.18593886e-02, 6.19312691e-04]


--- Step 1484 ---
qpos:
[ 3.29849932e-03,-3.21932191e-03, 1.19154563e-02, 4.17444708e-02,
  5.49942128e-03, 7.58412104e-01,-2.85685746e-02, 8.32033728e-01,
  5.83512079e-03, 1.64142854e-02,-9.28338350e-03, 2.59984877e-02,
  1.31410715e+00,-8.39295138e-05, 1.04526638e+00, 6.34721495e-02,
  1.94131085e-02,-3.05778152e-02, 8.21086377e-02, 7.04963315e-01,
 -3.54202463e-01,-6.13680575e-01,-3.10401533e-02]

qacc:
[-9.28116275e+00,-1.85579465e+00, 6.98884526e+00,-1.08206367e+01,
 -3.20599246e-02,-3.14757566e+01, 1.38280890e+02,-3.25126053e+02,
  1.15448662e+00, 1.32571852e+00,-4.55312148e+00, 3.46792473e+00,
  1.71830302e-01,-5.88539063e-01,-9.70427501e+00, 3.23921784e+01,
 -2.63718790e+00, 6.81957277e-01,-2.21846883e+00,-3.62102371e+01,
 -6.57234871e+01,-5.24677802e+01]

qfrc_actuator:
[-6.66274985e-05, 1.21516848e-05, 1.31689219e-04, 3.42962517e-05,
  5.40049821e-04, 3.21189694e-02, 7.86227340e-03, 4.18928190e-02,
 -7.48580986e-05, 4.05263885e-04,-1.70641921e-05, 6.73335579e-05,
  3.90494225e-03,-1.80294685e-03, 0.00000000e+00,-2.63459865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.45499563, -8.28008293, -2.45499563,  3.5963558 ,
        1.49433252, -8.28008293,  1.49433252,  8.19330288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020066180788101346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11344493e-01,  3.11344493e-01,  8.97846988e-01,  1.02005354e-01,
        9.50297115e-01, -2.94160333e-01, -9.44806602e-01, -1.38777878e-17,
       -3.27628579e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07113332, -0.0476103 ,  0.06185623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.45289419e-05,-1.99968854e-05, 1.84891706e-05,-9.99121909e-06,
 -5.89634690e-06,-4.83147040e-04,-1.68345184e-04,-8.64353286e-04,
  6.90281939e-06,-4.70144707e-05,-4.95905538e-05,-1.05944063e-05,
 -5.95292010e-05,-3.78955275e-05,-3.11567478e-05, 1.47895212e-04,
 -1.21187008e-03,-1.61277494e-03,-1.21433914e+00,-1.09481255e-02,
 -2.21445084e-02, 6.08850509e-04]


--- Step 1485 ---
qpos:
[ 3.29692068e-03,-3.21999682e-03, 1.19154423e-02, 4.17442495e-02,
  5.51015730e-03, 7.58548201e-01,-2.85791570e-02, 8.32813327e-01,
  5.83374348e-03, 1.64139203e-02,-9.28468717e-03, 2.59997436e-02,
  1.31426279e+00,-8.84229032e-05, 1.04548138e+00, 6.34662669e-02,
  1.92957450e-02,-3.07008043e-02, 8.20136795e-02, 7.04613851e-01,
 -3.51690069e-01,-6.15365636e-01,-3.40374830e-02]

qacc:
[-2.62288122e+00, 1.72489270e+00,-8.61713136e+00, 1.90163433e+01,
 -6.08516267e-02,-3.03140204e+01, 1.28378976e+02,-2.88768071e+02,
 -5.27004652e+00, 9.73599266e-01,-5.96998192e+00, 1.51612209e+01,
 -2.50199876e-01, 2.76373430e-01,-6.07339667e+00, 2.08069708e+01,
  1.47145591e+00,-3.30165439e+00, 2.05329525e+00, 3.99251346e+01,
  6.49866590e+01,-1.00387322e+02]

qfrc_actuator:
[-8.04184770e-05, 1.72311887e-05, 1.23689963e-04, 6.40044368e-05,
  5.32107825e-04, 3.19438762e-02, 7.87856006e-03, 4.11821656e-02,
 -1.06162590e-04, 4.23565280e-04,-6.42555500e-06, 9.68647151e-05,
  3.89612611e-03,-1.79106205e-03, 0.00000000e+00,-2.53732329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.20509626,  -6.00695907,  -6.20509626,
        30.41259444, -22.49451127,  -6.00695907, -22.49451127,
        31.87284757,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017488261114517872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.17419501e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.17419501e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0198742 ,  0.00849871,  0.06185949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53493812e-05,-2.70275190e-06,-1.01870501e-05, 2.93023217e-05,
 -1.06254572e-05,-5.08442758e-04,-1.26336953e-04,-7.51165934e-04,
 -3.11223820e-05,-1.86665876e-05,-5.53309714e-06, 2.55955196e-05,
 -5.15035219e-05,-1.07352310e-05,-4.62542245e-08, 1.01042220e-04,
 -2.26600419e-03,-2.81253586e-03,-1.21426412e+00,-1.04654468e-02,
 -2.24257101e-02, 5.99302307e-04]


--- Step 1486 ---
qpos:
[ 3.29553333e-03,-3.22042582e-03, 1.19149314e-02, 4.17443746e-02,
  5.52074162e-03, 7.58681338e-01,-2.85894129e-02, 8.33577587e-01,
  5.83234629e-03, 1.64136173e-02,-9.28570959e-03, 2.60012909e-02,
  1.31441792e+00,-9.24810925e-05, 1.04569666e+00, 6.34589039e-02,
  1.91832543e-02,-3.08353362e-02, 8.19224138e-02, 7.04343462e-01,
 -3.49001507e-01,-6.17022763e-01,-3.71637767e-02]

qacc:
[ 1.65929901e+00, 2.42527111e+00,-9.64246464e+00, 1.62571006e+01,
 -8.05719777e-02,-3.16568863e+01, 1.36244881e+02,-3.09235351e+02,
 -1.65466607e-01,-1.03675962e-01,-7.41205995e-01, 5.28935434e+00,
 -8.37121038e-01, 1.34868595e+00, 4.94676640e+00,-1.65529225e+01,
  1.21822255e+00,-2.88572438e+00, 9.23123162e-01, 3.58150471e+01,
  5.98471106e+01,-9.33822424e+01]

qfrc_actuator:
[-7.01300509e-05, 3.83055341e-05, 1.01256048e-04, 8.15674926e-05,
  5.23118094e-04, 3.18397603e-02, 7.91017446e-03, 4.04169933e-02,
 -1.06279056e-04, 4.52542855e-04, 1.82543198e-05, 1.13768004e-04,
  3.87460338e-03,-1.76442994e-03, 0.00000000e+00,-2.61977082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.00055485, 3.2523682 , 8.00055485, 8.54344249,
       0.22857827, 3.2523682 , 0.22857827, 8.07408013, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0017685330004353489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56941237e-14,  1.56941237e-14,  1.00000000e+00,  2.46305518e-28,
        1.00000000e+00, -1.56941237e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56941237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01986521,  0.00848251,  0.06185743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.85166513e-06, 1.87387046e-05,-2.32221644e-05, 1.76681706e-05,
 -1.37884199e-05,-4.39317213e-04,-1.07645550e-04,-8.02682369e-04,
 -1.01818138e-06, 1.85034862e-05, 2.10447048e-05, 1.64119758e-05,
 -5.30329828e-05, 1.21653592e-05, 7.08409511e-06,-7.77501216e-05,
 -1.26191788e-03,-1.69047807e-03,-1.21395469e+00,-1.05280252e-02,
 -2.23416154e-02, 5.85933873e-04]


--- Step 1487 ---
qpos:
[ 3.29428025e-03,-3.22112336e-03, 1.19148926e-02, 4.17450536e-02,
  5.53115247e-03, 7.58812327e-01,-2.86002541e-02, 8.34328081e-01,
  5.83130296e-03, 1.64135490e-02,-9.28645221e-03, 2.60019698e-02,
  1.31457252e+00,-9.59274618e-05, 1.04591153e+00, 6.34539684e-02,
  1.90748174e-02,-3.09800592e-02, 8.18310192e-02, 7.04143157e-01,
 -3.46148227e-01,-6.18652358e-01,-4.04113756e-02]

qacc:
[ 1.19832014e+00,-5.35703534e-01,-9.45045414e-01, 9.97333051e+00,
 -9.42220991e-02,-2.53643923e+01, 1.13009719e+02,-2.69346087e+02,
  3.09046881e+00,-2.26551785e+00, 1.21843571e+01,-2.78232364e+01,
 -7.11346406e-01, 1.28050616e+00,-7.87545843e+00, 2.68102341e+01,
  1.01345870e+00,-2.54773631e+00,-3.22374523e-02, 3.23028805e+01,
  5.55463698e+01,-8.74315656e+01]

qfrc_actuator:
[-6.35168250e-05, 1.54689172e-05, 1.23803438e-04, 1.09599987e-04,
  5.13581539e-04, 3.17790694e-02, 7.89754431e-03, 3.97323992e-02,
 -8.80255024e-05, 4.70013327e-04, 3.33024630e-05, 6.98582981e-05,
  3.85613324e-03,-1.72933589e-03, 0.00000000e+00,-2.48787958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.07167753, 3.07161174, 8.07167753, 8.61844307,
       0.04709223, 3.07161174, 0.04709223, 8.5126132 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0017623256195000228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36241038e-14,  3.14988051e-14,  1.00000000e+00, -7.44131043e-28,
        1.00000000e+00, -3.14988051e-14, -1.00000000e+00,  0.00000000e+00,
        2.36241038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01987725,  0.0084924 ,  0.06185736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90244210e-06,-1.63686628e-05, 2.41808149e-05, 2.83772278e-05,
 -1.57366177e-05,-3.55455080e-04,-1.37569157e-04,-7.20410026e-04,
  1.82275839e-05, 3.28828282e-05, 2.20409243e-05,-4.20699069e-05,
 -4.57472529e-05, 2.58140208e-05,-1.09780546e-05, 1.27215058e-04,
 -3.61388196e-04,-4.96808642e-04,-1.21363744e+00,-1.05862584e-02,
 -2.22618088e-02, 5.73521255e-04]


--- Step 1488 ---
qpos:
[ 3.29346149e-03,-3.22236357e-03, 1.19152861e-02, 4.17464469e-02,
  5.54118133e-03, 7.58940081e-01,-2.86104494e-02, 8.35063529e-01,
  5.83083142e-03, 1.64136352e-02,-9.28669468e-03, 2.60021122e-02,
  1.31472694e+00,-9.95008771e-05, 1.04612652e+00, 6.34486065e-02,
  1.89697711e-02,-3.11338704e-02, 8.17362663e-02, 7.04005144e-01,
 -3.43139869e-01,-6.20254493e-01,-4.37738748e-02]

qacc:
[ 3.83542216e+00,-4.61387849e-01,-2.42162899e+00, 1.45020832e+01,
 -2.09200552e-01,-3.23602551e+01, 1.37334792e+02,-3.06256101e+02,
  4.99965997e+00,-2.30782014e+00, 1.07727601e+01,-2.09514203e+01,
 -7.80562951e-02,-4.12658744e-02, 1.46908193e+00,-4.87358832e+00,
  8.47643479e-01,-2.27207435e+00,-8.39565385e-01, 2.92836796e+01,
  5.19568218e+01,-8.24126672e+01]

qfrc_actuator:
[-4.13755899e-05,-3.32981626e-05, 1.37064189e-04, 1.43568259e-04,
  4.86046726e-04, 3.15672798e-02, 7.91240653e-03, 3.89764474e-02,
 -5.91157195e-05, 4.80382048e-04, 6.02131475e-05, 4.37619917e-05,
  3.84483966e-03,-1.74277326e-03, 0.00000000e+00,-2.51474300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.16918992,  2.80198374,  8.16918992,  8.67665161,
       -0.11745966,  2.80198374, -0.11745966,  8.97881755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001735387345090121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.19877585e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.19877585e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01990603,  0.00852349,  0.06185888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23320944e-05,-5.16796810e-05, 1.38480947e-05, 3.46563402e-05,
 -3.45937319e-05,-4.63176722e-04,-9.43849716e-05,-7.88067904e-04,
  2.94437579e-05, 3.15196803e-05, 3.49683981e-05,-2.47439183e-05,
 -3.10227169e-05,-1.79082308e-05, 5.51318126e-06,-2.19818367e-05,
  4.54465605e-04, 7.45684090e-04,-1.21331278e+00,-1.06388741e-02,
 -2.21871231e-02, 5.61735149e-04]


--- Step 1489 ---
qpos:
[ 3.29291419e-03,-3.22354257e-03, 1.19153504e-02, 4.17482119e-02,
  5.55081504e-03, 7.59064250e-01,-2.86191918e-02, 8.35781076e-01,
  5.83071051e-03, 1.64135609e-02,-9.28646272e-03, 2.60023286e-02,
  1.31488105e+00,-1.02914491e-04, 1.04634150e+00, 6.34429678e-02,
  1.88675772e-02,-3.12958664e-02, 8.16354267e-02, 7.03922639e-01,
 -3.39984501e-01,-6.21828975e-01,-4.72459898e-02]

qacc:
[ 2.37144802e+00, 1.76286729e+00,-7.74366112e+00, 1.46645818e+01,
 -2.15148317e-01,-4.00037471e+01, 1.68739553e+02,-3.69340981e+02,
  3.07582153e+00,-1.39178458e+00, 4.33217253e+00,-3.68130993e+00,
 -3.68051343e-01, 5.45109222e-01, 8.45875364e-01,-2.91904829e+00,
  7.13098052e-01,-2.04621022e+00,-1.52166773e+00, 2.66712689e+01,
  4.89724311e+01,-7.82185176e+01]

qfrc_actuator:
[-2.80239372e-05,-8.47883483e-06, 1.26851172e-04, 1.62963299e-04,
  4.65743488e-04, 3.13732926e-02, 7.97827228e-03, 3.80779503e-02,
 -4.19243007e-05, 4.50970901e-04, 7.61564496e-05, 4.61217270e-05,
  3.83251474e-03,-1.73157746e-03, 0.00000000e+00,-2.52846036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.28729806,  2.43052827,  8.28729806,  8.70672964,
       -0.23992481,  2.43052827, -0.23992481,  9.45442792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001692070567465974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.28066408e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.28066408e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01994798,  0.00857166,  0.06186167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39709748e-05, 3.12486952e-07,-1.79760642e-05, 1.83331595e-05,
 -3.57916987e-05,-4.98693491e-04,-6.17413377e-05,-9.34348113e-04,
  1.80460788e-05,-5.61414588e-06, 2.59049013e-05, 4.43758339e-06,
 -3.42142660e-05,-4.55496339e-08,-4.68589539e-06,-1.53263175e-05,
  1.20079168e-03, 2.02212039e-03,-1.21298046e+00,-1.06853680e-02,
 -2.21178626e-02, 5.50336167e-04]


--- Step 1490 ---
qpos:
[ 3.29287602e-03,-3.22431854e-03, 1.19154138e-02, 4.17494373e-02,
  5.56009733e-03, 7.59185811e-01,-2.86284001e-02, 8.36483664e-01,
  5.83045229e-03, 1.64130803e-02,-9.28612270e-03, 2.60022843e-02,
  1.31503472e+00,-1.05627584e-04, 1.04655621e+00, 6.34388691e-02,
  1.87677978e-02,-3.14653028e-02, 8.15261953e-02, 7.03889700e-01,
 -3.36688834e-01,-6.23375406e-01,-5.08234358e-02]

qacc:
[ 4.46150899e+00,-5.85376292e-01, 5.12069268e+00,-1.47345183e+01,
 -1.93302301e-01,-2.83679896e+01, 1.24894102e+02,-2.94100596e+02,
 -1.18751767e+00,-1.37329638e+00, 5.22174449e+00,-9.61028867e+00,
 -7.84670148e-01, 1.47570914e+00,-4.98243830e+00, 1.70056546e+01,
  6.03620587e-01,-1.86007507e+00,-2.09795864e+00, 2.43944043e+01,
  4.65043020e+01,-7.47549439e+01]

qfrc_actuator:
[-2.20426891e-06, 4.23528973e-05, 1.38647790e-04, 1.38166030e-04,
  4.49945144e-04, 3.12803941e-02, 7.96715915e-03, 3.73335848e-02,
 -4.95241022e-05, 3.97944925e-04, 6.75923639e-05, 2.96540372e-05,
  3.81958769e-03,-1.68808515e-03, 0.00000000e+00,-2.44550614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.41224177,  1.95472896,  8.41224177,  8.70422105,
       -0.29202664,  1.95472896, -0.29202664,  9.8931101 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001636023276498158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.78610776e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.78610776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02000018,  0.00863342,  0.06186546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62210125e-05, 4.81233677e-05, 1.02905590e-05,-2.50509549e-05,
 -3.18270324e-05,-4.15550529e-04,-1.46405078e-04,-7.83669227e-04,
 -7.08566389e-06,-5.06188493e-05,-6.38266324e-06,-1.57271917e-05,
 -3.25036817e-05, 3.57640784e-05,-8.21267481e-06, 8.05108766e-05,
  1.88989527e-03, 3.32330745e-03,-1.21263973e+00,-1.07257726e-02,
 -2.20539854e-02, 5.39149856e-04]


--- Step 1491 ---
qpos:
[ 3.29349276e-03,-3.22478039e-03, 1.19156350e-02, 4.17500104e-02,
  5.56907908e-03, 7.59304879e-01,-2.86383875e-02, 8.37171523e-01,
  5.83010546e-03, 1.64118092e-02,-9.28568522e-03, 2.60024401e-02,
  1.31518799e+00,-1.07780291e-04, 1.04677086e+00, 6.34354349e-02,
  1.86700752e-02,-3.16415613e-02, 8.14066241e-02, 7.03901095e-01,
 -3.33258398e-01,-6.24893215e-01,-5.45028209e-02]

qacc:
[ 5.74744041e+00,-1.38204128e+00, 8.26189193e+00,-2.00105867e+01,
 -1.65147488e-01,-2.69628621e+01, 1.19861370e+02,-2.86706600e+02,
 -7.56141404e-01,-9.03776850e-01, 8.64395412e-01, 3.02161365e+00,
 -6.84337701e-01, 1.25708688e+00,-2.03089747e+00, 7.12072767e+00,
  5.14195892e-01,-1.70555951e+00,-2.58495662e+00, 2.23938287e+01,
  4.44773252e+01,-7.19385819e+01]

qfrc_actuator:
[ 3.07499500e-05, 5.51678817e-05, 1.45701014e-04, 1.05368628e-04,
  4.36964079e-04, 3.11598428e-02, 7.92894878e-03, 3.65971530e-02,
 -5.38983040e-05, 3.31060136e-04, 6.22530614e-05, 3.77001372e-05,
  3.80099847e-03,-1.66132484e-03, 0.00000000e+00,-2.41277067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52390207,  1.38919776,  8.52390207,  8.67797443,
       -0.25531737,  1.38919776, -0.25531737, 10.20295143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015702960698238816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53507547e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.53507547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0200602 ,  0.0087058 ,  0.06187002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37206715e-05, 4.08120008e-05, 1.73985083e-05,-3.08698184e-05,
 -2.72315878e-05,-4.08808198e-04,-1.62207779e-04,-7.72191865e-04,
 -4.59524152e-06,-9.71733302e-05,-1.71238989e-05, 5.35060160e-06,
 -2.85957420e-05, 2.77895808e-05, 1.29437683e-06, 3.52938714e-05,
  2.53188551e-03, 4.64412532e-03,-1.21228957e+00,-1.07604887e-02,
 -2.19952324e-02, 5.28048662e-04]


--- Step 1492 ---
qpos:
[ 3.29450000e-03,-3.22493583e-03, 1.19156471e-02, 4.17505579e-02,
  5.57799925e-03, 7.59421373e-01,-2.86488477e-02, 8.37845538e-01,
  5.83005341e-03, 1.64100145e-02,-9.28514150e-03, 2.60030018e-02,
  1.31534108e+00,-1.10069728e-04, 1.04698529e+00, 6.34337507e-02,
  1.85641991e-02,-3.18185526e-02, 8.12828469e-02, 7.03757220e-01,
 -3.29812244e-01,-6.26541310e-01,-5.82721671e-02]

qacc:
[ 3.41562499e+00, 9.30507063e-01,-2.63404524e+00, 2.31444788e+00,
 -3.11858592e-02,-2.63428437e+01, 1.15548942e+02,-2.71860435e+02,
  2.58348166e+00,-1.58552770e-01,-2.16118746e+00, 9.41051877e+00,
  7.10928882e-02,-2.71169993e-01,-5.60236019e+00, 1.91276772e+01,
 -2.03836550e+00,-1.83169880e-01,-1.05148923e+00,-4.48978997e+01,
 -7.89496766e+01,-6.25148861e+01]

qfrc_actuator:
[ 4.98828409e-05, 6.28531282e-05, 1.31997077e-04, 1.03605008e-04,
  4.43515695e-04, 3.10413810e-02, 7.91048505e-03, 3.59067407e-02,
 -3.85783021e-05, 3.27417254e-04, 7.65686526e-05, 6.00980739e-05,
  3.77902189e-03,-1.68024907e-03, 0.00000000e+00,-2.32114392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.933778  ,  5.14873766, -6.933778  , 38.32373401,
       39.97982603,  5.14873766, 39.97982603, 62.47698572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014997814298967904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70128274e-14, -3.70128274e-14,  1.00000000e+00,  1.36994939e-27,
        1.00000000e+00,  3.70128274e-14, -1.00000000e+00,  0.00000000e+00,
        3.70128274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.070316  , -0.04773715,  0.06187498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01093344e-05, 3.28014387e-05,-4.19975878e-06,-1.65746877e-08,
 -5.64857075e-06,-4.05639671e-04,-1.42566571e-04,-7.26167753e-04,
  1.51512954e-05,-6.12528291e-05,-7.67170828e-06, 1.77469118e-05,
 -3.16525055e-05,-1.88717643e-05,-1.91536661e-09, 9.27324752e-05,
  3.13515243e-03, 5.98234829e-03,-1.21192872e+00,-1.07901632e-02,
 -2.19412182e-02, 5.16938818e-04]


--- Step 1493 ---
qpos:
[ 3.29538418e-03,-3.22488989e-03, 1.19155361e-02, 4.17510878e-02,
  5.58689631e-03, 7.59535591e-01,-2.86602514e-02, 8.38506374e-01,
  5.83052967e-03, 1.64083707e-02,-9.28530664e-03, 2.60037963e-02,
  1.31549412e+00,-1.13070189e-04, 1.04719984e+00, 6.34318227e-02,
  1.84508733e-02,-3.19960303e-02, 8.11520383e-02, 7.03467457e-01,
 -3.26345913e-01,-6.28309170e-01,-6.21246205e-02]

qacc:
[-1.08743618e+00, 5.76259345e-01,-1.59036777e+00, 1.33011474e+00,
 -1.03164398e-02,-2.35091271e+01, 1.05072876e+02,-2.54348563e+02,
  4.58329691e+00, 2.65107523e+00,-1.01615699e+01, 1.52297607e+01,
  4.94944281e-01,-1.23743539e+00, 8.41409287e-01,-2.83407959e+00,
 -1.86244041e+00,-1.21600400e-01,-1.75785051e+00,-3.95039775e+01,
 -7.35527805e+01,-5.95656627e+01]

qfrc_actuator:
[ 4.29727489e-05, 6.73426122e-05, 1.23895345e-04, 1.02343116e-04,
  4.43915541e-04, 3.09430031e-02, 7.86836923e-03, 3.52489464e-02,
 -1.17897149e-05, 3.61768850e-04, 4.93715061e-05, 7.30686664e-05,
  3.76566109e-03,-1.72611106e-03, 0.00000000e+00,-2.33755471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.15666685, -2.83823232,  8.15666685,  8.14290544,
       -1.41812709, -2.83823232, -1.41812709,  4.56087267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001485852258880871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.73598054e-14,  4.66997567e-15,  1.00000000e+00, -1.74469382e-28,
        1.00000000e+00, -4.66997567e-15, -1.00000000e+00,  0.00000000e+00,
        3.73598054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07033524, -0.04773653,  0.0618755 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.32531380e-06, 2.19719837e-05,-1.84570255e-06,-4.41472309e-09,
 -2.16751736e-06,-3.78301665e-04,-1.61874644e-04,-6.91805642e-04,
  2.71960710e-05,-6.63036694e-07,-4.01679266e-05, 1.04264820e-05,
 -3.56396526e-05,-5.76041471e-05, 6.41047510e-06,-1.21443549e-05,
  2.20123206e-03, 3.86350356e-03,-1.21194785e+00,-1.01092919e-02,
 -2.23209477e-02, 4.96028936e-04]


--- Step 1494 ---
qpos:
[ 3.29617905e-03,-3.22494449e-03, 1.19157425e-02, 4.17516070e-02,
  5.59554983e-03, 7.59647906e-01,-2.86720557e-02, 8.39153771e-01,
  5.83097804e-03, 1.64073328e-02,-9.28578630e-03, 2.60043076e-02,
  1.31564685e+00,-1.16057045e-04, 1.04741425e+00, 6.34307220e-02,
  1.83307051e-02,-3.21738114e-02, 8.10117940e-02, 7.03039497e-01,
 -3.22855581e-01,-6.30187735e-01,-6.60542106e-02]

qacc:
[-7.72207123e-01,-1.04106595e+00, 3.56696652e+00,-4.18976728e+00,
 -1.33344265e-01,-2.49414760e+01, 1.10995508e+02,-2.63122231e+02,
 -2.63647129e-01, 1.09726972e+00,-1.55387882e+00,-3.29196678e+00,
 -1.95501289e-01, 1.82879512e-01,-2.67325218e+00, 9.10773939e+00,
 -1.71058474e+00,-7.58638445e-02,-2.35893120e+00,-3.49022199e+01,
 -6.90222601e+01,-5.70294793e+01]

qfrc_actuator:
[ 3.85468559e-05, 5.21444698e-05, 1.36905228e-04, 1.01384597e-04,
  4.22857862e-04, 3.08929131e-02, 7.86597997e-03, 3.45800894e-02,
 -1.39766859e-05, 4.36204618e-04, 5.12972233e-05, 6.26408721e-05,
  3.75746312e-03,-1.71649619e-03, 0.00000000e+00,-2.29322584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.07611483, -3.05992582,  8.07611483,  8.08128974,
       -1.46501607, -3.05992582, -1.46501607,  4.76972152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001453849012328208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81821983e-14, -9.54554957e-15,  1.00000000e+00, -3.64470066e-28,
        1.00000000e+00,  9.54554957e-15, -1.00000000e+00,  0.00000000e+00,
       -3.81821983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07040374, -0.04775829,  0.06187738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59845743e-06,-3.29937197e-06, 1.73197291e-05,-8.22409755e-08,
 -2.20675235e-05,-3.17462675e-04,-1.17886180e-04,-7.01781048e-04,
 -1.41167585e-06, 6.62852448e-05,-2.77923180e-06,-1.16419178e-05,
 -4.19975364e-05,-1.21287755e-05,-2.98440304e-06, 4.34083742e-05,
  1.16045085e-03, 1.90521207e-03,-1.21194509e+00,-9.43273880e-03,
 -2.26786715e-02, 4.76849410e-04]


--- Step 1495 ---
qpos:
[ 3.29725943e-03,-3.22484022e-03, 1.19157767e-02, 4.17514207e-02,
  5.60391811e-03, 7.59758240e-01,-2.86836939e-02, 8.39790159e-01,
  5.83105229e-03, 1.64065389e-02,-9.28644628e-03, 2.60050717e-02,
  1.31579910e+00,-1.18405037e-04, 1.04762799e+00, 6.34351687e-02,
  1.82042159e-02,-3.23517546e-02, 8.08601196e-02, 7.02479407e-01,
 -3.19338004e-01,-6.32169380e-01,-7.00556659e-02]

qacc:
[ 2.49743656e+00,-7.67438281e-01, 6.00797913e+00,-1.80452457e+01,
 -1.56587111e-01,-2.23191451e+01, 9.64342457e+01,-2.20180543e+02,
 -3.27253910e+00, 1.35328009e+00,-5.41392087e+00, 9.88674348e+00,
 -4.97200277e-01, 9.96521913e-01,-1.77027485e+01, 6.05836968e+01,
 -1.58025870e+00,-4.05160568e-02,-2.85752323e+00,-3.09922956e+01,
 -6.53673419e+01,-5.48514786e+01]

qfrc_actuator:
[ 5.33795920e-05, 6.08603754e-05, 1.26685523e-04, 6.51030311e-05,
  4.06907967e-04, 3.08190743e-02, 7.88726117e-03, 3.40343964e-02,
 -3.32041063e-05, 4.27659851e-04, 3.50806034e-05, 7.41022218e-05,
  3.74706292e-03,-1.67403542e-03, 0.00000000e+00,-2.00039508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.97168935, -3.3224909 ,  7.97168935,  7.99840981,
       -1.53064972, -3.3224909 , -1.53064972,  4.96385875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014079464287189564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.4641896e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.4641896e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0705046 , -0.04783125,  0.06188031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46997654e-05, 1.04391127e-05,-8.77436672e-06,-3.58266387e-05,
 -2.58372987e-05,-2.99024845e-04,-7.73530052e-05,-5.75504278e-04,
 -1.92478394e-05, 2.74923334e-05,-3.25250486e-06, 1.39816099e-05,
 -3.70385857e-05, 2.99531909e-05,-7.09081870e-07, 2.93909547e-04,
  3.69638718e-05, 7.79743610e-05,-1.21192560e+00,-8.75885855e-03,
 -2.30162894e-02, 4.58925864e-04]


--- Step 1496 ---
qpos:
[ 3.29816409e-03,-3.22439485e-03, 1.19153011e-02, 4.17508012e-02,
  5.61201794e-03, 7.59866745e-01,-2.86951758e-02, 8.40417111e-01,
  5.83124052e-03, 1.64057765e-02,-9.28744294e-03, 2.60056610e-02,
  1.31595106e+00,-1.20286573e-04, 1.04784227e+00, 6.34380372e-02,
  1.80793274e-02,-3.25378927e-02, 8.07060982e-02, 7.01973983e-01,
 -3.15628703e-01,-6.34117627e-01,-7.42016385e-02]

qacc:
[-1.56446407e+00, 9.86463404e-01,-1.03064766e+00,-5.90465990e+00,
 -1.47540879e-01,-1.93396820e+01, 8.31162372e+01,-1.89013254e+02,
  9.82870557e-01, 6.20817725e-01,-1.41780052e+00,-1.09069749e+00,
 -7.03573838e-01, 1.25441579e+00, 5.61959920e+00,-1.83646566e+01,
  4.00181382e-01,-2.04873080e+00,-5.86742833e-01, 2.92198457e+01,
  5.88005640e+01,-1.04115230e+02]

qfrc_actuator:
[ 4.39231430e-05, 8.37055205e-05, 1.02890702e-04, 4.38318783e-05,
  3.94161864e-04, 3.07495788e-02, 7.90458551e-03, 3.35655458e-02,
 -2.67931669e-05, 4.04951568e-04, 7.97017326e-06, 6.27690144e-05,
  3.74069341e-03,-1.64800308e-03, 0.00000000e+00,-2.09609330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014059056507930712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97421325e-14,  1.97421325e-14,  1.00000000e+00,  3.89751795e-28,
        1.00000000e+00, -1.97421325e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97421325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02019156,  0.00885779,  0.06187967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03258683e-06, 2.53336270e-05,-2.39619230e-05,-2.18257479e-05,
 -2.43177415e-05,-2.72220293e-04,-6.90918187e-05,-4.93976561e-04,
  5.86531304e-06,-7.37879842e-06,-2.13321949e-05,-9.99312374e-06,
 -1.97284182e-05, 2.43334638e-05, 2.91443533e-05,-8.01537661e-05,
 -1.15544439e-03,-1.64569398e-03,-1.21189348e+00,-8.08510431e-03,
 -2.33357858e-02, 4.41904145e-04]


--- Step 1497 ---
qpos:
[ 3.29860387e-03,-3.22402594e-03, 1.19146645e-02, 4.17503067e-02,
  5.61968303e-03, 7.59972513e-01,-2.87055854e-02, 8.41031875e-01,
  5.83184861e-03, 1.64051781e-02,-9.28850601e-03, 2.60053840e-02,
  1.31610280e+00,-1.22056139e-04, 1.04805671e+00, 6.34394478e-02,
  1.79558860e-02,-3.27314342e-02, 8.05467038e-02, 7.01514274e-01,
 -3.11739092e-01,-6.36031945e-01,-7.84845621e-02]

qacc:
[-4.08403514e+00, 6.14846404e-01,-2.85172808e+00, 5.31167408e+00,
 -2.38850706e-01,-2.78233401e+01, 1.16093852e+02,-2.51746336e+02,
  3.65654945e+00,-1.38827360e+00, 8.90989650e+00,-2.39047975e+01,
 -3.47620933e-01, 5.11296305e-01, 4.66743414e+00,-1.59188049e+01,
  3.61771007e-01,-1.85085113e+00,-1.34324264e+00, 2.58211436e+01,
  5.47058938e+01,-9.81885076e+01]

qfrc_actuator:
[ 2.02402102e-05, 6.15245446e-05, 8.91098992e-05, 4.93294847e-05,
  3.65682715e-04, 3.05590610e-02, 7.93723172e-03, 3.29503538e-02,
 -5.33764430e-06, 4.27117843e-04, 1.00572258e-05, 2.03330394e-05,
  3.72076529e-03,-1.64966357e-03, 0.00000000e+00,-2.17146534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.5753043 , -4.14747412,  7.5753043 ,  8.70557546,
        0.12641444, -4.14747412,  0.12641444,  8.86725786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013936217645046031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.99161468e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.99161468e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02019655,  0.00885965,  0.06187986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39303045e-05,-1.39139361e-05,-1.22534608e-05, 5.33039893e-06,
 -3.93708601e-05,-3.74008815e-04,-4.50009115e-05,-6.37349483e-04,
  2.16190304e-05, 1.32458850e-05,-2.39121047e-06,-4.36823828e-05,
 -2.53583518e-05,-3.71649915e-07,-1.99320792e-06,-7.76005514e-05,
 -9.13538968e-05,-1.07918187e-04,-1.21137617e+00,-8.15281575e-03,
 -2.32397098e-02, 4.25758496e-04]


--- Step 1498 ---
qpos:
[ 3.29875651e-03,-3.22406133e-03, 1.19142831e-02, 4.17502409e-02,
  5.62693395e-03, 7.60075204e-01,-2.87142956e-02, 8.41631718e-01,
  5.83270936e-03, 1.64044986e-02,-9.28975833e-03, 2.60049861e-02,
  1.31625430e+00,-1.23769531e-04, 1.04827114e+00, 6.34396037e-02,
  1.78337569e-02,-3.29317048e-02, 8.03793540e-02, 7.01092412e-01,
 -3.07678763e-01,-6.37911522e-01,-8.28981225e-02]

qacc:
[-2.50498276e+00,-3.59809753e-01,-1.29242563e+00, 8.59004042e+00,
 -2.26106364e-01,-3.47419875e+01, 1.44778802e+02,-3.10715019e+02,
  2.19920174e+00, 1.68553222e-01,-2.53371811e-01,-1.46905295e+00,
 -3.07883974e-01, 4.02645239e-01, 3.80418012e+00,-1.32655199e+01,
  3.28079450e-01,-1.68227099e+00,-1.98885647e+00, 2.28716470e+01,
  5.12832853e+01,-9.32141384e+01]

qfrc_actuator:
[ 6.13346851e-06, 3.03616267e-05, 9.89453902e-05, 7.05035464e-05,
  3.45790029e-04, 3.03863331e-02, 8.01359777e-03, 3.22006248e-02,
  7.04052211e-06, 4.05053346e-04,-5.97809986e-06, 1.32546954e-05,
  3.70335739e-03,-1.65001922e-03, 0.00000000e+00,-2.23413067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.59973744, -4.10253186,  7.59973744,  8.6662213 ,
        0.05530984, -4.10253186,  0.05530984,  8.73882238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013641759751837484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06920751e-14,  2.03460375e-14,  1.00000000e+00, -8.27922488e-28,
        1.00000000e+00, -2.03460375e-14, -1.00000000e+00,  0.00000000e+00,
        4.06920751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02021776,  0.00888297,  0.06188146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47933740e-05,-4.12608307e-05, 5.64147082e-06, 2.02604202e-05,
 -3.75221829e-05,-4.12522512e-04,-2.29841808e-05,-7.77705816e-04,
  1.30013611e-05,-1.69790414e-05,-1.50853870e-05,-7.44002686e-06,
 -3.21824938e-05,-6.04962685e-06,-1.42780195e-05,-6.83488779e-05,
  8.84259818e-04, 1.44391728e-03,-1.21085763e+00,-8.20977926e-03,
 -2.31538360e-02, 4.09856364e-04]


--- Step 1499 ---
qpos:
[ 3.29873843e-03,-3.22415156e-03, 1.19138767e-02, 4.17507491e-02,
  5.63403461e-03, 7.60175902e-01,-2.87225056e-02, 8.42219252e-01,
  5.83371227e-03, 1.64032702e-02,-9.29069844e-03, 2.60045325e-02,
  1.31640566e+00,-1.25739051e-04, 1.04848567e+00, 6.34373082e-02,
  1.77128220e-02,-3.31381234e-02, 8.02018440e-02, 7.00701422e-01,
 -3.03455744e-01,-6.39755326e-01,-8.74371253e-02]

qacc:
[-1.49800473e+00, 1.18355217e+00,-6.74069884e+00, 1.67452798e+01,
 -8.04590140e-02,-2.55066607e+01, 1.09895122e+02,-2.47982189e+02,
  1.25886174e+00,-1.71494734e+00, 5.29267804e+00,-6.34539684e+00,
 -5.83661613e-02,-1.39675024e-01, 7.53893709e+00,-2.61750963e+01,
  2.98545855e-01,-1.53700612e+00,-2.54007170e+00, 2.02869009e+01,
  4.84291268e+01,-8.90832505e+01]

qfrc_actuator:
[-2.21935696e-06, 4.74258866e-05, 1.04846007e-04, 1.00729677e-04,
  3.48955175e-04, 3.03499814e-02, 8.06188184e-03, 3.15908126e-02,
  1.39715146e-05, 3.56629828e-04, 2.76780723e-06, 9.23940524e-06,
  3.69279798e-03,-1.66733359e-03, 0.00000000e+00,-2.35980258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.62659044, -4.05239375,  7.62659044,  8.6039264 ,
       -0.06104677, -4.05239375, -0.06104677,  8.52147384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013211913146856519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10079913e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10079913e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02025185,  0.0089237 ,  0.06188418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.78915433e-06,-3.97546173e-06,-1.22058551e-06, 2.90499843e-05,
 -1.36443959e-05,-2.97663601e-04,-6.03943188e-05,-6.41534732e-04,
  7.29515182e-06,-6.13058351e-05, 3.14697114e-06,-5.40485298e-06,
 -3.06255748e-05,-2.58988484e-05,-1.82407160e-05,-1.32260710e-04,
  1.78698502e-03, 3.00074846e-03,-1.21033629e+00,-8.25630169e-03,
 -2.30777248e-02, 3.93999709e-04]


--- Step 1500 ---
qpos:
[ 3.29862013e-03,-3.22404591e-03, 1.19128636e-02, 4.17516232e-02,
  5.64145145e-03, 7.60274988e-01,-2.87314694e-02, 8.42795626e-01,
  5.83444527e-03, 1.64017928e-02,-9.29077547e-03, 2.60036119e-02,
  1.31655659e+00,-1.27312963e-04, 1.04869963e+00, 6.34371831e-02,
  1.75929775e-02,-3.33501827e-02, 8.00122898e-02, 7.00335070e-01,
 -2.99076707e-01,-6.41562145e-01,-9.20973770e-02]

qacc:
[-9.01923295e-01, 2.71140738e+00,-1.08322399e+01, 1.79875892e+01,
  1.79016172e-01,-1.95936754e+01, 8.82804878e+01,-2.14553515e+02,
 -2.32319789e+00,-3.69814160e+00, 1.46878574e+01,-2.39745005e+01,
 -4.71603180e-01, 8.12233400e-01,-7.35362114e+00, 2.45958806e+01,
  2.72617258e-01,-1.41016516e+00,-3.01102324e+00, 1.79976692e+01,
  4.60566277e+01,-8.56996097e+01]

qfrc_actuator:
[-7.12138594e-06, 5.77334323e-05, 7.30587398e-05, 1.18317735e-04,
  3.83609427e-04, 3.02713354e-02, 8.02282568e-03, 3.10328034e-02,
 -1.08971515e-07, 3.81654293e-04, 6.14619679e-05,-1.07076050e-05,
  3.67569503e-03,-1.64127546e-03, 0.00000000e+00,-2.23753768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.65611753, -3.99632847,  7.65611753,  8.5263611 ,
       -0.21074153, -3.99632847, -0.21074153,  8.23262757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012677180301423827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75764956e-14,  2.18941239e-14,  1.00000000e+00, -1.91741064e-27,
        1.00000000e+00, -2.18941239e-14, -1.00000000e+00,  0.00000000e+00,
        8.75764956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0202961 ,  0.00897835,  0.0618878 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15432316e-06, 9.08058929e-06,-3.17484829e-05, 1.79413784e-05,
  2.85255268e-05,-2.79145456e-04,-1.25165860e-04,-5.84045585e-04,
 -1.38976055e-05,-8.77749769e-06, 4.62582980e-05,-2.25647807e-05,
 -4.11593015e-05, 1.32449427e-05,-2.71383039e-05, 1.11613319e-04,
  2.62963563e-03, 4.55797949e-03,-1.20981034e+00,-8.29308859e-03,
 -2.30107808e-02, 3.78044181e-04]


--- Step 1501 ---
qpos:
[ 3.29844420e-03,-3.22419133e-03, 1.19119465e-02, 4.17523652e-02,
  5.64900809e-03, 7.60372910e-01,-2.87407899e-02, 8.43360069e-01,
  5.83500335e-03, 1.64005643e-02,-9.29010954e-03, 2.60027474e-02,
  1.31670713e+00,-1.28318829e-04, 1.04891319e+00, 6.34401406e-02,
  1.74679447e-02,-3.35672612e-02, 7.98247575e-02, 6.99886105e-01,
 -2.94567445e-01,-6.43428045e-01,-9.69010362e-02]

qacc:
[-4.98568798e-01,-8.71926201e-01, 3.18667431e+00,-5.44483044e+00,
  8.06238958e-02,-2.14271276e+01, 9.68439678e+01,-2.31957918e+02,
 -1.50662777e+00,-1.62904863e+00, 6.05414968e+00,-6.45976229e+00,
 -5.45513149e-01, 1.04581954e+00,-9.84867766e+00, 3.37089676e+01,
 -1.29710644e+00,-1.25479736e+00, 5.05465202e-01,-1.00355870e+01,
 -1.97473665e+01,-1.04631296e+02]

qfrc_actuator:
[-9.95514788e-06, 2.82529117e-05, 7.25082763e-05, 1.10548647e-04,
  3.83492900e-04, 3.02564902e-02, 8.02118241e-03, 3.04386387e-02,
 -8.68851978e-06, 4.32914637e-04, 1.13944061e-04,-4.27474319e-06,
  3.66534815e-03,-1.60749575e-03, 0.00000000e+00,-2.07666779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012219268700222746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54291927e-14,  2.27145963e-14,  1.00000000e+00, -1.03190577e-27,
        1.00000000e+00, -2.27145963e-14, -1.00000000e+00,  0.00000000e+00,
        4.54291927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01944026, -0.01615506,  0.0618908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97634227e-06,-3.01872503e-05,-1.95542312e-06,-8.12914792e-06,
  1.25985262e-05,-2.15946845e-04,-8.98072552e-05,-6.20267910e-04,
 -8.98683510e-06, 5.49941337e-05, 5.56074458e-05, 7.22438912e-06,
 -3.06552907e-05, 2.75141745e-05,-2.75367299e-06, 1.62990928e-04,
  3.42286109e-03, 6.11410111e-03,-1.20927776e+00,-8.32109873e-03,
 -2.29523484e-02, 3.61883345e-04]


--- Step 1502 ---
qpos:
[ 3.29858053e-03,-3.22460302e-03, 1.19116095e-02, 4.17529767e-02,
  5.65639569e-03, 7.60469602e-01,-2.87498219e-02, 8.43912278e-01,
  5.83579901e-03, 1.63996082e-02,-9.28936632e-03, 2.60020093e-02,
  1.31685757e+00,-1.29704225e-04, 1.04912684e+00, 6.34436404e-02,
  1.73361349e-02,-3.37842913e-02, 7.96270111e-02, 6.99283295e-01,
 -2.90010041e-01,-6.45396110e-01,-1.01788558e-01]

qacc:
[ 2.76351606e+00,-2.24810642e+00, 8.04554129e+00,-1.10242555e+01,
 -9.14677698e-02,-2.37896322e+01, 1.05219098e+02,-2.43166733e+02,
  2.07002493e+00, 4.00077304e-01,-1.44478057e+00, 3.31549401e+00,
  2.51134460e-01,-6.64528616e-01,-1.53326800e+00, 5.49244539e+00,
 -1.69422610e+00, 1.21007752e-02,-2.55353062e+00,-2.78412853e+01,
 -7.05620892e+01,-6.73382094e+01]

qfrc_actuator:
[ 6.20217662e-06, 2.85260392e-05, 1.07992472e-04, 1.05669728e-04,
  3.62563818e-04, 3.02091126e-02, 8.04189124e-03, 2.98280151e-02,
  3.79810103e-06, 4.28507589e-04, 1.09215904e-04,-1.02849928e-07,
  3.64841704e-03,-1.64042431e-03, 0.00000000e+00,-2.05418894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.04817027, -3.13268769,  8.04817027, 10.08938528,
        3.73294971, -3.13268769,  3.73294971, 18.22666367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012002496160954806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24993443e-14,  2.31248361e-14,  1.00000000e+00, -2.13903217e-27,
        1.00000000e+00, -2.31248361e-14, -1.00000000e+00,  0.00000000e+00,
        9.24993443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093087, -0.04797348,  0.0618918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60636835e-05,-1.73458714e-05, 2.87378274e-05,-6.39703786e-06,
 -1.53206468e-05,-2.07581523e-04,-5.19418343e-05,-6.34401543e-04,
  1.22422882e-05, 3.81793481e-05, 1.37402868e-05, 8.59696408e-06,
 -2.75796238e-05,-3.35544646e-05, 1.31776964e-05, 3.03562466e-05,
  3.18071678e-03, 5.57551218e-03,-1.20888154e+00,-7.87466643e-03,
 -2.31146257e-02, 3.40695701e-04]


--- Step 1503 ---
qpos:
[ 3.29959912e-03,-3.22498829e-03, 1.19115686e-02, 4.17538516e-02,
  5.66393019e-03, 7.60564606e-01,-2.87589921e-02, 8.44453976e-01,
  5.83673773e-03, 1.63993155e-02,-9.28879608e-03, 2.60006037e-02,
  1.31700790e+00,-1.31905181e-04, 1.04934063e+00, 6.34463898e-02,
  1.71982420e-02,-3.40011325e-02, 7.94169569e-02, 6.98532992e-01,
 -2.85401451e-01,-6.47457583e-01,-1.06753682e-01]

qacc:
[ 7.75275972e+00,-2.65300799e-01,-1.40770018e-01, 4.23325992e+00,
  8.47494748e-02,-2.02206584e+01, 8.86316292e+01,-2.06802484e+02,
  1.23063381e+00,-1.62334555e-02, 4.14397941e+00,-1.59030575e+01,
  4.88762207e-01,-1.32292588e+00, 2.43368119e+00,-8.31488217e+00,
 -1.52078414e+00, 4.72151582e-02,-3.07694158e+00,-2.37790439e+01,
 -6.63982334e+01,-6.47034283e+01]

qfrc_actuator:
[ 5.11599459e-05, 4.67669862e-05, 1.29069760e-04, 1.20328682e-04,
  3.82658014e-04, 3.00894894e-02, 8.02225104e-03, 2.93013563e-02,
  1.08292615e-05, 4.79340275e-04, 1.06035349e-04,-3.28855419e-05,
  3.62219563e-03,-1.69490483e-03, 0.00000000e+00,-2.09568484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.49990567, -4.2823115 ,  7.49990567,  7.27714793,
       -2.38048764, -4.2823115 , -2.38048764,  4.46725245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011661442770491554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76023013e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.76023013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100488, -0.04800115,  0.0618938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54099065e-05, 1.42256729e-05, 2.08192683e-05, 1.47854410e-05,
  1.32272002e-05,-2.68119661e-04,-8.66691625e-05,-5.49328405e-04,
  7.39207151e-06, 7.54238424e-05, 6.70024534e-06,-3.05020386e-05,
 -4.96436209e-05,-6.87814222e-05, 4.64962012e-06,-3.92398910e-05,
  1.95401387e-03, 3.26624907e-03,-1.20877280e+00,-7.02395695e-03,
 -2.34368301e-02, 3.16432051e-04]


--- Step 1504 ---
qpos:
[ 3.30149365e-03,-3.22518909e-03, 1.19114226e-02, 4.17552478e-02,
  5.67123695e-03, 7.60657247e-01,-2.87678251e-02, 8.44986912e-01,
  5.83775361e-03, 1.63995165e-02,-9.28799405e-03, 2.59995002e-02,
  1.31715781e+00,-1.34178884e-04, 1.04955405e+00, 6.34516382e-02,
  1.70548762e-02,-3.42176770e-02, 7.91928055e-02, 6.97640338e-01,
 -2.80738880e-01,-6.49604834e-01,-1.11790878e-01]

qacc:
[ 7.68211983e+00, 1.59723241e+00,-7.56576814e+00, 1.66451358e+01,
 -1.24374960e-01,-1.93316910e+01, 8.04728875e+01,-1.77648033e+02,
  6.72047554e-01, 6.25458815e-01,-2.56126248e+00, 7.05913179e+00,
 -1.01556616e-01,-5.63776942e-02,-8.09653073e+00, 2.75255724e+01,
 -1.36821135e+00, 7.41647625e-02,-3.52429008e+00,-2.02136052e+01,
 -6.28769229e+01,-6.24874841e+01]

qfrc_actuator:
[ 9.49504482e-05, 5.78498070e-05, 1.23802173e-04, 1.46368688e-04,
  3.56107326e-04, 2.99452215e-02, 8.03197048e-03, 2.88637520e-02,
  1.45866361e-05, 5.09558988e-04, 1.21755343e-04,-1.60871910e-05,
  3.60638262e-03,-1.69071815e-03, 0.00000000e+00,-1.96145823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.40535357, -4.44381765,  7.40535357,  7.17038   ,
       -2.44297313, -4.44381765, -2.44297313,  4.56529654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011199138155030194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95673421e-14,  4.95673421e-14,  1.00000000e+00, -2.45692140e-27,
        1.00000000e+00, -4.95673421e-14, -1.00000000e+00,  0.00000000e+00,
        4.95673421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111563, -0.04804413,  0.06189682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50885458e-05, 2.39965712e-05, 7.46840137e-07, 2.76545107e-05,
 -2.06686117e-05,-3.30359972e-04,-7.06930787e-05,-4.61383603e-04,
  3.99595947e-06, 7.24856984e-05, 3.10702639e-05, 1.96711900e-05,
 -6.01698311e-05,-2.35249082e-05,-6.95331002e-06, 1.31524907e-04,
  6.63475633e-04, 1.08644223e-03,-1.20864460e+00,-6.17767500e-03,
 -2.37306239e-02, 2.93004928e-04]


--- Step 1505 ---
qpos:
[ 3.30320872e-03,-3.22505576e-03, 1.19111678e-02, 4.17565807e-02,
  5.67823501e-03, 7.60747434e-01,-2.87766674e-02, 8.45510484e-01,
  5.83880727e-03, 1.63997134e-02,-9.28765173e-03, 2.59997553e-02,
  1.31730720e+00,-1.35925002e-04, 1.04976755e+00, 6.34570882e-02,
  1.69121298e-02,-3.44404535e-02, 7.89643897e-02, 6.96756240e-01,
 -2.75874711e-01,-6.51718586e-01,-1.16990471e-01]

qacc:
[-1.58438530e+00, 6.18457673e-01,-1.29204931e+00, 1.19592687e-01,
 -1.69772888e-01,-1.95648601e+01, 8.24914370e+01,-1.86675265e+02,
  3.16057623e-01, 4.07543857e+00,-2.02763687e+01, 4.45278716e+01,
 -7.99948807e-01, 1.35003700e+00,-4.25551678e-01, 1.81274078e+00,
  1.54837061e-01,-1.55798866e+00,-1.06611618e+00, 1.69035993e+01,
  4.85288697e+01,-1.16950242e+02]

qfrc_actuator:
[ 8.44361090e-05, 8.22217765e-05, 1.20763111e-04, 1.43368811e-04,
  3.37390862e-04, 2.98052699e-02, 8.02338049e-03, 2.83932717e-02,
  1.63884094e-05, 4.56303016e-04, 7.74695520e-05, 4.75098084e-05,
  3.59684663e-03,-1.65174776e-03, 0.00000000e+00,-1.95553154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001092571879667506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52423339e-13,  5.08077796e-14,  1.00000000e+00, -7.74429140e-27,
        1.00000000e+00, -5.08077796e-14, -1.00000000e+00,  0.00000000e+00,
        1.52423339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01536197,  0.00510945,  0.06189815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.22234715e-06, 3.91453261e-05, 2.96363156e-06,-1.41238293e-06,
 -2.79947941e-05,-3.54453824e-04,-9.67670854e-05,-4.93815815e-04,
  1.94077517e-06,-5.47011987e-06,-2.48136537e-05, 6.81614704e-05,
 -4.88872338e-05, 1.93707449e-05, 7.77880788e-06, 1.15113247e-05,
 -6.79909625e-04,-9.87293921e-04,-1.20850099e+00,-5.33376892e-03,
 -2.39976566e-02, 2.70127078e-04]


--- Step 1506 ---
qpos:
[ 3.30478508e-03,-3.22490796e-03, 1.19110508e-02, 4.17572009e-02,
  5.68513813e-03, 7.60835793e-01,-2.87860283e-02, 8.46022930e-01,
  5.83952983e-03, 1.63995249e-02,-9.28759132e-03, 2.60004639e-02,
  1.31745638e+00,-1.37795483e-04, 1.04998138e+00, 6.34598932e-02,
  1.67700068e-02,-3.46687863e-02, 7.87289929e-02, 6.95873015e-01,
 -2.70819243e-01,-6.53796266e-01,-1.22344299e-01]

qacc:
[-1.21369115e+00,-1.83301034e+00, 9.57359988e+00,-2.21406439e+01,
 -5.06414850e-02,-2.04427129e+01, 9.05187231e+01,-2.15720254e+02,
 -2.88978667e+00, 1.21771276e+00,-6.98563140e+00, 1.55573025e+01,
 -2.36674530e-01, 1.88571183e-01, 8.48208021e+00,-2.89390558e+01,
  1.55851378e-01,-1.38905575e+00,-1.74524455e+00, 1.43960832e+01,
  4.53160940e+01,-1.11044688e+02]

qfrc_actuator:
[ 7.75491584e-05, 6.10858807e-05, 1.19106853e-04, 1.05568437e-04,
  3.41299607e-04, 2.97399545e-02, 8.00401630e-03, 2.78361622e-02,
 -7.27289198e-07, 4.06520539e-04, 5.10369791e-05, 6.69981950e-05,
  3.58577538e-03,-1.66348889e-03, 0.00000000e+00,-2.09629752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.19562827, -4.77595128,  7.19562827,  8.12757385,
       -0.76656187, -4.77595128, -0.76656187,  7.48143263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010748858179160797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03287531e-13,  5.16437656e-14,  1.00000000e+00, -5.33415705e-27,
        1.00000000e+00, -5.16437656e-14, -1.00000000e+00,  0.00000000e+00,
        1.03287531e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01537158,  0.00510831,  0.06189864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.13646456e-06, 1.29238134e-06, 6.74258216e-06,-3.60511664e-05,
 -8.64811923e-06,-2.99323831e-04,-1.16284001e-04,-5.82749324e-04,
 -1.70627880e-05,-5.50536832e-05,-2.82662481e-05, 1.97202789e-05,
 -3.40659966e-05,-1.84786842e-05,-3.31247440e-07,-1.40326713e-04,
  3.04044113e-04, 5.28993481e-04,-1.20781045e+00,-5.33528047e-03,
 -2.39326371e-02, 2.49543960e-04]


--- Step 1507 ---
qpos:
[ 3.30661151e-03,-3.22471711e-03, 1.19108815e-02, 4.17580640e-02,
  5.69160202e-03, 7.60922940e-01,-2.87952585e-02, 8.46522543e-01,
  5.83969644e-03, 1.63993036e-02,-9.28767486e-03, 2.60006554e-02,
  1.31760518e+00,-1.39242036e-04, 1.05019572e+00, 6.34566407e-02,
  1.66285084e-02,-3.49020748e-02, 7.84842797e-02, 6.94983681e-01,
 -2.65581160e-01,-6.55835236e-01,-1.27845507e-01]

qacc:
[ 2.19256965e+00, 6.99960064e-01,-3.44530572e+00, 7.70901897e+00,
 -2.42508564e-01,-2.43704628e+01, 1.08447674e+02,-2.53069414e+02,
 -4.85331951e+00,-6.96010915e-01, 4.61843952e+00,-1.33311119e+01,
 -1.00287593e+00, 1.63238832e+00, 1.91263123e+01,-6.56229601e+01,
  1.56135973e-01,-1.23895073e+00,-2.32911609e+00, 1.21647424e+01,
  4.25996248e+01,-1.06110536e+02]

qfrc_actuator:
[ 9.06222913e-05, 6.60891682e-05, 1.18077167e-04, 1.18573084e-04,
  3.05435305e-04, 2.97375289e-02, 8.03195855e-03, 2.71970782e-02,
 -2.88397080e-05, 4.30215554e-04, 5.30750515e-05, 4.26304563e-05,
  3.57377327e-03,-1.63420549e-03, 0.00000000e+00,-2.41107637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.28142789, -4.64409138,  7.28142789,  8.05699972,
       -0.90837932, -4.64409138, -0.90837932,  7.21212411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010430957199753094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06435393e-13, -1.06435393e-13,  1.00000000e+00,  1.13284928e-26,
        1.00000000e+00,  1.06435393e-13, -1.00000000e+00,  0.00000000e+00,
        1.06435393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01539188,  0.00512555,  0.06190041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28710648e-05, 5.56157875e-06,-1.18282050e-06, 1.25900670e-05,
 -3.97638629e-05,-2.12569268e-04,-6.30103481e-05,-6.65523208e-04,
 -2.86207889e-05,-1.20841590e-05,-1.21319293e-05,-2.73217171e-05,
 -3.60360436e-05, 1.72989711e-05,-2.08826427e-05,-3.23840844e-04,
  1.22165973e-03, 2.02618368e-03,-1.20712570e+00,-5.32254047e-03,
 -2.38784151e-02, 2.28597596e-04]


--- Step 1508 ---
qpos:
[ 3.30823492e-03,-3.22392841e-03, 1.19107148e-02, 4.17589999e-02,
  5.69780215e-03, 7.61009142e-01,-2.88043243e-02, 8.47010579e-01,
  5.83917973e-03, 1.63990773e-02,-9.28805215e-03, 2.60002145e-02,
  1.31775371e+00,-1.40365591e-04, 1.05040987e+00, 6.34502948e-02,
  1.64874881e-02,-3.51399691e-02, 7.82302630e-02, 6.94080745e-01,
 -2.60163764e-01,-6.57834690e-01,-1.33492531e-01]

qacc:
[-1.79205525e+00, 9.36581417e-01,-2.49427326e+00, 3.30458968e+00,
 -1.44721839e-01,-2.19136854e+01, 9.78132178e+01,-2.28323143e+02,
 -5.96941269e+00,-4.75917972e-01, 4.37796135e+00,-1.48727047e+01,
 -6.24254424e-01, 1.04604462e+00, 9.09362063e+00,-3.21260269e+01,
  1.19531799e-01,-1.15144646e+00,-2.32586443e+00, 1.01625531e+01,
  4.00967996e+01,-1.05095638e+02]

qfrc_actuator:
[ 7.98329323e-05, 1.39999505e-04, 1.35311185e-04, 1.25884855e-04,
  2.99347336e-04, 2.97196942e-02, 8.05233759e-03, 2.66214828e-02,
 -6.31928604e-05, 4.26788120e-04, 3.66650459e-05, 1.04908225e-05,
  3.56656145e-03,-1.61631119e-03, 0.00000000e+00,-2.55950288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.54078347, -4.20991229,  7.54078347,  7.87682741,
       -1.36047924, -4.20991229, -1.36047924,  6.19947691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010076562580771942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26340592e-14,  5.50893728e-14,  1.00000000e+00, -4.55225849e-27,
        1.00000000e+00, -5.50893728e-14, -1.00000000e+00,  0.00000000e+00,
        8.26340592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01409609,  0.0037723 ,  0.06190253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04218839e-05, 7.73072105e-05, 1.86681911e-05, 7.75129302e-06,
 -2.38870182e-05,-1.72003824e-04,-4.97541383e-05,-5.99455525e-04,
 -3.51768744e-05,-1.38627365e-05,-2.13413563e-05,-3.36075165e-05,
 -2.45554779e-05, 1.42515909e-05,-5.08360329e-05,-1.70349260e-04,
  2.08321640e-03, 3.50116957e-03,-1.20644447e+00,-5.29626542e-03,
 -2.38343123e-02, 2.07196654e-04]


--- Step 1509 ---
qpos:
[ 3.30971669e-03,-3.22281393e-03, 1.19106192e-02, 4.17590096e-02,
  5.70401475e-03, 7.61093813e-01,-2.88129755e-02, 8.47489687e-01,
  5.83859963e-03, 1.63990381e-02,-9.28846966e-03, 2.59993492e-02,
  1.31790215e+00,-1.41766332e-04, 1.05062330e+00, 6.34454922e-02,
  1.63469610e-02,-3.53819383e-02, 7.79649797e-02, 6.93158059e-01,
 -2.54573762e-01,-6.59791769e-01,-1.39280029e-01]

qacc:
[-1.24708417e+00,-1.67487946e+00, 1.05070859e+01,-2.68891435e+01,
  9.68935921e-03,-1.87291502e+01, 8.01462492e+01,-1.79756261e+02,
 -5.57528640e-01,-5.12920467e-01, 3.98109699e+00,-1.14008418e+01,
  2.60568179e-01,-6.13119598e-01,-5.72865881e+00, 1.84635147e+01,
  1.23314058e-01,-1.01871724e+00,-2.81662881e+00, 8.29914848e+00,
  3.80046164e+01,-1.01332183e+02]

qfrc_actuator:
[ 7.28317646e-05, 1.30413621e-04, 1.27964068e-04, 7.65959329e-05,
  3.11125395e-04, 2.96218223e-02, 8.06809268e-03, 2.61766202e-02,
 -6.54354433e-05, 4.60330429e-04, 4.48988446e-05,-8.23711099e-06,
  3.55157549e-03,-1.64082425e-03, 0.00000000e+00,-2.46663811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.61107022,  7.40506424, -4.39494641,  7.40506424,  7.97933278,
       -1.06441714, -4.39494641, -1.06441714,  6.81762916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009626500412659028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32487006e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.32487006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01412494,  0.00380555,  0.06190557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.27463445e-06, 3.77949175e-05, 1.11779454e-05,-4.51839294e-05,
  1.08135872e-06,-2.24735025e-04,-4.28004723e-05,-4.65507865e-04,
 -3.25465771e-06, 1.99412842e-05, 1.58769859e-06,-2.07108052e-05,
 -2.66263388e-05,-2.61599030e-05,-4.50009082e-05, 7.62372072e-05,
  2.89611508e-03, 4.95063259e-03,-1.20574702e+00,-5.25565190e-03,
 -2.37992414e-02, 1.85254304e-04]


--- Step 1510 ---
qpos:
[ 3.31075834e-03,-3.22192688e-03, 1.19110069e-02, 4.17581271e-02,
  5.71028375e-03, 7.61176146e-01,-2.88206870e-02, 8.47959439e-01,
  5.83834127e-03, 1.63996956e-02,-9.28908577e-03, 2.59985555e-02,
  1.31805021e+00,-1.43071352e-04, 1.05083629e+00, 6.34430970e-02,
  1.62069422e-02,-3.56274909e-02, 7.76867330e-02, 6.92209865e-01,
 -2.48816763e-01,-6.61703585e-01,-1.45203603e-01]

qacc:
[-3.84434998e+00,-3.48352256e+00, 1.57602547e+01,-3.18165001e+01,
  3.51458218e-02,-2.19567610e+01, 9.04609977e+01,-1.93696697e+02,
  2.78815440e+00, 1.61795558e+00,-4.74453719e+00, 5.79867016e+00,
 -1.95841276e-01, 2.15945939e-01,-7.91027714e+00, 2.67520734e+01,
  1.27067281e-01,-8.95859453e-01,-3.24088500e+00, 6.58802151e+00,
  3.62225446e+01,-9.82718002e+01]

qfrc_actuator:
[ 5.03707095e-05, 8.85155657e-05, 1.41303965e-04, 2.98217775e-05,
  3.15699706e-04, 2.94591386e-02, 8.09851015e-03, 2.57056634e-02,
 -4.87582939e-05, 5.33617206e-04, 5.00302517e-05,-1.12051377e-06,
  3.52659431e-03,-1.63705285e-03, 0.00000000e+00,-2.33891358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.491014  ,  7.36404848, -4.22706857,  7.36404848,  7.82043124,
       -1.16823369, -4.22706857, -1.16823369,  6.45581409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009098660858480254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05051216e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.05051216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01415965,  0.00384981,  0.0619094 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26570826e-05,-2.04362180e-05, 2.09466902e-05,-4.56502604e-05,
  5.03258105e-06,-3.12988365e-04,-3.36759940e-05,-4.90082640e-04,
  1.65908920e-05, 8.38837424e-05, 8.73631033e-06, 7.62600779e-06,
 -4.67016786e-05,-8.25989357e-06,-1.36948531e-05, 1.25852948e-04,
  3.66688625e-03, 6.37306170e-03,-1.20505021e+00,-5.20228298e-03,
 -2.37732455e-02, 1.62718020e-04]


--- Step 1511 ---
qpos:
[ 3.31152246e-03,-3.22111276e-03, 1.19117848e-02, 4.17570233e-02,
  5.71658018e-03, 7.61256486e-01,-2.88285111e-02, 8.48417846e-01,
  5.83828540e-03, 1.64002123e-02,-9.28902342e-03, 2.59978997e-02,
  1.31819797e+00,-1.44344924e-04, 1.05104883e+00, 6.34448931e-02,
  1.60656941e-02,-3.58765938e-02, 7.74014098e-02, 6.91199331e-01,
 -2.42887720e-01,-6.63599902e-01,-1.51275281e-01]

qacc:
[-2.42257522e+00,-1.63856780e+00, 6.64404508e+00,-1.10528145e+01,
  1.82454383e-02,-2.21297777e+01, 9.62239641e+01,-2.23194588e+02,
  1.78971678e+00,-1.80191363e+00, 5.56665625e+00,-4.15464535e+00,
  1.93960450e-02,-1.17475321e-01,-1.33291310e+01, 4.56464638e+01,
 -3.07315591e-01,-8.87573323e-01,-1.76910047e+00, 1.66374936e+00,
  1.56555295e+01,-1.10782474e+02]

qfrc_actuator:
[ 3.67414822e-05, 9.86636347e-05, 1.66615429e-04, 2.03982603e-05,
  3.15902848e-04, 2.93477500e-02, 8.08377609e-03, 2.51342865e-02,
 -3.88417011e-05, 4.88145051e-04, 7.12273354e-05, 3.42393698e-06,
  3.51694722e-03,-1.63432543e-03, 0.00000000e+00,-2.12074422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008573468645235241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61868998e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.61868998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00012241, -0.00550189,  0.06191327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42837016e-05, 1.04540147e-06, 2.20775182e-05,-1.04628747e-05,
  2.41610437e-06,-3.09557756e-04,-9.59556175e-05,-5.93647987e-04,
  1.04220466e-05, 3.55770178e-06, 3.98647152e-05, 8.59086152e-06,
 -3.79187067e-05,-1.00526479e-05, 4.47394879e-06, 2.22692283e-04,
  4.40210250e-03, 7.77018249e-03,-1.20435191e+00,-5.13724319e-03,
 -2.37556922e-02, 1.39551345e-04]


--- Step 1512 ---
qpos:
[ 3.31211683e-03,-3.22011706e-03, 1.19127508e-02, 4.17557956e-02,
  5.72286221e-03, 7.61334892e-01,-2.88366213e-02, 8.48867914e-01,
  5.83834909e-03, 1.64006052e-02,-9.28886192e-03, 2.59966520e-02,
  1.31834543e+00,-1.45346522e-04, 1.05126148e+00, 6.34479345e-02,
  1.59197373e-02,-3.61247708e-02, 7.71020110e-02, 6.90018731e-01,
 -2.36875660e-01,-6.65568291e-01,-1.57425930e-01]

qacc:
[-1.48719396e+00,-5.38372089e-01, 2.79492019e+00,-5.37715961e+00,
 -5.87221971e-03,-1.63293797e+01, 7.01585463e+01,-1.63161227e+02,
  1.04776520e+00,-1.66128131e+00, 8.18139057e+00,-1.84884786e+01,
 -3.75527947e-01, 6.27432969e-01,-3.54550219e+00, 1.27422975e+01,
 -1.17718517e+00, 2.31493918e-01,-3.51891285e+00,-1.27136326e+01,
 -6.54669129e+01,-7.64560218e+01]

qfrc_actuator:
[ 2.84248189e-05, 1.22223212e-04, 1.81257126e-04, 1.53185210e-05,
  3.13489707e-04, 2.92677294e-02, 8.07813288e-03, 2.47214209e-02,
 -3.29908822e-05, 4.60739520e-04, 6.57609416e-05,-2.91750347e-05,
  3.51118132e-03,-1.61444578e-03, 0.00000000e+00,-2.06408635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.12840357, -6.89257067,  4.30852806, -6.89257067, 28.75518723,
       32.99771108,  4.30852806, 32.99771108, 60.91651412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008279789784420774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.70441553e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.70441553e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07177439, -0.04831324,  0.06191497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72676984e-06, 2.82126663e-05, 1.71984742e-05,-4.47532568e-06,
 -1.36751882e-06,-2.91921429e-04,-9.65122768e-05,-4.39250297e-04,
  6.15040401e-06,-1.68277957e-05, 4.70146566e-07,-3.09002317e-05,
 -2.91089368e-05, 8.52568000e-06, 2.32424529e-05, 6.88125488e-05,
  4.74489596e-03, 8.41297869e-03,-1.20360342e+00,-4.88592970e-03,
 -2.37796432e-02, 1.14557102e-04]


--- Step 1513 ---
qpos:
[ 3.31226174e-03,-3.21885553e-03, 1.19135278e-02, 4.17552222e-02,
  5.72909433e-03, 7.61410782e-01,-2.88449763e-02, 8.49313038e-01,
  5.83813777e-03, 1.64007198e-02,-9.28841374e-03, 2.59953765e-02,
  1.31849260e+00,-1.46102707e-04, 1.05147446e+00, 6.34496472e-02,
  1.57725466e-02,-3.63762386e-02, 7.67997509e-02, 6.88762923e-01,
 -2.30673062e-01,-6.67521505e-01,-1.63739470e-01]

qacc:
[-3.95513011e+00, 2.23618879e+00,-1.02098177e+01, 2.16232437e+01,
 -2.60472096e-02,-1.12760860e+01, 4.46226422e+01,-9.85001364e+01,
 -2.38499118e+00,-1.22158482e+00, 3.94745451e+00,-4.69068721e+00,
 -5.01285414e-01, 8.03034428e-01, 4.52491804e+00,-1.50476999e+01,
 -3.08482582e-01,-8.22723977e-01,-7.15311034e-01, 1.42786018e+00,
  1.44981952e+01,-1.23734772e+02]

qfrc_actuator:
[ 5.54629195e-06, 1.35851740e-04, 1.71790232e-04, 4.83413335e-05,
  3.09537655e-04, 2.91185048e-02, 8.06041003e-03, 2.44762036e-02,
 -4.73302452e-05, 4.44213357e-04, 8.01096450e-05,-3.01275824e-05,
  3.49710394e-03,-1.60228054e-03, 0.00000000e+00,-2.13857113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008069535427372571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57966297e-14,  6.87910125e-14,  1.00000000e+00,  1.77457627e-27,
        1.00000000e+00, -6.87910125e-14, -1.00000000e+00,  0.00000000e+00,
       -2.57966297e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00105703, -0.00738607,  0.0619158 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31216650e-05, 3.27162458e-05,-1.69646395e-06, 3.47379248e-05,
 -4.59827125e-06,-3.46367179e-04,-1.00454266e-04,-2.67557195e-04,
 -1.41665052e-05,-2.71744430e-05, 9.85753691e-06,-2.25748858e-06,
 -2.82154275e-05, 7.35432073e-06, 1.29552712e-05,-6.89152058e-05,
  3.33349676e-03, 5.71948382e-03,-1.20323573e+00,-3.84556559e-03,
 -2.39603361e-02, 8.46127321e-05]


--- Step 1514 ---
qpos:
[ 3.31247624e-03,-3.21742348e-03, 1.19136374e-02, 4.17557855e-02,
  5.73525058e-03, 7.61484604e-01,-2.88541049e-02, 8.49749672e-01,
  5.83810142e-03, 1.64001414e-02,-9.28704636e-03, 2.59944543e-02,
  1.31863948e+00,-1.46439491e-04, 1.05168739e+00, 6.34511419e-02,
  1.56243995e-02,-3.66303684e-02, 7.64920730e-02, 6.87427511e-01,
 -2.24286120e-01,-6.69453714e-01,-1.70208339e-01]

qacc:
[ 5.87572181e-01, 4.43323493e+00,-2.02753119e+01, 4.08845243e+01,
 -4.05456537e-02,-1.54464023e+01, 6.73571739e+01,-1.62283339e+02,
  1.56682498e+00,-2.76075674e+00, 7.01712135e+00,-1.85461518e+00,
 -5.58903789e-01, 1.00239282e+00, 6.33590635e-01,-2.21119955e+00,
 -2.39094387e-01,-6.65477861e-01,-1.35445051e+00, 7.40552433e-01,
  1.36723884e+01,-1.19119043e+02]

qfrc_actuator:
[ 9.78352214e-06, 1.25612112e-04, 1.30407401e-04, 1.03497010e-04,
  3.04703520e-04, 2.90178762e-02, 8.01775995e-03, 2.40474744e-02,
 -3.79316961e-05, 3.98913497e-04, 1.23872847e-04,-1.24195868e-05,
  3.48870028e-03,-1.57707354e-03, 0.00000000e+00,-2.14764470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.82724882,  6.72961773, -3.99725773,  6.72961773,  7.38160964,
       -0.7502597 , -3.99725773, -0.7502597 ,  6.56414263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007789818911016558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67229341e-14,  7.12611575e-14,  1.00000000e+00, -1.90430721e-27,
        1.00000000e+00, -7.12611575e-14, -1.00000000e+00,  0.00000000e+00,
        2.67229341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00104957, -0.00738725,  0.06191735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58399628e-06, 9.13090771e-06,-3.36538426e-05, 5.71722789e-05,
 -6.93565260e-06,-3.23071910e-04,-1.31360383e-04,-4.49077812e-04,
  8.98326873e-06,-5.85686656e-05, 3.92826166e-05, 1.68427409e-05,
 -2.27394605e-05, 2.05437998e-05,-7.24065120e-06,-1.25338264e-05,
  3.63375722e-03, 6.25905475e-03,-1.20240187e+00,-3.55739530e-03,
 -2.39742472e-02, 5.82178495e-05]


--- Step 1515 ---
qpos:
[ 3.31273951e-03,-3.21585865e-03, 1.19135784e-02, 4.17562853e-02,
  5.74170625e-03, 7.61556934e-01,-2.88630028e-02, 8.50174552e-01,
  5.83817739e-03, 1.63995914e-02,-9.28567256e-03, 2.59933763e-02,
  1.31878613e+00,-1.46462598e-04, 1.05190012e+00, 6.34535025e-02,
  1.54755479e-02,-3.68865838e-02, 7.61767653e-02, 6.86008141e-01,
 -2.17720013e-01,-6.71359367e-01,-1.76825978e-01]

qacc:
[ 4.20401355e-01, 5.14908077e-01,-1.31474760e+00, 3.89351589e-01,
  1.70359650e-01,-2.31071475e+01, 1.01140501e+02,-2.32785080e+02,
  9.79241013e-01,-3.02804987e-01, 1.78868557e+00,-4.51206553e+00,
 -3.58261903e-01, 6.56540054e-01,-2.88328253e+00, 9.72242067e+00,
 -1.76111863e-01,-5.21414949e-01,-1.90747252e+00, 1.09624096e-01,
  1.29563094e+01,-1.15277944e+02]

qfrc_actuator:
[ 1.21983026e-05, 1.36545835e-04, 1.23686985e-04, 1.00177837e-04,
  3.34891316e-04, 2.90002217e-02, 8.04954337e-03, 2.34609029e-02,
 -3.23830094e-05, 4.25638743e-04, 1.31279666e-04,-1.93905376e-05,
  3.47838631e-03,-1.56206627e-03, 0.00000000e+00,-2.10029796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.56338589,  6.52449769, -3.82566805,  6.52449769,  7.11689063,
       -0.76147677, -3.82566805, -0.76147677,  6.26472293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007413281364367294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12321012e-13, -1.68481519e-13,  1.00000000e+00,  1.89240148e-26,
        1.00000000e+00,  1.68481519e-13, -1.00000000e+00,  0.00000000e+00,
        1.12321012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00104291, -0.00737947,  0.06191993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51427019e-06, 1.14835717e-05,-7.02078612e-06,-2.98451788e-06,
  2.70466279e-05,-2.39140052e-04,-6.13806422e-05,-6.11196100e-04,
  5.78284908e-06, 2.81947216e-06, 7.22341316e-07,-7.79394484e-06,
 -1.85844515e-05, 1.48246309e-05,-8.92047568e-06, 4.47437588e-05,
  3.91001978e-03, 6.75648274e-03,-1.20157519e+00,-3.25464602e-03,
 -2.39882826e-02, 3.10229060e-05]


--- Step 1516 ---
qpos:
[ 3.31302963e-03,-3.21426125e-03, 1.19137440e-02, 4.17567269e-02,
  5.74866157e-03, 7.61627971e-01,-2.88711385e-02, 8.50590081e-01,
  5.83797388e-03, 1.63998666e-02,-9.28491093e-03, 2.59925080e-02,
  1.31893266e+00,-1.46542922e-04, 1.05211275e+00, 6.34563874e-02,
  1.53262258e-02,-3.71443461e-02, 7.58519125e-02, 6.84500473e-01,
 -2.10979009e-01,-6.73233152e-01,-1.83586721e-01]

qacc:
[ 2.42172602e-01,-7.05079831e-01, 2.82102153e+00,-4.21038968e+00,
  2.82145728e-01,-2.00835880e+01, 8.58752871e+01,-1.89971555e+02,
 -2.47069336e+00, 3.23786713e+00,-1.08389851e+01, 1.48285144e+01,
 -1.22408742e-02,-6.53400296e-02,-1.72323717e+00, 5.82417547e+00,
 -1.17624273e-01,-3.86734587e-01,-2.38625398e+00,-4.76938486e-01,
  1.23328361e+01,-1.12137095e+02]

qfrc_actuator:
[ 1.35126053e-05, 1.42400468e-04, 1.37532035e-04, 9.80245175e-05,
  3.67994715e-04, 2.89793447e-02, 8.10753945e-03, 2.29993193e-02,
 -4.69042061e-05, 5.12887302e-04, 1.17417755e-04,-5.29584342e-06,
  3.46693124e-03,-1.57099350e-03, 0.00000000e+00,-2.07335362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.220317  ,  6.24714588, -3.62024114,  6.24714588,  6.78513986,
       -0.75094861, -3.62024114, -0.75094861,  5.92446809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006962694470849309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98290851e-14,  7.97265361e-14,  1.00000000e+00,  3.97270035e-27,
        1.00000000e+00, -7.97265361e-14, -1.00000000e+00,  0.00000000e+00,
       -4.98290851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00103698, -0.00736426,  0.06192337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38533869e-06, 1.06411956e-05, 1.52299195e-05,-1.96708674e-06,
  4.51787929e-05,-1.87218486e-04,-1.53934046e-05,-4.85018518e-04,
 -1.43547051e-05, 8.86489426e-05,-1.34676006e-05, 1.40891723e-05,
 -1.86397372e-05,-9.54608539e-06,-2.85492730e-06, 2.74194253e-05,
  4.16373383e-03, 7.21342157e-03,-1.20075363e+00,-2.93811541e-03,
 -2.40016083e-02, 3.05677345e-06]


--- Step 1517 ---
qpos:
[ 3.31333331e-03,-3.21279622e-03, 1.19141219e-02, 4.17578517e-02,
  5.75563347e-03, 7.61697891e-01,-2.88786483e-02, 8.50997178e-01,
  5.83759803e-03, 1.64009282e-02,-9.28498550e-03, 2.59925256e-02,
  1.31907890e+00,-1.46167532e-04, 1.05232532e+00, 6.34595603e-02,
  1.51765982e-02,-3.74032897e-02, 7.55172625e-02, 6.82899820e-01,
 -2.04062465e-01,-6.75070386e-01,-1.90489687e-01]

qacc:
[ 1.28361957e-01, 6.39432810e-01,-5.41637311e+00, 1.69967897e+01,
  1.18987109e-02,-1.78791241e+01, 7.67422963e+01,-1.70679700e+02,
 -1.54206050e+00, 5.20310135e+00,-2.07790247e+01, 3.68628329e+01,
 -5.49588673e-01, 1.01598405e+00,-9.01380775e-01, 3.14875753e+00,
 -7.63899014e-02,-2.95314143e-01,-2.44931833e+00,-9.60056200e-01,
  1.23261160e+01,-1.12450880e+02]

qfrc_actuator:
[ 1.41690263e-05, 1.27502111e-04, 1.45638153e-04, 1.32096102e-04,
  3.49269573e-04, 2.89391795e-02, 8.14513406e-03, 2.25795205e-02,
 -5.53678287e-05, 5.46878615e-04, 7.36579963e-05, 3.88877877e-05,
  3.46011544e-03,-1.54077811e-03, 0.00000000e+00,-2.05865563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.85043693,  5.94537629, -3.40308492,  5.94537629,  7.78615455,
        1.63475007, -3.40308492,  1.63475007,  9.7064351 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006503711748531288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40147735e-14,  8.53530313e-14,  1.00000000e+00, -5.46385496e-27,
        1.00000000e+00, -8.53530313e-14, -1.00000000e+00,  0.00000000e+00,
        6.40147735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008471 , -0.00764725,  0.06192699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93745023e-07,-5.94745066e-06, 1.20899243e-05, 3.50110831e-05,
  1.46910003e-06,-1.64485187e-04,-1.63742039e-05,-4.37302452e-04,
 -8.84271829e-06, 8.13636210e-05,-2.66292286e-05, 4.77910021e-05,
 -1.97452704e-05, 2.37753913e-05,-2.24793549e-06, 1.49192168e-05,
  4.39625098e-03, 7.63153366e-03,-1.19993522e+00,-2.60858146e-03,
 -2.40134545e-02,-2.56537412e-05]


--- Step 1518 ---
qpos:
[ 3.31295250e-03,-3.21136271e-03, 1.19143289e-02, 4.17590446e-02,
  5.76245773e-03, 7.61766817e-01,-2.88859698e-02, 8.51395742e-01,
  5.83746867e-03, 1.64024975e-02,-9.28573306e-03, 2.59924068e-02,
  1.31922504e+00,-1.45948917e-04, 1.05253784e+00, 6.34628728e-02,
  1.50268414e-02,-3.76630108e-02, 7.51722865e-02, 6.81201367e-01,
 -1.96970543e-01,-6.76866268e-01,-1.97533181e-01]

qacc:
[-6.01262510e+00, 5.88045937e-01,-2.42340283e+00, 3.87407279e+00,
 -8.02646322e-02,-1.67062701e+01, 7.33025442e+01,-1.68837572e+02,
  2.12015686e+00, 2.26707235e+00,-6.54100930e+00, 4.89027445e+00,
  5.38307854e-02,-2.23700787e-01,-5.12724905e-01, 1.65390042e+00,
 -3.22966898e-02,-1.94377399e-01,-2.58146680e+00,-1.46750291e+00,
  1.21513246e+01,-1.12281245e+02]

qfrc_actuator:
[-2.10719931e-05, 1.18056512e-04, 1.32470614e-04, 1.33926474e-04,
  3.35235772e-04, 2.88877830e-02, 8.15256654e-03, 2.21521087e-02,
 -4.24396303e-05, 5.48624283e-04, 3.01810585e-05, 2.93541272e-05,
  3.44545095e-03,-1.55857773e-03, 0.00000000e+00,-2.05127884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.47198097,  5.6182479 , -3.21276023,  5.6182479 ,  6.30375339,
       -0.2941845 , -3.21276023, -0.2941845 ,  5.95753193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006047296143225911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.73718712e-14,  9.17949939e-14,  1.00000000e+00, -5.26645056e-27,
        1.00000000e+00, -9.17949939e-14, -1.00000000e+00,  0.00000000e+00,
        5.73718712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00072662, -0.00787608,  0.06193069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52305290e-05,-8.83518250e-06,-1.17198146e-05, 2.66879816e-06,
 -1.33937891e-05,-1.61731894e-04,-4.06984305e-05,-4.43127750e-04,
  1.27054916e-05, 4.37502347e-05,-2.83081000e-05,-6.04013774e-06,
 -2.03723122e-05,-1.65789685e-05,-3.68023891e-06, 6.91447866e-06,
  4.62407384e-03, 8.04052939e-03,-1.19909664e+00,-2.27310853e-03,
 -2.40218322e-02,-5.50680457e-05]


--- Step 1519 ---
qpos:
[ 3.31215221e-03,-3.21004542e-03, 1.19147336e-02, 4.17595451e-02,
  5.76909378e-03, 7.61834668e-01,-2.88936560e-02, 8.51785431e-01,
  5.83749546e-03, 1.64042734e-02,-9.28656916e-03, 2.59914832e-02,
  1.31937106e+00,-1.46131658e-04, 1.05275064e+00, 6.34635560e-02,
  1.48771783e-02,-3.79229898e-02, 7.48154400e-02, 6.79400584e-01,
 -1.89706489e-01,-6.78615570e-01,-2.04712489e-01]

qacc:
[-3.67405978e+00,-2.12619420e+00, 1.02906922e+01,-2.25137946e+01,
 -1.03295049e-01,-1.59159969e+01, 7.13498986e+01,-1.71117842e+02,
  1.35505983e+00,-1.13925150e+00, 7.85205395e+00,-2.17884363e+01,
  3.97237365e-02,-3.79377368e-01, 8.32472799e+00,-2.85704358e+01,
  2.34141738e-02,-6.44584818e-02,-2.96765722e+00,-2.01409772e+00,
  1.16098521e+01,-1.10038648e+02]

qfrc_actuator:
[-4.16535909e-05, 1.11834657e-04, 1.42342461e-04, 9.90014926e-05,
  3.24174378e-04, 2.88122177e-02, 8.12433643e-03, 2.17058503e-02,
 -3.47788645e-05, 5.48739307e-04, 2.25503381e-05,-1.17420175e-05,
  3.42607081e-03,-1.58700351e-03, 0.00000000e+00,-2.19028249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.07235016,  5.28721742, -2.98643071,  5.28721742,  5.75081411,
       -0.56925178, -2.98643071, -0.56925178,  5.06453909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005568080935686795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.72333895e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.72333895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00071998, -0.00785757,  0.06193477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15928075e-05,-1.35370314e-05, 6.67570903e-06,-3.56618090e-05,
 -1.70715415e-05,-1.89345367e-04,-7.87944379e-05,-4.62753008e-04,
  8.04579575e-06, 1.84303548e-05,-2.29922825e-06,-4.03204245e-05,
 -3.49920373e-05,-3.69264033e-05,-4.94539308e-06,-1.40042603e-04,
  4.84220313e-03, 8.43074254e-03,-1.19824255e+00,-1.92990681e-03,
 -2.40268393e-02,-8.51887375e-05]


--- Step 1520 ---
qpos:
[ 3.31180095e-03,-3.20897178e-03, 1.19158678e-02, 4.17596024e-02,
  5.77534827e-03, 7.61900919e-01,-2.89018094e-02, 8.52168869e-01,
  5.83726972e-03, 1.64054959e-02,-9.28663710e-03, 2.59908037e-02,
  1.31951674e+00,-1.46561400e-04, 1.05296342e+00, 6.34622300e-02,
  1.47217335e-02,-3.81781893e-02, 7.44694871e-02, 6.77299335e-01,
 -1.82354305e-01,-6.80514063e-01,-2.11927176e-01]

qacc:
[ 3.96807979e+00,-3.28310481e+00, 1.30941345e+01,-2.17350669e+01,
 -2.11624996e-01,-1.17464134e+01, 5.06469941e+01,-1.20267225e+02,
 -2.16892919e+00,-2.37109626e+00, 6.36924996e+00,-2.97012565e+00,
 -1.84125495e-01,-1.91793672e-02, 6.06514376e+00,-2.12133044e+01,
 -1.44540019e+00, 1.19487109e+00, 2.72341640e+00, 4.70384320e+00,
 -1.40256357e+02,-8.68321541e+01]

qfrc_actuator:
[-1.79254788e-05, 1.07644358e-04, 1.83490375e-04, 7.82617469e-05,
  2.97243415e-04, 2.87048786e-02, 8.09293901e-03, 2.13940607e-02,
 -4.80394338e-05, 4.94716208e-04, 5.38647436e-05,-4.20216726e-08,
  3.39854146e-03,-1.60374507e-03, 0.00000000e+00,-2.29013305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006138977460882766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.521205e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        4.521205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0684085 , -0.05985527,  0.06192687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31048734e-05,-1.19674602e-05, 3.79204481e-05,-2.17867221e-05,
 -3.45905785e-05,-2.44561278e-04,-9.24032000e-05,-3.30776878e-04,
 -1.30171526e-05,-4.59691391e-05, 3.34339000e-05, 1.16251913e-05,
 -5.64645695e-05,-3.33563328e-05,-2.25952105e-05,-1.09400174e-04,
  5.03920529e-03, 8.78060451e-03,-1.19739072e+00,-1.57446452e-03,
 -2.40290189e-02,-1.16016977e-04]


--- Step 1521 ---
qpos:
[ 3.31173668e-03,-3.20825517e-03, 1.19172986e-02, 4.17594551e-02,
  5.78181691e-03, 7.61965053e-01,-2.89097910e-02, 8.52545946e-01,
  5.83757680e-03, 1.64061406e-02,-9.28649045e-03, 2.59899667e-02,
  1.31966224e+00,-1.47730662e-04, 1.05317573e+00, 6.34623613e-02,
  1.45595082e-02,-3.84099134e-02, 7.42009674e-02, 6.74864993e-01,
 -1.75509828e-01,-6.82651912e-01,-2.18494640e-01]

qacc:
[ 2.53428075e+00,-1.72776742e+00, 6.32951549e+00,-1.00701617e+01,
  1.21889305e-01,-1.43432685e+01, 5.86102674e+01,-1.28419195e+02,
  4.66371475e+00,-1.69708390e+00, 5.59256239e+00,-8.22092466e+00,
  5.35048159e-01,-1.36173225e+00,-5.16344680e+00, 1.69052084e+01,
 -1.69514114e+00, 5.86883794e+00, 1.93582864e+01, 4.32807903e+01,
 -3.07211198e+02, 3.34830819e+02]

qfrc_actuator:
[-3.81752650e-06, 6.93416510e-05, 1.89535095e-04, 6.60609309e-05,
  3.32069866e-04, 2.85794295e-02, 8.09539488e-03, 2.10751153e-02,
 -2.02487019e-05, 4.44392643e-04, 5.44670256e-05,-1.06494155e-05,
  3.38212279e-03,-1.64897518e-03, 0.00000000e+00,-2.20628642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007680897121245395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.61358513e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.61358513e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753308, -0.08021173,  0.06190747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47566994e-05,-3.81386344e-05, 7.46298724e-06,-1.18313361e-05,
  1.93161637e-05,-2.91636698e-04,-6.70119816e-05,-3.37151098e-04,
  2.74034067e-05,-6.86725807e-05,-4.38463986e-06,-1.11948369e-05,
 -5.66747632e-05,-6.59929800e-05,-2.64799901e-05, 7.39460453e-05,
  1.17467719e-03, 1.97564973e-03,-1.19666922e+00, 5.35243592e-04,
 -2.39473955e-02,-1.52145603e-04]


--- Step 1522 ---
qpos:
[ 3.31149707e-03,-3.20757641e-03, 1.19181518e-02, 4.17588378e-02,
  5.78877827e-03, 7.62027118e-01,-2.89169494e-02, 8.52912772e-01,
  5.83786948e-03, 1.64066304e-02,-9.28730574e-03, 2.59886920e-02,
  1.31980750e+00,-1.49470334e-04, 1.05338830e+00, 6.34597594e-02,
  1.44212400e-02,-3.86340521e-02, 7.39859671e-02, 6.72900766e-01,
 -1.69157369e-01,-6.84188195e-01,-2.24670551e-01]

qacc:
[-1.55684145e+00, 5.99118642e-01,-2.20357630e-01,-6.96699403e+00,
  2.78746752e-01,-2.28300469e+01, 9.56726204e+01,-2.08963936e+02,
 -1.53368702e-01, 1.58317639e+00,-4.09338424e+00,-1.83030815e+00,
  7.62688897e-02,-5.89948493e-01, 8.62862909e+00,-2.96538688e+01,
  5.98927401e+00, 1.89633716e+00, 1.33798499e+01,-5.68414230e+01,
  2.75342729e+02, 4.04229282e+02]

qfrc_actuator:
[-1.32518730e-05, 6.40402295e-05, 1.56906356e-04, 4.11694062e-05,
  3.68002434e-04, 2.84797758e-02, 8.13546321e-03, 2.05592078e-02,
 -2.17694232e-05, 4.32040000e-04, 1.38309000e-06,-3.43370806e-05,
  3.37236932e-03,-1.67520182e-03, 0.00000000e+00,-2.35218428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.11459573, -4.89584563,  7.11459573, 32.08786115,
       34.07949034, -4.89584563, 34.07949034, 58.1603508 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001453093981617401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82020378e-14,  3.82020378e-14,  1.00000000e+00, -1.45939569e-27,
        1.00000000e+00, -3.82020378e-14, -1.00000000e+00,  0.00000000e+00,
        3.82020378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05540163, -0.01610393,  0.06182901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03084140e-06,-2.56308674e-05,-4.00219356e-05,-2.65023415e-05,
  4.45418755e-05,-2.87059799e-04,-3.59459851e-05,-5.35011743e-04,
 -7.56514027e-07,-5.21528838e-05,-6.82047996e-05,-2.70011383e-05,
 -5.74676804e-05,-5.49772536e-05,-6.52113544e-06,-1.45779328e-04,
 -7.97983441e-03,-1.11123322e-02,-1.19761960e+00, 4.33624019e-03,
 -2.34698258e-02,-1.91106374e-04]


--- Step 1523 ---
qpos:
[ 3.31149088e-03,-3.20643762e-03, 1.19180715e-02, 4.17575422e-02,
  5.79557606e-03, 7.62087110e-01,-2.89241627e-02, 8.53270956e-01,
  5.83710694e-03, 1.64073591e-02,-9.28900892e-03, 2.59870875e-02,
  1.31995250e+00,-1.51811917e-04, 1.05360053e+00, 6.34577681e-02,
  1.43028714e-02,-3.88519228e-02, 7.38133836e-02, 6.71333564e-01,
 -1.63221540e-01,-6.85221443e-01,-2.30524506e-01]

qacc:
[ 2.01121653e+00, 1.81625742e+00,-2.73915786e+00,-7.83371971e+00,
 -8.88311988e-02,-1.76503174e+01, 7.48567116e+01,-1.70658314e+02,
 -9.23552760e+00, 2.13639505e+00,-5.73550548e+00, 1.23693343e+00,
  3.09057551e-01,-9.64715910e-01,-2.38981245e+00, 7.53479659e+00,
  4.97491392e+00, 1.56701668e+00, 1.06042127e+01,-5.29653364e+01,
  2.31036110e+02, 3.38008110e+02]

qfrc_actuator:
[-9.58793668e-07, 1.13868487e-04, 1.19581784e-04, 9.01083683e-06,
  3.33223896e-04, 2.83608944e-02, 8.12636843e-03, 2.01268358e-02,
 -7.60481752e-05, 4.77783291e-04,-2.95639948e-05,-4.77772361e-05,
  3.35597491e-03,-1.70765232e-03, 0.00000000e+00,-2.31277388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.53554204, -1.31578833,  8.53554204,  8.66354854,
        0.17634892, -1.31578833,  0.17634892,  9.78034219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002026247915422087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73960313e-14,  2.73960313e-14,  1.00000000e+00, -7.50542529e-28,
        1.00000000e+00, -2.73960313e-14, -1.00000000e+00,  0.00000000e+00,
        2.73960313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05362035, -0.01653649,  0.06176649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20267162e-05, 2.60579555e-05,-4.84811621e-05,-3.51588889e-05,
 -1.48744512e-05,-3.03976408e-04,-8.66042250e-05,-4.54855941e-04,
 -5.43142883e-05, 1.32862461e-06,-5.10481329e-05,-1.85569086e-05,
 -6.21965291e-05,-5.86368040e-05,-2.40354348e-05, 2.93384312e-05,
  9.46079107e-05, 1.79380109e-04,-1.20212824e+00, 1.81496357e-03,
 -2.41543264e-02,-2.11696194e-04]


--- Step 1524 ---
qpos:
[ 3.31163195e-03,-3.20504744e-03, 1.19180802e-02, 4.17558262e-02,
  5.80204110e-03, 7.62145456e-01,-2.89319521e-02, 8.53621503e-01,
  5.83638941e-03, 1.64083090e-02,-9.29121872e-03, 2.59859998e-02,
  1.32009711e+00,-1.54310361e-04, 1.05381230e+00, 6.34585614e-02,
  1.41814185e-02,-3.90469986e-02, 7.37086071e-02, 6.69513837e-01,
 -1.57694924e-01,-6.86486487e-01,-2.35838581e-01]

qacc:
[ 1.29064817e+00,-7.85949600e-01, 5.05328885e+00,-1.26502899e+01,
 -1.84140769e-01,-1.39255425e+01, 6.09307024e+01,-1.46180226e+02,
  3.73333670e-01, 2.77110866e+00,-1.16393728e+01, 2.12302019e+01,
  1.10191487e-02,-2.66495818e-01,-9.08757824e+00, 3.07966504e+01,
 -7.71091819e-01, 5.69874311e+00, 1.69517533e+01, 5.37181011e+01,
 -2.55553845e+02, 2.73406122e+02]

qfrc_actuator:
[ 6.27946813e-06, 1.43033897e-04, 1.33284530e-04,-9.35912436e-06,
  3.09735794e-04, 2.83023173e-02, 8.10607711e-03, 1.97470769e-02,
 -7.21720184e-05, 5.04794446e-04,-4.69182302e-05,-1.94964182e-05,
  3.34625862e-03,-1.70807221e-03, 0.00000000e+00,-2.16442909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.46654551, -4.340216  ,  7.46654551, 24.30731434,
       26.95899618, -4.340216  , 26.95899618, 55.01437149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024992234612821393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04147874, -0.07518587,  0.06171719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.59007268e-06, 3.21838309e-05, 1.18871947e-05,-1.96157559e-05,
 -3.01825430e-05,-2.60411695e-04,-1.04544150e-04,-4.02511443e-04,
  2.32282783e-06, 1.63899357e-05,-2.39931461e-05, 2.62181591e-05,
 -5.88492385e-05,-2.86769372e-05,-1.08185864e-05, 1.46196948e-04,
  4.94957390e-03, 8.92535087e-03,-1.20529321e+00, 1.08782126e-04,
 -2.46867269e-02,-2.37239480e-04]


--- Step 1525 ---
qpos:
[ 3.31151389e-03,-3.20363863e-03, 1.19185905e-02, 4.17542491e-02,
  5.80856713e-03, 7.62202654e-01,-2.89399905e-02, 8.53965395e-01,
  5.83606851e-03, 1.64092066e-02,-9.29384239e-03, 2.59856331e-02,
  1.32024115e+00,-1.56303576e-04, 1.05402434e+00, 6.34580798e-02,
  1.40571042e-02,-3.92231184e-02, 7.36578767e-02, 6.67480631e-01,
 -1.52511693e-01,-6.87951722e-01,-2.40691129e-01]

qacc:
[-2.25875376e+00,-1.08650853e+00, 3.33066732e+00,-1.74943076e+00,
  3.56102760e-02,-1.24433620e+01, 5.45760831e+01,-1.28932919e+02,
  3.44778966e+00, 2.56546868e+00,-1.23037647e+01, 2.54965894e+01,
 -9.13513609e-01, 1.47966215e+00, 4.31346290e+00,-1.43498904e+01,
 -7.15334117e-01, 4.73896530e+00, 1.35115058e+01, 5.02406116e+01,
 -2.17174897e+02, 2.31413461e+02]

qfrc_actuator:
[-7.27497899e-06, 1.42073615e-04, 1.59201845e-04,-1.68976901e-06,
  3.28761842e-04, 2.82980791e-02, 8.11511642e-03, 1.94190895e-02,
 -5.18336897e-05, 4.84983262e-04,-7.38955174e-05, 1.53497717e-05,
  3.32991804e-03,-1.67172539e-03, 0.00000000e+00,-2.23718394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.18773072, -8.63432302, -0.18773072, 24.58032355,
       -0.3466596 , -8.63432302, -0.3466596 ,  8.64390084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002906031590983786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77551168e-15, -3.82040934e-14,  1.00000000e+00,  1.82444095e-28,
        1.00000000e+00,  3.82040934e-14, -1.00000000e+00,  0.00000000e+00,
        4.77551168e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04041013, -0.07410957,  0.06167665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33307603e-05, 1.86076329e-05, 3.33373911e-05, 9.07780796e-06,
  5.48401163e-06,-1.83720904e-04,-6.70676631e-05,-3.48687118e-04,
  2.04110380e-05,-1.44859732e-05,-2.56234728e-05, 3.52336323e-05,
 -5.61151086e-05, 1.57999708e-05, 8.00385323e-06,-6.67505055e-05,
 -5.13657944e-04,-8.03269458e-04,-1.20556846e+00, 2.82078983e-03,
 -2.41362182e-02,-2.61140703e-04]


--- Step 1526 ---
qpos:
[ 3.31192438e-03,-3.20241171e-03, 1.19192837e-02, 4.17524791e-02,
  5.81560940e-03, 7.62258865e-01,-2.89480657e-02, 8.54303686e-01,
  5.83599373e-03, 1.64101534e-02,-9.29622687e-03, 2.59849380e-02,
  1.32038488e+00,-1.58192469e-04, 1.05423642e+00, 6.34564065e-02,
  1.39503739e-02,-3.93922005e-02, 7.36435152e-02, 6.65796498e-01,
 -1.47678959e-01,-6.89011372e-01,-2.45294267e-01]

qacc:
[   4.64789711,  -1.15895291,   4.58145686,  -8.06171558,   0.28970088,
  -10.96458843,  47.50439781,-109.8762359 ,   2.15303735,  -1.28415711,
    6.05281237, -12.14962859,  -0.38786295,   0.52950828,   3.6954746 ,
  -12.76107073,   4.39597093,   1.75943228,   9.09225743, -53.37621389,
  194.23483093, 276.74514525]

qfrc_actuator:
[ 2.03003081e-05, 1.05417472e-04, 1.56494628e-04,-1.42933676e-05,
  3.73035724e-04, 2.82733449e-02, 8.12390478e-03, 1.91419923e-02,
 -3.97403110e-05, 5.08274069e-04,-5.32788384e-05, 4.66196019e-07,
  3.32028471e-03,-1.66717578e-03, 0.00000000e+00,-2.29763195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.23795423, -4.71155977,  7.23795423, 29.7678352 ,
       32.46241828, -4.71155977, 32.46241828, 58.50551723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032792918443625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46389310e-15,  1.69277862e-14,  1.00000000e+00, -1.43274973e-28,
        1.00000000e+00, -1.69277862e-14, -1.00000000e+00,  0.00000000e+00,
        8.46389310e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05030727, -0.01781847,  0.06164116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71956678e-05,-1.90336581e-05, 5.53823511e-06,-1.04764255e-05,
  4.67083678e-05,-1.52509030e-04,-4.61876956e-05,-2.92960393e-04,
  1.26730421e-05, 1.14122906e-05, 1.57072992e-05,-1.57014970e-05,
 -3.76247838e-05,-4.64503274e-06,-9.36126091e-06,-6.44183236e-05,
 -5.49078427e-03,-7.57111795e-03,-1.20586735e+00, 4.92557500e-03,
 -2.36728497e-02,-2.87925806e-04]


--- Step 1527 ---
qpos:
[ 3.31231728e-03,-3.20162723e-03, 1.19200657e-02, 4.17513038e-02,
  5.82314154e-03, 7.62314354e-01,-2.89560720e-02, 8.54634955e-01,
  5.83571977e-03, 1.64111468e-02,-9.29810283e-03, 2.59843961e-02,
  1.32052846e+00,-1.60073932e-04, 1.05444883e+00, 6.34506553e-02,
  1.38583987e-02,-3.95556863e-02, 7.36560492e-02, 6.64412412e-01,
 -1.43147762e-01,-6.89725783e-01,-2.49686222e-01]

qacc:
[-1.43768855e-01, 3.93092887e-01,-4.75785228e+00, 1.52298248e+01,
  2.75209252e-01,-1.33811804e+01, 5.91842185e+01,-1.37772795e+02,
 -1.72205192e+00,-1.04052550e+00, 3.15771712e+00,-1.35666498e+00,
 -3.88379552e-01, 5.17669458e-01, 1.28163835e+01,-4.40783406e+01,
  3.68879149e+00, 1.39910131e+00, 6.72384395e+00,-4.78150299e+01,
  1.65722661e+02, 2.36481306e+02]

qfrc_actuator:
[ 1.86115213e-05, 6.52895228e-05, 1.54483178e-04, 1.44735092e-05,
  3.96473402e-04, 2.82543649e-02, 8.13242997e-03, 1.87905197e-02,
 -5.03546723e-05, 5.21840405e-04,-2.23459133e-05, 9.76388924e-06,
  3.31999825e-03,-1.66375305e-03, 0.00000000e+00,-2.51004274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.97979678,   6.23127654,   5.97979678,
        41.1075707 , -31.16074501,   6.23127654, -31.16074501,
        38.53953378,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035699537748623833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33243151e-14,  3.10990868e-14,  1.00000000e+00, -7.25364902e-28,
        1.00000000e+00, -3.10990868e-14, -1.00000000e+00,  0.00000000e+00,
        2.33243151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04957734, -0.01801933,  0.0616151 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.24827121e-07,-5.01167998e-05,-5.64333282e-06, 2.79377168e-05,
  4.43325714e-05,-1.23483140e-04,-3.61713426e-05,-3.64432480e-04,
 -1.02466734e-05, 2.25191852e-05, 3.46994681e-05, 1.00288868e-05,
 -2.29528388e-05,-6.16943826e-06,-1.58091103e-05,-2.18199951e-04,
 -9.00693418e-04,-1.40106718e-03,-1.20825374e+00, 3.67030342e-03,
 -2.41291746e-02,-3.04402713e-04]


--- Step 1528 ---
qpos:
[ 3.31199724e-03,-3.20131307e-03, 1.19208109e-02, 4.17515311e-02,
  5.83081608e-03, 7.62368162e-01,-2.89639013e-02, 8.54961593e-01,
  5.83566593e-03, 1.64120073e-02,-9.29978040e-03, 2.59843599e-02,
  1.32067180e+00,-1.61651417e-04, 1.05466142e+00, 6.34400437e-02,
  1.37788961e-02,-3.97147557e-02, 7.36872647e-02, 6.63288079e-01,
 -1.38878139e-01,-6.90143320e-01,-2.53897586e-01]

qacc:
[-6.24977101e+00, 2.38438493e+00,-1.52978178e+01, 3.99454831e+01,
  8.12777707e-02,-1.07626992e+01, 4.34549212e+01,-9.40007263e+01,
  1.92865920e+00, 3.06966259e-01,-3.49073608e+00, 1.20292750e+01,
 -7.07763574e-01, 1.16430563e+00, 1.50051563e+01,-5.19628689e+01,
  3.11817588e+00, 1.10407752e+00, 4.67038763e+00,-4.30885892e+01,
  1.42621524e+02, 2.03881471e+02]

qfrc_actuator:
[-1.80536111e-05, 4.11644286e-05, 1.52910266e-04, 8.51048134e-05,
  3.89476595e-04, 2.81146987e-02, 8.12295362e-03, 1.85578574e-02,
 -3.87415644e-05, 4.94049598e-04,-2.10935241e-05, 3.32198564e-05,
  3.31466629e-03,-1.64319865e-03, 0.00000000e+00,-2.75701040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.76900073,  8.60205875, -0.76900073, 80.62102964,
        6.43523401,  8.60205875,  6.43523401,  9.21165611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003760558502305507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95228228e-14, -1.47614114e-14,  1.00000000e+00,  4.35798534e-28,
        1.00000000e+00,  1.47614114e-14, -1.00000000e+00,  0.00000000e+00,
        2.95228228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0491348 , -0.01814864,  0.06159916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67129595e-05,-5.21558807e-05,-1.16691434e-05, 6.88321970e-05,
  1.28404741e-05,-2.28395128e-04,-4.94394284e-05,-2.45994553e-04,
  1.13265567e-05,-7.61776823e-06, 1.05366845e-05, 2.58203766e-05,
 -2.05605132e-05, 1.42792617e-05,-3.61352803e-05,-2.62212031e-04,
  2.01462606e-03, 3.50414644e-03,-1.20997521e+00, 2.80899589e-03,
 -2.44716693e-02,-3.23874687e-04]


--- Step 1529 ---
qpos:
[ 3.31192971e-03,-3.20094983e-03, 1.19210785e-02, 4.17518758e-02,
  5.83847331e-03, 7.62419951e-01,-2.89716399e-02, 8.55284666e-01,
  5.83575182e-03, 1.64124015e-02,-9.30065171e-03, 2.59842612e-02,
  1.32081486e+00,-1.62916527e-04, 1.05487344e+00, 6.34295235e-02,
  1.36972764e-02,-3.98568423e-02, 7.37591484e-02, 6.61994632e-01,
 -1.34899547e-01,-6.90758926e-01,-2.57715591e-01]

qacc:
[ 2.20047644e+00, 1.63782977e+00,-6.24772833e+00, 9.01400095e+00,
 -8.00836333e-03,-9.11450994e+00, 3.50057983e+01,-7.32556390e+01,
  1.25186891e+00,-3.00070966e+00, 1.00645191e+01,-1.20865278e+01,
 -4.31802331e-01, 7.38877589e-01,-1.09175288e+00, 2.66395373e+00,
 -5.29310383e-01, 4.24569445e+00, 1.01670457e+01, 5.26197841e+01,
 -1.88306176e+02, 1.95662821e+02]

qfrc_actuator:
[-3.99165167e-06, 6.23511570e-05, 1.33937930e-04, 9.10458725e-05,
  3.82123256e-04, 2.79926320e-02, 8.12029332e-03, 1.83791464e-02,
 -3.18842360e-05, 4.59358023e-04, 1.57151667e-05, 2.92519313e-05,
  3.29566740e-03,-1.63041741e-03, 0.00000000e+00,-2.73825643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.31103442, -4.59734191,  7.31103442, 28.47243586,
       31.54479472, -4.59734191, 31.54479472, 58.80123813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003995123211262608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.94736411e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.94736411e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04138742, -0.07572612,  0.06158059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29938263e-05,-7.47313925e-06,-2.88118827e-05, 4.64180116e-06,
 -1.63231555e-06,-2.67695417e-04,-6.12825484e-05,-1.93159225e-04,
  7.17883873e-06,-3.56761437e-05, 3.74354858e-05,-3.42586991e-06,
 -2.83992789e-05, 1.21153023e-05,-4.96162809e-05,-1.35974142e-06,
  3.77822591e-03, 7.45975475e-03,-1.21122843e+00, 2.22700960e-03,
 -2.47289731e-02,-3.45113949e-04]


--- Step 1530 ---
qpos:
[ 3.31237570e-03,-3.20046862e-03, 1.19210753e-02, 4.17515749e-02,
  5.84604014e-03, 7.62470387e-01,-2.89794768e-02, 8.55600612e-01,
  5.83522977e-03, 1.64121524e-02,-9.30070230e-03, 2.59851739e-02,
  1.32095748e+00,-1.63891218e-04, 1.05508495e+00, 6.34208987e-02,
  1.36134597e-02,-3.99847763e-02, 7.38615536e-02, 6.60556365e-01,
 -1.31171938e-01,-6.91547193e-01,-2.61192823e-01]

qacc:
[ 4.49638296e+00,-4.26619620e-01, 4.45528776e+00,-1.52623595e+01,
 -4.85945157e-02,-1.39362591e+01, 6.02096087e+01,-1.39463033e+02,
 -5.26533206e+00,-1.05161763e+00,-1.73693823e+00, 1.83849220e+01,
 -4.14162966e-01, 6.48230719e-01,-6.44012112e+00, 2.15162975e+01,
 -5.49240496e-01, 3.53817632e+00, 7.63038321e+00, 4.71027212e+01,
 -1.62495685e+02, 1.69174337e+02]

qfrc_actuator:
[ 2.20736645e-05, 7.48884543e-05, 1.22734059e-04, 5.88969467e-05,
  3.74658748e-04, 2.79531457e-02, 8.12173811e-03, 1.80205616e-02,
 -6.33933038e-05, 4.20912536e-04, 5.54177854e-05, 8.02060672e-05,
  3.26315684e-03,-1.62243004e-03, 0.00000000e+00,-2.63408759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.98093186,  3.30022781, -7.98093186, 10.14174771,
        3.64046617,  3.30022781,  3.64046617, 17.44009299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004175456458886166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32946306e-14, -1.32946306e-14,  1.00000000e+00,  1.76747203e-28,
        1.00000000e+00,  1.32946306e-14, -1.00000000e+00,  0.00000000e+00,
        1.32946306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04100147, -0.0753652 ,  0.06156753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64323024e-05, 2.59363319e-06,-1.61441720e-05,-3.33783675e-05,
 -8.23005030e-06,-2.07477767e-04,-6.46924303e-05,-3.73465732e-04,
 -3.13167682e-05,-5.08108875e-05, 3.68312482e-05, 5.06548968e-05,
 -4.63913321e-05, 4.73601972e-06,-2.48202492e-05, 9.73241724e-05,
  1.13915454e-03, 1.92656165e-03,-1.21132822e+00, 3.76754179e-03,
 -2.43010907e-02,-3.57896625e-04]


--- Step 1531 ---
qpos:
[ 3.31382062e-03,-3.19991335e-03, 1.19208966e-02, 4.17512352e-02,
  5.85328807e-03, 7.62519814e-01,-2.89874113e-02, 8.55909078e-01,
  5.83502342e-03, 1.64118466e-02,-9.30016379e-03, 2.59862847e-02,
  1.32109951e+00,-1.64155833e-04, 1.05529607e+00, 6.34152121e-02,
  1.35273735e-02,-4.01008630e-02, 7.39857997e-02, 6.58992908e-01,
 -1.27662324e-01,-6.92486658e-01,-2.64372668e-01]

qacc:
[   8.76080548,   0.49198504,  -1.47837123,   1.06692516,  -0.17623084,
  -14.10227243,  62.11957816,-145.66248651,   2.77312166,  -1.31882583,
    3.74761398,  -1.20780426,  -0.80336979,   1.44667551,  -9.36902036,
   32.11204851,  -0.56737621,   2.9617918 ,   5.46021487,  42.36451479,
 -141.19869818, 147.33363921]

qfrc_actuator:
[ 7.27316017e-05, 8.21475679e-05, 1.16175418e-04, 5.78679537e-05,
  3.49454917e-04, 2.79278434e-02, 8.12579880e-03, 1.76478034e-02,
 -4.62198839e-05, 4.51588757e-04, 9.65197853e-05, 9.20539919e-05,
  3.23853935e-03,-1.58191673e-03, 0.00000000e+00,-2.48051057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.54864741,  4.19579542, -7.54864741, 10.552691  ,
        3.44766084,  4.19579542,  3.44766084, 14.83904358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004270215097012489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.24990369e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.24990369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04083361, -0.07522142,  0.06156202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.14123191e-05, 3.93615406e-06,-9.17280805e-06,-2.12787817e-06,
 -2.89129807e-05,-1.66390408e-04,-5.60224819e-05,-3.89871436e-04,
  1.62537639e-05, 1.20362363e-05, 3.68977608e-05, 1.19305230e-05,
 -4.97902380e-05, 3.09782513e-05,-3.40474788e-06, 1.55199314e-04,
 -1.33492623e-03,-2.01261839e-03,-1.21145915e+00, 4.99065385e-03,
 -2.39545821e-02,-3.73657981e-04]


--- Step 1532 ---
qpos:
[ 3.31551686e-03,-3.19940092e-03, 1.19203774e-02, 4.17512577e-02,
  5.86019621e-03, 7.62568426e-01,-2.89950640e-02, 8.56209600e-01,
  5.83536866e-03, 1.64120994e-02,-9.29966210e-03, 2.59871468e-02,
  1.32124114e+00,-1.63731737e-04, 1.05550716e+00, 6.34110515e-02,
  1.34389556e-02,-4.02069835e-02, 7.41244698e-02, 6.57320266e-01,
 -1.24343331e-01,-6.93559108e-01,-2.67291166e-01]

qacc:
[   2.19605251,   1.63725407,  -7.4540211 ,  14.30196929,  -0.18754277,
  -15.68142378,  68.70265438,-157.33726707,   4.80008083,   0.31961811,
    0.96547978,  -5.60535434,  -0.73990627,   1.40989028,  -4.60089942,
   16.16221276,  -0.58291768,   2.49158581,   3.60599321,  38.29030654,
 -123.50336553, 129.1944012 ]

qfrc_actuator:
[ 8.41964124e-05, 6.84838623e-05, 9.46644661e-05, 7.51622710e-05,
  3.31624792e-04, 2.79112496e-02, 8.14922012e-03, 1.72519918e-02,
 -1.82700896e-05, 5.05656055e-04, 1.02859495e-04, 8.08469096e-05,
  3.23466509e-03,-1.54017631e-03, 0.00000000e+00,-2.40560519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.13823684,  4.86131172, -7.13823684, 10.72981624,
        3.07397702,  4.86131172,  3.07397702, 13.15011986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0042951584212532895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23103049e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.23103049e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04083582, -0.0752453 ,  0.06156239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29295599e-05,-1.34523258e-05,-2.19085533e-05, 1.71015875e-05,
 -3.07960747e-05,-1.33696691e-04,-2.80282772e-05,-4.11703682e-04,
  2.84177082e-05, 6.89383637e-05, 1.37774407e-05,-9.18610704e-06,
 -2.43710001e-05, 3.74502901e-05, 1.18362630e-05, 8.22651011e-05,
 -3.63488398e-03,-4.80373271e-03,-1.21160517e+00, 5.97671105e-03,
 -2.36703061e-02,-3.91295227e-04]


--- Step 1533 ---
qpos:
[ 3.31664782e-03,-3.19891487e-03, 1.19198664e-02, 4.17514609e-02,
  5.86700176e-03, 7.62616415e-01,-2.90025503e-02, 8.56503717e-01,
  5.83535676e-03, 1.64128792e-02,-9.29969606e-03, 2.59885970e-02,
  1.32138274e+00,-1.63391467e-04, 1.05571820e+00, 6.34081596e-02,
  1.33627100e-02,-4.03084186e-02, 7.42801319e-02, 6.55901970e-01,
 -1.21257437e-01,-6.94373621e-01,-2.70063907e-01]

qacc:
[-4.96056528e+00, 3.24480782e-01,-1.95330508e+00, 5.06935385e+00,
 -5.56235946e-02,-1.24329224e+01, 5.47447835e+01,-1.26265739e+02,
 -3.14024301e+00, 3.41064420e+00,-1.36226275e+01, 2.42582421e+01,
  1.19899747e-01,-2.43892467e-01,-3.90260779e+00, 1.35384311e+01,
  3.04308949e+00, 1.17133120e+00, 4.24802488e+00,-4.47240480e+01,
  1.32762414e+02, 1.78769432e+02]

qfrc_actuator:
[ 5.47407520e-05, 7.78589949e-05, 9.99224812e-05, 8.53126454e-05,
  3.36119962e-04, 2.79000901e-02, 8.16616498e-03, 1.69345681e-02,
 -3.74745235e-05, 5.19907597e-04, 7.09794685e-05, 1.09432340e-04,
  3.23258909e-03,-1.55122019e-03, 0.00000000e+00,-2.34216070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.29789033, -4.61817861,  7.29789033, 32.06047237,
       37.01601669, -4.61817861, 37.01601669, 67.13103285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004362137794167345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27256758e-14,  1.27256758e-14,  1.00000000e+00, -1.61942824e-28,
        1.00000000e+00, -1.27256758e-14, -1.00000000e+00,  0.00000000e+00,
        1.27256758e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04809695, -0.01862808,  0.06155952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90929996e-05,-1.95356181e-06, 3.70482933e-07, 9.14803789e-06,
 -9.31020683e-06,-1.05292169e-04,-2.54674730e-05,-3.31904769e-04,
 -1.83645018e-05, 5.52486215e-05,-1.62722576e-05, 3.18329443e-05,
 -6.80692287e-06,-7.80459435e-06, 9.80545765e-06, 6.84664747e-05,
 -5.76291511e-03,-6.76080356e-03,-1.21175801e+00, 6.78342940e-03,
 -2.34340394e-02,-4.10043136e-04]


--- Step 1534 ---
qpos:
[ 3.31741690e-03,-3.19824873e-03, 1.19193162e-02, 4.17517603e-02,
  5.87376189e-03, 7.62663419e-01,-2.90097324e-02, 8.56793494e-01,
  5.83477071e-03, 1.64134743e-02,-9.29949673e-03, 2.59900722e-02,
  1.32152427e+00,-1.63364032e-04, 1.05592903e+00, 6.34077264e-02,
  1.32968712e-02,-4.04061941e-02, 7.44459336e-02, 6.54707707e-01,
 -1.18376537e-01,-6.94963767e-01,-2.72708958e-01]

qacc:
[-3.18063182e+00, 5.52245886e-01,-2.01869246e+00, 3.60182549e+00,
 -2.38222335e-02,-9.68123817e+00, 4.03172655e+01,-8.80676368e+01,
 -4.99729993e+00,-8.35251975e-01, 2.53525587e+00,-2.35883992e+00,
  3.37897194e-01,-7.37658391e-01,-7.76368352e+00, 2.66380610e+01,
  2.60168161e+00, 9.14896636e-01, 2.53487002e+00,-3.96097678e+01,
  1.15940375e+02, 1.56902896e+02]

qfrc_actuator:
[ 3.69541269e-05, 1.01058119e-04, 1.03276759e-04, 9.12131046e-05,
  3.36156398e-04, 2.78390676e-02, 8.17922654e-03, 1.67190727e-02,
 -6.65307773e-05, 4.74572391e-04, 6.99390582e-05, 1.07897975e-04,
  3.21559573e-03,-1.57568496e-03, 0.00000000e+00,-2.21493529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.42592367,  4.40935761, -7.42592367, 12.151466  ,
        5.91988316,  4.40935761,  5.91988316, 18.60620603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004428215885464382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25357825e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.25357825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04804682, -0.01865952,  0.06155739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86174505e-05, 2.25492596e-05, 3.31280002e-06, 6.00827147e-06,
 -4.14362016e-06,-1.36299830e-04,-2.10202897e-05,-2.27175532e-04,
 -2.95613314e-05,-1.64744434e-05, 9.45790531e-06, 8.85619911e-07,
 -2.26370368e-05,-2.78429639e-05, 7.86171245e-06, 1.31311397e-04,
 -3.05343709e-03,-3.98588591e-03,-1.21278655e+00, 6.23591387e-03,
 -2.36782367e-02,-4.17561564e-04]


--- Step 1535 ---
qpos:
[ 3.31796672e-03,-3.19767668e-03, 1.19189419e-02, 4.17518030e-02,
  5.88047246e-03, 7.62709154e-01,-2.90164622e-02, 8.57076726e-01,
  5.83487551e-03, 1.64138822e-02,-9.29949364e-03, 2.59908580e-02,
  1.32166557e+00,-1.63552858e-04, 1.05614034e+00, 6.34047981e-02,
  1.32400202e-02,-4.05011289e-02, 7.46160436e-02, 6.53712235e-01,
 -1.15677317e-01,-6.95356989e-01,-2.75241221e-01]

qacc:
[-1.91740843e+00,-1.14178215e+00, 4.97967905e+00,-9.64018685e+00,
 -2.54580201e-02,-1.42961846e+01, 6.01476687e+01,-1.32361567e+02,
  6.02216736e+00,-1.12960057e+00, 6.55888918e+00,-1.80153222e+01,
 -1.80334027e-01, 3.52722006e-02, 8.24773131e+00,-2.78074859e+01,
  2.24694123e+00, 7.10163385e-01, 1.07709812e+00,-3.53672050e+01,
  1.02091960e+02, 1.38814907e+02]

qfrc_actuator:
[ 2.61916569e-05, 7.90978194e-05, 1.05532953e-04, 7.68232582e-05,
  3.33501460e-04, 2.77487386e-02, 8.18975380e-03, 1.63877054e-02,
 -3.01277200e-05, 4.47244176e-04, 5.13424802e-05, 7.08670807e-05,
  3.19498303e-03,-1.59018710e-03, 0.00000000e+00,-2.35293362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.69632016,  3.91834567, -7.69632016, 11.31383488,
        5.2590245 ,  3.91834567,  5.2590245 , 18.96601285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004434429388892248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25910871e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.25910871e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04813829, -0.01865011,  0.06156037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12868934e-05,-8.43638508e-06, 7.52771208e-06,-1.31926487e-05,
 -4.52695410e-06,-1.78500629e-04,-2.59879535e-05,-3.41544597e-04,
  3.55519149e-05,-3.45885491e-05,-2.08160073e-05,-3.73963537e-05,
 -3.97218629e-05,-2.64601113e-05, 1.43179232e-05,-1.30581219e-04,
 -1.17986635e-03,-1.72584579e-03,-1.21355142e+00, 5.85290160e-03,
 -2.38582256e-02,-4.27024145e-04]


--- Step 1536 ---
qpos:
[ 3.31838305e-03,-3.19723842e-03, 1.19191959e-02, 4.17516469e-02,
  5.88731007e-03, 7.62753390e-01,-2.90233052e-02, 8.57356946e-01,
  5.83610514e-03, 1.64143629e-02,-9.29982203e-03, 2.59908250e-02,
  1.32180658e+00,-1.63887292e-04, 1.05635136e+00, 6.34029429e-02,
  1.31910157e-02,-4.05938756e-02, 7.47855065e-02, 6.52894474e-01,
 -1.13140341e-01,-6.95575822e-01,-2.77673090e-01]

qacc:
[-1.14978167e+00,-2.34098982e+00, 8.93245967e+00,-1.32833397e+01,
  7.20358268e-02,-6.91376869e+00, 2.72947435e+01,-5.99151591e+01,
  9.79853000e+00,-6.82193163e-01, 5.99641840e+00,-1.96567045e+01,
 -3.74253869e-02,-1.52933279e-01,-3.65887564e+00, 1.21890668e+01,
  1.96164190e+00, 5.47043790e-01,-1.61771534e-01,-3.18466150e+01,
  9.06514270e+01, 1.23766985e+02]

qfrc_actuator:
[ 1.96457982e-05, 8.35019071e-05, 1.42436039e-04, 6.83262885e-05,
  3.47006636e-04, 2.76592551e-02, 8.18073812e-03, 1.62392930e-02,
  2.67629482e-05, 4.66301630e-04, 4.03010422e-05, 3.09951417e-05,
  3.17754050e-03,-1.59868309e-03, 0.00000000e+00,-2.29104314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.94808182,  3.37857546, -7.94808182, 10.65849372,
        4.75705087,  3.37857546,  4.75705087, 19.82730193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004392207537424762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26385538e-14, -8.55167963e-07,  1.00000000e+00, -1.08080863e-20,
        1.00000000e+00,  8.55167963e-07, -1.00000000e+00,  0.00000000e+00,
       -1.26385538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04835347, -0.01860137,  0.06156732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.87149352e-06, 6.54106547e-07, 3.56286703e-05,-8.85485125e-06,
  1.14569505e-05,-2.05696841e-04,-5.78973428e-05,-1.62689950e-04,
  5.79015138e-05,-6.19092601e-06,-2.20519506e-05,-4.28063854e-05,
 -4.62751200e-05,-2.39046494e-05,-1.37338034e-05, 5.51199228e-05,
  8.64950252e-05, 1.35760060e-04,-1.21412571e+00, 5.59059811e-03,
 -2.39900203e-02,-4.37692874e-04]


--- Step 1537 ---
qpos:
[ 3.31837258e-03,-3.19692033e-03, 1.19201522e-02, 4.17520733e-02,
  5.89426300e-03, 7.62796073e-01,-2.90299144e-02, 8.57634228e-01,
  5.83766274e-03, 1.64146073e-02,-9.29966128e-03, 2.59906420e-02,
  1.32194731e+00,-1.64342589e-04, 1.05656189e+00, 6.34048230e-02,
  1.31489397e-02,-4.06849479e-02, 7.49501448e-02, 6.52236753e-01,
 -1.10749386e-01,-6.95638879e-01,-2.80014894e-01]

qacc:
[-3.72147789e+00,-9.14571035e-01, 5.85537481e-01, 8.44483675e+00,
  6.58135519e-02,-7.79250691e+00, 2.99268771e+01,-6.13553477e+01,
  2.87982612e+00,-1.99371179e+00, 7.27925253e+00,-1.04727134e+01,
  1.26140714e-01,-3.70227874e-01,-1.20199059e+01, 4.09591339e+01,
  1.73212423e+00, 4.18590811e-01,-1.20616188e+00,-2.89184851e+01,
  8.11448004e+01, 1.11218547e+02]

qfrc_actuator:
[-2.12077929e-06, 8.60493248e-05, 1.81851991e-04, 9.89151564e-05,
  3.52298481e-04, 2.75887705e-02, 8.19588641e-03, 1.60932229e-02,
  4.19779716e-05, 4.59747503e-04, 6.95116783e-05, 2.53291164e-05,
  3.16734033e-03,-1.60355955e-03, 0.00000000e+00,-2.09403690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.18019991,  2.76967621, -8.18019991, 10.10176685,
        4.32804788,  2.76967621,  4.32804788, 21.41919243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004311969687215327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28737341e-14, -8.45928794e-07,  1.00000000e+00,  1.08902624e-20,
        1.00000000e+00,  8.45928794e-07, -1.00000000e+00,  0.00000000e+00,
        1.28737341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04863749, -0.01853466,  0.06157726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19647653e-05, 9.87092913e-06, 4.36250866e-05, 3.16763884e-05,
  1.03975060e-05,-2.02249476e-04,-3.73598054e-05,-1.58143337e-04,
  1.68764231e-05,-1.63950944e-05, 2.37317235e-05,-7.52987265e-06,
 -4.20159538e-05,-2.12588570e-05,-3.63922007e-06, 1.97522782e-04,
  9.07630695e-04, 1.68617341e-03,-1.21456018e+00, 5.41753382e-03,
 -2.40853209e-02,-4.49070349e-04]


--- Step 1538 ---
qpos:
[ 3.31810115e-03,-3.19653817e-03, 1.19212488e-02, 4.17532232e-02,
  5.90107495e-03, 7.62837941e-01,-2.90364837e-02, 8.57905468e-01,
  5.83870137e-03, 1.64147855e-02,-9.29948628e-03, 2.59904031e-02,
  1.32208769e+00,-1.64607493e-04, 1.05677268e+00, 6.34063441e-02,
  1.31045809e-02,-4.07663931e-02, 7.51253983e-02, 6.51484515e-01,
 -1.08529392e-01,-6.95841192e-01,-2.82124676e-01]

qacc:
[-2.28682444e+00, 1.18829421e+00,-7.15805539e+00, 1.93963048e+01,
 -7.71275168e-02,-1.17035350e+01, 5.11634307e+01,-1.18439431e+02,
 -4.52498484e+00,-2.33719000e-01, 9.57393776e-01,-1.91507013e+00,
 -4.51626018e-01, 6.62418573e-01, 1.48971427e+00,-4.59077854e+00,
 -5.70724535e-01, 2.40679698e+00, 2.65379917e+00, 3.92110027e+01,
 -1.15072959e+02, 1.14186179e+02]

qfrc_actuator:
[-1.49204657e-05, 8.75226506e-05, 1.86945016e-04, 1.34501042e-04,
  3.34870586e-04, 2.75835966e-02, 8.20747877e-03, 1.57899152e-02,
  1.47818912e-05, 4.55858990e-04, 6.89276512e-05, 2.20927201e-05,
  3.15616890e-03,-1.58847816e-03, 0.00000000e+00,-2.12084747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004203541169746305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30145162e-15, -2.64116130e-14,  1.00000000e+00,  8.71966624e-29,
        1.00000000e+00,  2.64116130e-14, -1.00000000e+00,  0.00000000e+00,
        3.30145162e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04157262, -0.07608876,  0.06158933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34270360e-05, 1.73296783e-05, 1.35862861e-05, 3.81320306e-05,
 -1.27964158e-05,-1.30784080e-04,-3.77146357e-05,-3.14543822e-04,
 -2.67177854e-05,-8.47682211e-06,-1.31155555e-06,-3.26529264e-06,
 -3.95468688e-05, 1.14523358e-07, 1.70655913e-05,-1.70207572e-05,
  1.39888207e-03, 2.99098025e-03,-1.21489065e+00, 5.31098671e-03,
 -2.41527165e-02,-4.60822964e-04]


--- Step 1539 ---
qpos:
[ 3.31767801e-03,-3.19589538e-03, 1.19223793e-02, 4.17540820e-02,
  5.90767920e-03, 7.62878904e-01,-2.90431365e-02, 8.58170634e-01,
  5.83940596e-03, 1.64151393e-02,-9.29970633e-03, 2.59901246e-02,
  1.32222765e+00,-1.64422371e-04, 1.05698384e+00, 6.34048761e-02,
  1.30579523e-02,-4.08395422e-02, 7.53057884e-02, 6.50648829e-01,
 -1.06462248e-01,-6.96168262e-01,-2.84027536e-01]

qacc:
[-1.33509117e+00,-3.47693670e-01, 2.97145946e+00,-8.25746687e+00,
 -1.14407543e-01,-1.15498868e+01, 5.05794402e+01,-1.18237237e+02,
 -2.92871140e+00, 1.26054149e+00,-3.98050946e+00, 3.78657588e+00,
 -8.67528611e-01, 1.42368449e+00, 9.66137435e+00,-3.28113028e+01,
 -5.67426872e-01, 2.07399061e+00, 1.28415272e+00, 3.52732568e+01,
 -1.02461936e+02, 1.02042426e+02]

qfrc_actuator:
[-2.23351215e-05, 1.05967967e-04, 1.89478041e-04, 1.19453226e-04,
  3.21773659e-04, 2.75287277e-02, 8.19928543e-03, 1.54853066e-02,
 -1.63981609e-06, 4.71247056e-04, 5.07460463e-05, 2.02799712e-05,
  3.13910567e-03,-1.56168497e-03, 0.00000000e+00,-2.27934790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.75863847,  5.37657725, -6.75863847, 10.97916885,
        2.94502854,  5.37657725,  2.94502854, 12.33841836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004168752391277973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33160106e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33160106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0417487 , -0.07627828,  0.06159563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.79575666e-06, 3.25427357e-05, 9.08639352e-06,-1.30983168e-05,
 -1.88433613e-05,-1.45972779e-04,-4.81516916e-05,-3.17087184e-04,
 -1.71896217e-05, 1.02229275e-05,-2.02085953e-05,-2.28388527e-06,
 -3.92377730e-05, 1.76265432e-05, 4.20850876e-07,-1.58534420e-04,
  5.61310054e-04, 1.01182250e-03,-1.21495915e+00, 5.89880324e-03,
 -2.39510670e-02,-4.67087882e-04]


--- Step 1540 ---
qpos:
[ 3.31751418e-03,-3.19517169e-03, 1.19236117e-02, 4.17547725e-02,
  5.91387992e-03, 7.62918936e-01,-2.90498037e-02, 8.58429048e-01,
  5.83990792e-03, 1.64156415e-02,-9.29961286e-03, 2.59897804e-02,
  1.32236731e+00,-1.63941427e-04, 1.05719511e+00, 6.34005203e-02,
  1.30090708e-02,-4.09054711e-02, 7.54866725e-02, 6.49738813e-01,
 -1.04532695e-01,-6.96607842e-01,-2.85744476e-01]

qacc:
[ 2.27773219e+00,-5.29186472e-01, 2.74434884e+00,-5.87149605e+00,
 -2.23482785e-01,-1.29451809e+01, 5.66894234e+01,-1.31873452e+02,
 -1.76018316e+00,-8.11955800e-01, 3.46310976e+00,-5.21732013e+00,
 -6.26804174e-01, 1.01420252e+00, 8.91334517e+00,-3.08552589e+01,
 -5.63223180e-01, 1.80507061e+00, 1.23480605e-01, 3.19755195e+01,
 -9.19121165e+01, 9.18329940e+01]

qfrc_actuator:
[-8.77100413e-06, 9.88690250e-05, 1.90525259e-04, 1.10255615e-04,
  2.93645784e-04, 2.74799652e-02, 8.19708052e-03, 1.51468622e-02,
 -1.15742621e-05, 4.97985586e-04, 7.56674018e-05, 1.93274607e-05,
  3.12917795e-03,-1.54595311e-03, 0.00000000e+00,-2.42532542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.30523238,  5.90176427, -6.30523238, 11.81359194,
        3.39443628,  5.90176427,  3.39443628, 12.2628571 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00409508841010614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.77777201e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.77777201e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04200867, -0.07654713,  0.06160476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33502398e-05, 1.23749520e-05, 8.41305818e-06,-7.74965720e-06,
 -3.65855541e-05,-1.50403941e-04,-4.64360288e-05,-3.51785710e-04,
 -1.04218539e-05, 2.81696318e-05, 2.44653733e-05,-1.25692418e-06,
 -2.83029014e-05, 1.10792707e-05,-2.29233327e-05,-1.56012890e-04,
 -2.69209071e-04,-4.24124991e-04,-1.21502610e+00, 6.38122071e-03,
 -2.37862415e-02,-4.74809650e-04]


--- Step 1541 ---
qpos:
[ 3.31716928e-03,-3.19439194e-03, 1.19240062e-02, 4.17561072e-02,
  5.91968872e-03, 7.62958386e-01,-2.90564062e-02, 8.58682393e-01,
  5.84028656e-03, 1.64165386e-02,-9.29932001e-03, 2.59890574e-02,
  1.32250696e+00,-1.63830142e-04, 1.05740635e+00, 6.33934111e-02,
  1.29579563e-02,-4.09650479e-02, 7.56641224e-02, 6.48761992e-01,
 -1.02727842e-01,-6.97149585e-01,-2.87293098e-01]

qacc:
[ -1.61623547,  3.74753129,-15.96526944, 28.40292227, -0.21739327,
  -9.77187313, 42.91940444,-99.4067969 , -1.07620205, -0.81309995,
   5.25959574,-12.42948203,  0.10449714, -0.41165285,  8.25325435,
 -28.97306562, -0.55826078,  1.58803518, -0.85852912, 29.21888363,
 -83.07175924, 83.23062141]

qfrc_actuator:
[-1.84752228e-05, 7.65190212e-05, 1.37341689e-04, 1.40067154e-04,
  2.74530897e-04, 2.74885109e-02, 8.21618585e-03, 1.48977385e-02,
 -1.76141274e-05, 5.31491390e-04, 9.03947121e-05, 1.18044527e-06,
  3.12353479e-03,-1.57238914e-03, 0.00000000e+00,-2.56269485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.77101442,  6.42512019, -5.77101442, 13.03658345,
        3.9522579 ,  6.42512019,  3.9522579 , 12.18626413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00399064786215883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73878882e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73878882e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04233261, -0.07687594,  0.06161607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.32333429e-06,-1.40611058e-05,-4.98841978e-05, 3.04754567e-05,
 -3.55218647e-05,-9.63100651e-05,-2.68442518e-05,-2.63340566e-04,
 -6.32808553e-06, 5.42376757e-05, 2.35108099e-05,-1.61177920e-05,
 -1.97232039e-05,-2.99312064e-05,-3.19530509e-05,-1.49933999e-04,
 -1.08203637e-03,-1.44953803e-03,-1.21508894e+00, 6.78120816e-03,
 -2.36502789e-02,-4.83496403e-04]


--- Step 1542 ---
qpos:
[ 3.31671092e-03,-3.19371674e-03, 1.19238351e-02, 4.17574460e-02,
  5.92536808e-03, 7.62997718e-01,-2.90629386e-02, 8.58929699e-01,
  5.84058996e-03, 1.64177282e-02,-9.29910708e-03, 2.59885004e-02,
  1.32264653e+00,-1.64243475e-04, 1.05761677e+00, 6.33896867e-02,
  1.29150498e-02,-4.10225577e-02, 7.58396785e-02, 6.47966610e-01,
 -1.01078756e-01,-6.97526434e-01,-2.88754622e-01]

qacc:
[-1.01188312e+00, 1.45368429e+00,-5.39701628e+00, 6.44531086e+00,
 -7.09574632e-02,-1.08661206e+01, 4.95072665e+01,-1.17357876e+02,
 -6.63693678e-01, 9.53028622e-01,-3.53603775e+00, 6.31973042e+00,
  5.83765912e-01,-1.24195946e+00,-1.14740730e+01, 3.82687682e+01,
  2.05201313e+00, 5.16734040e-01,-4.73449604e-01,-3.45344895e+01,
  8.98846446e+01, 1.17082717e+02]

qfrc_actuator:
[-2.40511512e-05, 6.27634754e-05, 1.05776427e-04, 1.39281049e-04,
  2.78726226e-04, 2.75137131e-02, 8.23025111e-03, 1.45967099e-02,
 -2.13155218e-05, 5.33246464e-04, 8.12417006e-05, 8.56139510e-06,
  3.10979682e-03,-1.60582610e-03, 0.00000000e+00,-2.37433127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003955216045484835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40349226e-14, -6.78842626e-07,  1.00000000e+00,  9.52750374e-21,
        1.00000000e+00,  6.78842626e-07, -1.00000000e+00, -1.50463277e-36,
        1.40349226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04990684, -0.01823124,  0.06162174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.84879278e-06,-3.06548691e-05,-3.95752301e-05,-2.52645865e-06,
 -1.17294564e-05,-4.29256449e-05,-1.62556421e-05,-3.10905224e-04,
 -3.86113661e-06, 3.62155795e-05, 4.37703278e-06, 1.02043782e-05,
 -3.27975946e-05,-4.46554535e-05,-3.45481118e-05, 1.75173140e-04,
 -1.87194245e-03,-2.16175075e-03,-1.21514668e+00, 7.11599247e-03,
 -2.35371680e-02,-4.92805883e-04]


--- Step 1543 ---
qpos:
[ 3.31653413e-03,-3.19333042e-03, 1.19239307e-02, 4.17580402e-02,
  5.93099310e-03, 7.63036804e-01,-2.90699601e-02, 8.59174623e-01,
  5.84084712e-03, 1.64186246e-02,-9.29871967e-03, 2.59880948e-02,
  1.32278581e+00,-1.64752719e-04, 1.05782646e+00, 6.33921924e-02,
  1.28794516e-02,-4.10784150e-02, 7.60095071e-02, 6.47335592e-01,
 -9.95705783e-02,-6.97755372e-01,-2.90137505e-01]

qacc:
[ 2.48430044e+00,-2.66718176e+00, 1.20878176e+01,-2.51750378e+01,
 -3.01829394e-02,-3.14720734e+00, 1.54526672e+01,-4.24528380e+01,
 -3.92751994e-01,-5.62734198e-01, 8.06201130e-01, 1.74984445e+00,
  2.55686538e-01,-5.48998158e-01,-1.99142231e+01, 6.80413936e+01,
  1.82707152e+00, 4.13136559e-01,-1.43187231e+00,-3.12731854e+01,
  8.09268480e+01, 1.05827769e+02]

qfrc_actuator:
[-9.39265284e-06, 5.43028052e-05, 1.22750361e-04, 1.02766149e-04,
  2.79049341e-04, 2.74954198e-02, 8.20575593e-03, 1.44805682e-02,
 -2.36125678e-05, 4.80390295e-04, 7.57126773e-05, 1.31131423e-05,
  3.09653376e-03,-1.60765554e-03, 0.00000000e+00,-2.04882267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.06119245,  3.09902454, -8.06119245, 11.16990486,
        6.59025547,  3.09902454,  6.59025547, 25.77895704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038913863209820367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.27954050e-14, -6.28582675e-07,  1.00000000e+00,  2.69004502e-20,
        1.00000000e+00,  6.28582675e-07, -1.00000000e+00,  3.00926554e-36,
        4.27954050e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05013199, -0.01817667,  0.06162965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44806798e-05,-3.39115668e-05, 5.67202961e-06,-3.92504001e-05,
 -4.93400964e-06,-5.62672042e-05,-4.44876702e-05,-1.25053268e-04,
 -2.39181048e-06,-3.13074642e-05, 2.82931907e-06, 6.45211524e-06,
 -4.24166556e-05,-2.00062830e-05, 2.16384858e-06, 3.30501718e-04,
 -8.52542745e-04,-1.12975146e-03,-1.21547440e+00, 6.95196551e-03,
 -2.36250040e-02,-4.97361499e-04]


--- Step 1544 ---
qpos:
[ 3.31653412e-03,-3.19291991e-03, 1.19238000e-02, 4.17581856e-02,
  5.93657152e-03, 7.63075286e-01,-2.90767533e-02, 8.59415552e-01,
  5.84107497e-03, 1.64190778e-02,-9.29851249e-03, 2.59871016e-02,
  1.32292475e+00,-1.65061054e-04, 1.05803670e+00, 6.33935303e-02,
  1.28504390e-02,-4.11329454e-02, 7.61703796e-02, 6.46854626e-01,
 -9.81908640e-02,-6.97850421e-01,-2.91448857e-01]

qacc:
[ 1.54383535e+00,-2.63306271e-01, 2.87273630e+00,-1.02865198e+01,
 -2.47700577e-02,-8.36985825e+00, 3.57766893e+01,-7.99674060e+01,
 -2.54097778e-01,-1.29120995e+00, 6.23577670e+00,-1.57920144e+01,
 -5.05233784e-01, 7.56045858e-01, 4.38617944e+00,-1.40584430e+01,
  1.64638969e+00, 3.31716952e-01,-2.23902185e+00,-2.85765368e+01,
  7.34879849e+01, 9.64041901e+01]

qfrc_actuator:
[-6.95781445e-07, 6.69978273e-05, 1.14983801e-04, 8.10662833e-05,
  2.77025809e-04, 2.74512037e-02, 8.21191359e-03, 1.42788370e-02,
 -2.50659157e-05, 4.30741330e-04, 5.43829717e-05,-1.95896736e-05,
  3.08890377e-03,-1.59073933e-03, 0.00000000e+00,-2.12454731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.35715873,  2.17822746, -8.35715873, 10.14698148,
        5.79575518,  2.17822746,  5.79575518, 30.87281361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037993241943486238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46107961e-14, -6.01356831e-07,  1.00000000e+00, -8.78630205e-21,
        1.00000000e+00,  6.01356831e-07, -1.00000000e+00, -1.50463277e-36,
       -1.46107961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05041588, -0.01810389,  0.06163971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09747471e-06,-6.78889832e-06,-1.54380675e-05,-2.37232473e-05,
 -4.24008471e-06,-8.91484200e-05,-1.40977475e-05,-2.07718931e-04,
 -1.53005589e-06,-6.63314584e-05,-2.72387049e-05,-3.38228174e-05,
 -3.55574551e-05, 1.95715516e-06, 3.48995186e-05,-5.76910939e-05,
 -1.76861301e-04,-2.77308600e-04,-1.21572016e+00, 6.84403226e-03,
 -2.36868062e-02,-5.02741769e-04]


--- Step 1545 ---
qpos:
[ 3.31663847e-03,-3.19257064e-03, 1.19238174e-02, 4.17587451e-02,
  5.94169939e-03, 7.63113088e-01,-2.90820514e-02, 8.59648328e-01,
  5.84093843e-03, 1.64196287e-02,-9.29938259e-03, 2.59860630e-02,
  1.32306343e+00,-1.65198267e-04, 1.05824709e+00, 6.33940037e-02,
  1.28274317e-02,-4.11864032e-02, 7.63195841e-02, 6.46511718e-01,
 -9.69291878e-02,-6.97823162e-01,-2.92694664e-01]

qacc:
[   0.92187752,   0.35658194,  -3.13815617,  10.11233924,  -0.24819271,
  -19.1373032 ,  80.67804443,-170.515335  ,  -3.2134417 ,   3.05289067,
  -10.49505564,  11.34706063,  -0.39426742,   0.59652625,   2.85963667,
   -9.61404044,   1.50133657,   0.26814607,  -2.91700961, -26.35169133,
   67.31048996,  88.50889632]

qfrc_actuator:
[ 4.41627546e-06, 7.44361251e-05, 1.28264510e-04, 1.03762670e-04,
  2.38103019e-04, 2.74273971e-02, 8.28919899e-03, 1.38685441e-02,
 -4.37641088e-05, 4.54294532e-04, 6.10515383e-06,-2.07088983e-05,
  3.07934152e-03,-1.58058682e-03, 0.00000000e+00,-2.16981661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58307581,  0.95790737, -8.58307581,  9.00150949,
        3.27179295,  0.95790737,  3.27179295, 37.95239955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003685383858928942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50625154e-14, -5.95082825e-07,  1.00000000e+00,  8.96344424e-21,
        1.00000000e+00,  5.95082825e-07, -1.00000000e+00,  0.00000000e+00,
        1.50625154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05074348, -0.01801731,  0.06165135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36923712e-06,-5.73534079e-07, 9.15208810e-06, 2.14082383e-05,
 -4.08324726e-05,-8.36145652e-05, 5.15453786e-05,-4.18293135e-04,
 -1.87612326e-05,-2.06321665e-05,-6.65100358e-05,-5.56169190e-06,
 -2.89371834e-05, 2.30264015e-06, 2.99301777e-06,-4.55342640e-05,
  2.36863749e-04, 4.32863503e-04,-1.21590454e+00, 6.77813092e-03,
 -2.37287188e-02,-5.08645520e-04]


--- Step 1546 ---
qpos:
[ 3.31680330e-03,-3.19230128e-03, 1.19242647e-02, 4.17598996e-02,
  5.94634810e-03, 7.63149993e-01,-2.90866376e-02, 8.59876513e-01,
  5.84092323e-03, 1.64206382e-02,-9.30028591e-03, 2.59852440e-02,
  1.32320204e+00,-1.65747108e-04, 1.05845708e+00, 6.33969431e-02,
  1.28099643e-02,-4.12389852e-02, 7.64548486e-02, 6.46296829e-01,
 -9.57768217e-02,-6.97683146e-01,-2.93879971e-01]

qacc:
[ 5.46158052e-01,-8.21850541e-02,-2.37192008e+00, 1.20395725e+01,
 -2.65411872e-01,-1.10998832e+01, 4.56580414e+01,-9.58529754e+01,
  1.04948678e+00, 1.14880412e+00,-4.14716428e+00, 7.66596910e+00,
  4.26449062e-01,-9.31163536e-01,-8.07482860e+00, 2.72981970e+01,
  1.38496084e+00, 2.18956139e-01,-3.48499568e+00,-2.45231675e+01,
  6.21873919e+01, 8.18966430e+01]

qfrc_actuator:
[ 7.37915768e-06, 7.87961421e-05, 1.53889770e-04, 1.34660952e-04,
  2.12968524e-04, 2.73628945e-02, 8.31903969e-03, 1.36406660e-02,
 -3.69571487e-05, 5.39157944e-04, 3.13907741e-05,-3.18514799e-06,
  3.06862603e-03,-1.61004836e-03, 0.00000000e+00,-2.03687518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60796278, -0.69982401, -8.60796278,  8.88871308,
       -3.10394413, -0.69982401, -3.10394413, 46.81544167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003554871370397978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56155161e-14, -6.08028847e-07,  1.00000000e+00,  9.49468427e-21,
        1.00000000e+00,  6.08028847e-07, -1.00000000e+00,  1.50463277e-36,
        1.56155161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05110272, -0.01792053,  0.06166416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11312556e-06, 6.83416986e-06, 2.73689768e-05, 3.16048406e-05,
 -4.34384399e-05,-1.15070322e-04, 6.39381215e-06,-2.38482566e-04,
  6.26554633e-06, 5.93344330e-05, 1.26458711e-05, 1.42338059e-05,
 -2.66631732e-05,-3.54814513e-05,-8.50555561e-06, 1.29673156e-04,
  4.48101996e-04, 1.02936709e-03,-1.21604217e+00, 6.74391477e-03,
 -2.37552898e-02,-5.14866142e-04]


--- Step 1547 ---
qpos:
[ 3.31700241e-03,-3.19201142e-03, 1.19244710e-02, 4.17611036e-02,
  5.95099002e-03, 7.63186739e-01,-2.90922380e-02, 8.60100215e-01,
  5.84133423e-03, 1.64221238e-02,-9.29987343e-03, 2.59848878e-02,
  1.32334057e+00,-1.66886074e-04, 1.05866726e+00, 6.33990780e-02,
  1.27899972e-02,-4.12832091e-02, 7.65918642e-02, 6.46007405e-01,
 -9.47605636e-02,-6.97670112e-01,-2.94875030e-01]

qacc:
[ 2.92868905e-01, 8.02472679e-01,-3.03184649e+00, 4.26100427e+00,
 -3.74533991e-03,-5.27333415e+00, 2.74198250e+01,-7.85842852e+01,
  3.75063469e+00,-2.10267868e+00, 6.44294409e+00,-8.71326663e-01,
  3.35709984e-01,-9.19795596e-01, 2.66900152e+00,-9.01962571e+00,
 -6.24924990e-01, 2.08950223e+00, 4.37749576e-01, 3.74725837e+01,
 -9.61455055e+01, 9.19253388e+01]

qfrc_actuator:
[ 9.05465847e-06, 6.35997245e-05, 1.33322840e-04, 1.34628504e-04,
  2.31821106e-04, 2.73632272e-02, 8.26734097e-03, 1.34154200e-02,
 -1.51870537e-05, 6.07149654e-04, 1.17953923e-04, 2.52776271e-05,
  3.05721069e-03,-1.64501141e-03, 0.00000000e+00,-2.08403407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035008089462321354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.5856664e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.5856664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04389746, -0.07847397,  0.06167077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76260345e-06,-4.38476343e-06,-1.47019312e-05, 1.81825147e-06,
 -6.26148184e-07,-7.07667279e-05,-8.11258067e-05,-2.34157404e-04,
  2.19714063e-05, 1.04372025e-04, 1.00869926e-04, 3.17214070e-05,
 -3.47637200e-05,-4.96122967e-05, 7.46356203e-06,-4.17504506e-05,
  5.00170043e-04, 1.53429391e-03,-1.21614348e+00, 6.73373867e-03,
 -2.37698960e-02,-5.21263744e-04]


--- Step 1548 ---
qpos:
[ 3.31687518e-03,-3.19178804e-03, 1.19244767e-02, 4.17623071e-02,
  5.95573347e-03, 7.63222636e-01,-2.90978950e-02, 8.60319146e-01,
  5.84165846e-03, 1.64240443e-02,-9.29918118e-03, 2.59849518e-02,
  1.32347876e+00,-1.67894036e-04, 1.05887778e+00, 6.33979623e-02,
  1.26839754e-02,-4.12387121e-02, 7.67374600e-02, 6.45682034e-01,
 -9.38009994e-02,-6.97717628e-01,-2.95780653e-01]

qacc:
[-2.86942467e+00, 4.77362554e-01,-1.81731951e+00, 2.16671069e+00,
  5.78760715e-02,-9.27050806e+00, 4.01246809e+01,-9.30460137e+01,
 -7.55189310e-01, 6.59278218e-01,-3.28836761e+00, 9.79056022e+00,
 -5.83107822e-01, 8.13620468e-01, 1.03599740e+01,-3.54113356e+01,
 -2.15136707e+01, 2.21802574e+01, 2.14507409e+00, 2.01100609e+01,
 -4.46935770e+01, 4.04960199e+01]

qfrc_actuator:
[-7.79287579e-06, 5.43536225e-05, 1.21044740e-04, 1.34097659e-04,
  2.41279960e-04, 2.72955664e-02, 8.25692306e-03, 1.31757284e-02,
 -2.02977568e-05, 5.93806908e-04, 1.15679453e-04, 4.22200666e-05,
  3.04537812e-03,-1.62967431e-03, 0.00000000e+00,-2.25472174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63593209, -0.08633555, -8.63593209,  8.63882199,
       -0.24590342, -0.08633555, -0.24590342, 33.23347584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012040381780951457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67763707,  0.67763707,  0.28568513,  0.20200989, -0.20200989,
        0.95832354,  0.70710678,  0.70710678,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04409661, -0.07867993,  0.06167777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67997059e-05,-1.46725326e-05,-1.49404498e-05,-1.19591095e-06,
  9.17227482e-06,-1.31331420e-04,-4.10546888e-05,-2.49723878e-04,
 -4.44481871e-06, 6.71693556e-05, 3.27850055e-05, 2.55184985e-05,
 -4.32270277e-05,-4.50931639e-06,-5.98723735e-06,-1.73178339e-04,
  2.71582267e-04, 6.04150357e-04,-1.21616947e+00, 6.98679853e-03,
 -2.36694745e-02,-5.22649011e-04]


--- Step 1549 ---
qpos:
[ 3.31689208e-03,-3.19180355e-03, 1.19244262e-02, 4.17631620e-02,
  5.96056371e-03, 7.63256867e-01,-2.91029930e-02, 8.60533545e-01,
  5.84226437e-03, 1.64263115e-02,-9.29917531e-03, 2.59842628e-02,
  1.32361661e+00,-1.68742748e-04, 1.05908771e+00, 6.33991590e-02,
  1.25102574e-02,-4.11240447e-02, 7.68861234e-02, 6.45319843e-01,
 -9.29027444e-02,-6.97827848e-01,-2.96593451e-01]

qacc:
[ 1.26719288e+00,-8.79406288e-01, 4.14367504e+00,-9.90516759e+00,
  5.04989071e-02,-1.15919506e+01, 4.58800803e+01,-9.47574321e+01,
  2.42886618e+00, 8.21864413e-01, 9.05915070e-01,-1.30877020e+01,
 -2.05855791e-01, 2.88822034e-01,-7.83556843e+00, 2.61843853e+01,
 -1.69240372e+01, 1.75425886e+01, 7.66906504e-01, 2.01363315e+01,
 -4.65089335e+01, 4.29701695e+01]

qfrc_actuator:
[ 9.79277292e-08, 3.10038740e-05, 1.13795936e-04, 1.15545456e-04,
  2.44996969e-04, 2.71701090e-02, 8.27072177e-03, 1.29472045e-02,
 -5.68917899e-06, 5.67019520e-04, 6.06121074e-05,-1.15006277e-06,
  3.03332296e-03,-1.62014747e-03, 0.00000000e+00,-2.12395341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63458061, -0.1754836 ,  8.63458061,  8.6335916 ,
       -0.13639657, -0.1754836 , -0.13639657,  1.92504024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011900169475516134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67841259,  0.67841259,  0.28198   ,  0.19938997, -0.19938997,
        0.95942028,  0.70710678,  0.70710678,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04426527, -0.07885166,  0.06168661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.40686142e-06,-3.47081783e-05,-1.21656039e-05,-1.97234452e-05,
  7.81256339e-06,-2.15259277e-04,-2.46380228e-05,-2.39648280e-04,
  1.45090250e-05, 1.85616008e-05,-3.63016402e-05,-3.88663367e-05,
 -3.79734127e-05,-1.28852152e-06,-2.71353164e-05, 1.19171773e-04,
  1.36373393e-04, 2.59591244e-04,-1.21616091e+00, 7.12371371e-03,
 -2.36140818e-02,-5.25723132e-04]


--- Step 1550 ---
qpos:
[ 3.31734834e-03,-3.19221541e-03, 1.19243826e-02, 4.17634589e-02,
  5.96543546e-03, 7.63289765e-01,-2.91079761e-02, 8.60743530e-01,
  5.84304115e-03, 1.64285048e-02,-9.29994248e-03, 2.59834671e-02,
  1.32375435e+00,-1.70017190e-04, 1.05929765e+00, 6.34001795e-02,
  1.22840626e-02,-4.09545622e-02, 7.70332256e-02, 6.44920106e-01,
 -9.20695831e-02,-6.98002622e-01,-2.97310592e-01]

qacc:
[ 3.86289972e+00,-1.70113323e+00, 7.64573261e+00,-1.70050595e+01,
  2.46943901e-02,-9.74575925e+00, 4.00759594e+01,-8.83437733e+01,
  1.46738066e+00, 1.84026295e+00,-6.25820501e+00, 5.70778623e+00,
  2.22546106e-01,-6.58403360e-01, 5.14895263e-01,-1.84823117e+00,
 -1.31192122e+01, 1.37037828e+01,-3.90305973e-01, 2.02020797e+01,
 -4.80261171e+01, 4.50100903e+01]

qfrc_actuator:
[ 2.24917997e-05,-6.09072651e-07, 1.09500669e-04, 8.65287317e-05,
  2.45243015e-04, 2.71176481e-02, 8.28070466e-03, 1.27270488e-02,
  2.66460267e-06, 5.32079451e-04, 1.02285481e-05,-8.69212662e-06,
  3.02114479e-03,-1.64969269e-03, 0.00000000e+00,-2.13612179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63498766, -0.15415914,  8.63498766,  8.63409156,
       -0.12726702, -0.15415914, -0.12726702,  1.50769688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011665585236219187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79052854e-01,  6.79052854e-01,  2.78880696e-01,  1.97198431e-01,
       -1.97198431e-01,  9.60325756e-01,  7.07106781e-01,  7.07106781e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04440831, -0.07899471,  0.06169681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25939833e-05,-5.43777266e-05,-1.36467423e-05,-3.13104472e-05,
  3.72001128e-06,-1.85173687e-04,-4.28194795e-05,-2.33258266e-04,
  8.78629056e-06,-3.37981465e-05,-5.23905431e-05,-8.76311770e-06,
 -3.40081369e-05,-3.85495110e-05,-1.68615831e-06,-9.58254531e-06,
 -2.33177954e-05,-3.56828251e-05,-1.21615972e+00, 7.25122668e-03,
 -2.35640200e-02,-5.29002035e-04]


--- Step 1551 ---
qpos:
[ 3.31737959e-03,-3.19297176e-03, 1.19244834e-02, 4.17644256e-02,
  5.97010980e-03, 7.63321138e-01,-2.91122774e-02, 8.60951647e-01,
  5.84356770e-03, 1.64302381e-02,-9.30119879e-03, 2.59833089e-02,
  1.32389176e+00,-1.71322939e-04, 1.05950767e+00, 6.34000352e-02,
  1.20179657e-02,-4.07429316e-02, 7.71748860e-02, 6.44482228e-01,
 -9.13045660e-02,-6.98243501e-01,-2.97929769e-01]

qacc:
[ -3.71943515,  0.5285686 , -5.35761581, 16.95415701, -0.10848191,
  -7.10207468, 25.20002808,-44.147561  , -2.18947403,  2.07551117,
 -10.96583158, 23.10852344, -0.30145084,  0.30009579,  3.65868833,
 -12.57609285, -9.97550991, 10.53700425, -1.36045191, 20.28666548,
 -49.26705174, 46.65891291]

qfrc_actuator:
[-2.32532512e-08,-1.42165389e-06, 1.24689364e-04, 1.22592615e-04,
  2.25664397e-04, 2.70560583e-02, 8.32412407e-03, 1.26378784e-02,
 -1.04889973e-05, 4.92529936e-04,-1.92308865e-05, 2.26701172e-05,
  3.00355988e-03,-1.64890198e-03, 0.00000000e+00,-2.19698318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63531922, -0.13430839,  8.63531922,  8.63455837,
       -0.11606877, -0.13430839, -0.11606877,  1.17375551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01135862941741852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79604953e-01,  6.79604953e-01,  2.76177872e-01,  1.95287246e-01,
       -1.95287246e-01,  9.61106541e-01,  7.07106781e-01,  7.07106781e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04453005, -0.07911395,  0.06170801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18873152e-05,-3.53594340e-05, 1.19575558e-06, 3.26521925e-05,
 -1.79342578e-05,-1.80978392e-04,-5.33597085e-06,-1.01708022e-04,
 -1.29050484e-05,-6.97103150e-05,-4.32115861e-05, 2.79289192e-05,
 -4.59785395e-05,-1.62127297e-05,-6.02241175e-06,-6.25910675e-05,
 -2.07674990e-04,-2.73013965e-04,-1.21616345e+00, 7.36757863e-03,
 -2.35196638e-02,-5.32496205e-04]


--- Step 1552 ---
qpos:
[ 3.31679573e-03,-3.19370750e-03, 1.19248372e-02, 4.17664517e-02,
  5.97435047e-03, 7.63352016e-01,-2.91166629e-02, 8.61155981e-01,
  5.84427719e-03, 1.64317609e-02,-9.30205870e-03, 2.59827428e-02,
  1.32402892e+00,-1.72887737e-04, 1.05971741e+00, 6.34008249e-02,
  1.17759175e-02,-4.05517874e-02, 7.73185887e-02, 6.43952641e-01,
 -9.07316653e-02,-6.98645754e-01,-2.98306674e-01]

qacc:
[-5.39064724e+00, 1.51422703e+00,-9.80992904e+00, 2.77004018e+01,
 -2.41005681e-01,-7.00733409e+00, 3.09598089e+01,-7.30887364e+01,
  1.61122256e+00,-2.22874691e+00, 9.25945448e+00,-1.67901587e+01,
  7.15792555e-02,-3.73952675e-01,-3.23442012e+00, 1.07027951e+01,
  6.01215638e+00,-5.12159836e+00, 5.10577259e-01, 4.25271881e+01,
 -1.23697670e+02, 1.24113846e+02]

qfrc_actuator:
[-3.10424164e-05, 3.41052937e-05, 1.51428215e-04, 1.78947671e-04,
  1.94413310e-04, 2.70784822e-02, 8.33373453e-03, 1.24489925e-02,
 -6.89010003e-07, 5.21640723e-04, 1.71473478e-05, 5.66309811e-06,
  2.98807969e-03,-1.66563910e-03, 0.00000000e+00,-2.14398015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.56026244, -6.60834763, -5.56026244,  3.65368846,
        4.19242195, -6.60834763,  4.19242195,  5.1088606 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030101894431589366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61027057e-15, -5.53232469e-14,  1.00000000e+00, -2.55055137e-28,
        1.00000000e+00,  5.53232469e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61027057e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04463425, -0.07921361,  0.06171989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16542505e-05, 1.74158911e-05, 2.07187284e-05, 5.55176369e-05,
 -3.93135813e-05,-8.29643024e-05,-3.00060032e-05,-1.97174449e-04,
  9.41050206e-06,-1.76512792e-05, 1.76183849e-05,-2.09460938e-05,
 -4.54472320e-05,-3.11313739e-05,-1.42356114e-05, 4.77035413e-05,
 -4.16780540e-04,-4.45251970e-04,-1.21617005e+00, 7.47131131e-03,
 -2.34813392e-02,-5.36215251e-04]


--- Step 1553 ---
qpos:
[ 3.31618920e-03,-3.19419089e-03, 1.19254645e-02, 4.17680689e-02,
  5.97836991e-03, 7.63382368e-01,-2.91207885e-02, 8.61353338e-01,
  5.84475355e-03, 1.64331510e-02,-9.30198349e-03, 2.59819283e-02,
  1.32416593e+00,-1.74940362e-04, 1.05992737e+00, 6.33995316e-02,
  1.15774705e-02,-4.03827672e-02, 7.74658224e-02, 6.43625542e-01,
 -9.03166838e-02,-6.98917418e-01,-2.98502096e-01]

qacc:
[-1.94951400e-01,-1.27338657e+00, 6.74915786e+00,-1.44467129e+01,
 -1.21599383e-01,-1.35405202e+01, 5.97518698e+01,-1.37465356e+02,
 -2.00194555e+00,-3.29635927e+00, 1.25541889e+01,-1.82568278e+01,
  1.18096612e-01,-5.60217794e-01, 6.57544696e+00,-2.26034124e+01,
  1.09003078e+01,-5.53097748e+00, 8.82752566e-01, 2.25772087e+00,
  8.09928246e+01, 1.49723594e+02]

qfrc_actuator:
[-3.12986729e-05, 5.57033958e-05, 1.67178240e-04, 1.58056686e-04,
  1.91979216e-04, 2.70443765e-02, 8.34130541e-03, 1.20964231e-02,
 -1.29552055e-05, 5.38624377e-04, 7.45856834e-05,-4.06998175e-06,
  2.97919333e-03,-1.69265265e-03, 0.00000000e+00,-2.25507578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.13583996, -7.58166239, -4.13583996,  2.27763019,
        3.46872527, -7.58166239,  3.46872527,  6.74415427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028544912321200096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.06808469e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.06808469e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05396469, -0.01652271,  0.06173399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15339649e-06, 3.80035226e-05, 2.38221492e-05,-1.83495344e-05,
 -2.00635550e-05,-9.31076151e-05,-1.84185934e-05,-3.60609566e-04,
 -1.19986059e-05, 9.81635328e-06, 5.52313975e-05,-1.02880133e-05,
 -4.19321371e-05,-4.49304925e-05,-4.64373187e-06,-1.11056077e-04,
 -1.00374680e-03,-5.49056840e-04,-1.21621935e+00, 7.59599010e-03,
 -2.34426380e-02,-5.42006369e-04]


--- Step 1554 ---
qpos:
[ 3.31558426e-03,-3.19470354e-03, 1.19264360e-02, 4.17691096e-02,
  5.98245374e-03, 7.63412171e-01,-2.91251273e-02, 8.61545653e-01,
  5.84473449e-03, 1.64345010e-02,-9.30152187e-03, 2.59813743e-02,
  1.32430274e+00,-1.77563913e-04, 1.06013694e+00, 6.33995903e-02,
  1.14164768e-02,-4.02322557e-02, 7.76103300e-02, 6.43470263e-01,
 -9.00360075e-02,-6.99077640e-01,-2.98546465e-01]

qacc:
[ 2.49484312e-02,-2.18944551e+00, 1.01818079e+01,-2.06856347e+01,
  3.69318336e-02,-8.92221142e+00, 4.00561462e+01,-9.63735189e+01,
 -4.30805574e+00,-5.88168696e-01, 9.34847553e-01, 2.97033914e+00,
  3.87542412e-01,-1.02482023e+00,-4.68618348e+00, 1.54800626e+01,
  9.36330664e+00,-4.62719601e+00,-6.81550869e-01, 6.92165028e-01,
  6.90408137e+01, 1.26221950e+02]

qfrc_actuator:
[-3.11962113e-05, 3.31989352e-05, 1.76213273e-04, 1.27367903e-04,
  2.06796357e-04, 2.70120870e-02, 8.32958969e-03, 1.18456308e-02,
 -3.81182239e-05, 5.30585546e-04, 9.07048934e-05, 8.31763942e-06,
  2.96361173e-03,-1.72549967e-03, 0.00000000e+00,-2.17794492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.04280303, -7.63167875, -4.04280303,  2.20509182,
        3.40689985, -7.63167875,  3.40689985,  6.83159361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002771687556443235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00279253e-14, -4.64234490e-07,  1.00000000e+00, -9.29765366e-21,
        1.00000000e+00,  4.64234490e-07, -1.00000000e+00, -1.50463277e-36,
       -2.00279253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05438289, -0.01629123,  0.06174232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.32508983e-08, 2.88977397e-06, 1.91793731e-05,-2.85975315e-05,
  5.81596837e-06,-9.98757812e-05,-4.33099557e-05,-2.62511557e-04,
 -2.55010073e-05, 8.36638633e-06, 2.45795048e-05, 1.45182736e-05,
 -5.01581606e-05,-5.31159824e-05,-1.90775473e-05, 6.92804550e-05,
 -4.55727566e-04,-2.14521307e-04,-1.21625750e+00, 7.50535727e-03,
 -2.34659541e-02,-5.41981382e-04]


--- Step 1555 ---
qpos:
[ 3.31533029e-03,-3.19532256e-03, 1.19275637e-02, 4.17701434e-02,
  5.98644994e-03, 7.63442267e-01,-2.91305751e-02, 8.61733780e-01,
  5.84406915e-03, 1.64358911e-02,-9.30169350e-03, 2.59810343e-02,
  1.32443914e+00,-1.80276200e-04, 1.06034612e+00, 6.34025403e-02,
  1.12879662e-02,-4.00973086e-02, 7.77470469e-02, 6.43462042e-01,
 -8.98706061e-02,-6.99141624e-01,-2.98464176e-01]

qacc:
[ 3.08718627e+00,-5.97807509e-01, 1.94610575e+00,-2.22607426e+00,
 -4.91652140e-02,-3.90815387e+00, 2.29619235e+01,-7.12947583e+01,
 -5.65691613e+00, 2.27431051e+00,-8.91671855e+00, 1.35820245e+01,
 -6.55876766e-02,-1.19901027e-01,-9.30471061e+00, 3.17148993e+01,
  8.12081124e+00,-3.89107457e+00,-1.94764719e+00,-5.61221721e-01,
  5.94560577e+01, 1.07327925e+02]

qfrc_actuator:
[-1.31410795e-05, 1.99188700e-05, 1.81039193e-04, 1.26636935e-04,
  1.96261846e-04, 2.70698857e-02, 8.28891846e-03, 1.16390063e-02,
 -7.06637845e-05, 5.07493638e-04, 4.67020308e-05, 1.58154960e-05,
  2.94402195e-03,-1.72606328e-03, 0.00000000e+00,-2.02598536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.934625  , -7.68801034, -3.934625  ,  2.13661057,
        3.32649018, -7.68801034,  3.32649018,  6.93390866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002663162520328376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08440720e-14, -4.40234283e-07,  1.00000000e+00,  9.17627508e-21,
        1.00000000e+00,  4.40234283e-07, -1.00000000e+00,  0.00000000e+00,
        2.08440720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05483142, -0.01607235,  0.06175274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80593582e-05,-8.92068239e-06, 6.78847095e-06,-5.03440785e-07,
 -7.93788774e-06,-1.52722806e-05,-7.35012960e-05,-2.17091529e-04,
 -3.32705799e-05,-1.27759708e-05,-3.87637792e-05, 8.98766840e-06,
 -6.04614594e-05,-2.48494174e-05,-4.01444887e-06, 1.52683416e-04,
 -1.78238040e-04,-3.74519561e-05,-1.21632590e+00, 7.46169117e-03,
 -2.34895298e-02,-5.41364646e-04]


--- Step 1556 ---
qpos:
[ 3.31563977e-03,-3.19620206e-03, 1.19288351e-02, 4.17711813e-02,
  5.99032007e-03, 7.63472427e-01,-2.91359535e-02, 8.61918267e-01,
  5.84336346e-03, 1.64374704e-02,-9.30247277e-03, 2.59807666e-02,
  1.32457491e+00,-1.82229438e-04, 1.06055531e+00, 6.34065966e-02,
  1.11879401e-02,-3.99755301e-02, 7.78718936e-02, 6.43580880e-01,
 -8.98051405e-02,-6.99121439e-01,-2.98274875e-01]

qacc:
[ 4.95446747e+00,-7.47045040e-01, 2.12971389e+00,-2.07772624e+00,
 -6.95836641e-02,-6.43924394e+00, 2.96528543e+01,-7.05503137e+01,
 -3.74089334e-01, 2.09788293e+00,-7.42095085e+00, 9.50195134e+00,
 -9.86921911e-01, 1.73173797e+00,-3.23559210e+00, 1.15445430e+01,
  7.12108392e+00,-3.29217153e+00,-2.96755279e+00,-1.59598954e+00,
  5.17741404e+01, 9.21068045e+01]

qfrc_actuator:
[ 1.53356415e-05,-5.49036037e-06, 1.83389900e-04, 1.25789000e-04,
  1.88395232e-04, 2.70923501e-02, 8.30286548e-03, 1.14600471e-02,
 -7.17845909e-05, 5.28563704e-04, 2.07489149e-05, 2.03217990e-05,
  2.93270659e-03,-1.67200539e-03, 0.00000000e+00,-1.97322962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.81036662, -7.75034729, -3.81036662,  2.08656194,
        3.22013257, -7.75034729,  3.22013257,  7.05322353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002537933005306723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18725834e-14, -4.32281295e-07,  1.00000000e+00, -9.45510866e-21,
        1.00000000e+00,  4.32281295e-07, -1.00000000e+00,  1.50463277e-36,
       -2.18725834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05529225, -0.01586758,  0.06176447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89883675e-05,-2.90030333e-05, 1.31808682e-06,-1.00909678e-06,
 -1.14230942e-05,-8.21430121e-06,-4.28064063e-06,-1.86586356e-04,
 -2.07361488e-06, 6.24234752e-06,-3.30685958e-05, 2.79174332e-06,
 -5.08936490e-05, 3.39282934e-05, 1.15151582e-05, 5.99136697e-05,
 -7.82202347e-05, 3.61440026e-05,-1.21640808e+00, 7.44616221e-03,
 -2.35123027e-02,-5.40305402e-04]


--- Step 1557 ---
qpos:
[ 3.31663317e-03,-3.19724659e-03, 1.19303841e-02, 4.17721795e-02,
  5.99406548e-03, 7.63502272e-01,-2.91410039e-02, 8.62099541e-01,
  5.84333922e-03, 1.64392797e-02,-9.30335951e-03, 2.59805144e-02,
  1.32471028e+00,-1.83372565e-04, 1.06076480e+00, 6.34089176e-02,
  1.11131995e-02,-3.98649701e-02, 7.79816013e-02, 6.43810631e-01,
 -8.98272559e-02,-6.99026631e-01,-2.97994469e-01]

qacc:
[ 6.01436645e+00,-1.08822757e+00, 3.71085295e+00,-4.69962167e+00,
 -6.85142697e-02,-6.89535721e+00, 2.95600340e+01,-6.50780791e+01,
  5.93610968e+00, 6.24505291e-01,-1.87087938e+00, 2.16201943e+00,
 -1.05016052e+00, 1.93502235e+00, 5.77677096e+00,-1.93478601e+01,
  6.32139516e+00,-2.80463471e+00,-3.78476227e+00,-2.48458959e+00,
  4.56310850e+01, 7.98237341e+01]

qfrc_actuator:
[ 4.97124400e-05,-2.47518285e-06, 2.01958219e-04, 1.24862565e-04,
  1.82202857e-04, 2.70582212e-02, 8.31334335e-03, 1.12988130e-02,
 -3.66453247e-05, 5.58213080e-04, 2.36059616e-05, 2.30892910e-05,
  2.93171428e-03,-1.62149216e-03, 0.00000000e+00,-2.06813086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.66897904, -7.81827153, -3.66897904,  2.09580673,
        3.06936976, -7.81827153,  3.06936976,  7.19596171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002403231043853296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30985495e-14, -4.38356072e-07,  1.00000000e+00,  1.01253894e-20,
        1.00000000e+00,  4.38356072e-07, -1.00000000e+00,  0.00000000e+00,
        2.30985495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05575119, -0.01567802,  0.06177689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51936576e-05,-1.29505108e-05, 1.26966722e-05,-2.14727964e-06,
 -1.13114837e-05,-4.62456052e-05, 2.55087793e-06,-1.65851595e-04,
  3.50873722e-05, 2.63785623e-05, 1.60592979e-07, 1.94388913e-06,
 -2.13684302e-05, 4.67492899e-05, 6.77585311e-06,-9.12708603e-05,
 -9.50380386e-05, 4.15491172e-05,-1.21649404e+00, 7.44680826e-03,
 -2.35337824e-02,-5.38903009e-04]


--- Step 1558 ---
qpos:
[ 3.31768591e-03,-3.19805103e-03, 1.19319453e-02, 4.17734696e-02,
  5.99750265e-03, 7.63531144e-01,-2.91460368e-02, 8.62281696e-01,
  5.84339175e-03, 1.64411103e-02,-9.30439751e-03, 2.59799815e-02,
  1.32484533e+00,-1.83877600e-04, 1.06097426e+00, 6.34104290e-02,
  1.10612046e-02,-3.97640369e-02, 7.80735671e-02, 6.44138269e-01,
 -8.99270169e-02,-6.98864710e-01,-2.97635916e-01]

qacc:
[ 0.51725957, 0.88415875,-3.92530599, 8.78263799,-0.1716076 , 0.21056549,
 -4.29078227,15.15016361, 0.66428781,-0.12805379, 1.6800776 ,-6.30834735,
 -0.78071425, 1.45542285, 2.4590873 ,-8.52188197, 5.68643325,-2.40668768,
 -4.43546804,-3.28402955,40.73804489,69.89361288]

qfrc_actuator:
[ 5.17781722e-05, 3.53560158e-05, 2.12312992e-04, 1.41683936e-04,
  1.59311472e-04, 2.69727375e-02, 8.30370082e-03, 1.13445229e-02,
 -3.37135709e-05, 5.39635731e-04, 7.98674059e-06, 7.08880228e-06,
  2.91561608e-03,-1.59121303e-03, 0.00000000e+00,-2.10720623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.50946142, -7.89116325, -3.50946142,  2.34783113,
        2.79671849, -7.89116325,  2.79671849,  7.39257038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002264835112392423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90200376e-14, -4.56848662e-07,  1.00000000e+00,  2.23947386e-20,
        1.00000000e+00,  4.56848662e-07, -1.00000000e+00,  0.00000000e+00,
        4.90200376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05619701, -0.01550445,  0.06178951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06477897e-06, 3.31464491e-05, 9.15875807e-06, 1.66591665e-05,
 -2.79664385e-05,-1.16655460e-04,-2.36634478e-05, 4.05450629e-05,
  3.95142556e-06,-3.75223347e-06,-1.00949887e-05,-1.48296295e-05,
 -1.73653111e-05, 3.67656983e-05,-1.24767390e-05,-4.45477789e-05,
 -1.89309531e-04, 1.80963954e-06,-1.21657779e+00, 7.45610093e-03,
 -2.35537731e-02,-5.37225812e-04]


--- Step 1559 ---
qpos:
[ 3.31875560e-03,-3.19861868e-03, 1.19333263e-02, 4.17749644e-02,
  6.00063709e-03, 7.63558757e-01,-2.91511898e-02, 8.62462672e-01,
  5.84382472e-03, 1.64423586e-02,-9.30481458e-03, 2.59799766e-02,
  1.32498004e+00,-1.83690312e-04, 1.06118375e+00, 6.34104326e-02,
  1.10299576e-02,-3.96714242e-02, 7.81457341e-02, 6.44553294e-01,
 -9.00964503e-02,-6.98641525e-01,-2.97209859e-01]

qacc:
[  0.13912423,  1.23841183, -4.82525149,  8.48137165, -0.16813528,
  -3.3808943 , 11.79801966,-23.94308137,  3.34765271, -1.42471963,
   1.72255648,  6.8638428 , -0.87081254,  1.62164698,  4.66273263,
 -16.08532961,  5.18696863, -2.08009765, -4.94969041, -4.03964412,
  36.8633696 , 61.84576508]

qfrc_actuator:
[ 5.25609105e-05, 4.04798250e-05, 2.00141451e-04, 1.51085532e-04,
  1.44386711e-04, 2.68749768e-02, 8.28216537e-03, 1.12808049e-02,
 -1.42689599e-05, 4.92239024e-04, 3.46264322e-05, 3.33752941e-05,
  2.90111292e-03,-1.55547377e-03, 0.00000000e+00,-2.18402816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.33103358, -7.9681235 , -3.33103358,  8.41731895,
        0.09157052, -7.9681235 ,  0.09157052,  8.59808305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002127338348436744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.86482969e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.86482969e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05662078, -0.01534737,  0.06180195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.81236835e-07, 2.62704409e-05,-3.63340730e-06, 1.14577542e-05,
 -2.74786815e-05,-1.66464382e-04,-4.62364649e-05,-6.72620019e-05,
  1.95622276e-05,-5.22671621e-05, 2.40998987e-05, 2.54870531e-05,
 -1.60206192e-05, 4.08327388e-05,-1.47625877e-05,-8.18503299e-05,
 -3.35663649e-04,-6.80689192e-05,-1.21665586e+00, 7.46937829e-03,
 -2.35722135e-02,-5.35323028e-04]


--- Step 1560 ---
qpos:
[ 3.32017133e-03,-3.19890784e-03, 1.19343141e-02, 4.17755341e-02,
  6.00352519e-03, 7.63585026e-01,-2.91559696e-02, 8.62636969e-01,
  5.84483215e-03, 1.64433106e-02,-9.30473301e-03, 2.59809487e-02,
  1.32511452e+00,-1.83026321e-04, 1.06139304e+00, 6.34101615e-02,
  1.10050285e-02,-3.95906867e-02, 7.82040118e-02, 6.44914290e-01,
 -9.04247584e-02,-6.98510629e-01,-2.96634155e-01]

qacc:
[   3.01949812,  -0.44531612,   6.01401403, -21.58564276,  -0.13516675,
  -14.39964761,  60.53132784,-133.91427339,   5.03152157,   0.21635738,
   -5.48244788,  21.83319841,  -0.55646203,   1.04699215,   0.59538381,
   -2.38032321,   1.57947375,  -2.96884416,  -3.47234449,  12.35414992,
  -78.96689442,  91.53976312]

qfrc_actuator:
[ 7.03451420e-05, 4.36390985e-05, 1.74641588e-04, 1.02747842e-04,
  1.34359719e-04, 2.67882772e-02, 8.28913002e-03, 1.09401075e-02,
  1.47489918e-05, 4.99156341e-04, 6.81571428e-05, 8.43376485e-05,
  2.88757889e-03,-1.53452052e-03, 0.00000000e+00,-2.19371280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.04062902,  6.17232354, -6.04062902, 16.93367696,
        8.12027939,  6.17232354,  8.12027939, 16.58338634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020136174277471802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37839369e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37839369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04646053, -0.08066819,  0.06181228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78182608e-05, 1.75880190e-05,-2.01386210e-05,-4.71204661e-05,
 -2.23680796e-05,-1.90904319e-04,-3.34219677e-05,-3.48967758e-04,
  2.95619649e-05,-1.62725200e-05, 2.65744381e-05, 5.00498114e-05,
 -1.34490406e-05, 2.73874005e-05,-2.00371318e-05,-1.70979105e-05,
 -5.17995959e-04,-1.58371123e-04,-1.21672622e+00, 7.48382751e-03,
 -2.35890844e-02,-5.33232380e-04]


--- Step 1561 ---
qpos:
[ 3.32109941e-03,-3.19898380e-03, 1.19347087e-02, 4.17755430e-02,
  6.00622530e-03, 7.63610043e-01,-2.91600837e-02, 8.62805113e-01,
  5.84548952e-03, 1.64446694e-02,-9.30450280e-03, 2.59817659e-02,
  1.32524912e+00,-1.83130468e-04, 1.06160177e+00, 6.34130862e-02,
  1.09846681e-02,-3.95184253e-02, 7.82473967e-02, 6.45224080e-01,
 -9.08945364e-02,-6.98467048e-01,-2.95918659e-01]

qacc:
[-4.30271048e+00, 7.93398841e-01,-4.01540948e-02,-8.88458587e+00,
 -1.02506565e-01,-1.41522375e+01, 5.86629284e+01,-1.25980609e+02,
 -3.05548088e+00,-1.90757740e-01, 2.12515801e+00,-5.35591756e+00,
  9.03724552e-01,-1.79352918e+00,-1.05623605e+01, 3.55511105e+01,
  1.14217820e+00,-2.11899976e+00,-3.72319284e+00, 1.38400151e+01,
 -7.33422273e+01, 8.29433184e+01]

qfrc_actuator:
[ 4.47365055e-05, 4.54832293e-05, 1.41429825e-04, 7.40724783e-05,
  1.27336091e-04, 2.67443101e-02, 8.33050201e-03, 1.06344717e-02,
 -4.09315455e-06, 5.56361654e-04, 8.79437564e-05, 7.84346704e-05,
  2.87463050e-03,-1.59351071e-03, 0.00000000e+00,-2.02172406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.33269707, 2.27000801, 8.33269707, 8.33524648,
       1.10533445, 2.27000801, 1.10533445, 4.57892546, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019448538847085806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.13564547e-15, -2.85425819e-14,  1.00000000e+00,  2.03669745e-28,
        1.00000000e+00,  2.85425819e-14, -1.00000000e+00,  0.00000000e+00,
        7.13564547e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04662494, -0.08076899,  0.06181865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50923944e-05, 5.50061686e-06,-3.37014577e-05,-2.95399570e-05,
 -1.70738402e-05,-1.68221771e-04,-1.08669114e-05,-3.20688757e-04,
 -1.80002884e-05, 5.57156984e-05, 2.14158595e-05,-4.71228087e-06,
 -1.45237144e-05,-5.52259834e-05,-1.45289656e-05, 1.67671494e-04,
 -2.71071216e-04,-1.36078638e-04,-1.21678102e+00, 7.42417787e-03,
 -2.36272202e-02,-5.32931667e-04]


--- Step 1562 ---
qpos:
[ 3.32171362e-03,-3.19899755e-03, 1.19347039e-02, 4.17755597e-02,
  6.00917554e-03, 7.63634432e-01,-2.91642464e-02, 8.62967919e-01,
  5.84660647e-03, 1.64458304e-02,-9.30350194e-03, 2.59825403e-02,
  1.32538402e+00,-1.84716002e-04, 1.06181077e+00, 6.34146572e-02,
  1.09675032e-02,-3.94519697e-02, 7.82750118e-02, 6.45484885e-01,
 -9.14918606e-02,-6.98506487e-01,-2.95071501e-01]

qacc:
[  -2.76849503,   1.21986999,  -4.25311854,   4.96937739,   0.14072389,
   -9.98332246,  44.07718481,-103.45228301,   4.0356743 ,  -2.5112107 ,
    8.74112483, -10.55174645,   1.25446078,  -2.72961159,   4.36807133,
  -14.97635916,   0.7988773 ,  -1.45144638,  -3.94243702,  14.89030687,
  -68.74554055,  75.99858277]

qfrc_actuator:
[ 2.92926767e-05, 4.64921718e-05, 1.21700947e-04, 7.49527418e-05,
  1.57659918e-04, 2.67441785e-02, 8.33881880e-03, 1.03697724e-02,
  2.00539098e-05, 5.18886662e-04, 1.17387097e-04, 7.46590142e-05,
  2.87266036e-03,-1.68166019e-03, 0.00000000e+00,-2.09914441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.32630657, 2.29333725, 8.32630657, 8.31251781,
       1.17577108, 2.29333725, 1.17577108, 4.3675495 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001867586730228049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97234663e-14, -2.97234663e-14,  1.00000000e+00,  8.83484449e-28,
        1.00000000e+00,  2.97234663e-14, -1.00000000e+00,  0.00000000e+00,
        2.97234663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04681017, -0.08090239,  0.06182557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61542241e-05,-4.15521084e-06,-2.37695206e-05,-6.25201837e-07,
  2.26494628e-05,-1.06422020e-04,-3.59823021e-05,-2.77700533e-04,
  2.36545548e-05,-2.15454551e-06, 4.34079471e-05,-7.43192665e-07,
 -2.31837213e-05,-1.04724970e-04, 9.72326429e-06,-7.04946507e-05,
 -7.28872713e-05, 5.67523788e-05,-1.21680604e+00, 7.33065192e-03,
 -2.36729479e-02,-5.32363838e-04]


--- Step 1563 ---
qpos:
[ 3.32213763e-03,-3.19884967e-03, 1.19343837e-02, 4.17755678e-02,
  6.01261989e-03, 7.63658108e-01,-2.91689316e-02, 8.63127355e-01,
  5.84800431e-03, 1.64466709e-02,-9.30230825e-03, 2.59836656e-02,
  1.32551878e+00,-1.87043484e-04, 1.06201992e+00, 6.34142989e-02,
  1.09635182e-02,-3.93847885e-02, 7.82973285e-02, 6.45854693e-01,
 -9.22222776e-02,-6.98467948e-01,-2.94124620e-01]

qacc:
[ -1.68209969,  1.08138239, -3.50384494,  3.73559491,  0.27602146,
  -5.38866281, 24.30384831,-61.90461448,  2.461479  , -0.24493512,
  -1.23103217,  7.24047485,  0.3411839 , -1.04819937,  6.00512361,
 -20.78044123,  3.29497655,  0.18139214, -1.32460452,-14.64386787,
  39.03853657, 98.31724138]

qfrc_actuator:
[ 1.99690190e-05, 6.48183426e-05, 1.10105065e-04, 7.54695894e-05,
  1.92276682e-04, 2.66992155e-02, 8.30999793e-03, 1.02022911e-02,
  3.38196209e-05, 4.78303359e-04, 1.16437727e-04, 8.98621305e-05,
  2.86128060e-03,-1.71527419e-03, 0.00000000e+00,-2.19867070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.19438468, -2.72742307,  8.19438468, 11.90807704,
        9.82967345, -2.72742307,  9.82967345, 38.16904831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017848811324344069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22061853e-06,  6.71061369e-07,  1.00000000e+00,  8.19109939e-13,
        1.00000000e+00, -6.71061369e-07, -1.00000000e+00, -1.00974196e-28,
       -1.22061853e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03826507, -0.02725892,  0.06183282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.78422042e-06, 1.10590365e-05,-1.54032443e-05,-4.95257093e-07,
  4.47600548e-05,-1.20554180e-04,-6.25113296e-05,-1.78280066e-04,
  1.44461606e-05,-3.28971535e-05, 3.89964906e-06, 1.65909599e-05,
 -4.93497520e-05,-6.39960462e-05,-7.90223288e-06,-1.03293191e-04,
  8.32798065e-05, 3.86715850e-04,-1.21681289e+00, 7.20964531e-03,
 -2.37260083e-02,-5.31653977e-04]


--- Step 1564 ---
qpos:
[ 3.32244657e-03,-3.19878413e-03, 1.19342810e-02, 4.17755761e-02,
  6.01630068e-03, 7.63680789e-01,-2.91739410e-02, 8.63285631e-01,
  5.84852184e-03, 1.64474291e-02,-9.30143031e-03, 2.59842791e-02,
  1.32565307e+00,-1.89017771e-04, 1.06222863e+00, 6.34157533e-02,
  1.09719634e-02,-3.93182362e-02, 7.83043245e-02, 6.46343478e-01,
 -9.30537903e-02,-6.98324089e-01,-2.93128926e-01]

qacc:
[ -1.0017066 , -0.71455405,  2.39225266, -2.67962122,  0.13221571,
  -2.44907343,  9.10860981,-21.45778997, -7.68636817, -0.26496956,
   2.97419215,-11.29590803, -0.50400576,  0.80052481, -6.07354605,
  20.40951874,  3.10752535, -0.15724965, -3.83019173,-25.60222642,
  58.44321375, 73.42227345]

qfrc_actuator:
[ 1.43193410e-05, 5.79052919e-05, 1.21217533e-04, 7.57815638e-05,
  1.93619897e-04, 2.66454428e-02, 8.29489287e-03, 1.01465653e-02,
 -1.19065156e-05, 4.71562070e-04, 9.75223034e-05, 6.28180960e-05,
  2.85493385e-03,-1.68080854e-03, 0.00000000e+00,-2.09731197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.63027518, 0.32423311, 8.63027518, 8.62739784,
       0.23864708, 0.32423311, 0.23864708, 2.28417466, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0017328077210968908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.54337723e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.54337723e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05784599, -0.01496894,  0.06183746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.92401612e-06,-3.93802991e-06, 1.14843825e-05, 2.43740015e-07,
  2.13968232e-05,-1.39209091e-04,-5.16319283e-05,-6.55266622e-05,
 -4.53202498e-05,-2.36584967e-05,-2.46818510e-05,-2.80033772e-05,
 -4.95640816e-05, 7.84182654e-06,-1.94582597e-05, 9.35765247e-05,
  2.30005420e-05, 1.82838996e-04,-1.21683696e+00, 7.19471452e-03,
 -2.37505844e-02,-5.27088026e-04]


--- Step 1565 ---
qpos:
[ 3.32303041e-03,-3.19910194e-03, 1.19350041e-02, 4.17759299e-02,
  6.02007833e-03, 7.63703101e-01,-2.91790883e-02, 8.63441936e-01,
  5.84917730e-03, 1.64481558e-02,-9.30164738e-03, 2.59842667e-02,
  1.32578692e+00,-1.90382877e-04, 1.06243753e+00, 6.34156883e-02,
  1.09911974e-02,-3.92520491e-02, 7.82945684e-02, 6.46946571e-01,
 -9.39826289e-02,-6.98078675e-01,-2.92084856e-01]

qacc:
[ 2.44555272e+00,-2.10848055e+00, 5.31709870e+00,-3.71066303e-01,
  5.44249815e-02,-3.54103229e+00, 1.55734704e+01,-3.74642288e+01,
  1.16878080e+00, 1.72798469e+00,-3.58290428e+00,-5.47186859e+00,
 -9.04587561e-01, 1.57037823e+00, 4.92766344e+00,-1.66774860e+01,
  2.69721966e+00,-9.12741097e-02,-4.18801576e+00,-2.41277753e+01,
  5.62169167e+01, 7.10951761e+01]

qfrc_actuator:
[ 2.86276310e-05, 3.60280086e-05, 1.63300868e-04, 9.37179243e-05,
  1.92811647e-04, 2.66757146e-02, 8.30578084e-03, 1.00505155e-02,
 -3.51576832e-06, 4.49510741e-04, 3.27534314e-05, 2.89007728e-05,
  2.84631701e-03,-1.64179871e-03, 0.00000000e+00,-2.18018712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 0.55984141, 8.61819903, 0.55984141, 3.42443032,
       0.33856912, 8.61819903, 0.33856912, 8.61437006, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0016713935825402705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32124951e-14, -5.76086670e-07,  1.00000000e+00, -1.91332757e-20,
        1.00000000e+00,  5.76086670e-07, -1.00000000e+00,  3.00926554e-36,
       -3.32124951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0580229 , -0.01492563,  0.06184284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41375957e-05,-2.17010849e-05, 4.26932060e-05, 1.81700657e-05,
  8.76655649e-06,-5.97037345e-05,-2.46501225e-05,-1.03565182e-04,
  7.08895332e-06,-4.16330121e-05,-7.36830460e-05,-3.63332305e-05,
 -3.46844440e-05, 2.94528777e-05,-1.71740004e-06,-8.08857324e-05,
 -1.92807260e-04,-1.95791183e-04,-1.21680252e+00, 7.21607980e-03,
 -2.37463424e-02,-5.21918815e-04]


--- Step 1566 ---
qpos:
[ 3.32343613e-03,-3.19953965e-03, 1.19356011e-02, 4.17768733e-02,
  6.02368069e-03, 7.63725404e-01,-2.91833402e-02, 8.63594054e-01,
  5.85027276e-03, 1.64486466e-02,-9.30210160e-03, 2.59845057e-02,
  1.32592038e+00,-1.91027135e-04, 1.06264638e+00, 6.34146287e-02,
  1.10088529e-02,-3.91861248e-02, 7.82742900e-02, 6.47491740e-01,
 -9.50518457e-02,-6.97928110e-01,-2.90888203e-01]

qacc:
[-1.56490819e+00, 1.41237441e+00,-7.74776692e+00, 1.82349489e+01,
 -9.61449797e-02,-9.71860917e+00, 4.15575373e+01,-8.77539311e+01,
  3.83433705e+00, 8.60992407e-01,-4.59692327e+00, 9.51491555e+00,
 -9.04523692e-01, 1.66568055e+00, 3.02528260e+00,-1.04823124e+01,
 -3.94622739e-01,-6.56822755e-02,-2.63057151e+00, 1.89791504e+01,
 -7.85707640e+01, 8.54376253e+01]

qfrc_actuator:
[ 1.90614979e-05, 2.32587715e-05, 1.52260910e-04, 1.21883653e-04,
  1.73004892e-04, 2.67206791e-02, 8.36771317e-03, 9.84278301e-03,
  1.89263813e-05, 4.53760817e-04, 3.01411995e-05, 4.44361068e-05,
  2.83635228e-03,-1.60045966e-03, 0.00000000e+00,-2.22897453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.54070352,  5.63967857, -6.54070352, 28.72610692,
       23.2993872 ,  5.63967857, 23.2993872 , 35.65818447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016345701191275985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.49017589e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.49017589e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04738982, -0.08130386,  0.06184602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.17329167e-06,-1.53023835e-05,-9.64189928e-06, 2.90647905e-05,
 -1.58830497e-05, 3.16502153e-06, 4.40568941e-05,-2.12739453e-04,
  2.26373966e-05,-3.58278436e-05,-2.15504452e-05, 1.04932945e-05,
 -2.28051732e-05, 4.05780670e-05,-1.47536581e-05,-5.46528635e-05,
 -5.15344453e-04,-5.93596754e-04,-1.21674912e+00, 7.24490664e-03,
 -2.37369601e-02,-5.17047190e-04]


--- Step 1567 ---
qpos:
[ 3.32337938e-03,-3.20019457e-03, 1.19358284e-02, 4.17785225e-02,
  6.02705854e-03, 7.63748003e-01,-2.91869913e-02, 8.63743176e-01,
  5.85128403e-03, 1.64484634e-02,-9.30103350e-03, 2.59848618e-02,
  1.32605366e+00,-1.91423864e-04, 1.06285459e+00, 6.34173187e-02,
  1.10248365e-02,-3.91194941e-02, 7.82418798e-02, 6.47981652e-01,
 -9.62491064e-02,-6.97866506e-01,-2.89548316e-01]

qacc:
[-4.06670658e+00, 2.20935990e+00,-1.12562345e+01, 2.42011250e+01,
 -1.24216202e-01,-6.44896625e+00, 2.85623978e+01,-6.19449536e+01,
 -6.75197243e-01,-4.90302426e+00, 1.56974646e+01,-1.56103946e+01,
 -7.38671350e-02, 2.06743509e-01,-1.22740201e+01, 4.15604033e+01,
 -4.17986480e-01, 1.76570513e-01,-3.03294694e+00, 1.88421684e+01,
 -7.35136078e+01, 7.87893308e+01]

qfrc_actuator:
[-4.48623298e-06,-1.90837011e-06, 1.27721070e-04, 1.55804478e-04,
  1.59785063e-04, 2.67564946e-02, 8.40603599e-03, 9.69531377e-03,
  1.39368471e-05, 4.38503525e-04, 1.17660996e-04, 5.35108440e-05,
  2.82558982e-03,-1.59358366e-03, 0.00000000e+00,-2.02644220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63045713, -0.31935336,  8.63045713,  8.6276401 ,
       -0.23575184, -0.31935336, -0.23575184,  2.26521978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015956558191277115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73944627e-14, -3.47889254e-14,  1.00000000e+00,  6.05134665e-28,
        1.00000000e+00,  3.47889254e-14, -1.00000000e+00,  0.00000000e+00,
        1.73944627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04748735, -0.08136496,  0.06184928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38145968e-05,-3.44685441e-05,-2.78864636e-05, 3.34953367e-05,
 -2.03385663e-05, 3.89034422e-05, 3.74786022e-05,-1.50855835e-04,
 -4.35154961e-06,-3.92959241e-05, 7.78269926e-05, 6.99656844e-06,
 -1.44504765e-05, 1.16427064e-05,-1.69339884e-05, 1.96660754e-04,
 -1.23394009e-04,-1.43573692e-04,-1.21671233e+00, 7.04350495e-03,
 -2.38098783e-02,-5.13537223e-04]


--- Step 1568 ---
qpos:
[ 3.32304082e-03,-3.20117625e-03, 1.19360924e-02, 4.17805515e-02,
  6.03023481e-03, 7.63770990e-01,-2.91909687e-02, 8.63888031e-01,
  5.85257247e-03, 1.64481807e-02,-9.29989299e-03, 2.59846591e-02,
  1.32618680e+00,-1.91932574e-04, 1.06306322e+00, 6.34176787e-02,
  1.10511809e-02,-3.90515174e-02, 7.81968027e-02, 6.48608992e-01,
 -9.75662006e-02,-6.97677334e-01,-2.88155425e-01]

qacc:
[ -2.46642802,  0.25294429, -3.12230441,  9.86679902, -0.1120188 ,
  -6.03263993, 30.25117298,-78.7916533 ,  2.42095088, -1.48873733,
   7.4685173 ,-17.17256387, -0.17332578,  0.13098075,  7.67257063,
 -25.90489264,  2.59022225,  0.33650106, -3.16673429,-32.18480416,
  69.38418485, 85.0220646 ]

qfrc_actuator:
[-1.83146815e-05,-1.66163662e-05, 1.30880811e-04, 1.75073908e-04,
  1.50636742e-04, 2.67510141e-02, 8.37687187e-03, 9.47797082e-03,
  2.83417662e-05, 4.29826778e-04, 1.15574348e-04, 2.32377857e-05,
  2.80901889e-03,-1.60720052e-03, 0.00000000e+00,-2.15678541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.62607644, -4.05336095,  7.62607644, 17.76831861,
       17.1810474 , -4.05336095, 17.1810474 , 40.96113864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001553782390169734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.39479454e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.39479454e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05836033, -0.01486512,  0.06185269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45175682e-05,-3.82988640e-05,-6.23321809e-06, 1.74783153e-05,
 -1.82605666e-05, 1.80938903e-05,-2.18487200e-05,-2.18377184e-04,
  1.42636253e-05,-1.42801607e-05,-3.85570389e-07,-2.91303895e-05,
 -2.19086063e-05,-1.41128420e-05, 1.16996362e-05,-1.22122825e-04,
  2.08980860e-04, 4.46502481e-04,-1.21667066e+00, 6.81636502e-03,
 -2.38911337e-02,-5.10108430e-04]


--- Step 1569 ---
qpos:
[ 3.32253875e-03,-3.20220339e-03, 1.19363278e-02, 4.17817277e-02,
  6.03324776e-03, 7.63793596e-01,-2.91954674e-02, 8.64028204e-01,
  5.85402328e-03, 1.64481247e-02,-9.29892792e-03, 2.59840708e-02,
  1.32631971e+00,-1.92518613e-04, 1.06327172e+00, 6.34178357e-02,
  1.10866980e-02,-3.89823468e-02, 7.81372109e-02, 6.49365854e-01,
 -9.89964637e-02,-6.97367531e-01,-2.86709287e-01]

qacc:
[-1.43573962e+00,-1.73521014e+00, 9.70174890e+00,-2.43832817e+01,
 -9.04448514e-02,-7.23614070e+00, 3.39137050e+01,-8.65294281e+01,
  1.40651581e+00,-6.77818502e-03, 2.08209051e+00,-8.63717419e+00,
 -1.31310706e-01, 5.15062273e-02, 4.33276811e-01,-1.77124826e+00,
  2.29314519e+00, 2.98478939e-01,-3.62865241e+00,-2.91882219e+01,
  6.54008943e+01, 8.12922638e+01]

qfrc_actuator:
[-2.63072441e-05,-7.09979997e-06, 1.32648966e-04, 1.32338135e-04,
  1.43998179e-04, 2.66672876e-02, 8.32565477e-03, 9.23892543e-03,
  3.63030394e-05, 4.60298703e-04, 1.13822716e-04, 5.49028097e-06,
  2.78896397e-03,-1.61509996e-03, 0.00000000e+00,-2.16272682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.63351285,  7.28816407, -4.63351285,  6.02408539,
       -1.66077831,  7.28816407, -1.66077831,  7.58050958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015272342338196274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.26950064e-14, -6.64188285e-07,  1.00000000e+00,  4.82831717e-20,
        1.00000000e+00,  6.64188285e-07, -1.00000000e+00, -6.01853108e-36,
        7.26950064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05843348, -0.01485829,  0.06185473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.41748245e-06,-1.24150581e-05,-6.30075935e-06,-4.42540170e-05,
 -1.48205910e-05,-8.55748652e-05,-5.68909633e-05,-2.44070629e-04,
  8.36663063e-06, 2.11647722e-05,-5.76566605e-06,-1.89415412e-05,
 -3.59941441e-05,-1.61760098e-05,-1.36570913e-05,-1.25147148e-05,
 -1.41656771e-04,-2.13341046e-04,-1.21652695e+00, 6.86491213e-03,
 -2.38596607e-02,-5.02841011e-04]


--- Step 1570 ---
qpos:
[ 3.32194440e-03,-3.20289784e-03, 1.19363960e-02, 4.17819977e-02,
  6.03632730e-03, 7.63815434e-01,-2.92004082e-02, 8.64164801e-01,
  5.85486865e-03, 1.64481554e-02,-9.29743217e-03, 2.59835878e-02,
  1.32645224e+00,-1.92887770e-04, 1.06347958e+00, 6.34222453e-02,
  1.11193441e-02,-3.89098985e-02, 7.80696056e-02, 6.50058518e-01,
 -1.00564701e-01,-6.97157821e-01,-2.85099344e-01]

qacc:
[-8.21423734e-01,-9.58658728e-01, 7.88067135e+00,-2.35377119e+01,
  3.77631892e-02,-6.03417750e+00, 2.68009090e+01,-6.65679607e+01,
 -5.26520905e+00,-1.14135905e+00, 3.80876436e+00,-2.91633816e+00,
 -1.67070527e-01, 2.52129032e-01,-1.37762771e+01, 4.68444924e+01,
 -7.17723683e-01, 8.19426659e-01,-2.00339348e+00, 2.34892999e+01,
 -8.27705274e+01, 8.71363899e+01]

qfrc_actuator:
[-3.08038479e-05, 3.45535273e-05, 1.33632833e-04, 8.89852908e-05,
  1.56660488e-04, 2.66082385e-02, 8.29703683e-03, 9.05999033e-03,
  4.89679566e-06, 4.78468326e-04, 1.47996231e-04, 1.30610907e-05,
  2.77215918e-03,-1.60180618e-03, 0.00000000e+00,-1.93544838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015179562463742344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97128527e-14, -1.09708995e-13,  1.00000000e+00,  3.25976720e-27,
        1.00000000e+00,  1.09708995e-13, -1.00000000e+00,  0.00000000e+00,
        2.97128527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04766981, -0.08146461,  0.06185519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.73581972e-06, 3.15442049e-05,-3.88040951e-06,-4.49645558e-05,
  6.00842616e-06,-1.26081335e-04,-5.95664215e-05,-1.88931272e-04,
 -3.11573047e-05, 2.80019615e-05, 3.71716616e-05, 7.90889757e-06,
 -4.11380325e-05, 1.22150383e-06,-1.13765518e-05, 2.23967794e-04,
 -6.27917882e-04,-8.76118780e-04,-1.21636373e+00, 6.92081941e-03,
 -2.38240644e-02,-4.96148452e-04]


--- Step 1571 ---
qpos:
[ 3.32130068e-03,-3.20322405e-03, 1.19364191e-02, 4.17813869e-02,
  6.03931055e-03, 7.63836623e-01,-2.92051345e-02, 8.64297107e-01,
  5.85498601e-03, 1.64487358e-02,-9.29656152e-03, 2.59832194e-02,
  1.32658445e+00,-1.93100392e-04, 1.06368777e+00, 6.34256202e-02,
  1.11493030e-02,-3.88339642e-02, 7.79919224e-02, 6.50690159e-01,
 -1.02260216e-01,-6.97040639e-01,-2.83336396e-01]

qacc:
[-4.41520555e-01,-1.20156321e+00, 8.70685321e+00,-2.41460419e+01,
 -5.23791857e-02,-8.89830617e+00, 3.80516577e+01,-8.53751122e+01,
 -6.37809326e+00, 2.72187426e+00,-9.11262187e+00, 1.16654759e+01,
 -4.50003011e-01, 6.42013248e-01, 3.64773897e+00,-1.19689673e+01,
 -6.71820231e-01, 8.71522027e-01,-2.51948288e+00, 2.20867120e+01,
 -7.71826820e+01, 8.07471147e+01]

qfrc_actuator:
[-3.32087029e-05, 5.96236993e-05, 1.34296223e-04, 4.56566140e-05,
  1.45233478e-04, 2.66000396e-02, 8.31761294e-03, 8.84687803e-03,
 -3.16744637e-05, 5.07058415e-04, 1.14325735e-04, 1.77335465e-05,
  2.75732556e-03,-1.59381238e-03, 0.00000000e+00,-1.99867571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60753137, -0.7051103 ,  8.60753137,  8.6174838 ,
       -0.23047283, -0.7051103 , -0.23047283,  5.82290015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014980377904258851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31599428e-15, -3.70559085e-14,  1.00000000e+00,  8.58212720e-29,
        1.00000000e+00,  3.70559085e-14, -1.00000000e+00,  0.00000000e+00,
        2.31599428e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04771166, -0.08148537,  0.0618565 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52463318e-06, 4.00061116e-05, 5.15262856e-06,-4.29859432e-05,
 -8.74767811e-06,-9.64093482e-05,-1.70025103e-05,-2.23240274e-04,
 -3.74549237e-05, 5.22404885e-05,-2.30488248e-05, 7.31168915e-06,
 -3.73696456e-05,-1.39303280e-06, 1.68896198e-05,-5.28574807e-05,
 -7.58279287e-05,-1.38477436e-04,-1.21630511e+00, 6.61880420e-03,
 -2.39272535e-02,-4.90374393e-04]


--- Step 1572 ---
qpos:
[ 3.32028835e-03,-3.20333784e-03, 1.19361949e-02, 4.17806411e-02,
  6.04216266e-03, 7.63856535e-01,-2.92091444e-02, 8.64427588e-01,
  5.85466383e-03, 1.64498677e-02,-9.29616047e-03, 2.59832443e-02,
  1.32671654e+00,-1.93752488e-04, 1.06389609e+00, 6.34275662e-02,
  1.11889303e-02,-3.87559876e-02, 7.79035626e-02, 6.51472079e-01,
 -1.04090276e-01,-6.96779249e-01,-2.81510252e-01]

qacc:
[-3.24684737e+00, 7.00053760e-01,-1.50797684e+00,-6.01253443e-01,
 -7.15670403e-02,-6.78831451e+00, 2.44466287e+01,-4.30532227e+01,
 -3.85729940e+00, 2.85839789e+00,-1.07821541e+01, 1.79201542e+01,
  1.49194067e-01,-5.58225040e-01, 4.49442689e+00,-1.54786225e+01,
  2.41711742e+00, 5.10548835e-01,-2.66914574e+00,-3.44941495e+01,
  7.70009522e+01, 9.61150112e+01]

qfrc_actuator:
[-5.21171428e-05, 5.68227018e-05, 1.16959509e-04, 3.81848495e-05,
  1.37241741e-04, 2.65160236e-02, 8.34947302e-03, 8.75742624e-03,
 -5.32273636e-05, 5.41403062e-04, 9.41502436e-05, 3.83682994e-05,
  2.74368364e-03,-1.62453023e-03, 0.00000000e+00,-2.07284654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.45335177, -4.36283443,  7.45335177, 21.25009533,
       21.54896801, -4.36283443, 21.54896801, 45.45005474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014917172050876698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.40910404e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.40910404e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05852337, -0.01487729,  0.06185649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89636759e-05, 1.88074980e-05,-9.92043618e-06,-6.41431225e-06,
 -1.19250380e-05,-1.48468579e-04, 4.01458733e-06,-9.81193347e-05,
 -2.26050571e-05, 5.90670583e-05,-1.19849711e-05, 2.22174311e-05,
 -3.49690033e-05,-3.97083725e-05,-3.75359723e-06,-7.62568768e-05,
  3.97775068e-04, 7.33219809e-04,-1.21624647e+00, 6.29393321e-03,
 -2.40368897e-02,-4.84867783e-04]


--- Step 1573 ---
qpos:
[ 3.31905736e-03,-3.20335971e-03, 1.19358114e-02, 4.17798213e-02,
  6.04489124e-03, 7.63875704e-01,-2.92135405e-02, 8.64557373e-01,
  5.85408599e-03, 1.64508249e-02,-9.29514766e-03, 2.59835346e-02,
  1.32684859e+00,-1.95061739e-04, 1.06410407e+00, 6.34309435e-02,
  1.12371651e-02,-3.86762708e-02, 7.78023282e-02, 6.52393671e-01,
 -1.06045820e-01,-6.96382679e-01,-2.79621076e-01]

qacc:
[-1.92588822e+00, 4.18181078e-01,-9.96151465e-01,-1.03597121e-01,
 -6.87364976e-02,-1.14469367e+00, 4.15859296e+00,-1.15971083e+01,
 -2.20747541e+00,-1.38981080e+00, 3.50752773e+00, 2.28562936e-01,
  5.79853674e-01,-1.29993384e+00,-4.88520885e+00, 1.62220794e+01,
  2.15187956e+00, 4.35062452e-01,-3.21865380e+00,-3.06730956e+01,
  7.17502913e+01, 9.09445795e+01]

qfrc_actuator:
[-6.28361061e-05, 5.50601690e-05, 1.06795509e-04, 3.40811574e-05,
  1.31384538e-04, 2.64939203e-02, 8.33425792e-03, 8.72366827e-03,
 -6.57665046e-05, 5.07968417e-04, 1.17671545e-04, 5.05031678e-05,
  2.74140130e-03,-1.66018906e-03, 0.00000000e+00,-1.99300162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.54425999,  5.63555126, -6.54425999,  7.14857352,
       -1.72768996,  5.63555126, -1.72768996,  6.630091  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001485895814410174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.73587103e-14, -7.71063083e-07,  1.00000000e+00, -2.88059223e-20,
        1.00000000e+00,  7.71063083e-07, -1.00000000e+00, -6.01853108e-36,
       -3.73587103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05853236, -0.0148892 ,  0.06185641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12511587e-05, 6.43576661e-06,-7.71566063e-06,-3.76280572e-06,
 -1.12248552e-05,-1.07210653e-04,-4.71304492e-05,-4.06255410e-05,
 -1.31629621e-05,-1.98216802e-06, 3.49975634e-05, 1.46812403e-05,
 -3.16226012e-05,-5.31524316e-05,-1.46037681e-05, 7.40808713e-05,
 -1.24415108e-04,-2.37038964e-04,-1.21598092e+00, 6.37757852e-03,
 -2.39770629e-02,-4.75565750e-04]


--- Step 1574 ---
qpos:
[ 3.31770735e-03,-3.20348148e-03, 1.19359631e-02, 4.17785898e-02,
  6.04751413e-03, 7.63895100e-01,-2.92188263e-02, 8.64686022e-01,
  5.85370729e-03, 1.64514097e-02,-9.29371239e-03, 2.59843527e-02,
  1.32698052e+00,-1.96811010e-04, 1.06431185e+00, 6.34358857e-02,
  1.12823864e-02,-3.85911872e-02, 7.76955112e-02, 6.53248008e-01,
 -1.08142498e-01,-6.96085764e-01,-2.77555127e-01]

qacc:
[-1.02621000e+00,-2.47508760e+00, 1.03727470e+01,-1.82810781e+01,
 -5.95781551e-02, 7.29810476e-01, 5.65192349e-01,-1.43009417e+01,
  1.75666933e+00,-5.89972811e-01,-8.45210409e-01, 9.58521668e+00,
  3.33263356e-01,-8.32908537e-01,-5.06052604e+00, 1.71850448e+01,
 -7.53396707e-01, 1.34167440e+00,-1.39563903e+00, 2.58797688e+01,
 -8.50301218e+01, 9.21179199e+01]

qfrc_actuator:
[-6.86438845e-05, 5.39562509e-05, 1.36451354e-04, 1.42386203e-05,
  1.26852902e-04, 2.65622002e-02, 8.30936634e-03, 8.66967049e-03,
 -5.51528266e-05, 4.69876825e-04, 1.31012148e-04, 7.52613682e-05,
  2.73527935e-03,-1.68066636e-03, 0.00000000e+00,-1.91179920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014629685894097556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23593378e-06, -1.23593388e-06,  1.00000000e+00, -1.52753244e-12,
        1.00000000e+00,  1.23593388e-06, -1.00000000e+00, -2.01948392e-28,
       -1.23593378e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04492746, -0.07971483,  0.06185783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.12491892e-06, 7.47165703e-07, 2.99129297e-05,-1.99036527e-05,
 -9.57961106e-06,-2.18902646e-06,-5.28157106e-05,-5.97803362e-05,
  1.02377629e-05,-3.13952245e-05, 1.77260863e-05, 2.61653191e-05,
 -3.65711239e-05,-4.05135602e-05,-1.40361000e-06, 8.27525799e-05,
 -7.96570093e-04,-1.19079185e-03,-1.21569883e+00, 6.46678140e-03,
 -2.39156505e-02,-4.66963100e-04]


--- Step 1575 ---
qpos:
[ 3.31698813e-03,-3.20380534e-03, 1.19365224e-02, 4.17774974e-02,
  6.05004875e-03, 7.63914575e-01,-2.92241176e-02, 8.64812987e-01,
  5.85345862e-03, 1.64517784e-02,-9.29217148e-03, 2.59861541e-02,
  1.32711215e+00,-1.98779834e-04, 1.06452007e+00, 6.34377308e-02,
  1.13360754e-02,-3.85042294e-02, 7.75763693e-02, 6.54245030e-01,
 -1.10369573e-01,-6.95647466e-01,-2.75420771e-01]

qacc:
[ 5.55273139e+00,-1.13065302e+00, 3.03802439e+00,-1.11393948e+00,
 -4.89226409e-02,-2.81063176e+00, 1.32267382e+01,-3.21888229e+01,
  1.14159776e+00, 1.44115996e+00,-9.70814123e+00, 2.67196795e+01,
 -2.66610706e-01, 1.33304486e-01, 1.00208712e+01,-3.40691197e+01,
  2.11694125e+00, 4.68581598e-01,-3.08120849e+00,-3.06876223e+01,
  7.40450564e+01, 9.51738466e+01]

qfrc_actuator:
[-3.60118823e-05, 3.56499094e-05, 1.53863009e-04, 2.08253261e-05,
  1.23148182e-04, 2.65775207e-02, 8.31483224e-03, 8.58649333e-03,
 -4.87526252e-05, 4.64764103e-04, 1.38188927e-04, 1.24977655e-04,
  2.71621274e-03,-1.69198902e-03, 0.00000000e+00,-2.07902504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.39926238, -4.45395252,  7.39926238, 21.65102453,
       21.62099625, -4.45395252, 21.62099625, 44.55489296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014641855796934716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79126471e-14, -8.53528828e-07,  1.00000000e+00, -3.23595373e-20,
        1.00000000e+00,  8.53528828e-07, -1.00000000e+00,  0.00000000e+00,
       -3.79126471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05856699, -0.01490545,  0.06185698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24578972e-05,-1.25549501e-05, 2.05656088e-05, 7.26953703e-06,
 -7.99950706e-06, 1.31852627e-06,-2.95698019e-06,-8.61934934e-05,
  6.68439484e-06,-1.79236729e-05, 3.75409924e-06, 4.94865953e-05,
 -4.91062261e-05,-2.95701451e-05, 4.83619651e-06,-1.63677891e-04,
 -6.56627323e-05,-1.56776505e-04,-1.21563035e+00, 6.05813676e-03,
 -2.40498138e-02,-4.58762494e-04]


--- Step 1576 ---
qpos:
[ 3.31701060e-03,-3.20444808e-03, 1.19373846e-02, 4.17765152e-02,
  6.05231280e-03, 7.63934189e-01,-2.92290397e-02, 8.64937595e-01,
  5.85328876e-03, 1.64519708e-02,-9.29078527e-03, 2.59878594e-02,
  1.32724342e+00,-2.00636699e-04, 1.06472842e+00, 6.34365674e-02,
  1.13865904e-02,-3.84116823e-02, 7.74509314e-02, 6.55169818e-01,
 -1.12734916e-01,-6.95308473e-01,-2.73110740e-01]

qacc:
[ 6.52502832e+00,-1.05425588e+00, 2.66078763e+00,-9.81712940e-01,
 -1.50116660e-01,-4.91516136e+00, 2.17874074e+01,-4.80233914e+01,
  6.85472607e-01, 4.06230735e-04, 6.31698982e-02,-1.34423217e+00,
 -5.53020140e-01, 7.47658718e-01, 9.31762035e+00,-3.22195326e+01,
 -7.93529759e-01, 1.39730173e+00,-1.57402764e+00, 2.55627324e+01,
 -8.63456517e+01, 9.01326619e+01]

qfrc_actuator:
[ 1.22917495e-06, 7.16427596e-06, 1.63841790e-04, 2.51308326e-05,
  1.02211831e-04, 2.65966284e-02, 8.33798424e-03, 8.46905864e-03,
 -4.48910500e-05, 4.43925920e-04, 1.24062614e-04, 1.17991690e-04,
  2.70537543e-03,-1.68011072e-03, 0.00000000e+00,-2.23149829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014649432940131019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18415742e-14, -7.57860751e-14,  1.00000000e+00,  8.97426434e-28,
        1.00000000e+00,  7.57860751e-14, -1.00000000e+00,  0.00000000e+00,
        1.18415742e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04771529, -0.08142463,  0.06185613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81607501e-05,-3.09258416e-05, 1.01692004e-05, 4.62156009e-06,
 -2.45223578e-05, 1.60418346e-05, 2.03723919e-05,-1.19432513e-04,
  4.04781787e-06,-2.79988886e-05,-1.56808910e-05,-6.66969229e-06,
 -4.57388642e-05,-6.45408882e-06,-2.15104814e-05,-1.62256832e-04,
 -8.20500810e-04,-1.26224654e-03,-1.21528701e+00, 6.16387943e-03,
 -2.39766643e-02,-4.49043936e-04]


--- Step 1577 ---
qpos:
[ 3.31678968e-03,-3.20535793e-03, 1.19383967e-02, 4.17752513e-02,
  6.05450453e-03, 7.63954008e-01,-2.92333844e-02, 8.65059808e-01,
  5.85316649e-03, 1.64520883e-02,-9.28928517e-03, 2.59884004e-02,
  1.32737424e+00,-2.01857781e-04, 1.06493619e+00, 6.34372407e-02,
  1.14451247e-02,-3.83142697e-02, 7.73239212e-02, 6.56220672e-01,
 -1.15270886e-01,-6.94853499e-01,-2.70676316e-01]

qacc:
[-2.12723219e+00,-1.34864654e+00, 5.49143043e+00,-1.04153976e+01,
 -3.94420891e-02,-5.45797920e+00, 2.37650230e+01,-5.03036593e+01,
  4.19138816e-01,-2.81514589e+00, 1.48088118e+01,-3.50863206e+01,
 -6.84492288e-01, 1.26342363e+00,-6.34985626e+00, 2.10962262e+01,
  2.00486952e+00, 1.21639127e+00,-3.93067880e-01,-2.13809085e+01,
  5.15096180e+01, 1.23822457e+02]

qfrc_actuator:
[-1.23854671e-05,-9.47868185e-06, 1.69302432e-04, 1.02883338e-05,
  1.06659373e-04, 2.66179163e-02, 8.37137537e-03, 8.35016883e-03,
 -4.25534486e-05, 4.49204498e-04, 1.32877793e-04, 5.99176317e-05,
  2.69949272e-03,-1.63680291e-03, 0.00000000e+00,-2.12543286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.38398532, -4.47923405,  7.38398532, 22.96738369,
       23.62458415, -4.47923405, 23.62458415, 47.58132179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014551198886497085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.58024750e-07, -5.82034267e-07,  1.00000000e+00, -2.08382673e-13,
        1.00000000e+00,  5.82034267e-07, -1.00000000e+00, -2.52435490e-29,
       -3.58024750e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03898127, -0.02718062,  0.06185614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25377137e-05,-3.16096304e-05, 4.83294706e-07,-1.57252560e-05,
 -6.54606629e-06, 2.99109670e-05, 3.52006712e-05,-1.20464538e-04,
  2.44713673e-06,-1.39296123e-05, 8.46805134e-07,-5.99538375e-05,
 -3.37570551e-05, 3.15079575e-05,-3.21687391e-05, 9.32897559e-05,
  1.67890062e-06,-5.49913730e-05,-1.21520899e+00, 5.69620039e-03,
 -2.41220740e-02,-4.39682979e-04]


--- Step 1578 ---
qpos:
[ 3.31640763e-03,-3.20633924e-03, 1.19388332e-02, 4.17738450e-02,
  6.05668426e-03, 7.63973595e-01,-2.92375350e-02, 8.65177291e-01,
  5.85272826e-03, 1.64522437e-02,-9.28750965e-03, 2.59885603e-02,
  1.32750480e+00,-2.02829640e-04, 1.06514344e+00, 6.34414593e-02,
  1.15006759e-02,-3.82115534e-02, 7.71885650e-02, 6.57200816e-01,
 -1.17938375e-01,-6.94487897e-01,-2.68074968e-01]

qacc:
[-1.43107993e+00, 1.22422988e+00,-3.89626084e+00, 2.40062723e+00,
 -5.51470609e-03,-9.05582311e+00, 4.02316502e+01,-9.28549521e+01,
 -2.74783853e+00,-1.49884397e+00, 7.03552297e+00,-1.41100596e+01,
 -1.58035231e-01, 2.99608440e-01,-1.14387668e+01, 3.89607113e+01,
 -7.45808050e-01, 1.32591434e+00,-2.08649335e+00, 2.28608895e+01,
 -8.13113178e+01, 8.57420559e+01]

qfrc_actuator:
[-2.03198393e-05,-1.89402535e-05, 1.36578750e-04, 2.05738333e-06,
  1.08494596e-04, 2.65516278e-02, 8.35729615e-03, 8.10711838e-03,
 -5.88831631e-05, 4.70122245e-04, 1.55251159e-04, 4.33080628e-05,
  2.68595165e-03,-1.62846389e-03, 0.00000000e+00,-1.93889649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001450062387339704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15335718e-14,  3.82819055e-14,  1.00000000e+00, -8.24346161e-28,
        1.00000000e+00, -3.82819055e-14, -1.00000000e+00,  0.00000000e+00,
        2.15335718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04770834, -0.08140163,  0.06185573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.29980121e-06,-2.76912190e-05,-3.97350383e-05,-9.87119492e-06,
 -1.09495103e-06,-4.70916176e-05,-7.85938986e-06,-2.43756320e-04,
 -1.62599504e-05, 1.07113283e-05, 1.75055030e-05,-1.83489550e-05,
 -2.53343063e-05, 8.29906864e-06,-6.87156649e-06, 1.87044231e-04,
 -5.70402925e-04,-9.44124017e-04,-1.21481499e+00, 5.72384285e-03,
 -2.40776855e-02,-4.28743871e-04]


--- Step 1579 ---
qpos:
[ 3.31558837e-03,-3.20729076e-03, 1.19387891e-02, 4.17723316e-02,
  6.05886142e-03, 7.63992357e-01,-2.92415213e-02, 8.65290663e-01,
  5.85209746e-03, 1.64528983e-02,-9.28600079e-03, 2.59888422e-02,
  1.32763511e+00,-2.03882081e-04, 1.06535102e+00, 6.34445021e-02,
  1.15643787e-02,-3.81069403e-02, 7.70414872e-02, 6.58325940e-01,
 -1.20744096e-01,-6.93970104e-01,-2.65392755e-01]

qacc:
[-3.85325820e+00, 1.16989070e+00,-3.64899805e+00, 2.52835169e+00,
 -1.30094404e-04,-8.67935465e+00, 3.66196411e+01,-8.17650892e+01,
 -1.69629501e+00, 1.65969334e+00,-5.47027634e+00, 7.63605022e+00,
 -2.10464812e-01, 1.64248943e-01, 4.03448050e+00,-1.33977520e+01,
  2.03790106e+00, 4.74222147e-01,-2.93041845e+00,-2.91930899e+01,
  7.70571128e+01, 1.02981432e+02]

qfrc_actuator:
[-4.25836089e-05,-6.42916373e-06, 1.17115294e-04,-2.23326137e-06,
  1.08731044e-04, 2.64686541e-02, 8.35039250e-03, 7.89937987e-03,
 -6.83161300e-05, 5.18093218e-04, 1.50047087e-04, 5.12597015e-05,
  2.66249010e-03,-1.64097390e-03, 0.00000000e+00,-2.00831552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.35642805, -4.52435003,  7.35642805, 25.1387377 ,
       26.83225804, -4.52435003, 26.83225804, 52.26463606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014490981309929069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05851988, -0.01496915,  0.06185483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25048952e-05,-1.15722475e-05,-3.04086311e-05,-7.03915170e-06,
 -2.58031283e-07,-1.18905059e-04,-2.45685957e-05,-2.15011824e-04,
 -9.89293791e-06, 5.67566772e-05,-1.49294941e-06, 8.65519725e-06,
 -3.55388541e-05,-1.64265920e-05, 1.45783647e-05,-6.05979280e-05,
  2.66669746e-04, 3.91504550e-04,-1.21472350e+00, 5.21064469e-03,
 -2.42263134e-02,-4.18280546e-04]


--- Step 1580 ---
qpos:
[ 3.31519851e-03,-3.20837340e-03, 1.19390681e-02, 4.17710883e-02,
  6.06122519e-03, 7.64010312e-01,-2.92450412e-02, 8.65401681e-01,
  5.85135876e-03, 1.64535720e-02,-9.28437998e-03, 2.59892525e-02,
  1.32776512e+00,-2.04786433e-04, 1.06555914e+00, 6.34426936e-02,
  1.16353602e-02,-3.80007287e-02, 7.68805348e-02, 6.59584499e-01,
 -1.23678029e-01,-6.93308876e-01,-2.62630608e-01]

qacc:
[ 3.78153451e+00,-5.27643257e-01, 4.78049461e-01, 3.78696961e+00,
  1.05234564e-01,-6.41434342e+00, 2.51785006e+01,-5.03716818e+01,
 -9.37765896e-01,-2.16279722e-02,-4.25020097e-01, 2.44979308e+00,
 -6.73215956e-01, 9.64810999e-01, 1.54976343e+01,-5.29343068e+01,
  1.81968708e+00, 3.99602207e-01,-3.46864042e+00,-2.54441605e+01,
  7.16747808e+01, 9.71650766e+01]

qfrc_actuator:
[-1.98465636e-05, 1.44022649e-06, 1.41248485e-04, 1.36145925e-05,
  1.25756220e-04, 2.64473655e-02, 8.38325142e-03, 7.78511285e-03,
 -7.36080430e-05, 4.93056558e-04, 1.46481093e-04, 5.58446311e-05,
  2.64906047e-03,-1.63025795e-03, 0.00000000e+00,-2.26351022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.19103065,  4.78287101, -7.19103065,  7.4670067 ,
       -1.75812426,  4.78287101, -1.75812426,  5.99302966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014374304549175862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79274820e-14, -3.86183214e-14,  1.00000000e+00,  2.23706212e-27,
        1.00000000e+00,  3.86183214e-14, -1.00000000e+00,  0.00000000e+00,
        5.79274820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05852697, -0.01497672,  0.06185488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20968503e-05,-5.15127895e-06, 1.77706998e-05, 1.41695830e-05,
  1.68954615e-05,-9.93733955e-05,-3.38107777e-08,-1.23697346e-04,
 -5.55232987e-06, 6.71711853e-06, 8.24729715e-06, 7.12881225e-06,
 -3.73191845e-05,-1.43649773e-06,-5.46711517e-06,-2.57964905e-04,
 -6.16118771e-04,-1.02085173e-03,-1.21426070e+00, 5.34583286e-03,
 -2.41345618e-02,-4.05963545e-04]


--- Step 1581 ---
qpos:
[ 3.31577371e-03,-3.20931529e-03, 1.19395161e-02, 4.17700193e-02,
  6.06357767e-03, 7.64028114e-01,-2.92488240e-02, 8.65512859e-01,
  5.85056296e-03, 1.64535915e-02,-9.28275614e-03, 2.59901556e-02,
  1.32789484e+00,-2.05340068e-04, 1.06576673e+00, 6.34418624e-02,
  1.17031965e-02,-3.78883226e-02, 7.67142662e-02, 6.60762757e-01,
 -1.26756757e-01,-6.92741509e-01,-2.59681548e-01]

qacc:
[ 8.47340609e+00, 5.67136649e-02,-6.96850460e-01, 3.37227062e+00,
 -6.48496282e-03, 7.88611474e-01,-3.20728690e+00, 4.91646550e+00,
 -4.86474602e-01, 1.42180092e-01,-3.84026456e+00, 1.28430159e+01,
 -3.96784337e-01, 7.10923473e-01,-3.70879199e+00, 1.19016831e+01,
 -7.86294177e-01, 1.54862903e+00,-1.32904194e+00, 2.44014510e+01,
 -8.93640873e+01, 9.54882238e+01]

qfrc_actuator:
[ 2.91992238e-05, 2.44262203e-05, 1.55422905e-04, 2.34586442e-05,
  1.17161218e-04, 2.64811522e-02, 8.38634231e-03, 7.79782635e-03,
 -7.64229722e-05, 4.06743119e-04, 1.25873378e-04, 7.61071034e-05,
  2.64699097e-03,-1.60580286e-03, 0.00000000e+00,-2.19996131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014453550942384735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20020574e-14, -7.68131672e-14,  1.00000000e+00,  9.21916039e-28,
        1.00000000e+00,  7.68131672e-14, -1.00000000e+00,  0.00000000e+00,
        1.20020574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04763526, -0.08131169,  0.06185303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96754817e-05, 2.44306210e-05, 1.58011839e-05, 1.05178728e-05,
 -1.03021864e-06,-2.56790435e-05,-2.03591515e-05, 6.72134263e-06,
 -2.96850749e-06,-8.05966320e-05,-1.79859892e-05, 2.09684836e-05,
 -2.40827295e-05, 1.58470112e-05,-3.66986562e-05, 4.72077950e-05,
 -1.61453755e-03,-2.38809089e-03,-1.21379255e+00, 5.47921025e-03,
 -2.40478603e-02,-3.94043862e-04]


--- Step 1582 ---
qpos:
[ 3.31624258e-03,-3.20991919e-03, 1.19394668e-02, 4.17694428e-02,
  6.06585786e-03, 7.64045926e-01,-2.92531562e-02, 8.65622287e-01,
  5.84973944e-03, 1.64532439e-02,-9.28173213e-03, 2.59913006e-02,
  1.32802426e+00,-2.05568894e-04, 1.06597424e+00, 6.34403909e-02,
  1.17681646e-02,-3.77703214e-02, 7.65399676e-02, 6.61864356e-01,
 -1.29971084e-01,-6.92257424e-01,-2.56559447e-01]

qacc:
[-9.54498295e-01, 2.85399767e+00,-1.16009368e+01, 2.06627386e+01,
 -4.04376721e-02,-1.54549835e+00, 9.09820620e+00,-2.92014733e+01,
 -2.54041883e-01, 1.69000378e+00,-7.75075179e+00, 1.31673730e+01,
 -5.09050157e-01, 8.51344987e-01, 1.86666103e+00,-6.58976971e+00,
 -7.17046405e-01, 1.39878594e+00,-2.00750731e+00, 2.10918305e+01,
 -8.26407798e+01, 8.89059582e+01]

qfrc_actuator:
[ 2.23123144e-05, 3.85101265e-05, 1.28141743e-04, 4.74406127e-05,
  1.11069999e-04, 2.64766424e-02, 8.35436247e-03, 7.70762929e-03,
 -7.77593468e-05, 3.90845025e-04, 9.51047536e-05, 8.76077387e-05,
  2.63044295e-03,-1.59111878e-03, 0.00000000e+00,-2.23309633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.06221874,  4.97110082, -7.06221874,  8.08909124,
       -0.77748521,  4.97110082, -0.77748521,  7.53182547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014415678876418397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.22015310e-15, -1.15522450e-13,  1.00000000e+00, -8.34089773e-28,
        1.00000000e+00,  1.15522450e-13, -1.00000000e+00,  0.00000000e+00,
       -7.22015310e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04761178, -0.08128352,  0.06185216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46176131e-06, 3.15066308e-05,-1.99191943e-05, 2.57812846e-05,
 -6.55682414e-06,-2.29558672e-05,-3.92880278e-05,-9.14794233e-05,
 -1.44784183e-06,-6.38101622e-05,-4.89287277e-05, 7.82676216e-06,
 -2.68079329e-05, 1.32251924e-05,-1.38530360e-05,-3.57306306e-05,
 -4.74694381e-04,-8.17243684e-04,-1.21368158e+00, 4.86226896e-03,
 -2.42138184e-02,-3.80802949e-04]


--- Step 1583 ---
qpos:
[ 3.31662569e-03,-3.21018830e-03, 1.19393669e-02, 4.17687823e-02,
  6.06785994e-03, 7.64063626e-01,-2.92574194e-02, 8.65727344e-01,
  5.84925098e-03, 1.64525926e-02,-9.28057910e-03, 2.59921701e-02,
  1.32815360e+00,-2.06126138e-04, 1.06618209e+00, 6.34348253e-02,
  1.18410792e-02,-3.76505154e-02, 7.63548483e-02, 6.63114278e-01,
 -1.33333043e-01,-6.91607073e-01,-2.53340502e-01]

qacc:
[-7.60004058e-01, 4.12172552e-01,-4.70764144e-01,-1.15064562e+00,
 -1.54065506e-01,-7.93458474e+00, 3.59117653e+01,-8.47284193e+01,
  2.93120578e+00,-1.33513232e+00, 5.33168705e+00,-1.00732163e+01,
 -8.20916020e-02,-1.34212661e-01, 1.28644484e+01,-4.42728169e+01,
  1.98660325e+00, 4.51185995e-01,-2.70517251e+00,-2.70254884e+01,
  8.11299999e+01, 1.12981733e+02]

qfrc_actuator:
[ 1.80564255e-05, 6.47518590e-05, 1.29843806e-04, 4.40123535e-05,
  8.87939298e-05, 2.64668064e-02, 8.35498970e-03, 7.48652109e-03,
 -6.04625042e-05, 3.99418102e-04, 1.12099147e-04, 7.61522400e-05,
  2.61587076e-03,-1.61791695e-03, 0.00000000e+00,-2.44728359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.32997776, -4.56707815,  7.32997776, 28.06162173,
       31.17676225, -4.56707815, 31.17676225, 58.67382002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014254201643336187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89437112e-14, -3.83117794e-07,  1.00000000e+00,  1.49200287e-20,
        1.00000000e+00,  3.83117794e-07, -1.00000000e+00, -3.00926554e-36,
        3.89437112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05845515, -0.01496248,  0.06185235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39866219e-06, 4.08705672e-05, 6.65724596e-06,-2.26317916e-06,
 -2.52184551e-05,-3.36584874e-05,-1.12856525e-05,-2.25101656e-04,
  1.72348890e-05,-3.68865134e-05,-1.95352240e-06,-1.57348605e-05,
 -2.68757473e-05,-2.95900032e-05,-1.42139186e-05,-2.18845957e-04,
  5.30851612e-04, 8.47081235e-04,-1.21356857e+00, 4.23381367e-03,
 -2.43724103e-02,-3.67831289e-04]


--- Step 1584 ---
qpos:
[ 3.31695479e-03,-3.21019212e-03, 1.19396187e-02, 4.17673758e-02,
  6.06919122e-03, 7.64081369e-01,-2.92614636e-02, 8.65828911e-01,
  5.84966337e-03, 1.64516298e-02,-9.27927037e-03, 2.59932391e-02,
  1.32828285e+00,-2.07218572e-04, 1.06638948e+00, 6.34297364e-02,
  1.19210352e-02,-3.75292312e-02, 7.61566311e-02, 6.64499440e-01,
 -1.36830613e-01,-6.90799866e-01,-2.50026846e-01]

qacc:
[ -0.46803202, -2.16900662, 11.38960517,-25.05345561, -0.37304557,
  -6.60517007, 29.77070894,-68.7209569 ,  7.86688633, -0.45129309,
   0.14261137,  3.32059016,  0.38416429, -0.95460273, -2.16555777,
   6.48566938,  1.76036662,  0.36954063, -3.27447809,-23.0642687 ,
  75.28193825,105.8862224 ]

qfrc_actuator:
[ 1.54010951e-05, 8.04036738e-05, 1.48687944e-04, 6.76475966e-06,
  3.92890589e-05, 2.64893967e-02, 8.37478255e-03, 7.31445636e-03,
 -1.45847874e-05, 3.87252108e-04, 1.21757148e-04, 8.68491392e-05,
  2.60247583e-03,-1.65132854e-03, 0.00000000e+00,-2.41133950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.28327365,  4.64119617, -7.28327365,  7.40895477,
       -1.92613162,  4.64119617, -1.92613162,  5.61374982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001423013871910274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90095644e-14,  7.80191287e-14,  1.00000000e+00, -3.04349222e-27,
        1.00000000e+00, -7.80191287e-14, -1.00000000e+00,  0.00000000e+00,
        3.90095644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05840617, -0.01490458,  0.06185118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76545040e-06, 3.97944444e-05, 2.80333388e-05,-3.53081800e-05,
 -6.08173977e-05,-5.92586769e-06, 4.96366656e-06,-1.78587398e-04,
  4.63589218e-05,-3.38583669e-05, 1.24451929e-06, 8.73846253e-06,
 -3.62637499e-05,-4.63496941e-05,-3.53830371e-05, 2.08856368e-05,
 -5.23188172e-04,-8.90308840e-04,-1.21297418e+00, 4.41100843e-03,
 -2.42638733e-02,-3.53230667e-04]


--- Step 1585 ---
qpos:
[ 3.31690497e-03,-3.21033622e-03, 1.19396604e-02, 4.17670072e-02,
  6.07028441e-03, 7.64098514e-01,-2.92650134e-02, 8.65928016e-01,
  5.85027762e-03, 1.64505949e-02,-9.27850820e-03, 2.59944459e-02,
  1.32841180e+00,-2.08417573e-04, 1.06659652e+00, 6.34260577e-02,
  1.19980241e-02,-3.74018452e-02, 7.59528327e-02, 6.65798207e-01,
 -1.40476901e-01,-6.90076737e-01,-2.46521979e-01]

qacc:
[-3.32944667e+00, 2.54747082e+00,-1.37178325e+01, 3.21000913e+01,
 -1.31536946e-01,-6.40214591e+00, 2.57170987e+01,-5.22802374e+01,
  1.74482491e+00, 1.71238092e+00,-6.83098627e+00, 1.01468957e+01,
 -4.43527340e-02,-1.15480970e-01,-4.77696107e+00, 1.59556387e+01,
 -7.41785664e-01, 1.52546697e+00,-1.39528879e+00, 2.12329864e+01,
 -8.94498487e+01, 9.83454262e+01]

qfrc_actuator:
[-4.04396324e-06, 3.63792245e-05, 1.24177464e-04, 5.64368639e-05,
  4.49613714e-05, 2.64248178e-02, 8.38814456e-03, 7.19043737e-03,
 -5.51625041e-06, 3.80524498e-04, 9.14297780e-05, 9.27199253e-05,
  2.58979118e-03,-1.65286477e-03, 0.00000000e+00,-2.33476568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001432462554245409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04751836, -0.08117755,  0.06184877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95095739e-05,-1.74950780e-05,-1.40597205e-05, 5.16620613e-05,
 -2.16040899e-05,-7.30328663e-05, 7.28210978e-06,-1.28106282e-04,
  1.03837367e-05,-2.49952127e-05,-3.68735157e-05, 4.62793037e-06,
 -4.44572666e-05,-2.08806169e-05,-1.61051349e-05, 7.26988273e-05,
 -1.69184630e-03,-2.56302508e-03,-1.21238225e+00, 4.58334828e-03,
 -2.41643308e-02,-3.38944405e-04]


--- Step 1586 ---
qpos:
[ 3.31696751e-03,-3.21062282e-03, 1.19388805e-02, 4.17676259e-02,
  6.07150117e-03, 7.64114251e-01,-2.92680957e-02, 8.66027706e-01,
  5.84996144e-03, 1.64495680e-02,-9.27786703e-03, 2.59949830e-02,
  1.32854028e+00,-2.09116860e-04, 1.06680355e+00, 6.34222849e-02,
  1.20722071e-02,-3.72684993e-02, 7.57457491e-02, 6.67007005e-01,
 -1.44271662e-01,-6.89435580e-01,-2.42829002e-01]

qacc:
[ 9.63389040e-01, 4.14203452e+00,-1.92089250e+01, 3.77140127e+01,
  6.98002131e-02,-2.09551435e+00, 3.28155701e+00, 5.04416339e+00,
 -8.11905022e+00,-1.01391498e+00, 6.48503367e+00,-1.79158266e+01,
 -7.44782804e-01, 1.24826322e+00, 3.39865046e-01,-1.05406229e+00,
 -7.01485631e-01, 1.48996938e+00,-8.21309990e-01, 1.92630245e+01,
 -8.98451973e+01, 9.70048088e+01]

qfrc_actuator:
[ 2.28891773e-06, 1.01063621e-05, 7.40752588e-05, 1.03517514e-04,
  6.58229751e-05, 2.63085606e-02, 8.39728503e-03, 7.21988184e-03,
 -5.36998483e-05, 3.94697742e-04, 9.10090631e-05, 6.01718128e-05,
  2.57755415e-03,-1.61773771e-03, 0.00000000e+00,-2.34145389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.15191847,  2.85184187, -8.15191847, 15.72469779,
       20.26182542,  2.85184187, 20.26182542, 66.55428347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014289626745626408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21397396e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21397396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04329408, -0.07637436,  0.06184749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.76996306e-06,-3.67483544e-05,-5.36570670e-05, 4.68522870e-05,
  1.11626027e-05,-1.59805817e-04,-8.39253788e-06, 2.44191111e-05,
 -4.78956243e-05,-7.19120881e-06,-9.96473762e-06,-3.48074533e-05,
 -4.21984486e-05, 1.98200587e-05,-2.48834162e-06,-5.42319126e-06,
 -3.68648400e-04,-6.51707850e-04,-1.21223657e+00, 3.84545470e-03,
 -2.43300468e-02,-3.23031694e-04]


--- Step 1587 ---
qpos:
[ 3.31779498e-03,-3.21088635e-03, 1.19377258e-02, 4.17680615e-02,
  6.07290509e-03, 7.64129123e-01,-2.92715378e-02, 8.66128694e-01,
  5.84941543e-03, 1.64481040e-02,-9.27708566e-03, 2.59955105e-02,
  1.32866808e+00,-2.08349795e-04, 1.06701058e+00, 6.34181180e-02,
  1.21537695e-02,-3.71336314e-02, 7.55278870e-02, 6.68360911e-01,
 -1.48218781e-01,-6.88616669e-01,-2.39022948e-01]

qacc:
[ 6.70155871e+00, 6.87790621e-01,-1.65779292e+00,-9.04944381e-01,
  1.04134014e-01, 2.09254618e+00,-1.12454067e+01, 2.62954393e+01,
 -1.99261164e+00,-9.85645137e-01, 2.72402790e+00,-2.80203993e+00,
 -1.66201536e+00, 3.15319678e+00, 1.32858879e+00,-4.31713291e+00,
  1.84487170e+00, 3.80516590e-01,-2.69460931e+00,-2.29466459e+01,
  8.26482627e+01, 1.20674453e+02]

qfrc_actuator:
[ 4.15014756e-05, 3.00480393e-05, 6.25714538e-05, 9.54206687e-05,
  7.77790811e-05, 2.62866136e-02, 8.38596906e-03, 7.28608467e-03,
 -6.41726381e-05, 3.50349798e-04, 9.05727590e-05, 5.85824617e-05,
  2.56561184e-03,-1.52567105e-03, 0.00000000e+00,-2.36165379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.39081078, -4.46796294,  7.39081078, 28.91122617,
       33.53825322, -4.46796294, 33.53825322, 64.11464011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014253383360267949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.8945947e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.8945947e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05827042, -0.01495214,  0.06184611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93658831e-05,-9.66424858e-06,-2.40711486e-05,-1.06148807e-05,
  1.69395151e-05,-1.11746195e-04,-4.31719233e-05, 6.13812429e-05,
 -1.18489187e-05,-5.19085397e-05,-4.34856826e-06,-2.91813012e-06,
 -3.10348139e-05, 8.71302598e-05,-6.26791575e-06,-2.18404969e-05,
  9.06941680e-04, 1.50851475e-03,-1.21208287e+00, 3.05770028e-03,
 -2.44918741e-02,-3.07192296e-04]


--- Step 1588 ---
qpos:
[ 3.31874094e-03,-3.21104548e-03, 1.19369420e-02, 4.17676430e-02,
  6.07466006e-03, 7.64144210e-01,-2.92754461e-02, 8.66227174e-01,
  5.84874737e-03, 1.64466455e-02,-9.27706362e-03, 2.59963659e-02,
  1.32879582e+00,-2.07367574e-04, 1.06721740e+00, 6.34147287e-02,
  1.22326463e-02,-3.69931105e-02, 7.53059747e-02, 6.69622144e-01,
 -1.52314950e-01,-6.87871759e-01,-2.35029323e-01]

qacc:
[  1.04945365, -2.66159754, 13.28897854,-28.73306112,  0.19563097,
  -2.81846221, 15.34642563,-44.06183307, -1.08806574,  2.80680131,
 -11.37827929, 18.25999894, -0.14569827,  0.33759616, -2.6429184 ,
   8.82881278, -0.6714143 ,  1.41323991, -1.01256435, 16.74918844,
 -88.35229558, 97.44374193]

qfrc_actuator:
[ 4.64864321e-05, 5.98572551e-05, 9.18612017e-05, 5.49929750e-05,
  1.02031514e-04, 2.63567790e-02, 8.38077225e-03, 7.16036436e-03,
 -7.01000098e-05, 3.60094133e-04, 5.44090444e-05, 7.51763559e-05,
  2.56453438e-03,-1.52487559e-03, 0.00000000e+00,-2.31861270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001425488566865099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21693258e-14, -1.16825527e-13,  1.00000000e+00,  1.42168790e-27,
        1.00000000e+00,  1.16825527e-13, -1.00000000e+00,  0.00000000e+00,
        1.21693258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04321276, -0.07628205,  0.06184428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10622850e-06, 1.90114687e-05, 2.39746218e-05,-4.18808478e-05,
  3.18340234e-05, 1.34685349e-06,-3.04527316e-05,-1.29210982e-04,
 -6.28858427e-06,-2.02697200e-05,-4.75160059e-05, 1.41628702e-05,
  1.86852763e-06, 1.48004155e-05,-1.00125874e-05, 3.99730022e-05,
 -2.88071848e-04,-5.16438653e-04,-1.21137100e+00, 3.26982131e-03,
 -2.43772301e-02,-2.90243049e-04]


--- Step 1589 ---
qpos:
[ 3.31904974e-03,-3.21100097e-03, 1.19364483e-02, 4.17667351e-02,
  6.07652705e-03, 7.64159463e-01,-2.92785630e-02, 8.66322279e-01,
  5.84766768e-03, 1.64460553e-02,-9.27819407e-03, 2.59969835e-02,
  1.32892374e+00,-2.07099544e-04, 1.06742419e+00, 6.34111840e-02,
  1.23184558e-02,-3.68512980e-02, 7.50728977e-02, 6.71023782e-01,
 -1.56563624e-01,-6.86944955e-01,-2.30914584e-01]

qacc:
[-5.58711686e+00,-1.53905252e+00, 7.96000960e+00,-1.70576609e+01,
  6.36964881e-02,-7.78876509e+00, 3.35922098e+01,-7.08399856e+01,
 -3.64083184e+00, 3.88615086e+00,-1.11748980e+01, 8.24880584e+00,
  6.68693822e-01,-1.38810971e+00, 3.68449209e-01,-1.48946387e+00,
  1.73318923e+00, 3.22893168e-01,-2.79119452e+00,-2.00877033e+01,
  8.20454434e+01, 1.23356783e+02]

qfrc_actuator:
[ 1.35226566e-05, 7.77437971e-05, 1.09526037e-04, 3.14163054e-05,
  9.79177283e-05, 2.63927144e-02, 8.43275511e-03, 6.99378728e-03,
 -9.10686083e-05, 4.55283978e-04, 1.54049694e-05, 6.68410968e-05,
  2.55396619e-03,-1.57817820e-03, 0.00000000e+00,-2.32740409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.38836426, -4.47200743,  7.38836426, 31.4226266 ,
       37.64600432, -4.47200743, 37.64600432, 70.83268094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001440496254092427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.78041953e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.78041953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05812215, -0.01499304,  0.06184079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27810482e-05, 3.16908413e-05, 2.31061814e-05,-2.27453863e-05,
  1.01676767e-05, 2.61865754e-05, 4.47632138e-05,-1.70381137e-04,
 -2.11590462e-05, 7.46930742e-05,-4.85391566e-05,-1.05709425e-05,
 -6.33153296e-06,-4.90553207e-05,-3.49082116e-06,-8.62146783e-06,
  1.06671949e-03, 1.78972845e-03,-1.21119364e+00, 2.42631053e-03,
 -2.45267167e-02,-2.72800331e-04]


--- Step 1590 ---
qpos:
[ 3.31896114e-03,-3.21074264e-03, 1.19361673e-02, 4.17655557e-02,
  6.07840815e-03, 7.64174689e-01,-2.92807186e-02, 8.66415693e-01,
  5.84703498e-03, 1.64458300e-02,-9.27969671e-03, 2.59975062e-02,
  1.32905152e+00,-2.07096438e-04, 1.06763138e+00, 6.34038666e-02,
  1.24104109e-02,-3.67085403e-02, 7.48269784e-02, 6.72554012e-01,
 -1.60951064e-01,-6.85843117e-01,-2.26682764e-01]

qacc:
[-3.48518266e+00,-8.65538325e-01, 4.65345015e+00,-9.86361211e+00,
  9.03485809e-03,-5.57652425e+00, 2.21612643e+01,-4.02301771e+01,
  3.88043163e+00, 1.31930378e+00,-3.61593782e+00, 2.31121126e+00,
 -1.59145845e-01,-7.07086386e-04, 1.19815888e+01,-4.10506884e+01,
  1.53639393e+00, 2.36288955e-01,-3.21054251e+00,-1.64861435e+01,
  7.77075503e+01, 1.15495612e+02]

qfrc_actuator:
[-5.99682803e-06, 8.83357278e-05, 1.20148455e-04, 1.79269592e-05,
  9.46354469e-05, 2.63903221e-02, 8.48246927e-03, 6.91108119e-03,
 -6.74656592e-05, 4.58855159e-04,-6.85380035e-06, 6.17355244e-05,
  2.53768478e-03,-1.59208582e-03, 0.00000000e+00,-2.52644678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.3045423 ,  4.60765002, -7.3045423 ,  7.26705972,
       -2.17076782,  4.60765002, -2.17076782,  5.19502905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014361702939854684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.73044136e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.73044136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05783092, -0.01460334,  0.06183917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04416084e-05, 3.21056116e-05, 1.92354607e-05,-1.17707535e-05,
  1.28404190e-06, 1.51360562e-05, 5.48182310e-05,-8.43784547e-05,
  2.30219541e-05, 3.48829752e-05,-1.31557732e-05,-3.78675690e-06,
 -3.17274849e-05,-2.70277997e-05,-6.17794654e-06,-2.00822206e-04,
 -1.87456592e-04,-3.45587649e-04,-1.21043575e+00, 2.65016640e-03,
 -2.44150722e-02,-2.54716477e-04]


--- Step 1591 ---
qpos:
[ 3.31863914e-03,-3.21047015e-03, 1.19360998e-02, 4.17645949e-02,
  6.08026555e-03, 7.64189782e-01,-2.92826403e-02, 8.66505712e-01,
  5.84703515e-03, 1.64453986e-02,-9.28095297e-03, 2.59983399e-02,
  1.32917906e+00,-2.07243493e-04, 1.06783843e+00, 6.33948884e-02,
  1.24996082e-02,-3.65601928e-02, 7.45785425e-02, 6.73981616e-01,
 -1.65499343e-01,-6.84809442e-01,-2.22249356e-01]

qacc:
[-2.04191465e+00,-1.23276572e-01,-4.49072935e-01, 3.87415495e+00,
 -1.22925855e-02,-6.70903446e+00, 2.96024739e+01,-6.72813094e+01,
  5.53089078e+00,-3.31269626e-01,-5.46448955e-01, 5.70936191e+00,
 -1.60608095e-01, 4.60818046e-02, 4.81970331e+00,-1.71375785e+01,
 -6.89447492e-01, 1.39746533e+00,-6.29157277e-01, 1.45088579e+01,
 -9.25679534e+01, 1.05829205e+02]

qfrc_actuator:
[-1.74346335e-05, 7.67066422e-05, 1.26506598e-04, 2.82207732e-05,
  9.19051750e-05, 2.63473074e-02, 8.47707807e-03, 6.73634423e-03,
 -3.55663678e-05, 4.25363748e-04,-1.63206990e-06, 7.62727813e-05,
  2.52332372e-03,-1.60027269e-03, 0.00000000e+00,-2.60517659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00142940801319371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.12622552e-14, -3.88350637e-14,  1.00000000e+00,  1.60242231e-27,
        1.00000000e+00,  3.88350637e-14, -1.00000000e+00,  0.00000000e+00,
        4.12622552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04304628, -0.07609406,  0.0618377 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20094477e-05, 9.78306535e-06, 1.49553921e-05, 1.21090905e-05,
 -2.15163185e-06,-2.68739845e-05, 1.27953957e-06,-1.74509206e-04,
  3.25699443e-05,-1.68338311e-05, 1.06933213e-05, 1.55048481e-05,
 -3.91753165e-05,-2.17497736e-05,-3.00693918e-05,-9.18304644e-05,
 -1.56734859e-03,-2.43514882e-03,-1.20969139e+00, 2.87458727e-03,
 -2.43167482e-02,-2.36672698e-04]


--- Step 1592 ---
qpos:
[ 3.31818245e-03,-3.21032351e-03, 1.19364458e-02, 4.17644601e-02,
  6.08208628e-03, 7.64204575e-01,-2.92844793e-02, 8.66592271e-01,
  5.84741767e-03, 1.64449020e-02,-9.28158499e-03, 2.59989517e-02,
  1.32930629e+00,-2.07459243e-04, 1.06804512e+00, 6.33863273e-02,
  1.25862807e-02,-3.64070888e-02, 7.43243883e-02, 6.75310130e-01,
 -1.70198371e-01,-6.83831671e-01,-2.17630392e-01]

qacc:
[-1.16655286e+00, 3.81889334e-01,-5.08267489e+00, 1.87984366e+01,
 -1.95625571e-02,-6.63200520e+00, 2.92249706e+01,-6.75984135e+01,
  3.35513840e+00,-2.29437300e+00, 8.98155277e+00,-1.37607752e+01,
 -1.49155833e-01, 5.43846438e-02,-1.77919204e+00, 5.47502926e+00,
 -6.31214667e-01, 1.18913610e+00,-1.42957418e+00, 1.07475633e+01,
 -8.48748450e+01, 9.85131491e+01]

qfrc_actuator:
[-2.40284811e-05, 6.96116871e-05, 1.47973042e-04, 7.01553892e-05,
  8.95382712e-05, 2.63155411e-02, 8.47447162e-03, 6.56202595e-03,
 -1.68065781e-05, 4.41070382e-04, 3.73609188e-05, 6.67223338e-05,
  2.50480239e-03,-1.60503589e-03, 0.00000000e+00,-2.57681615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.35722521,  4.52305362, -7.35722521,  7.33228069,
       -2.12122887,  4.52305362, -2.12122887,  5.18596046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014214707888941247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17296780e-14, -1.17155734e-13,  1.00000000e+00,  3.71731371e-27,
        1.00000000e+00,  1.17155734e-13, -1.00000000e+00,  0.00000000e+00,
        3.17296780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04301031, -0.07604911,  0.06183621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.93422495e-06, 1.97342912e-06, 2.57487797e-05, 4.31091521e-05,
 -3.33360449e-06,-5.23630722e-05,-1.31176815e-05,-1.79097467e-04,
  1.96839959e-05, 9.20616940e-06, 3.73858818e-05,-9.59954993e-06,
 -4.62706330e-05,-1.87852079e-05,-2.72268002e-05, 1.86698851e-05,
  1.04441516e-04, 1.32208634e-04,-1.20945123e+00, 1.91865580e-03,
 -2.44478840e-02,-2.16209944e-04]


--- Step 1593 ---
qpos:
[ 3.31799517e-03,-3.21037811e-03, 1.19371505e-02, 4.17644970e-02,
  6.08406295e-03, 7.64218985e-01,-2.92865169e-02, 8.66680581e-01,
  5.84802197e-03, 1.64448261e-02,-9.28191101e-03, 2.59987122e-02,
  1.32943336e+00,-2.08044268e-04, 1.06825138e+00, 6.33801295e-02,
  1.26790122e-02,-3.62532591e-02, 7.40589856e-02, 6.76771071e-01,
 -1.75048908e-01,-6.82659018e-01,-2.12874290e-01]

qacc:
[ 2.37945726e+00,-9.19148372e-01, 2.15833933e+00, 3.97686042e-01,
  8.65623613e-02, 3.07613819e+00,-1.47319273e+01, 3.45225757e+01,
  1.93615315e+00,-2.05527305e+00, 1.17222889e+01,-2.72455449e+01,
  3.27554025e-01,-7.79287264e-01,-7.81768770e+00, 2.63285771e+01,
  1.51476655e+00, 1.81420482e-01,-2.81214777e+00,-1.42051893e+01,
  8.29255220e+01, 1.29105859e+02]

qfrc_actuator:
[-9.96866697e-06, 4.76189396e-05, 1.60466355e-04, 7.71219435e-05,
  1.05164464e-04, 2.63084969e-02, 8.47359381e-03, 6.65567082e-03,
 -5.93312303e-06, 4.86237385e-04, 6.06349722e-05, 2.53753023e-05,
  2.49977813e-03,-1.62551892e-03, 0.00000000e+00,-2.45010989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014247887521729452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.79219392e-14,  7.79219392e-14,  1.00000000e+00, -6.07182860e-27,
        1.00000000e+00, -7.79219392e-14, -1.00000000e+00,  0.00000000e+00,
        7.79219392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05766179, -0.01463693,  0.06183335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38593627e-05,-1.37341271e-05, 1.75593722e-05, 8.78084304e-06,
  1.41258224e-05,-4.47477887e-05,-1.82154119e-05, 8.75100481e-05,
  1.14377183e-05, 5.76584278e-05, 2.94598536e-05,-3.98453342e-05,
 -3.57340169e-05,-3.56114265e-05,-1.33108143e-05, 1.23617681e-04,
  1.59821590e-03, 2.72721817e-03,-1.20920554e+00, 9.67920714e-04,
 -2.45528144e-02,-1.95430342e-04]


--- Step 1594 ---
qpos:
[ 3.31832283e-03,-3.21069455e-03, 1.19377994e-02, 4.17646546e-02,
  6.08639918e-03, 7.64232452e-01,-2.92886753e-02, 8.66771791e-01,
  5.84840729e-03, 1.64450713e-02,-9.28190655e-03, 2.59976446e-02,
  1.32956005e+00,-2.08110590e-04, 1.06845755e+00, 6.33751271e-02,
  1.27769396e-02,-3.60989700e-02, 7.37798337e-02, 6.78348232e-01,
 -1.80036380e-01,-6.81302112e-01,-2.07985603e-01]

qacc:
[ 4.52253616e+00, 4.93181938e-02,-1.20187976e+00, 3.58662544e+00,
  2.00138542e-01, 4.13152600e+00,-2.17310308e+01, 5.50063863e+01,
 -1.90554512e+00,-2.20029150e+00, 1.19641644e+01,-2.70685356e+01,
 -6.18885222e-01, 1.10394189e+00,-3.67512472e+00, 1.28079919e+01,
  1.29898594e+00, 1.14835254e-01,-3.43728395e+00,-1.05209254e+01,
  7.58389041e+01, 1.20104744e+02]

qfrc_actuator:
[ 1.61331202e-05, 1.68132413e-05, 1.49712690e-04, 8.11839987e-05,
  1.31408586e-04, 2.62277260e-02, 8.45624861e-03, 6.79975211e-03,
 -1.75364742e-05, 4.95362920e-04, 7.45462072e-05,-1.65790549e-05,
  2.49752285e-03,-1.58409527e-03, 0.00000000e+00,-2.39077765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.38805647,  4.47251589, -7.38805647,  7.2459074 ,
       -2.2968659 ,  4.47251589, -2.2968659 ,  4.84221838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014145441456378527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81078452e-14,  3.92431381e-14,  1.00000000e+00, -3.85005972e-27,
        1.00000000e+00, -3.92431381e-14, -1.00000000e+00,  0.00000000e+00,
        9.81078452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05761607, -0.0146431 ,  0.06183183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64901368e-05,-3.44836610e-05,-1.11319495e-05, 4.25021967e-06,
  3.25732603e-05,-1.06695732e-04,-2.57199260e-05, 1.44085825e-04,
 -1.12555108e-05, 4.57592841e-05, 2.80766894e-05,-3.92384922e-05,
 -3.06851392e-05, 2.45121229e-05, 4.79596133e-06, 6.38717015e-05,
  2.15363844e-04, 3.25592443e-04,-1.20836729e+00, 1.22814704e-03,
 -2.44526101e-02,-1.75104957e-04]


--- Step 1595 ---
qpos:
[ 3.31861592e-03,-3.21128851e-03, 1.19388973e-02, 4.17648269e-02,
  6.08886163e-03, 7.64245765e-01,-2.92910845e-02, 8.66859807e-01,
  5.84865076e-03, 1.64454730e-02,-9.28138643e-03, 2.59964364e-02,
  1.32968642e+00,-2.07716766e-04, 1.06866390e+00, 6.33691964e-02,
  1.28461972e-02,-3.59314329e-02, 7.35508792e-02, 6.79516864e-01,
 -1.84905143e-01,-6.80282721e-01,-2.03180558e-01]

qacc:
[-2.84636510e-01,-1.59102502e+00, 5.07914918e+00,-5.33897069e+00,
  7.08021145e-02,-5.07939543e+00, 2.37472883e+01,-5.95900575e+01,
 -1.22373438e+00,-1.52139375e+00, 6.32264821e+00,-9.70017502e+00,
 -6.52503449e-01, 1.14297784e+00, 3.12288146e+00,-1.04113254e+01,
 -7.16748230e+00, 3.31201709e+00, 1.25493485e+01, 1.00947988e+01,
 -2.33769545e+02,-1.41678035e+02]

qfrc_actuator:
[ 1.36015261e-05, 1.63661398e-05, 1.78539575e-04, 8.34858306e-05,
  1.28252197e-04, 2.62454525e-02, 8.44677743e-03, 6.63494508e-03,
 -2.45212195e-05, 5.00547485e-04, 1.00445516e-04,-2.30751042e-05,
  2.48630455e-03,-1.55952578e-03, 0.00000000e+00,-2.44265781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63474984,  0.16694907,  8.63474984,  8.63952291,
       -0.16340013,  0.16694907, -0.16340013, 17.08755922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024899080958630496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5775416 ,  0.5775416 ,  0.57696742,  0.40797757, -0.40797757,
        0.81676716,  0.70710678,  0.70710678,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06293729, -0.0556723 ,  0.06182661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78850241e-06,-2.18359574e-05, 2.04744715e-05, 5.19989149e-07,
  1.14385158e-05,-4.21681594e-05,-2.92216150e-05,-1.65730858e-04,
 -7.29035203e-06, 3.48822777e-05, 3.74523808e-05,-4.32486540e-06,
 -2.25421018e-05, 2.33646902e-05, 4.88649954e-06,-4.86999855e-05,
 -1.23021633e-03,-1.93760151e-03,-1.20755811e+00, 1.46535574e-03,
 -2.43717040e-02,-1.54540557e-04]


--- Step 1596 ---
qpos:
[ 3.31853148e-03,-3.21191416e-03, 1.19405332e-02, 4.17646414e-02,
  6.09095639e-03, 7.64259338e-01,-2.92934015e-02, 8.66941997e-01,
  5.84915350e-03, 1.64459095e-02,-9.28024697e-03, 2.59962040e-02,
  1.32981293e+00,-2.08108208e-04, 1.06886982e+00, 6.33660400e-02,
  1.29074614e-02,-3.57652026e-02, 7.33600811e-02, 6.80318146e-01,
 -1.89708357e-01,-6.79554464e-01,-1.98453245e-01]

qacc:
[-3.29630148e+00,-2.27714975e+00, 9.57818230e+00,-1.66170942e+01,
 -2.03815722e-01,-1.00346997e+01, 4.67166364e+01,-1.12102098e+02,
  2.28060972e+00, 3.19451366e-01,-5.20060012e+00, 2.10833330e+01,
  8.94104125e-01,-1.77288038e+00,-9.10385675e+00, 3.07200859e+01,
 -1.99831578e+00,-3.26709772e-01, 9.53910415e+00,-8.55606161e+00,
 -2.10022384e+02,-1.12943240e+02]

qfrc_actuator:
[-5.76654687e-06, 3.42546085e-05, 2.12879853e-04, 6.70365344e-05,
  8.97923930e-05, 2.62863612e-02, 8.45996140e-03, 6.34299786e-03,
 -1.09717173e-05, 5.03403594e-04, 1.33220287e-04, 2.68528364e-05,
  2.48036671e-03,-1.61622822e-03, 0.00000000e+00,-2.29333027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.26771085, -5.94159722, -6.26771085,  5.87085998,
        2.91729255, -5.94159722,  2.91729255,  5.55895103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017688149860211055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06148923, -0.05500546,  0.06178766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94267616e-05, 9.93587231e-06, 3.23632723e-05,-1.66675327e-05,
 -3.33320606e-05, 6.14981618e-06,-3.57941576e-06,-2.97937765e-04,
  1.33529286e-05, 2.98937572e-05, 4.44360534e-05, 5.26355047e-05,
 -1.32561473e-05,-5.61368912e-05,-8.06990814e-06, 1.46132301e-04,
  2.97260020e-03, 5.43103491e-03,-1.20829739e+00,-6.66145080e-04,
 -2.44733590e-02,-1.29432046e-04]


--- Step 1597 ---
qpos:
[ 3.31856014e-03,-3.21205135e-03, 1.19420636e-02, 4.17642372e-02,
  6.09262526e-03, 7.64272177e-01,-2.92952295e-02, 8.67020813e-01,
  5.84981484e-03, 1.64462889e-02,-9.27861345e-03, 2.59965922e-02,
  1.32993946e+00,-2.09359652e-04, 1.06907546e+00, 6.33660046e-02,
  1.29615046e-02,-3.56207668e-02, 7.32552080e-02, 6.80991541e-01,
 -1.93940043e-01,-6.78891469e-01,-1.94278549e-01]

qacc:
[ 9.80906976e-01, 4.87862043e-01, 1.16468475e-01,-4.08763428e+00,
 -2.35937525e-01,-8.15165631e+00, 3.33227039e+01,-6.99500887e+01,
  1.39988171e+00,-1.81517250e-01,-2.08747121e+00, 1.20858411e+01,
  8.57738812e-01,-1.81978289e+00,-9.89970302e+00, 3.38693835e+01,
 -1.80529002e+00,-5.44864597e+00, 2.14812608e+01, 9.89641026e-01,
  4.34770239e+01,-4.01058668e+02]

qfrc_actuator:
[ 6.25532774e-07, 8.07622251e-05, 2.14754225e-04, 5.74558202e-05,
  6.60992127e-05, 2.61988055e-02, 8.46874333e-03, 6.17395397e-03,
 -3.19867916e-06, 4.87169171e-04, 1.52057758e-04, 5.63170330e-05,
  2.46691593e-03,-1.66737458e-03, 0.00000000e+00,-2.13312526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002188433210785566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07314100e-14,  2.53657050e-14,  1.00000000e+00, -1.28683798e-27,
        1.00000000e+00, -2.53657050e-14, -1.00000000e+00,  0.00000000e+00,
        5.07314100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0018511 , -0.00789209,  0.06174036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84192669e-06, 5.80319948e-05, 7.32552052e-06,-8.36070862e-06,
 -3.86409641e-05,-9.47300625e-05, 5.19021160e-07,-1.75711901e-04,
  8.16476052e-06, 1.18945262e-05, 3.22889844e-05, 3.33037198e-05,
 -3.41290075e-05,-6.77806061e-05, 9.94046177e-06, 1.66697579e-04,
  5.62674912e-03, 1.21147127e-02,-1.20841613e+00,-2.49646457e-03,
 -2.44124035e-02,-1.02922317e-04]


--- Step 1598 ---
qpos:
[ 3.31901013e-03,-3.21192495e-03, 1.19434214e-02, 4.17634095e-02,
  6.09413762e-03, 7.64284170e-01,-2.92971990e-02, 8.67098417e-01,
  5.85056451e-03, 1.64465525e-02,-9.27692497e-03, 2.59970241e-02,
  1.33006572e+00,-2.10934677e-04, 1.06928118e+00, 6.33672166e-02,
  1.30094402e-02,-3.54945107e-02, 7.32199411e-02, 6.81562032e-01,
 -1.97689788e-01,-6.78287991e-01,-1.90571105e-01]

qacc:
[ 3.68780317e+00,-4.89763055e-02, 2.45395857e+00,-9.68546783e+00,
 -8.67341656e-02,-2.83477419e+00, 1.07233562e+01,-2.36039319e+01,
  7.74158339e-01,-2.18262428e-01, 3.69282371e-01, 3.86395921e-01,
  1.17176677e-01,-4.81538450e-01,-3.66573185e+00, 1.29560696e+01,
 -1.52687311e+00,-4.54488312e+00, 1.74015426e+01, 1.29477958e+00,
  3.69304570e+01,-3.38463070e+02]

qfrc_actuator:
[ 2.21340844e-05, 7.29233229e-05, 1.97577342e-04, 3.42476915e-05,
  6.92239232e-05, 2.61415768e-02, 8.45669764e-03, 6.11403623e-03,
  1.10546012e-06, 4.59558418e-04, 1.44657765e-04, 5.57152893e-05,
  2.45429024e-03,-1.67929319e-03, 0.00000000e+00,-2.07436591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.32710792,   4.57168092,   7.32710792,
        20.88124987, -19.62507979,   4.57168092, -19.62507979,
        40.08980056,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002551509815709424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17561974e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.17561974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00191011, -0.00825821,  0.06170136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16942078e-05, 2.57575419e-05,-4.59283474e-06,-2.06340330e-05,
 -1.42211504e-05,-1.15565554e-04,-3.60545445e-05,-6.69218353e-05,
  4.54260028e-06,-1.28910811e-05, 1.62339647e-07, 1.66779424e-06,
 -4.73888206e-05,-3.64427799e-05, 1.94825647e-05, 6.84737338e-05,
  4.44582299e-03, 9.61627137e-03,-1.21027122e+00,-2.20049078e-03,
 -2.44606103e-02,-8.73487129e-05]


--- Step 1599 ---
qpos:
[ 3.31936973e-03,-3.21177555e-03, 1.19444005e-02, 4.17623563e-02,
  6.09539899e-03, 7.64295345e-01,-2.92987715e-02, 8.67175356e-01,
  5.85136025e-03, 1.64466148e-02,-9.27583532e-03, 2.59978484e-02,
  1.33019153e+00,-2.12150039e-04, 1.06948733e+00, 6.33661294e-02,
  1.30521636e-02,-3.53835209e-02, 7.32405360e-02, 6.82048522e-01,
 -2.01028047e-01,-6.77738814e-01,-1.87263554e-01]

qacc:
[-8.05773478e-01, 6.25915876e-01,-1.23383231e+00,-2.08067206e+00,
 -1.39026687e-01,-3.30293747e+00, 1.10546044e+01,-1.73426759e+01,
  3.86805850e-01, 2.21468091e+00,-9.94088960e+00, 1.78396290e+01,
 -7.87043642e-01, 1.21490282e+00, 7.63788184e+00,-2.56526007e+01,
 -1.30305811e+00,-3.81660807e+00, 1.39654358e+01, 1.47640029e+00,
  3.17430497e+01,-2.89203912e+02]

qfrc_actuator:
[ 1.68537936e-05, 5.02586451e-05, 1.69079070e-04, 2.09080188e-05,
  5.28350838e-05, 2.61207020e-02, 8.48584820e-03, 6.08327671e-03,
  3.33507194e-06, 4.25203363e-04, 1.04004145e-04, 7.29079456e-05,
  2.44218310e-03,-1.65011493e-03, 0.00000000e+00,-2.20011723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.14674056,   2.86659993,   8.14674056,
        12.61704246, -11.31289977,   2.86659993, -11.31289977,
        40.78708637,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0028145271616690365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00195008, -0.00850672,  0.06167442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65394557e-06,-1.01060334e-05,-2.44744902e-05,-1.27993962e-05,
 -2.27840006e-05,-9.44619736e-05, 1.03407907e-07,-3.70659301e-05,
  2.35790492e-06,-4.14851156e-05,-4.32619581e-05, 1.66729312e-05,
 -4.69281362e-05, 9.16905677e-06, 1.15723153e-05,-1.20590242e-04,
  3.55027926e-03, 7.71347122e-03,-1.21164387e+00,-2.01662226e-03,
 -2.44985854e-02,-7.33234817e-05]


--- Step 1600 ---
qpos:
[ 3.31931837e-03,-3.21150427e-03, 1.19452534e-02, 4.17611216e-02,
  6.09643529e-03, 7.64306160e-01,-2.93002948e-02, 8.67254065e-01,
  5.85183163e-03, 1.64467032e-02,-9.27587012e-03, 2.59981897e-02,
  1.33031668e+00,-2.12227296e-04, 1.06969352e+00, 6.33635651e-02,
  1.30903987e-02,-3.52854447e-02, 7.33054437e-02, 6.82465512e-01,
 -2.04010767e-01,-6.77239330e-01,-1.84302256e-01]

qacc:
[-3.61322365e+00, 1.46966424e-01, 4.87873824e-01,-3.53042872e+00,
 -1.25560320e-01, 2.47052771e+00,-1.27421564e+01, 3.29378249e+01,
 -2.86483413e+00, 2.18845180e+00,-5.70375831e+00,-8.88643428e-01,
 -1.45798161e+00, 2.63853532e+00, 4.64233336e+00,-1.58646766e+01,
 -1.12206022e+00,-3.22839855e+00, 1.10781994e+01, 1.57998613e+00,
  2.75953462e+01,-2.50066287e+02]

qfrc_actuator:
[-4.15662039e-06, 7.20915346e-05, 1.69568235e-04, 1.34607223e-05,
  4.26478227e-05, 2.61397037e-02, 8.50372936e-03, 6.17646459e-03,
 -1.34257358e-05, 4.22438832e-04, 4.40301352e-05, 4.71530691e-05,
  2.42508871e-03,-1.57907974e-03, 0.00000000e+00,-2.27375365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44080274,  1.82746436,  8.44080274, 10.03080501,
       -6.44072999,  1.82746436, -6.44072999, 38.38519619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002995904774892817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85290106e-14, -1.85290106e-14,  1.00000000e+00,  3.43324233e-28,
        1.00000000e+00,  1.85290106e-14, -1.00000000e+00,  0.00000000e+00,
        1.85290106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00197582, -0.00866432,  0.06165699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11462549e-05, 1.05607439e-05,-5.06668994e-06,-8.97629195e-06,
 -2.04217275e-05,-3.47812224e-05,-1.93032263e-06, 8.93259730e-05,
 -1.67051641e-05,-3.41986096e-05,-7.33096509e-05,-2.87094663e-05,
 -4.13883973e-05, 6.24568560e-05,-1.39315936e-05,-8.02034373e-05,
  2.85982966e-03, 6.24053927e-03,-1.21267769e+00,-1.90796376e-03,
 -2.45281533e-02,-6.06666249e-05]


--- Step 1601 ---
qpos:
[ 3.31867066e-03,-3.21123817e-03, 1.19461326e-02, 4.17598125e-02,
  6.09769151e-03, 7.64317155e-01,-2.93023606e-02, 8.67332913e-01,
  5.85209838e-03, 1.64467372e-02,-9.27608220e-03, 2.59974736e-02,
  1.33044119e+00,-2.10689869e-04, 1.06989932e+00, 6.33624596e-02,
  1.31247327e-02,-3.51983810e-02, 7.34049787e-02, 6.82824270e-01,
 -2.06682756e-01,-6.76785533e-01,-1.81644150e-01]

qacc:
[-5.23325336e+00,-2.23554789e-01, 1.11840548e+00,-2.46215095e+00,
  1.21970414e-01, 1.94401430e+00,-6.41865288e+00, 7.31238480e+00,
 -1.78982893e+00,-1.74966037e+00, 1.06051496e+01,-2.85893929e+01,
 -1.60328984e+00, 3.17648689e+00,-4.83697703e+00, 1.64193120e+01,
 -9.75296557e-01,-2.75311186e+00, 8.65684498e+00, 1.63538955e+00,
  2.42533396e+01,-2.18707420e+02]

qfrc_actuator:
[-3.42483771e-05, 6.72570026e-05, 1.69596356e-04, 9.59519345e-06,
  7.17612545e-05, 2.61647472e-02, 8.47953257e-03, 6.18207939e-03,
 -2.34761483e-05, 4.38481735e-04, 4.42395924e-05,-3.65186195e-06,
  2.41568793e-03,-1.48385268e-03, 0.00000000e+00,-2.19175514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54879111,  1.22676297,  8.54879111,  9.21246828,
       -4.01462905,  1.22676297, -4.01462905, 36.61261173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003110878323518765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92210261e-15, -1.78442052e-14,  1.00000000e+00,  1.59207830e-28,
        1.00000000e+00,  1.78442052e-14, -1.00000000e+00,  0.00000000e+00,
        8.92210261e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00199087, -0.00875148,  0.06164703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06913163e-05,-3.84261645e-07, 1.26533432e-06,-3.76207985e-06,
  1.99455761e-05, 7.99319076e-06,-2.86510612e-05, 6.47227831e-06,
 -1.05367483e-05,-1.94625074e-05,-1.68779796e-05,-5.53659002e-05,
 -1.82331179e-05, 1.00984553e-04,-1.98844249e-05, 7.47188017e-05,
  2.31936767e-03, 5.08318842e-03,-1.21346884e+00,-1.84998334e-03,
 -2.45509463e-02,-4.92283638e-05]


--- Step 1602 ---
qpos:
[ 3.31766727e-03,-3.21111001e-03, 1.19467563e-02, 4.17591949e-02,
  6.09903611e-03, 7.64328625e-01,-2.93044719e-02, 8.67409087e-01,
  5.85258740e-03, 1.64464647e-02,-9.27568169e-03, 2.59961310e-02,
  1.33056546e+00,-2.08286342e-04, 1.07010500e+00, 6.33619662e-02,
  1.31555727e-02,-3.51209194e-02, 7.35310404e-02, 6.83132707e-01,
 -2.09075837e-01,-6.76375137e-01,-1.79258675e-01]

qacc:
[-3.12715578e+00, 1.96369453e+00,-1.01719661e+01, 2.26347720e+01,
  4.95168314e-02,-3.90082770e+00, 1.96927334e+01,-5.01122811e+01,
  1.96239916e+00,-3.41090291e+00, 1.42126067e+01,-2.58024290e+01,
 -8.00606868e-01, 1.65259989e+00,-1.94731477e+00, 6.73273339e+00,
 -8.73474728e-01,-2.40050907e+00, 6.63165587e+00, 1.70728924e+00,
  2.16588290e+01,-1.96516882e+02]

qfrc_actuator:
[-5.16865444e-05, 4.65003185e-05, 1.51493093e-04, 4.33493840e-05,
  7.08422444e-05, 2.62107723e-02, 8.48391888e-03, 6.04731015e-03,
 -1.17376961e-05, 4.30373817e-04, 8.00617233e-05,-3.32139380e-05,
  2.40559953e-03,-1.44605286e-03, 0.00000000e+00,-2.16074171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58220179,  0.96570662,  8.58220179,  8.9759512 ,
       -3.01790311,  0.96570662, -3.01790311, 35.45636567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031734223044206644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37312985e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.37312985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00190308, -0.00857612,  0.06164283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83138964e-05,-2.08970100e-05,-1.81655368e-05, 3.37100505e-05,
  8.03050828e-06, 4.47555472e-05, 2.79623071e-06,-1.35227697e-04,
  1.14323547e-05,-2.48505023e-05, 2.78116631e-05,-3.20551475e-05,
  3.32186792e-06, 5.82262218e-05,-4.25116219e-06, 3.18613021e-05,
  1.89039505e-03, 4.16124471e-03,-1.21408307e+00,-1.82609595e-03,
 -2.45683432e-02,-3.88835769e-05]


--- Step 1603 ---
qpos:
[ 3.31680747e-03,-3.21132033e-03, 1.19472624e-02, 4.17590034e-02,
  6.10021195e-03, 7.64340666e-01,-2.93062395e-02, 8.67481297e-01,
  5.85321339e-03, 1.64457531e-02,-9.27506949e-03, 2.59948346e-02,
  1.33068980e+00,-2.06135668e-04, 1.07031044e+00, 6.33631710e-02,
  1.31833124e-02,-3.50518102e-02, 7.36768338e-02, 6.83397999e-01,
 -2.11219887e-01,-6.76005104e-01,-1.77117007e-01]

qacc:
[ 1.26264451e+00, 7.56784282e-01,-5.14844044e+00, 1.29606874e+01,
 -9.32337905e-02,-7.07208810e+00, 3.32216386e+01,-7.78375332e+01,
  1.20866826e+00,-1.07909978e+00, 2.80630023e+00,-2.01663652e+00,
  3.62042960e-01,-6.67587256e-01,-5.51003482e+00, 1.86924114e+01,
 -7.75106523e-01,-2.08813807e+00, 4.93293543e+00, 1.71522760e+00,
  1.94303866e+01,-1.75582226e+02]

qfrc_actuator:
[-4.37820455e-05, 1.63251728e-05, 1.40535024e-04, 6.34339975e-05,
  5.19473324e-05, 2.62512673e-02, 8.50517517e-03, 5.84881987e-03,
 -5.02358949e-06, 3.90296763e-04, 8.32746225e-05,-3.22855549e-05,
  2.38976046e-03,-1.47811194e-03, 0.00000000e+00,-2.07129296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59376934,  0.85668279,  8.59376934,  8.92679707,
       -2.91346803,  0.85668279, -2.91346803, 37.86266836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00319296513015465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73854549e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73854549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00190421, -0.00856805,  0.0616432 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.37395862e-06,-4.41827234e-05,-1.63510231e-05, 1.92177753e-05,
 -1.52838967e-05, 6.12486397e-05, 2.62680494e-05,-2.00038258e-04,
  7.03265504e-06,-4.95887046e-05, 3.97675881e-07, 2.04228960e-07,
 -4.77901073e-07,-1.69686835e-05,-2.34245791e-06, 8.97715396e-05,
  1.54143259e-03, 3.40979798e-03,-1.21457337e+00,-1.82287562e-03,
 -2.45818400e-02,-2.95551451e-05]


--- Step 1604 ---
qpos:
[ 3.31639389e-03,-3.21195410e-03, 1.19479456e-02, 4.17593902e-02,
  6.10118319e-03, 7.64352768e-01,-2.93078316e-02, 8.67550623e-01,
  5.85391484e-03, 1.64449834e-02,-9.27487925e-03, 2.59942454e-02,
  1.33081408e+00,-2.04263140e-04, 1.07051606e+00, 6.33634118e-02,
  1.32082683e-02,-3.49900523e-02, 7.38366885e-02, 6.83625888e-01,
 -2.13139263e-01,-6.75672849e-01,-1.75195607e-01]

qacc:
[ 3.92966901e+00, 1.29311243e-01,-3.72556227e+00, 1.37733122e+01,
 -1.13331521e-01,-5.40347024e+00, 2.44420130e+01,-5.65991295e+01,
  6.46356590e-01, 2.55703354e+00,-1.22168690e+01, 2.51758190e+01,
  1.04197159e-01,-3.55925661e-01, 3.17007431e+00,-1.07241205e+01,
 -6.95930832e-01,-1.83778320e+00, 3.51533601e+00, 1.71612749e+00,
  1.76082606e+01,-1.58508851e+02]

qfrc_actuator:
[-2.10289479e-05,-1.49269761e-06, 1.51580869e-04, 9.30583708e-05,
  4.02413080e-05, 2.62171478e-02, 8.50067711e-03, 5.70322106e-03,
 -1.32770078e-06, 4.02303839e-04, 6.70778264e-05, 4.26755993e-06,
  2.37577692e-03,-1.49805594e-03, 0.00000000e+00,-2.12564043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.57850629,  0.99800139,  8.57850629,  9.07755316,
       -3.79232653,  0.99800139, -3.79232653, 41.23401065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003177482835091415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74701656e-14,  1.74701656e-14,  1.00000000e+00, -3.05206685e-28,
        1.00000000e+00, -1.74701656e-14, -1.00000000e+00,  0.00000000e+00,
        1.74701656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00190056, -0.00852686,  0.06164718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29477664e-05,-4.50716342e-05, 5.68345130e-07, 2.75397266e-05,
 -1.85516326e-05,-1.69115031e-06, 4.51238450e-06,-1.47381391e-04,
  3.87828200e-06,-1.56064006e-05,-2.63795699e-05, 3.44487075e-05,
 -1.83611153e-05,-2.40838904e-05, 5.60665517e-06,-5.04317156e-05,
  1.25813268e-03, 2.79756926e-03,-1.21496246e+00,-1.83471043e-03,
 -2.45918946e-02,-2.11410710e-05]


--- Step 1605 ---
qpos:
[ 3.31694623e-03,-3.21305024e-03, 1.19487962e-02, 4.17601346e-02,
  6.10198244e-03, 7.64364383e-01,-2.93092083e-02, 8.67617717e-01,
  5.85465492e-03, 1.64444569e-02,-9.27531442e-03, 2.59937283e-02,
  1.33093820e+00,-2.02357013e-04, 1.07072214e+00, 6.33593224e-02,
  1.32306643e-02,-3.49348975e-02, 7.40058799e-02, 6.83820595e-01,
 -2.14852190e-01,-6.75376716e-01,-1.73476864e-01]

qacc:
[ 8.49134055e+00,-3.58601142e-01,-1.14497222e+00, 7.43479379e+00,
 -9.49966997e-02,-5.10451336e+00, 2.10915522e+01,-4.54187077e+01,
  3.13349709e-01, 2.21727301e+00,-7.74494806e+00, 9.81494130e+00,
 -4.47602218e-01, 6.05228612e-01, 1.37697144e+01,-4.71305780e+01,
 -6.39973646e-01,-1.65081469e+00, 2.33414640e+00, 1.72909408e+00,
  1.61246889e+01,-1.45773320e+02]

qfrc_actuator:
[ 2.80258742e-05,-2.94284717e-05, 1.57828801e-04, 1.10331285e-04,
  3.29519612e-05, 2.61562929e-02, 8.49850990e-03, 5.58986048e-03,
  5.63979295e-07, 4.27603495e-04, 3.97842040e-05, 8.25816071e-06,
  2.36824079e-03,-1.49285184e-03, 0.00000000e+00,-2.35304578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51636084,  1.43470375,  8.51636084,  9.72353359,
       -6.45341006,  1.43470375, -6.45341006, 46.94362304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00313431547509887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25908531e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.25908531e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00182901, -0.00835355,  0.06165393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96928043e-05,-5.18193879e-05,-2.04077037e-06, 1.58961786e-05,
 -1.56106389e-05,-6.59141249e-05,-6.49719836e-06,-1.16620650e-04,
  1.99468228e-06, 1.26302043e-05,-3.25659292e-05, 3.08205329e-06,
 -2.37389955e-05,-4.78532161e-06,-7.63757374e-06,-2.30573610e-04,
  1.02579362e-03, 2.29368239e-03,-1.21527425e+00,-1.85591803e-03,
 -2.45992598e-02,-1.35663091e-05]


--- Step 1606 ---
qpos:
[ 3.31808236e-03,-3.21441451e-03, 1.19494149e-02, 4.17603926e-02,
  6.10245820e-03, 7.64375382e-01,-2.93101541e-02, 8.67681204e-01,
  5.85541193e-03, 1.64439915e-02,-9.27549343e-03, 2.59932250e-02,
  1.33106221e+00,-2.00670680e-04, 1.07092795e+00, 6.33542110e-02,
  1.32530233e-02,-3.48863939e-02, 7.41745800e-02, 6.84044198e-01,
 -2.16347707e-01,-6.75061223e-01,-1.71957992e-01]

qacc:
[ 5.12101574e+00,-7.18720738e-01, 4.08315294e+00,-1.19130693e+01,
 -1.78914706e-01,-8.24168210e+00, 3.43310834e+01,-7.37031519e+01,
  1.54635897e-01,-6.07374128e-01, 2.22421515e+00,-2.44069545e+00,
  3.89251043e-02,-2.41382503e-01, 2.68408122e+00,-9.98047150e+00,
 -9.24451168e-03,-1.66277156e+00,-1.22811131e-01, 8.26614857e+00,
  5.67063698e+01,-1.37169431e+02]

qfrc_actuator:
[ 5.66582794e-05,-4.54740540e-05, 1.43384307e-04, 8.46774647e-05,
  1.06092056e-05, 2.61154265e-02, 8.51538360e-03, 5.40758357e-03,
  1.37977105e-06, 4.42847946e-04, 5.94626049e-05, 1.08160507e-05,
  2.35926060e-03,-1.50826461e-03, 0.00000000e+00,-2.39649191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.31876621,   2.32053992,   8.31876621,
        11.66460025, -10.85574619,   2.32053992, -10.85574619,
        47.55248556,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003085262777392489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79923576e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79923576e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01885199,  0.00340239,  0.06166134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00316530e-05,-4.47199608e-05,-2.48506523e-05,-2.76379835e-05,
 -2.93542946e-05,-8.26914424e-05,-4.68167187e-07,-1.87228244e-04,
  8.76350883e-07, 1.57408202e-05, 1.83958821e-05, 2.03567733e-06,
 -2.41635932e-05,-2.17006690e-05,-3.41676003e-05,-5.84282352e-05,
  8.32444164e-04, 1.87337734e-03,-1.21552808e+00,-1.88191701e-03,
 -2.46046247e-02,-6.77719287e-06]


--- Step 1607 ---
qpos:
[ 3.31920828e-03,-3.21586979e-03, 1.19497529e-02, 4.17603218e-02,
  6.10264092e-03, 7.64386345e-01,-2.93118093e-02, 8.67744093e-01,
  5.85582803e-03, 1.64434894e-02,-9.27538839e-03, 2.59927664e-02,
  1.33118602e+00,-1.99133104e-04, 1.07113363e+00, 6.33478917e-02,
  1.32677401e-02,-3.48517300e-02, 7.43409450e-02, 6.84316365e-01,
 -2.17661087e-01,-6.74717754e-01,-1.70560009e-01]

qacc:
[-9.71568180e-02,-1.27854137e-02, 1.25786692e+00,-6.42899894e+00,
 -1.63771873e-01, 8.29080091e-01,-1.42114155e+00,-5.87682002e+00,
 -2.96374260e+00,-7.44199294e-01, 2.40426774e+00,-2.06701344e+00,
 -1.10732632e-01,-1.38720877e-02, 3.45475934e+00,-1.23617565e+01,
 -1.91057633e+00,-3.45994337e+00,-5.83773588e-01, 2.43388189e+01,
  5.46974167e+01,-9.56215867e+01]

qfrc_actuator:
[ 5.52803610e-05,-3.66421912e-05, 1.34609284e-04, 6.94738809e-05,
 -2.79265564e-06, 2.61401340e-02, 8.49012228e-03, 5.38150216e-03,
 -1.61963504e-05, 4.34391559e-04, 7.11875500e-05, 1.25439064e-05,
  2.34408779e-03,-1.51805494e-03, 0.00000000e+00,-2.45540711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.73691956,  6.45558137, -5.73691956,  9.67244883,
        0.92074394,  6.45558137,  0.92074394,  9.45460658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033779241280790114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16508901e-01, -3.16508901e-01,  8.94228288e-01, -1.05607199e-01,
        9.48589540e-01,  2.98370581e-01, -9.42692545e-01, -1.38777878e-17,
       -3.33662651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01893214,  0.00354905,  0.06167016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32310793e-07,-2.24439856e-05,-2.20235180e-05,-1.85174902e-05,
 -2.65811267e-05,-2.74771857e-05,-4.73466646e-05,-3.29907326e-05,
 -1.75480884e-05, 4.25591339e-06, 1.73221069e-05, 3.08122269e-06,
 -3.45270799e-05,-2.03159844e-05,-2.48256827e-05,-6.71597049e-05,
  5.23901236e-04, 1.07043151e-03,-1.21578578e+00,-1.81213593e-03,
 -2.46256789e-02,-1.42433387e-06]


--- Step 1608 ---
qpos:
[ 3.31996443e-03,-3.21753771e-03, 1.19499771e-02, 4.17604185e-02,
  6.10280031e-03, 7.64397480e-01,-2.93141062e-02, 8.67810297e-01,
  5.85603017e-03, 1.64431176e-02,-9.27572584e-03, 2.59920162e-02,
  1.33130950e+00,-1.97436878e-04, 1.07133898e+00, 6.33422149e-02,
  1.32766085e-02,-3.48286424e-02, 7.45020888e-02, 6.84631207e-01,
 -2.18802148e-01,-6.74350508e-01,-1.69284147e-01]

qacc:
[-3.24528744e+00, 3.88449980e-01,-2.48765917e+00, 5.71001832e+00,
 -1.42748100e-02, 7.72650327e+00,-3.26890046e+01, 6.90529737e+01,
 -1.88225651e+00, 8.12117902e-01,-1.40844127e+00,-3.03377108e+00,
 -3.19035720e-01, 4.47791083e-01,-2.39670028e+00, 7.74158145e+00,
 -1.46207335e+00,-2.89407564e+00,-1.30529161e+00, 2.03787440e+01,
  5.05179120e+01,-9.36911309e+01]

qfrc_actuator:
[ 3.62567442e-05,-4.84589812e-05, 1.29377487e-04, 7.83298635e-05,
  7.02159788e-06, 2.61861010e-02, 8.47605327e-03, 5.55408872e-03,
 -2.67039147e-05, 4.29540475e-04, 4.25048141e-05,-4.01544580e-06,
  2.33053792e-03,-1.50670228e-03, 0.00000000e+00,-2.41649323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.7909137 , -6.40719092,  5.7909137 ,  5.09913305,
       -3.1970012 , -6.40719092, -3.1970012 ,  5.74686678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032927105513082654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18825120e-01, -3.18825120e-01,  8.92581137e-01, -1.07246258e-01,
        9.47813559e-01,  3.00246061e-01, -9.41726491e-01, -1.38777878e-17,
       -3.36379572e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01903693,  0.00370866,  0.06168048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90406778e-05,-2.96645826e-05,-1.32089658e-05, 6.77448408e-06,
 -2.11447999e-06, 2.00782663e-05,-2.60051120e-05, 1.69532896e-04,
 -1.10115079e-05, 1.25218151e-06,-2.55566223e-05,-1.57149191e-05,
 -3.82323728e-05,-1.33897443e-06,-2.21634762e-05, 3.12406577e-05,
  2.60311634e-04, 4.59391711e-04,-1.21611283e+00,-1.77349767e-03,
 -2.46790751e-02, 3.31683811e-06]


--- Step 1609 ---
qpos:
[ 3.32014167e-03,-3.21914218e-03, 1.19497438e-02, 4.17602633e-02,
  6.10301377e-03, 7.64407961e-01,-2.93150685e-02, 8.67878024e-01,
  5.85644933e-03, 1.64430497e-02,-9.27654862e-03, 2.59917451e-02,
  1.33143276e+00,-1.95888858e-04, 1.07154379e+00, 6.33400175e-02,
  1.32811034e-02,-3.48152913e-02, 7.46556010e-02, 6.84983913e-01,
 -2.19778978e-01,-6.73962946e-01,-1.68131454e-01]

qacc:
[-5.09672075e+00, 8.53870250e-01,-1.84320847e+00,-1.84720555e+00,
  3.12892822e-02,-1.82311900e+00, 1.47004654e+00, 1.73782262e+01,
  1.87261924e+00, 2.74065778e+00,-1.12179525e+01, 2.00672806e+01,
  1.84138579e-01,-4.43787553e-01,-1.13133105e+01, 3.83873870e+01,
 -1.09338676e+00,-2.43410814e+00,-1.90789792e+00, 1.71118419e+01,
  4.70970618e+01,-9.21100215e+01]

qfrc_actuator:
[ 7.00934107e-06,-3.70016836e-05, 1.08464380e-04, 6.57517281e-05,
  1.28603965e-05, 2.61381127e-02, 8.53992612e-03, 5.62916875e-03,
 -1.52083022e-05, 4.62205732e-04, 2.56956409e-05, 2.20292165e-05,
  2.31798062e-03,-1.51841699e-03, 0.00000000e+00,-2.23148598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.73151557, -6.46037972,  5.73151557,  5.07052274,
       -3.16354046, -6.46037972, -3.16354046,  5.82973583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003190691044852297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32037891, -0.32037891,  0.89146772, -0.10835405,  0.94728948,
        0.30149967, -0.94107213,  0.        , -0.33820592])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01916019,  0.00387698,  0.06169187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97948298e-05,-7.52082080e-06,-2.84162914e-05,-1.41703736e-05,
  4.89104277e-06,-3.68195615e-05, 6.98902369e-05, 7.87893977e-05,
  1.11804117e-05, 2.74288429e-05,-2.02314871e-05, 2.49119558e-05,
 -3.45542965e-05,-2.08039653e-05,-9.79307902e-06, 1.83213540e-04,
  1.07010034e-05, 9.63390373e-06,-1.21634715e+00,-1.75589999e-03,
 -2.47127408e-02, 8.37699855e-06]


--- Step 1610 ---
qpos:
[ 3.31996666e-03,-3.22043869e-03, 1.19493962e-02, 4.17595575e-02,
  6.10328882e-03, 7.64417848e-01,-2.93150371e-02, 8.67944065e-01,
  5.85665823e-03, 1.64428984e-02,-9.27713842e-03, 2.59914424e-02,
  1.33155591e+00,-1.94990773e-04, 1.07174837e+00, 6.33410225e-02,
  1.32824292e-02,-3.48101905e-02, 7.47994734e-02, 6.85370574e-01,
 -2.20598246e-01,-6.73557902e-01,-1.67102794e-01]

qacc:
[-3.10093381e+00,-4.02165713e-01, 4.35737102e+00,-1.39386748e+01,
  3.57706747e-02,-6.39589262e+00, 2.39143920e+01,-4.13050952e+01,
 -1.82498113e+00,-8.22837265e-01, 2.91351551e+00,-3.77789416e+00,
  6.08998506e-01,-1.35806030e+00,-1.00798917e+01, 3.46139536e+01,
 -7.92262599e-01,-2.06258221e+00,-2.40995667e+00, 1.44287607e+01,
  4.43053933e+01,-9.08006032e+01]

qfrc_actuator:
[-1.02626555e-05, 5.98168860e-06, 1.14036947e-04, 4.06653630e-05,
  1.62458453e-05, 2.60877674e-02, 8.57783405e-03, 5.53969752e-03,
 -2.63614341e-05, 4.46144406e-04, 3.39830854e-05, 1.97244015e-05,
  2.30069458e-03,-1.56148137e-03, 0.00000000e+00,-2.06843249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.67106489, -6.51350903,  5.67106489,  5.08009878,
       -3.09630472, -6.51350903, -3.09630472,  5.94052874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030762252620401866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.21382058e-01, -3.21382058e-01,  8.90745275e-01, -1.09072780e-01,
        9.46949615e-01,  3.02307056e-01, -9.40646959e-01,  1.38777878e-17,
       -3.39386651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01929684,  0.00405066,  0.06170402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81162134e-05, 3.23514471e-05, 5.16366385e-08,-2.66620132e-05,
  5.57262478e-06,-5.46840760e-05, 4.10080535e-05,-8.67524209e-05,
 -1.08243972e-05,-3.81654526e-06, 1.23342954e-05,-1.34236591e-06,
 -4.13563566e-05,-5.62653422e-05, 1.30892159e-05, 1.71368784e-04,
 -2.21138809e-04,-3.05151203e-04,-1.21650873e+00,-1.75507467e-03,
 -2.47310624e-02, 1.35205541e-05]


--- Step 1611 ---
qpos:
[ 3.32027555e-03,-3.22131414e-03, 1.19492693e-02, 4.17588630e-02,
  6.10380796e-03, 7.64427552e-01,-2.93151421e-02, 8.68007164e-01,
  5.85673244e-03, 1.64420174e-02,-9.27729526e-03, 2.59911847e-02,
  1.33167880e+00,-1.94352715e-04, 1.07195316e+00, 6.33423014e-02,
  1.32815626e-02,-3.48121483e-02, 7.49320375e-02, 6.85788030e-01,
 -2.21265442e-01,-6.73137670e-01,-1.66198854e-01]

qacc:
[ 4.24686982e+00,-4.55823070e-02, 9.07913124e-01,-1.36009024e+00,
  1.36531921e-01,-4.98615701e+00, 2.28063088e+01,-5.56680660e+01,
 -1.14876206e+00,-2.07943772e+00, 5.82863042e+00,-5.20761374e+00,
 -8.50427111e-04,-2.68831170e-01,-5.10776272e-01, 2.24114876e+00,
 -5.48123279e-01,-1.76465639e+00,-2.82708852e+00, 1.22372908e+01,
  4.20376127e+01,-8.97058764e+01]

qfrc_actuator:
[ 1.51607642e-05, 4.98581698e-05, 1.35340736e-04, 4.39788664e-05,
  3.58827700e-05, 2.60717144e-02, 8.56446473e-03, 5.38959905e-03,
 -3.30107275e-05, 3.65607619e-04, 3.90516772e-05, 1.84815563e-05,
  2.29122142e-03,-1.56953664e-03, 0.00000000e+00,-2.06168695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.60932381, -6.56675439,  5.60932381,  5.13562867,
       -2.99032899, -6.56675439, -2.99032899,  6.0820236 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002952925041589573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32199788, -0.32199788,  0.89030036, -0.10951538,  0.94674039,
        0.30280194, -0.94038489,  0.        , -0.34011211])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01944278,  0.00422703,  0.06171664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49243959e-05, 6.08828470e-05, 2.70915877e-05, 4.18808745e-06,
  2.21299202e-05,-4.12865897e-05,-2.21172726e-05,-1.52579943e-04,
 -6.96249709e-06,-8.01707931e-05, 5.76300545e-06,-1.00292521e-06,
 -4.54527786e-05,-3.16130895e-05, 2.11630714e-05, 1.70629930e-05,
 -4.33495995e-04,-5.04757728e-04,-1.21661299e+00,-1.76773319e-03,
 -2.47374705e-02, 1.85822627e-05]


--- Step 1612 ---
qpos:
[ 3.32054191e-03,-3.22205731e-03, 1.19495034e-02, 4.17585858e-02,
  6.10436688e-03, 7.64437120e-01,-2.93156884e-02, 8.68066949e-01,
  5.85672616e-03, 1.64406045e-02,-9.27769809e-03, 2.59912825e-02,
  1.33180133e+00,-1.93597377e-04, 1.07215819e+00, 6.33423375e-02,
  1.32856698e-02,-3.48137208e-02, 7.50507506e-02, 6.86215867e-01,
 -2.21768866e-01,-6.72714038e-01,-1.65475609e-01]

qacc:
[-3.63874338e-01, 2.64323259e-02,-1.59989482e+00, 8.14470353e+00,
  2.24802104e-02,-4.74305197e+00, 2.29258221e+01,-6.02441386e+01,
 -7.00433656e-01, 7.17461355e-01,-5.07683630e+00, 1.20109492e+01,
 -4.49121815e-01, 5.98809813e-01, 4.13306831e+00,-1.38755008e+01,
  1.24346616e+00, 9.63400650e-02,-3.46273173e+00,-3.79386990e+00,
  3.82601617e+01,-1.15841384e+02]

qfrc_actuator:
[ 1.22482978e-05, 4.07763368e-05, 1.48041341e-04, 6.39906709e-05,
  2.95581851e-05, 2.60583110e-02, 8.53881437e-03, 5.22280818e-03,
 -3.69491707e-05, 3.35828365e-04, 2.41431593e-05, 3.55645147e-05,
  2.28112761e-03,-1.55671637e-03, 0.00000000e+00,-2.12932601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.09405328, -6.11958262,  6.09405328,  8.20738319,
       -0.42719085, -6.11958262, -0.42719085,  8.21095492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025132681184656808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20872381e-14,  1.10436190e-14,  1.00000000e+00, -2.43923042e-28,
        1.00000000e+00, -1.10436190e-14, -1.00000000e+00,  0.00000000e+00,
        2.20872381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01959464,  0.004404  ,  0.06172952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17949847e-06, 3.07816328e-05, 2.87698966e-05, 2.36414103e-05,
  3.60084129e-06,-4.57694077e-05,-4.10120347e-05,-1.72240892e-04,
 -4.16919149e-06,-7.34316927e-05,-3.07807049e-05, 1.38303829e-05,
 -4.27601735e-05,-5.58290418e-06, 6.28271958e-06,-6.52068327e-05,
 -6.25979090e-04,-6.04089971e-04,-1.21667179e+00,-1.79133976e-03,
 -2.47346421e-02, 2.34473499e-05]


--- Step 1613 ---
qpos:
[ 3.32008188e-03,-3.22287662e-03, 1.19500387e-02, 4.17585822e-02,
  6.10450773e-03, 7.64446250e-01,-2.93170657e-02, 8.68125013e-01,
  5.85667214e-03, 1.64390590e-02,-9.27791427e-03, 2.59915023e-02,
  1.33192331e+00,-1.92144814e-04, 1.07236306e+00, 6.33429106e-02,
  1.32937109e-02,-3.48158543e-02, 7.51547537e-02, 6.86656726e-01,
 -2.22116418e-01,-6.72285976e-01,-1.64919385e-01]

qacc:
[-6.36461712e+00,-3.66220632e-01, 2.69586594e-02, 4.25833785e+00,
 -2.33139092e-01,-1.32173785e+00, 7.56483621e+00,-2.71554519e+01,
 -4.08162999e-01,-4.44810835e-01, 8.18185848e-01, 1.09102795e+00,
 -9.19115582e-01, 1.59146329e+00,-1.77973662e+00, 6.06429142e+00,
  9.83465272e-01,-1.40262553e-01,-3.67751713e+00,-1.62078967e+00,
  3.73166653e+01,-1.08165983e+02]

qfrc_actuator:
[-2.50854782e-05, 1.77925037e-05, 1.55351455e-04, 7.58582302e-05,
 -9.98926608e-06, 2.60110182e-02, 8.48840214e-03, 5.13631210e-03,
 -3.92614263e-05, 3.72103115e-04, 5.10120425e-05, 4.55618952e-05,
  2.26002753e-03,-1.51389145e-03, 0.00000000e+00,-2.09816769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.19101484,  6.02147092, -6.19101484,  6.49913787,
       -2.1974027 ,  6.02147092, -2.1974027 ,  6.37708963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023946808816065063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63620449e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.63620449e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01974023,  0.00458935,  0.06174248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73850914e-05, 1.20769137e-06, 1.80361812e-05, 1.46436400e-05,
 -3.79356654e-05,-8.64971010e-05,-6.94242129e-05,-9.31054219e-05,
 -2.46159268e-06,-1.05000156e-05, 8.40897921e-06, 6.05864680e-06,
 -4.64776342e-05, 3.15777541e-05,-9.48188742e-06, 2.71552457e-05,
 -7.42213792e-04,-5.72930495e-04,-1.21661842e+00,-1.83373183e-03,
 -2.47015031e-02, 2.74001571e-05]


--- Step 1614 ---
qpos:
[ 3.31952275e-03,-3.22349234e-03, 1.19505787e-02, 4.17587059e-02,
  6.10459314e-03, 7.64454446e-01,-2.93189157e-02, 8.68182652e-01,
  5.85659046e-03, 1.64376254e-02,-9.27793279e-03, 2.59914612e-02,
  1.33204487e+00,-1.90200377e-04, 1.07256816e+00, 6.33411500e-02,
  1.33030409e-02,-3.48198354e-02, 7.52524484e-02, 6.87073573e-01,
 -2.22304341e-01,-6.71894106e-01,-1.64526583e-01]

qacc:
[-8.73142349e-01, 5.19877368e-01,-1.99705814e+00, 4.03847380e+00,
 -3.07980966e-02,-6.87109133e-01, 1.71680179e+00,-5.98547605e+00,
 -2.37089916e-01,-9.41228352e-01, 4.67286305e+00,-9.58731037e+00,
 -8.43741839e-01, 1.39823995e+00, 7.46338655e+00,-2.54416417e+01,
  3.22234069e-01,-4.61908651e-01,-1.57708662e+00, 1.90103858e-01,
  1.08152981e+01,-1.15764998e+02]

qfrc_actuator:
[-2.91132708e-05, 3.98808810e-05, 1.59342736e-04, 8.28160231e-05,
  1.98203522e-06, 2.59437477e-02, 8.45920433e-03, 5.11548056e-03,
 -4.05985306e-05, 3.94565639e-04, 6.71078568e-05, 3.36465796e-05,
  2.24300682e-03,-1.48919586e-03, 0.00000000e+00,-2.22204523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.51970453,  5.66394118, -6.51970453, 18.01281877,
       10.79314122,  5.66394118, 10.79314122, 21.06023767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022884466394405764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0017706 , -0.00738955,  0.0617541 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09153821e-06, 2.71282550e-05, 6.97424886e-06, 7.92098397e-06,
 -5.06024596e-06,-1.32104854e-04,-5.71242537e-05,-2.78047762e-05,
 -1.41699654e-06, 1.86444473e-05, 1.51924245e-05,-1.19528827e-05,
 -3.56525735e-05, 2.15933682e-05,-5.43480170e-06,-1.24510522e-04,
 -8.42138313e-04,-4.63123153e-04,-1.21657359e+00,-1.88143248e-03,
 -2.46743396e-02, 3.07510732e-05]


--- Step 1615 ---
qpos:
[ 3.31857442e-03,-3.22395537e-03, 1.19514571e-02, 4.17588950e-02,
  6.10492844e-03, 7.64462333e-01,-2.93219565e-02, 8.68239572e-01,
  5.85614818e-03, 1.64366346e-02,-9.27815844e-03, 2.59905720e-02,
  1.33216654e+00,-1.89075355e-04, 1.07277287e+00, 6.33405897e-02,
  1.33130074e-02,-3.48261798e-02, 7.53427017e-02, 6.87468641e-01,
 -2.22340566e-01,-6.71536220e-01,-1.64288301e-01]

qacc:
[  -3.40797438,  -0.60267515,   2.17663831,  -1.70929219,   0.13846817,
    1.56554908,  -4.008041  ,  -4.80121114,  -3.15958066,  -0.57552446,
    6.49273697, -21.17701116,   0.79971157,  -1.66291648,  -4.28353906,
   13.96119007,   0.15912739,  -0.59081486,  -1.86035131,   0.57810535,
   10.66257617,-109.61522631]

qfrc_actuator:
[-4.89994611e-05, 5.32580324e-05, 1.79271283e-04, 8.68648662e-05,
  2.69165414e-05, 2.59539259e-02, 8.40720405e-03, 5.08018073e-03,
 -5.91041619e-05, 4.26302111e-04, 5.89015187e-05,-8.83488999e-06,
  2.23909213e-03,-1.54646193e-03, 0.00000000e+00,-2.15224623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.99478517, -7.04548778,  4.99478517, 24.24665208,
       11.06666276, -7.04548778, 11.06666276, 16.48189608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002185069795855865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.54047497e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.54047497e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00177222, -0.00729632,  0.06176536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00209854e-05, 3.03428504e-05, 2.66664812e-05, 5.60663012e-06,
  2.26458557e-05,-7.53799248e-05,-8.55296186e-05,-4.18806904e-05,
 -1.85444287e-05, 4.48400011e-05,-2.88033531e-06,-4.13860506e-05,
 -1.91920858e-05,-6.00948449e-05,-2.12347223e-05, 6.10477711e-05,
 -7.72592142e-04,-2.54256659e-04,-1.21654010e+00,-1.95432850e-03,
 -2.46483553e-02, 3.29055943e-05]


--- Step 1616 ---
qpos:
[ 3.31739527e-03,-3.22437371e-03, 1.19521243e-02, 4.17584930e-02,
  6.10553767e-03, 7.64469813e-01,-2.93254817e-02, 8.68298013e-01,
  5.85514249e-03, 1.64361635e-02,-9.27857775e-03, 2.59895151e-02,
  1.33228826e+00,-1.88868192e-04, 1.07297700e+00, 6.33441725e-02,
  1.33230895e-02,-3.48353031e-02, 7.54245880e-02, 6.87843654e-01,
 -2.22231409e-01,-6.71210476e-01,-1.64197458e-01]

qacc:
[-2.03371195e+00,-5.65087763e-01, 4.60129530e+00,-1.45332036e+01,
  1.52094621e-01, 3.41725957e+00,-1.53624577e+01, 3.23378360e+01,
 -4.92882550e+00, 8.92307625e-01,-1.45969804e+00,-1.53580596e+00,
  1.00493847e+00,-2.05124342e+00,-1.34461307e+01, 4.55960738e+01,
  2.88848247e-02,-6.94719418e-01,-2.09174936e+00, 8.78596248e-01,
  1.05513687e+01,-1.04714965e+02]

qfrc_actuator:
[-6.03183230e-05, 2.58726677e-05, 1.55168750e-04, 5.36739511e-05,
  4.15931969e-05, 2.59570624e-02, 8.39568730e-03, 5.16093245e-03,
 -8.75668960e-05, 4.63227264e-04, 5.41922548e-05,-1.57066303e-05,
  2.23235672e-03,-1.59853257e-03, 0.00000000e+00,-1.93333658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.18053683, -6.91005174,  5.18053683, 34.85798955,
       19.65862253, -6.91005174, 19.65862253, 23.37463506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020802143654849656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00177078, -0.0071997 ,  0.06177667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18793257e-05,-4.66729799e-06,-1.43601221e-05,-3.08596118e-05,
  2.48282416e-05,-5.70223568e-05,-3.75408762e-05, 7.48109756e-05,
 -2.89803808e-05, 5.96640443e-05, 2.78279283e-06,-5.84987484e-06,
 -3.19837599e-05,-7.09908070e-05,-5.35356591e-06, 2.19012626e-04,
 -6.98777177e-04,-3.46970362e-05,-1.21649579e+00,-2.01844409e-03,
 -2.46243039e-02, 3.44265050e-05]


--- Step 1617 ---
qpos:
[ 3.31643446e-03,-3.22472565e-03, 1.19519808e-02, 4.17570459e-02,
  6.10616669e-03, 7.64476531e-01,-2.93279168e-02, 8.68358295e-01,
  5.85380363e-03, 1.64357323e-02,-9.27915592e-03, 2.59887888e-02,
  1.33240982e+00,-1.89052639e-04, 1.07318121e+00, 6.33489809e-02,
  1.33328694e-02,-3.48475422e-02, 7.54973557e-02, 6.88199922e-01,
 -2.21981850e-01,-6.70915321e-01,-1.64248465e-01]

qacc:
[ 1.88925756e+00, 1.96949019e-01, 3.82670466e+00,-2.06514961e+01,
  1.19570102e-02,-7.49623716e-01,-2.95413233e+00, 2.52389539e+01,
 -2.91113068e+00, 1.18325722e+00,-5.52900882e+00, 1.14668015e+01,
  2.39419536e-01,-6.67600652e-01,-3.61082649e+00, 1.27391913e+01,
 -7.55356420e-02,-7.78946268e-01,-2.27965589e+00, 1.10943200e+00,
  1.04774585e+01,-1.00842754e+02]

qfrc_actuator:
[-4.87468520e-05, 9.58196697e-06, 1.05061804e-04,-1.23027818e-06,
  3.22385058e-05, 2.59384450e-02, 8.46148847e-03, 5.25610453e-03,
 -1.03904212e-04, 4.32001069e-04, 3.38979870e-05,-1.55356517e-06,
  2.22925710e-03,-1.61155447e-03, 0.00000000e+00,-1.87692032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.01539149,  6.19692198, -6.01539149,  5.20269853,
       -3.3330805 ,  6.19692198, -3.3330805 ,  5.40092125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019751731497580083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62088962e-14,  2.81044481e-14,  1.00000000e+00, -1.57972000e-27,
        1.00000000e+00, -2.81044481e-14, -1.00000000e+00,  0.00000000e+00,
        5.62088962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00176705, -0.00710141,  0.06178791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12340603e-05,-2.31808455e-05,-5.39078778e-05,-5.62007241e-05,
  1.77672818e-06,-5.53832846e-05, 5.24537197e-05, 9.39147536e-05,
 -1.71492357e-05, 2.47346252e-06,-7.81657242e-06, 1.66977178e-05,
 -3.74721234e-05,-3.78940280e-05, 1.94004912e-05, 6.73286233e-05,
 -6.20453769e-04, 1.96081778e-04,-1.21644069e+00,-2.07442670e-03,
 -2.46016369e-02, 3.53454189e-05]


--- Step 1618 ---
qpos:
[ 3.31527469e-03,-3.22496405e-03, 1.19514117e-02, 4.17552652e-02,
  6.10673963e-03, 7.64483103e-01,-2.93300613e-02, 8.68414397e-01,
  5.85262419e-03, 1.64349527e-02,-9.27948613e-03, 2.59882607e-02,
  1.33253123e+00,-1.89260446e-04, 1.07338560e+00, 6.33534431e-02,
  1.33420107e-02,-3.48631717e-02, 7.55603985e-02, 6.88538408e-01,
 -2.21595768e-01,-6.70649432e-01,-1.64436966e-01]

qacc:
[-1.76188658e+00, 6.55689281e-01,-7.06307657e-01,-4.47698831e+00,
 -3.01224468e-02,-8.23913361e+00, 3.63724536e+01,-8.26954791e+01,
  1.40414977e+00,-7.48516034e-01, 1.15927663e+00, 2.13508018e+00,
 -1.22772583e-01, 1.09628185e-01, 1.31885350e+00,-4.20882116e+00,
 -1.59647678e-01,-8.47606140e-01,-2.43122371e+00, 1.28443662e+00,
  1.04367367e+01,-9.78178830e+01]

qfrc_actuator:
[-5.93032921e-05, 3.54137413e-05, 9.32940844e-05,-1.52143934e-05,
  2.63622096e-05, 2.59250438e-02, 8.46578387e-03, 5.03945481e-03,
 -9.52185300e-05, 3.95661248e-04, 3.98006461e-05, 7.03033690e-06,
  2.23900744e-03,-1.60130623e-03, 0.00000000e+00,-1.89898713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.0269466 ,  6.18568441, -6.0269466 ,  5.75368056,
       -2.8087073 ,  6.18568441, -2.8087073 ,  5.89973374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018709805486469971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.41738754e-15,  2.96695502e-14,  1.00000000e+00, -2.20070552e-28,
        1.00000000e+00, -2.96695502e-14, -1.00000000e+00,  0.00000000e+00,
        7.41738754e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00176163, -0.00700278,  0.06179898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02384760e-05,-6.48619359e-07,-2.51307408e-05,-1.79324411e-05,
 -5.08902968e-06,-3.08819526e-05, 2.21551576e-06,-2.14707484e-04,
  8.19247034e-06,-3.58419270e-05, 6.04131564e-06, 8.74873046e-06,
 -1.98740510e-05,-7.83930378e-06, 1.15428380e-05,-1.69663637e-05,
 -5.37319843e-04, 4.38721365e-04,-1.21637471e+00,-2.12284444e-03,
 -2.45799413e-02, 3.56870511e-05]


--- Step 1619 ---
qpos:
[ 3.31399745e-03,-3.22504828e-03, 1.19508167e-02, 4.17546778e-02,
  6.10763795e-03, 7.64489432e-01,-2.93329076e-02, 8.68466498e-01,
  5.85190258e-03, 1.64339877e-02,-9.27977804e-03, 2.59878335e-02,
  1.33265264e+00,-1.89690570e-04, 1.07359051e+00, 6.33535997e-02,
  1.33502410e-02,-3.48824166e-02, 7.56132311e-02, 6.88859788e-01,
 -2.21076125e-01,-6.70411670e-01,-1.64759616e-01]

qacc:
[-1.03381699e+00, 2.73782271e+00,-1.44960189e+01, 3.50673871e+01,
  1.81558516e-01,-5.37714081e+00, 2.64048878e+01,-7.15569659e+01,
  3.99738739e+00,-1.51867134e-01,-2.53506496e-01, 2.09042085e+00,
 -1.27047400e-01, 3.04943342e-02, 1.37619895e+01,-4.70306060e+01,
 -2.27764405e-01,-9.03864084e-01,-2.55255719e+00, 1.41429405e+00,
  1.04252982e+01,-9.54925369e+01]

qfrc_actuator:
[-6.50538677e-05, 6.86926785e-05, 1.04469109e-04, 4.83182086e-05,
  5.81461669e-05, 2.58789570e-02, 8.41578672e-03, 4.83627289e-03,
 -7.18783615e-05, 3.92130953e-04, 4.33255423e-05, 1.22730641e-05,
  2.24049441e-03,-1.61281278e-03, 0.00000000e+00,-2.12683597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.02880817,  6.18387006, -6.02880817,  6.47721076,
       -2.10501165,  6.18387006, -2.10501165,  6.58413562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017684553320180263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13896259e-14,  3.13896259e-14,  1.00000000e+00, -9.85308612e-28,
        1.00000000e+00, -3.13896259e-14, -1.00000000e+00,  0.00000000e+00,
        3.13896259e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00175499, -0.00690485,  0.06180981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.03898585e-06, 2.69765950e-05, 7.34022899e-06, 6.22925574e-05,
  2.94989079e-05,-6.97851734e-05,-6.23372692e-05,-2.08975556e-04,
  2.35589811e-05,-2.19180913e-05,-2.81929931e-06, 4.08913299e-06,
 -1.15557729e-05,-1.79560451e-05,-1.44964023e-06,-2.28457661e-04,
 -4.49033208e-04, 6.93935735e-04,-1.21629765e+00,-2.16419590e-03,
 -2.45588999e-02, 3.54705452e-05]


--- Step 1620 ---
qpos:
[ 3.31300608e-03,-3.22495399e-03, 1.19500799e-02, 4.17545150e-02,
  6.10869070e-03, 7.64495533e-01,-2.93366767e-02, 8.68515424e-01,
  5.85146614e-03, 1.64332088e-02,-9.28075270e-03, 2.59874747e-02,
  1.33277381e+00,-1.89937969e-04, 1.07379535e+00, 6.33513678e-02,
  1.33573382e-02,-3.49054622e-02, 7.56554682e-02, 6.89164494e-01,
 -2.20425126e-01,-6.70201036e-01,-1.65213909e-01]

qacc:
[ 2.50178921e+00, 1.50287912e+00,-6.81542444e+00, 1.42661467e+01,
  8.59493298e-02,-3.32097527e+00, 1.77802981e+01,-5.38822593e+01,
  2.46272026e+00, 2.29002253e+00,-8.10575574e+00, 1.02531169e+01,
 -4.62376335e-01, 7.03238074e-01, 7.15900640e+00,-2.50893882e+01,
 -2.83256780e-01,-9.50149213e-01,-2.64886213e+00, 1.50723890e+00,
  1.04394966e+01,-9.37455508e+01]

qfrc_actuator:
[-5.01702034e-05, 7.08485919e-05, 9.36749745e-05, 6.82040423e-05,
  5.89093506e-05, 2.58666715e-02, 8.36959534e-03, 4.67817234e-03,
 -5.78603111e-05, 4.08262526e-04, 1.00290004e-05, 1.55290081e-05,
  2.22636479e-03,-1.60165864e-03, 0.00000000e+00,-2.24327193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.0158734 ,  6.19645415, -6.0158734 ,  7.41981887,
       -1.1810915 ,  6.19645415, -1.1810915 ,  7.48969221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016682365502525554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66376738e-14, -9.98260431e-14,  1.00000000e+00,  1.66087315e-27,
        1.00000000e+00,  9.98260431e-14, -1.00000000e+00,  0.00000000e+00,
        1.66376738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00174751, -0.00680845,  0.06182035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47191687e-05, 2.14389776e-05,-2.15160241e-06, 2.25113270e-05,
  1.39928548e-05,-7.00794439e-05,-7.34664693e-05,-1.66955991e-04,
  1.46822332e-05, 3.51295126e-06,-3.80158326e-05, 2.30132755e-06,
 -2.55837167e-05, 4.53658052e-06,-3.11740016e-05,-1.30549525e-04,
 -3.55227821e-04, 9.62479004e-04,-1.21620920e+00,-2.19891887e-03,
 -2.45382633e-02, 3.47105097e-05]


--- Step 1621 ---
qpos:
[ 3.31220090e-03,-3.22500323e-03, 1.19499903e-02, 4.17535430e-02,
  6.10942050e-03, 7.64501914e-01,-2.93418897e-02, 8.68562400e-01,
  5.85085688e-03, 1.64320080e-02,-9.28216702e-03, 2.59872200e-02,
  1.33289460e+00,-1.89731584e-04, 1.07399960e+00, 6.33510600e-02,
  1.33573022e-02,-3.49308041e-02, 7.56896244e-02, 6.89323995e-01,
 -2.19706606e-01,-6.70133521e-01,-1.65778469e-01]

qacc:
[  1.65662767, -3.67063932, 16.21960673,-31.1438832 , -0.18093123,
   0.8811769 ,  1.99601707,-25.3732806 , -1.5137453 ,  0.88822368,
  -4.40970453,  7.21654212, -0.48607412,  0.86818338, -6.65055761,
  22.079827  , -1.78330912, -0.57409917, -2.02023005,-17.86457057,
 -80.24347547,-88.39064569]

qfrc_actuator:
[-4.10149745e-05, 5.42446919e-05, 1.23083605e-04, 2.66879965e-05,
  2.33482439e-05, 2.59102546e-02, 8.30843658e-03, 4.58339860e-03,
 -6.71986413e-05, 3.47130962e-04,-2.69020322e-05, 1.75850108e-05,
  2.20821188e-03,-1.57722420e-03, 0.00000000e+00,-2.13328127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.44096763,  4.38392263, -7.44096763, 18.83780081,
       17.3152152 ,  4.38392263, 17.3152152 , 38.02601456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016619558396918088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.34010988e-14,  3.34010988e-14,  1.00000000e+00, -1.11563340e-27,
        1.00000000e+00, -3.34010988e-14, -1.00000000e+00,  0.00000000e+00,
        3.34010988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06601855, -0.04484881,  0.06182159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.58161242e-06,-4.08150512e-06, 3.43591875e-05,-4.02325584e-05,
 -2.92894739e-05,-1.52140782e-05,-8.84990364e-05,-1.03020051e-04,
 -8.91833204e-06,-6.68770308e-05,-4.07879380e-05, 9.39966668e-07,
 -3.21996611e-05, 2.00479921e-05,-3.21837903e-05, 9.79454559e-05,
 -2.55525541e-04, 1.24512118e-03,-1.21610899e+00,-2.22739825e-03,
 -2.45178312e-02, 3.34178336e-05]


--- Step 1622 ---
qpos:
[ 3.31151180e-03,-3.22511862e-03, 1.19504969e-02, 4.17527654e-02,
  6.10996472e-03, 7.64508786e-01,-2.93484569e-02, 8.68610610e-01,
  5.85014041e-03, 1.64304424e-02,-9.28399393e-03, 2.59862930e-02,
  1.33301517e+00,-1.89480883e-04, 1.07420400e+00, 6.33489947e-02,
  1.33506993e-02,-3.49580561e-02, 7.57136827e-02, 6.89347370e-01,
 -2.18922632e-01,-6.70200466e-01,-1.66446447e-01]

qacc:
[  1.03878712, -1.35544065,  3.88186605, -1.41824174, -0.10503224,
   6.45266167,-23.23439937, 35.34790242, -0.94213056, -0.71096618,
   4.67680632,-15.38602982, -0.32068124,  0.41061278,  5.5523902 ,
 -19.04588662, -1.64172895, -0.47749985, -2.5244844 ,-15.90098418,
 -75.16897276,-83.63035763]

qfrc_actuator:
[-3.53114841e-05, 6.21407934e-05, 1.58128887e-04, 3.81580016e-05,
  1.96660564e-05, 2.59691896e-02, 8.25694024e-03, 4.65093544e-03,
 -7.24542442e-05, 3.28938062e-04,-4.82311334e-05,-1.66471226e-05,
  2.19299210e-03,-1.58067099e-03, 0.00000000e+00,-2.22809195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.13601964, -2.8968882 ,  8.13601964,  8.34372946,
       -0.8218741 , -2.8968882 , -0.8218741 ,  6.32809927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016390905904203057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38670428e-14,  3.38670428e-14,  1.00000000e+00, -1.14697659e-27,
        1.00000000e+00, -3.38670428e-14, -1.00000000e+00,  0.00000000e+00,
        3.38670428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06612734, -0.04486843,  0.06182431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97571867e-06, 1.09982655e-05, 3.70462527e-05, 1.17031576e-05,
 -1.68243586e-05, 2.96200435e-05,-6.78073622e-05, 6.20456052e-05,
 -5.53828103e-06,-6.39204339e-05,-4.01039631e-05,-3.84844505e-05,
 -2.87628497e-05,-5.88171789e-06,-6.18417209e-06,-9.40043483e-05,
  5.30556619e-05, 9.58362764e-04,-1.21608227e+00,-2.16639717e-03,
 -2.45188739e-02, 2.78008623e-05]


--- Step 1623 ---
qpos:
[ 3.31020663e-03,-3.22518196e-03, 1.19508670e-02, 4.17518215e-02,
  6.11040038e-03, 7.64515132e-01,-2.93547139e-02, 8.68659950e-01,
  5.84971031e-03, 1.64294116e-02,-9.28570127e-03, 2.59848090e-02,
  1.33313547e+00,-1.88993513e-04, 1.07440821e+00, 6.33468060e-02,
  1.33379960e-02,-3.49869143e-02, 7.57259314e-02, 6.89242114e-01,
 -2.18074962e-01,-6.70394483e-01,-1.67212011e-01]

qacc:
[-5.41253377e+00, 1.18251961e-01, 3.98056325e-01,-3.11529558e+00,
 -6.01936822e-02, 4.31377456e-01,-4.84017280e+00, 1.82506953e+01,
  2.49181389e+00,-7.78885831e-01, 6.14636951e+00,-1.63629496e+01,
 -3.80009837e-01, 6.10651217e-01, 1.34250793e-01,-7.88938309e-01,
 -1.52509712e+00,-4.01575236e-01,-2.95238724e+00,-1.42516005e+01,
 -7.09190235e+01,-7.95944515e+01]

qfrc_actuator:
[-6.71886553e-05, 4.92116671e-05, 1.43090481e-04, 2.74817337e-05,
  1.73504088e-05, 2.59127433e-02, 8.26498707e-03, 4.70693784e-03,
 -5.75040618e-05, 4.43135873e-04,-6.79238504e-06,-3.64123148e-05,
  2.18485763e-03,-1.56511330e-03, 0.00000000e+00,-2.22983982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.15201144, -2.85157612,  8.15201144,  8.42447214,
       -0.60574987, -2.85157612, -0.60574987,  6.90466169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016018399789865037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.46546172e-14, -3.46546172e-14,  1.00000000e+00,  1.20094249e-27,
        1.00000000e+00,  3.46546172e-14, -1.00000000e+00,  0.00000000e+00,
        3.46546172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06628319, -0.04490435,  0.06182827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17051007e-05, 1.37872885e-06,-7.80114957e-06,-8.69466699e-06,
 -9.86063286e-06,-5.15497111e-05, 7.94795772e-06, 5.63171130e-05,
  1.47653314e-05, 6.85957787e-05, 2.20050799e-05,-2.46313316e-05,
 -2.60196120e-05, 7.66723718e-06,-1.77212084e-05,-8.79840274e-06,
  1.68365390e-04, 6.42957952e-04,-1.21605468e+00,-2.07094471e-03,
 -2.45268665e-02, 2.26098083e-05]


--- Step 1624 ---
qpos:
[ 3.30818485e-03,-3.22541855e-03, 1.19511876e-02, 4.17504357e-02,
  6.11057501e-03, 7.64521220e-01,-2.93610639e-02, 8.68707501e-01,
  5.84877246e-03, 1.64292583e-02,-9.28690581e-03, 2.59833711e-02,
  1.33325561e+00,-1.88353408e-04, 1.07461250e+00, 6.33429043e-02,
  1.33195801e-02,-3.50171404e-02, 7.57249166e-02, 6.89014407e-01,
 -2.17165054e-01,-6.70709251e-01,-1.68070182e-01]

qacc:
[ -6.288593  , -0.98945144,  5.08104244,-12.54399518, -0.14505576,
  -3.19385561, 14.15662234,-33.98039268, -4.42753225, -0.14187322,
   2.00869894, -2.67580748, -0.3528244 ,  0.54949016,  5.30346638,
 -18.3372991 , -1.42815764, -0.34196285, -3.31588482,-12.84933529,
 -67.35812702,-76.17975185]

qfrc_actuator:
[-1.03175885e-04, 2.36956629e-05, 1.34001318e-04, 3.80068962e-06,
 -1.90074560e-06, 2.58944061e-02, 8.25437931e-03, 4.61361035e-03,
 -8.40389890e-05, 5.29498600e-04, 3.64346950e-05,-2.95909689e-05,
  2.18098604e-03,-1.55611564e-03, 0.00000000e+00,-2.31870219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.14824607, -2.86231773,  8.14824607,  8.50216772,
       -0.38201955, -2.86231773, -0.38201955,  7.54885708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015532348968084475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57390575e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.57390575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06647516, -0.0449528 ,  0.0618332 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68891499e-05,-2.67356735e-05,-1.00649671e-05,-2.40581892e-05,
 -2.36840919e-05,-4.36454529e-05,-1.81638603e-05,-9.34575047e-05,
 -2.60929071e-05, 1.28276198e-04, 5.92889082e-05, 1.00517201e-05,
 -1.69792168e-05, 5.03318380e-06,-1.25543264e-05,-9.24133759e-05,
  1.22752654e-04, 3.02199443e-04,-1.21602510e+00,-1.94553321e-03,
 -2.45403424e-02, 1.76728091e-05]


--- Step 1625 ---
qpos:
[ 3.30643677e-03,-3.22536779e-03, 1.19508695e-02, 4.17494493e-02,
  6.11050594e-03, 7.64527611e-01,-2.93679906e-02, 8.68752502e-01,
  5.84717922e-03, 1.64300077e-02,-9.28873359e-03, 2.59824459e-02,
  1.33337564e+00,-1.87848656e-04, 1.07481685e+00, 6.33366088e-02,
  1.32957775e-02,-3.50485475e-02, 7.57094019e-02, 6.88669321e-01,
 -2.16194083e-01,-6.71139361e-01,-1.69016692e-01]

qacc:
[ 2.37745819e+00, 2.98441781e+00,-1.17825554e+01, 1.95131682e+01,
 -1.35916959e-01,-2.47359693e+00, 1.44304297e+01,-4.37564547e+01,
 -5.75069378e+00, 4.00135232e+00,-1.46808283e+01, 2.38627943e+01,
 -1.27619962e-01, 5.49942377e-02, 7.33026391e+00,-2.54887211e+01,
 -1.34666582e+00,-2.95248268e-01,-3.62496128e+00,-1.16409284e+01,
 -6.43758658e+01,-7.33001175e+01]

qfrc_actuator:
[-8.80242819e-05, 6.18425444e-05, 1.10696601e-04, 2.59168428e-05,
 -1.33646688e-05, 2.59343810e-02, 8.23285771e-03, 4.48640803e-03,
 -1.17032796e-04, 5.45345786e-04,-8.45945020e-06,-7.19805602e-06,
  2.16902149e-03,-1.56881736e-03, 0.00000000e+00,-2.44044169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.11652563, -2.95106567,  8.11652563,  8.57924658,
       -0.1570931 , -2.95106567, -0.1570931 ,  8.20429932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014958283773178899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06669443, -0.04501074,  0.06183885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40936266e-05, 2.00882117e-05,-3.08935871e-05, 2.01591472e-05,
 -2.20961740e-05, 9.10497041e-06,-3.50391287e-05,-1.31266436e-04,
 -3.37018172e-05, 1.00268502e-04,-1.07272571e-05, 3.01443124e-05,
 -2.08101638e-05,-1.51066750e-05,-2.00487903e-05,-1.29419196e-04,
 -5.96248836e-05,-6.15944047e-05,-1.21599309e+00,-1.79352939e-03,
 -2.45581845e-02, 1.28637949e-05]


--- Step 1626 ---
qpos:
[ 3.30557322e-03,-3.22485537e-03, 1.19501457e-02, 4.17483508e-02,
  6.11025373e-03, 7.64533771e-01,-2.93744653e-02, 8.68796659e-01,
  5.84554774e-03, 1.64313997e-02,-9.29124312e-03, 2.59818352e-02,
  1.33349534e+00,-1.86919129e-04, 1.07502071e+00, 6.33318885e-02,
  1.32668662e-02,-3.50809896e-02, 7.56783353e-02, 6.88210993e-01,
 -2.15162947e-01,-6.71680173e-01,-1.70047879e-01]

qacc:
[  7.74286624,  1.49842993, -4.01030994,  2.40771484, -0.10138034,
  -2.9937259 , 11.39269873,-20.20484216, -0.36545086,  3.40300712,
 -12.22855409, 18.2889466 , -0.45596886,  0.8205347 , -5.45443637,
  18.10006937, -1.27718005, -0.25876242, -3.88798848,-10.58388437,
 -61.88149516,-70.88296643]

qfrc_actuator:
[-4.28930409e-05, 1.02290589e-04, 9.72242165e-05, 2.15887276e-05,
 -2.00691798e-05, 2.59201220e-02, 8.25856683e-03, 4.44687434e-03,
 -1.18045912e-04, 5.54012737e-04,-5.20435094e-05, 6.30023180e-06,
  2.15752719e-03,-1.54105381e-03, 0.00000000e+00,-2.34975723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.04693888, -3.13584941,  8.04693888,  8.66728168,
        0.07933915, -3.13584941,  0.07933915,  8.83995673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001431769853702393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.90782512e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.90782512e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693379, -0.04507572,  0.06184503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55404651e-05, 4.61782586e-05,-1.24240846e-05,-4.14166824e-06,
 -1.66158890e-05,-2.04403328e-05, 1.95170392e-05,-4.32765871e-05,
 -1.94469939e-06, 6.37931641e-05,-2.31360697e-05, 1.80162663e-05,
 -2.73988001e-05, 1.96262984e-05,-2.73130014e-05, 8.00516397e-05,
 -3.60737123e-04,-4.46865510e-04,-1.21595865e+00,-1.61744460e-03,
 -2.45795213e-02, 8.08905927e-06]


--- Step 1627 ---
qpos:
[ 3.30560247e-03,-3.22408728e-03, 1.19493076e-02, 4.17472150e-02,
  6.11026866e-03, 7.64539993e-01,-2.93803815e-02, 8.68839273e-01,
  5.84391625e-03, 1.64335772e-02,-9.29349684e-03, 2.59809623e-02,
  1.33361472e+00,-1.85636945e-04, 1.07522424e+00, 6.33292399e-02,
  1.32330873e-02,-3.51143534e-02, 7.56308206e-02, 6.87642765e-01,
 -2.14072286e-01,-6.72327702e-01,-1.71160585e-01]

qacc:
[ 7.82821612e+00, 5.65231263e-01,-1.39409289e+00, 7.71792123e-01,
  1.49591127e-01,-4.11047922e+00, 1.71268430e+01,-3.39328994e+01,
 -5.72161008e-03,-2.16564451e-01, 3.38635550e+00,-8.91349721e+00,
 -3.68041435e-01, 6.51485442e-01,-6.69217902e+00, 2.28043718e+01,
 -1.21689809e+00,-2.30421090e-01,-4.11200788e+00,-9.64413377e+00,
 -5.97998604e+01,-6.88666629e+01]

qfrc_actuator:
[ 1.75303842e-06, 1.08324817e-04, 8.96737536e-05, 1.94985390e-05,
  1.16241510e-05, 2.59447468e-02, 8.29406353e-03, 4.37049299e-03,
 -1.17978256e-04, 6.29281130e-04,-2.35231921e-05,-3.29796695e-06,
  2.14101378e-03,-1.52502236e-03, 0.00000000e+00,-2.24114558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.928277  , -3.42479206,  7.928277  ,  8.77039563,
        0.3102795 , -3.42479206,  0.3102795 ,  9.35465012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001362866905094351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03655805e-14,  3.05483707e-14,  1.00000000e+00, -6.22135301e-28,
        1.00000000e+00, -3.05483707e-14, -1.00000000e+00,  0.00000000e+00,
        2.03655805e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06718741, -0.04514578,  0.0618516 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59593803e-05, 2.91244846e-05, 3.18236015e-07,-6.21472022e-07,
  2.42348708e-05, 1.56551436e-05, 3.24121615e-05,-7.74279935e-05,
  3.60695158e-08, 1.06909385e-04, 3.94842063e-05,-7.31067703e-06,
 -2.74674123e-05, 1.46105769e-05,-6.19720212e-06, 1.08997955e-04,
 -7.67175871e-04,-8.52648509e-04,-1.21592206e+00,-1.41913516e-03,
 -2.46036528e-02, 3.27779133e-06]


--- Step 1628 ---
qpos:
[ 3.30582210e-03,-3.22296617e-03, 1.19474637e-02, 4.17468036e-02,
  6.11061132e-03, 7.64546335e-01,-2.93864345e-02, 8.68881017e-01,
  5.84264361e-03, 1.64358322e-02,-9.29430036e-03, 2.59806790e-02,
  1.33373387e+00,-1.84383399e-04, 1.07542798e+00, 6.33255455e-02,
  1.31946543e-02,-3.51485516e-02, 7.55660941e-02, 6.86967304e-01,
 -2.12922497e-01,-6.73078521e-01,-1.72352077e-01]

qacc:
[  1.63367922,  4.76883809,-19.38622367, 33.2727657 ,  0.18258214,
  -0.98170575,  5.40149753,-15.35707581,  3.17412341, -2.74310387,
   7.42821796,  0.4151492 , -0.22582479,  0.22443981,  3.47084453,
 -11.67376398, -1.1635281 , -0.20859835, -4.3029585 , -8.7942331 ,
 -58.06828237,-67.19852322]

qfrc_actuator:
[ 1.02406732e-05, 1.11484727e-04, 3.22893719e-05, 5.42264032e-05,
  3.04738908e-05, 2.59392438e-02, 8.28188770e-03, 4.32629713e-03,
 -9.95324226e-05, 6.19841849e-04, 4.75949000e-05, 2.69549474e-05,
  2.12149942e-03,-1.53388059e-03, 0.00000000e+00,-2.30043072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.75032182, -3.81041842,  7.75032182,  8.89956437,
        0.53534552, -3.81041842,  0.53534552,  9.72524669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001290636868963177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15053330e-14, -3.22579995e-14,  1.00000000e+00,  6.93719019e-28,
        1.00000000e+00,  3.22579995e-14, -1.00000000e+00,  0.00000000e+00,
        2.15053330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06745051, -0.04521934,  0.06185841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.80556644e-06, 1.94859263e-05,-5.13494448e-05, 3.59751045e-05,
  2.97273443e-05, 6.98125612e-06,-7.68733316e-06,-4.44745860e-05,
  1.84872998e-05, 5.81321222e-05, 9.78132326e-05, 3.60601476e-05,
 -3.13708693e-05,-1.16926596e-05, 5.79578210e-06,-5.47959059e-05,
 -1.26904428e-03,-1.27843943e-03,-1.21588379e+00,-1.19995233e-03,
 -2.46299974e-02,-1.62466323e-06]


--- Step 1629 ---
qpos:
[ 3.30614225e-03,-3.22175273e-03, 1.19453180e-02, 4.17464513e-02,
  6.11083112e-03, 7.64551306e-01,-2.93926245e-02, 8.68924813e-01,
  5.84125764e-03, 1.64377224e-02,-9.29392754e-03, 2.59811823e-02,
  1.33385278e+00,-1.83198945e-04, 1.07563171e+00, 6.33211760e-02,
  1.31528274e-02,-3.51906588e-02, 7.55090014e-02, 6.86261531e-01,
 -2.11553750e-01,-6.73868937e-01,-1.73754936e-01]

qacc:
[ 8.71330283e-01, 1.08589901e+00,-3.94716618e+00, 5.38919369e+00,
 -6.83528864e-02, 2.13569077e+00,-1.39060920e+01, 3.80439864e+01,
 -9.44974516e-01,-2.14864460e+00, 3.64364762e+00, 8.35479226e+00,
 -1.79885717e-01, 1.22885458e-01, 2.04073306e+00,-7.12642256e+00,
 -8.48473965e-01,-1.97723826e+00, 1.90845320e+00, 4.26115451e+00,
  1.75694933e+01,-1.53116989e+02]

qfrc_actuator:
[ 1.51311764e-05, 1.12720413e-04, 1.69524891e-05, 5.70404637e-05,
  5.94477360e-06, 2.57735589e-02, 8.24158019e-03, 4.42562436e-03,
 -1.05923808e-04, 5.59971993e-04, 8.97170343e-05, 6.26188349e-05,
  2.10551327e-03,-1.53967976e-03, 0.00000000e+00,-2.33389649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013072395488282762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.30805078e-15,  4.24644062e-14,  1.00000000e+00,  2.25403224e-28,
        1.00000000e+00, -4.24644062e-14, -1.00000000e+00,  0.00000000e+00,
       -5.30805078e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00171995, -0.00647502,  0.06185605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17559361e-06, 3.05141682e-06,-1.63830167e-05, 2.57428059e-06,
 -1.11881274e-05,-1.64865369e-04,-4.11572873e-05, 9.83103370e-05,
 -5.84034669e-06,-5.68120978e-06, 6.74072233e-05, 4.22376953e-05,
 -3.64470645e-05,-1.58712053e-05,-8.25671245e-06,-3.68792478e-05,
 -1.85912936e-03,-1.72409267e-03,-1.21584442e+00,-9.60855992e-04,
 -2.46580538e-02,-6.66163928e-06]


--- Step 1630 ---
qpos:
[ 3.30686367e-03,-3.22069801e-03, 1.19434329e-02, 4.17450930e-02,
  6.11044207e-03, 7.64554366e-01,-2.93985625e-02, 8.68968455e-01,
  5.83980655e-03, 1.64389952e-02,-9.29360758e-03, 2.59822292e-02,
  1.33397155e+00,-1.82587516e-04, 1.07583506e+00, 6.33187646e-02,
  1.31079211e-02,-3.52400069e-02, 7.54564465e-02, 6.85526023e-01,
 -2.09980252e-01,-6.74694880e-01,-1.75354452e-01]

qacc:
[   3.53220699,  -3.01891298,  14.69089562, -32.38448023,  -0.33810926,
   -3.46009164,   8.64195871,  -8.29629231,  -0.55872548,   0.45193174,
   -5.08883214,  15.03447893,   0.45573109,  -1.09281947,  -6.51100786,
   21.86710179,  -0.76985146,  -1.81022986,   1.13443802,   3.93673911,
   16.38083022,-142.80804257]

qfrc_actuator:
[ 3.56297281e-05, 9.51684090e-05, 2.65422616e-05, 5.57637524e-06,
 -4.42921656e-05, 2.56374764e-02, 8.23770653e-03, 4.41321312e-03,
 -1.09136254e-04, 4.70254930e-04, 6.08774960e-05, 8.33439453e-05,
  2.08632837e-03,-1.57909686e-03, 0.00000000e+00,-2.22755462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.03184765, -5.01397003,  7.03184765, 17.47681638,
       12.39830242, -5.01397003, 12.39830242, 26.02437615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013135173162465326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.77074051e-07, -4.22614537e-14,  1.00000000e+00,  3.70664244e-20,
        1.00000000e+00,  4.22614537e-14, -1.00000000e+00,  0.00000000e+00,
        8.77074051e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0017944 , -0.00660877,  0.06185479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06460107e-05,-1.91366271e-05, 8.30241190e-06,-5.18475857e-05,
 -5.52821517e-05,-2.32495837e-04,-3.81694377e-05,-1.66939207e-05,
 -3.37985514e-06,-7.72404250e-05,-2.02777518e-05, 2.36298183e-05,
 -4.35736246e-05,-5.16446574e-05,-1.19238910e-05, 1.02310038e-04,
 -1.89473952e-03,-1.94793290e-03,-1.21563580e+00,-8.04855767e-04,
 -2.46584624e-02,-1.35987239e-05]


--- Step 1631 ---
qpos:
[ 3.30782520e-03,-3.21968649e-03, 1.19410545e-02, 4.17435119e-02,
  6.10964847e-03, 7.64557150e-01,-2.94056630e-02, 8.69010150e-01,
  5.83867318e-03, 1.64396039e-02,-9.29325528e-03, 2.59835184e-02,
  1.33409002e+00,-1.82404100e-04, 1.07603859e+00, 6.33152692e-02,
  1.30601983e-02,-3.52960382e-02, 7.54059173e-02, 6.84761072e-01,
 -2.08213861e-01,-6.75552599e-01,-1.77138219e-01]

qacc:
[ 2.09261966e+00, 8.59163925e-01,-2.21351595e+00,-8.11584594e-01,
 -2.25900016e-01,-6.02070151e-01, 5.96638949e+00,-2.85111823e+01,
  2.78345173e+00,-4.74833806e-01,-6.13101321e-01, 5.25411845e+00,
  1.88283784e-02,-4.20841971e-01, 3.52040264e+00,-1.19651002e+01,
 -7.04115453e-01,-1.67081216e+00, 5.06438011e-01, 3.65498862e+00,
  1.54322012e+01,-1.34144727e+02]

qfrc_actuator:
[ 4.73995401e-05, 8.43105596e-05,-2.61142956e-06,-6.40244837e-06,
 -5.61607699e-05, 2.56977711e-02, 8.20210106e-03, 4.31739180e-03,
 -9.26915841e-05, 4.34038634e-04, 6.12301342e-05, 9.50340777e-05,
  2.06522407e-03,-1.60264787e-03, 0.00000000e+00,-2.28822829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.07178874, -4.95747727,  7.07178874, 17.97679521,
       13.32402656, -4.95747727, 13.32402656, 27.6429462 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001304491569628058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25538597e-14,  4.25538597e-14,  1.00000000e+00, -1.81083098e-27,
        1.00000000e+00, -4.25538597e-14, -1.00000000e+00,  0.00000000e+00,
        4.25538597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00189354, -0.00677182,  0.06185515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23518889e-05,-2.20732776e-05,-3.38667652e-05,-1.35166688e-05,
 -3.67083329e-05,-7.66482235e-05,-8.63541239e-05,-1.04788480e-04,
  1.63252276e-05,-8.26435706e-05,-1.73047719e-05, 8.13226453e-06,
 -5.76342449e-05,-4.63377612e-05, 2.92140616e-06,-5.71887602e-05,
 -1.90941720e-03,-2.11377093e-03,-1.21541034e+00,-6.47836848e-04,
 -2.46565492e-02,-2.12734011e-05]


--- Step 1632 ---
qpos:
[ 3.30892036e-03,-3.21866293e-03, 1.19387984e-02, 4.17424403e-02,
  6.10899224e-03, 7.64560274e-01,-2.94139066e-02, 8.69051347e-01,
  5.83774565e-03, 1.64396774e-02,-9.29293002e-03, 2.59845798e-02,
  1.33420793e+00,-1.81740366e-04, 1.07624186e+00, 6.33130869e-02,
  1.30098635e-02,-3.53583058e-02, 7.53549696e-02, 6.83966338e-01,
 -2.06263815e-01,-6.76439030e-01,-1.79096415e-01]

qacc:
[ 1.17679519e+00, 7.21300844e-01,-4.70118450e+00, 1.33136736e+01,
  7.54855355e-02, 2.67049480e+00,-7.10056443e+00, 1.80360828e-01,
  1.80335978e+00,-1.10419481e+00, 3.86652914e+00,-7.36526627e+00,
 -6.99861433e-01, 1.12587763e+00,-4.28920528e+00, 1.45833045e+01,
 -6.53006809e-01,-1.55904963e+00,-1.04637393e-01, 3.40394437e+00,
  1.45353709e+01,-1.27382875e+02]

qfrc_actuator:
[ 5.39327449e-05, 1.12922425e-04, 1.66490164e-05, 2.26815711e-05,
 -2.72164982e-05, 2.57685048e-02, 8.16652283e-03, 4.29764725e-03,
 -8.25620620e-05, 4.12463896e-04, 6.12813906e-05, 8.36344683e-05,
  2.05363822e-03,-1.56333714e-03, 0.00000000e+00,-2.21606816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.90481962, -5.18750834,  6.90481962, 19.37070897,
       14.28792271, -5.18750834, 14.28792271, 27.65426638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012821999621806107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32936772e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.32936772e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00189137, -0.00675423,  0.06185691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87879606e-06, 8.69014100e-06, 1.00801144e-05, 2.67093556e-05,
  1.24634921e-05, 7.84509242e-06,-6.37759083e-05,-2.71770819e-05,
  1.05715485e-05,-7.10425001e-05,-1.88859154e-05,-1.53876543e-05,
 -5.48179740e-05, 1.45829200e-05,-9.79522525e-06, 6.82590352e-05,
 -1.90696414e-03,-2.23224026e-03,-1.21517167e+00,-4.88483208e-04,
 -2.46526006e-02,-2.96536177e-05]


--- Step 1633 ---
qpos:
[ 3.30974039e-03,-3.21772413e-03, 1.19376476e-02, 4.17416682e-02,
  6.10859111e-03, 7.64563449e-01,-2.94216475e-02, 8.69091231e-01,
  5.83625685e-03, 1.64396954e-02,-9.29331773e-03, 2.59841007e-02,
  1.33432555e+00,-1.80976396e-04, 1.07644474e+00, 6.33141017e-02,
  1.29570882e-02,-3.54264351e-02, 7.53015312e-02, 6.83141232e-01,
 -2.04137652e-01,-6.77351361e-01,-1.81220887e-01]

qacc:
[-2.37838069e+00,-2.58020960e+00, 7.78078989e+00,-4.31083205e+00,
  1.42787403e-01,-3.57192925e+00, 1.48172715e+01,-2.90928512e+01,
 -4.91738135e+00,-1.24230641e+00, 1.08443220e+01,-3.63438375e+01,
 -7.89133160e-02, 7.84847312e-02,-1.02280594e+01, 3.49498802e+01,
 -6.10103002e-01,-1.46545640e+00,-6.22676415e-01, 3.17841414e+00,
  1.37894639e+01,-1.21821324e+02]

qfrc_actuator:
[ 3.95817967e-05, 1.29672896e-04, 8.22921690e-05, 4.02550323e-05,
 -9.66986563e-06, 2.57917397e-02, 8.20241712e-03, 4.23411512e-03,
 -1.11742101e-04, 4.17563388e-04, 2.56930007e-05, 5.49629521e-06,
  2.04779795e-03,-1.55805702e-03, 0.00000000e+00,-2.04841855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.87797668, -5.22304639,  6.87797668, 19.57322852,
       14.40222737, -5.22304639, 14.40222737, 27.60195893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012491499897628877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44391400e-14,  4.44391400e-14,  1.00000000e+00, -1.97483716e-27,
        1.00000000e+00, -4.44391400e-14, -1.00000000e+00,  0.00000000e+00,
        4.44391400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00188786, -0.00672583,  0.06185982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41542280e-05, 2.48268363e-05, 6.96193222e-05, 1.88190888e-05,
  2.31416056e-05, 1.41135756e-05, 2.93123217e-05,-6.58190331e-05,
 -2.88996182e-05,-3.91965683e-05,-5.31302376e-05,-8.21394658e-05,
 -3.29688454e-05,-3.95948327e-06,-7.35054992e-07, 1.69339794e-04,
 -1.89236338e-03,-2.31372519e-03,-1.21492111e+00,-3.25157812e-04,
 -2.46467825e-02,-3.87142942e-05]


--- Step 1634 ---
qpos:
[ 3.31003717e-03,-3.21684868e-03, 1.19373266e-02, 4.17414738e-02,
  6.10861620e-03, 7.64567008e-01,-2.94287722e-02, 8.69130004e-01,
  5.83477483e-03, 1.64396059e-02,-9.29421552e-03, 2.59830270e-02,
  1.33444305e+00,-1.80439708e-04, 1.07664759e+00, 6.33167619e-02,
  1.29020186e-02,-3.55001098e-02, 7.52438487e-02, 6.82284940e-01,
 -2.01841467e-01,-6.78286987e-01,-1.83504893e-01]

qacc:
[-4.56514615e+00,-1.20407229e+00, 1.74981016e+00, 6.94849394e+00,
  2.38044924e-01,-3.09241608e+00, 1.33136457e+01,-2.55421770e+01,
  4.46380962e-02, 5.93193926e-02, 2.09300737e+00,-1.14901495e+01,
  1.67734595e-01,-4.42152830e-01,-5.02125545e+00, 1.74736094e+01,
 -5.73599963e-01,-1.38634347e+00,-1.06101132e+00, 2.97197868e+00,
  1.31704176e+01,-1.17278217e+02]

qfrc_actuator:
[ 1.30556555e-05, 1.21645877e-04, 1.21475194e-04, 6.86808215e-05,
  1.86181431e-05, 2.58398844e-02, 8.24450108e-03, 4.18083023e-03,
 -1.10565217e-04, 4.20649142e-04, 4.92283395e-06,-2.25180546e-05,
  2.04007451e-03,-1.57300731e-03, 0.00000000e+00,-1.96790556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.86361367, -5.24190655,  6.86361367, 19.3100791 ,
       13.97588046, -5.24190655, 13.97588046, 26.93601152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012077684374990122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33947981e-07,  6.33947985e-07,  1.00000000e+00, -4.01890045e-13,
        1.00000000e+00, -6.33947985e-07, -1.00000000e+00, -5.04870979e-29,
        6.33947981e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00188417, -0.00669095,  0.06186362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69258873e-05, 2.10160841e-05, 5.35411461e-05, 3.22672737e-05,
  3.86749006e-05, 5.96229845e-05, 4.62952601e-05,-5.34433251e-05,
  3.39915329e-07,-3.33378667e-05,-3.82479449e-05,-3.31282105e-05,
 -2.68092300e-05,-2.37215298e-05, 1.50895112e-05, 8.90695880e-05,
 -1.86792847e-03,-2.36473111e-03,-1.21465985e+00,-1.57106437e-04,
 -2.46391548e-02,-4.84336258e-05]


--- Step 1635 ---
qpos:
[ 3.31001340e-03,-3.21573817e-03, 1.19371455e-02, 4.17416313e-02,
  6.10901664e-03, 7.64571333e-01,-2.94355226e-02, 8.69168158e-01,
  5.83400842e-03, 1.64385866e-02,-9.29454343e-03, 2.59826925e-02,
  1.33456048e+00,-1.80137924e-04, 1.07685101e+00, 6.33160237e-02,
  1.28447835e-02,-3.55790559e-02, 7.51809220e-02, 6.81396651e-01,
 -1.99380225e-01,-6.79243261e-01,-1.85942794e-01]

qacc:
[-2.81296473e+00, 6.50620082e-01,-3.34397181e+00, 9.02598973e+00,
  2.09218577e-01,-1.08141487e+00, 6.20231431e+00,-1.35264053e+01,
  6.27536967e+00,-1.31205309e+00,-2.47694654e-01, 1.28393991e+01,
 -1.07220856e-01,-2.58475714e-02, 1.10950837e+01,-3.75980567e+01,
 -5.41389521e-01,-1.31782781e+00,-1.31104571e+00, 2.78090327e+00,
  1.27804602e+01,-1.13498958e+02]

qfrc_actuator:
[-2.66478802e-06, 1.34270136e-04, 1.26862927e-04, 8.54674293e-05,
  3.53251718e-05, 2.59026232e-02, 8.27223164e-03, 4.15176905e-03,
 -7.37650823e-05, 3.51590351e-04, 2.86311660e-05, 1.47174929e-05,
  2.04186958e-03,-1.58205579e-03, 0.00000000e+00,-2.15243338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.17687125, -4.80409158,  7.17687125, 17.53774105,
       13.29783968, -4.80409158, 13.29783968, 28.50211385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011614830633908252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77933368e-14,  4.77933368e-14,  1.00000000e+00, -2.28420304e-27,
        1.00000000e+00, -4.77933368e-14, -1.00000000e+00,  0.00000000e+00,
        4.77933368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00198486, -0.00688511,  0.06186797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64859777e-05, 3.67799366e-05, 1.74345532e-05, 2.01679266e-05,
  3.40703945e-05, 1.03171108e-04, 4.32428732e-05,-2.69709120e-05,
  3.67997517e-05,-9.70102992e-05, 1.09770340e-05, 3.38430276e-05,
 -1.85451802e-05,-2.11984539e-05, 1.23860174e-05,-1.78669695e-04,
 -1.83539602e-03,-2.39025405e-03,-1.21438847e+00, 1.61953495e-05,
 -2.46297134e-02,-5.87929993e-05]


--- Step 1636 ---
qpos:
[ 3.30945640e-03,-3.21465223e-03, 1.19368984e-02, 4.17420372e-02,
  6.10969201e-03, 7.64575590e-01,-2.94410025e-02, 8.69206733e-01,
  5.83334384e-03, 1.64370034e-02,-9.29440521e-03, 2.59827667e-02,
  1.33467805e+00,-1.80540653e-04, 1.07705508e+00, 6.33080817e-02,
  1.27854955e-02,-3.56630344e-02, 7.51114313e-02, 6.80475170e-01,
 -1.96757904e-01,-6.80217862e-01,-1.88529919e-01]

qacc:
[  -4.68171084,   0.67285006,  -3.47783662,   7.88122168,   0.15422749,
   -2.79254342,   8.11491959,  -2.20243569,   0.91249741,  -1.20878616,
    1.50013032,   5.24518466,   0.16123484,  -0.6550848 ,  22.69003017,
  -78.03160259,  -0.51318663,  -1.25810751,  -1.64101924,   2.59436347,
   12.33467543,-110.45946507]

qfrc_actuator:
[-2.96478443e-05, 1.05754186e-04, 1.12331508e-04, 9.52652322e-05,
  4.49640079e-05, 2.58670661e-02, 8.32685075e-03, 4.17270022e-03,
 -6.95604370e-05, 3.46625969e-04, 6.03980293e-05, 3.67490385e-05,
  2.04404813e-03,-1.62296991e-03, 0.00000000e+00,-2.52710519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.85128158, -5.2580146 ,  6.85128158, 18.03556664,
       12.24731981, -5.2580146 , 12.24731981, 24.59482761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011107153448624216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.99778377e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.99778377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00197914, -0.00683872,  0.06187282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74447130e-05,-3.52762559e-06,-4.09964431e-06, 1.23674418e-05,
  2.49420263e-05, 2.92297402e-05, 7.91611461e-05, 2.49238761e-05,
  5.22019030e-06,-5.54434636e-05, 1.42653315e-05, 1.89147710e-05,
 -1.36234569e-05,-5.01609715e-05,-1.97807655e-05,-3.84342471e-04,
 -1.79446136e-03,-2.39228085e-03,-1.21410742e+00, 1.94571462e-04,
 -2.46184027e-02,-6.97752096e-05]


--- Step 1637 ---
qpos:
[ 3.30892553e-03,-3.21423498e-03, 1.19371084e-02, 4.17422599e-02,
  6.11054970e-03, 7.64579928e-01,-2.94456764e-02, 8.69244234e-01,
  5.83273516e-03, 1.64348275e-02,-9.29418566e-03, 2.59841705e-02,
  1.33479547e+00,-1.81131860e-04, 1.07725876e+00, 6.32980448e-02,
  1.27242556e-02,-3.57518351e-02, 7.50342538e-02, 6.79519123e-01,
 -1.93977566e-01,-6.81208577e-01,-1.91262489e-01]

qacc:
[ 2.55128519e-01,-2.53999985e+00, 8.54550075e+00,-1.19527211e+01,
  1.02443843e-01,-3.93845951e+00, 1.55218270e+01,-2.68711321e+01,
  5.00964988e-01, 1.72571349e+00,-1.29055265e+01, 3.62264290e+01,
 -7.56910887e-02,-6.90754942e-02, 5.74660091e+00,-2.09435934e+01,
 -4.88006190e-01,-1.20557254e+00,-1.92169915e+00, 2.41442267e+00,
  1.19654268e+01,-1.08073885e+02]

qfrc_actuator:
[-2.75423087e-05, 3.49670833e-05, 1.21503662e-04, 8.30799003e-05,
  5.03121978e-05, 2.58618221e-02, 8.36105189e-03, 4.11631870e-03,
 -6.68329121e-05, 3.09113764e-04, 6.13705468e-05, 1.02951054e-04,
  2.03578954e-03,-1.62918195e-03, 0.00000000e+00,-2.62014076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.88345395, -5.21582578,  6.88345395, 16.91487086,
       10.92535019, -5.21582578, 10.92535019, 23.05481779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010564206636138954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.25464459e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.25464459e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00197286, -0.00678835,  0.06187809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31895477e-06,-7.31219406e-05, 8.35747827e-06,-1.22390732e-05,
  1.65433410e-05, 2.73071311e-05, 4.98491043e-05,-5.24938056e-05,
  2.85159411e-06,-6.47039888e-05,-8.05270725e-06, 6.46904476e-05,
 -2.90416231e-05,-2.09303165e-05,-5.65430987e-05,-1.18083763e-04,
 -1.74786219e-03,-2.37566408e-03,-1.21381658e+00, 3.78781675e-04,
 -2.46051672e-02,-8.13674261e-05]


--- Step 1638 ---
qpos:
[ 3.30876872e-03,-3.21453563e-03, 1.19378359e-02, 4.17416474e-02,
  6.11151950e-03, 7.64584755e-01,-2.94502595e-02, 8.69279733e-01,
  5.83216350e-03, 1.64323537e-02,-9.29347500e-03, 2.59859446e-02,
  1.33491270e+00,-1.81797875e-04, 1.07746166e+00, 6.32905656e-02,
  1.26611555e-02,-3.58452695e-02, 7.49484324e-02, 6.78526965e-01,
 -1.91041483e-01,-6.82213269e-01,-1.94137490e-01]

qacc:
[ 3.31122776e+00,-4.12390342e+00, 1.68387815e+01,-3.15780559e+01,
  6.27017903e-02,-3.08061531e+00, 1.54752648e+01,-3.82436826e+01,
  3.43601109e-01,-1.00450431e+00, 1.44548328e+00, 4.39994031e+00,
  9.24239658e-02,-2.57459359e-01,-8.88597196e+00, 2.93852563e+01,
 -4.65022800e-01,-1.15841108e+00,-2.16095739e+00, 2.23788474e+00,
  1.16600189e+01,-1.06249354e+02]

qfrc_actuator:
[-8.32968955e-06,-7.27086384e-06, 1.44401314e-04, 4.02842331e-05,
  5.30686470e-05, 2.58923977e-02, 8.36520588e-03, 4.01487558e-03,
 -6.49864601e-05, 3.23337632e-04, 9.73227033e-05, 1.23560314e-04,
  2.02661463e-03,-1.63255961e-03, 0.00000000e+00,-2.47541149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636293,  6.9244248 , -5.16130854,  6.9244248 , 15.73838103,
        9.52808573, -5.16130854,  9.52808573, 21.41926722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009998031417515693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.55220812e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.55220812e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00196616, -0.00673516,  0.06188365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92232623e-05,-8.19417139e-05, 8.39254931e-06,-4.58787742e-05,
  1.01840015e-05, 5.37918848e-05, 1.37061390e-05,-1.00258007e-04,
  1.89685251e-06,-2.07779855e-05, 2.38521529e-05, 1.88177667e-05,
 -3.14181249e-05,-1.46675814e-05,-4.08863766e-05, 1.30503153e-04,
 -1.69640887e-03,-2.34287743e-03,-1.21351561e+00, 5.68998107e-04,
 -2.45899017e-02,-9.35588291e-05]


--- Step 1639 ---
qpos:
[ 3.30918830e-03,-3.21539040e-03, 1.19384517e-02, 4.17415857e-02,
  6.11235720e-03, 7.64589805e-01,-2.94552273e-02, 8.69313792e-01,
  5.83196232e-03, 1.64306636e-02,-9.29275001e-03, 2.59864628e-02,
  1.33502964e+00,-1.82476074e-04, 1.07766412e+00, 6.32861382e-02,
  1.25962816e-02,-3.59431635e-02, 7.48531441e-02, 6.77496992e-01,
 -1.87951277e-01,-6.83229847e-01,-1.97152530e-01]

qacc:
[ 5.06541692e+00, 7.05127416e-01,-5.91698441e+00, 1.60514115e+01,
 -7.37421747e-02,-1.16905963e+00, 7.47759183e+00,-2.41258882e+01,
  3.21751289e+00,-1.59603018e+00, 1.24853819e+01,-3.48094892e+01,
  7.35452150e-03,-1.16781467e-01,-9.85595462e+00, 3.35438840e+01,
 -4.43466240e-01,-1.11489225e+00,-2.36672587e+00, 2.06183105e+00,
  1.14058298e+01,-1.04889642e+02]

qfrc_actuator:
[ 2.07888059e-05,-3.20626360e-05, 1.39785813e-04, 6.86109364e-05,
  3.65147073e-05, 2.58730130e-02, 8.33397184e-03, 3.94101157e-03,
 -4.59195121e-05, 4.21803326e-04, 1.18315072e-04, 6.39834879e-05,
  2.01157515e-03,-1.63427491e-03, 0.00000000e+00,-2.31610633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.57530132,  6.92033173, -5.06406967,  6.92033173, 14.57478166,
        8.19862222, -5.06406967,  8.19862222, 19.77917276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009418524473894241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.89382672e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.89382672e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00195918, -0.00668009,  0.0618894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96393534e-05,-7.08344161e-05,-2.20989829e-05, 2.42136549e-05,
 -1.19750780e-05, 9.83510084e-06,-2.20644103e-05,-7.40052558e-05,
  1.91055621e-05, 9.26560835e-05, 2.03053972e-05,-5.92759333e-05,
 -3.63656855e-05,-1.24197473e-05,-5.65408053e-06, 1.61031629e-04,
 -1.64074213e-03,-2.29589960e-03,-1.21320402e+00, 7.65330662e-04,
 -2.45724844e-02,-1.06340839e-04]


--- Step 1640 ---
qpos:
[ 3.31029832e-03,-3.21622737e-03, 1.19387214e-02, 4.17421511e-02,
  6.11243609e-03, 7.64595290e-01,-2.94612106e-02, 8.69346716e-01,
  5.83164603e-03, 1.64301085e-02,-9.29228219e-03, 2.59858900e-02,
  1.33514605e+00,-1.82575377e-04, 1.07786621e+00, 6.32859729e-02,
  1.25297169e-02,-3.60453519e-02, 7.47476741e-02, 6.76427348e-01,
 -1.84708031e-01,-6.84256240e-01,-2.00305729e-01]

qacc:
[ 6.04912448e+00, 2.27199576e+00,-1.07319511e+01, 2.21444854e+01,
 -4.23610994e-01, 1.34591901e+00,-1.13797785e+00,-1.28861731e+01,
 -1.03203342e+00,-2.52760698e-02, 6.87724945e+00,-2.61897856e+01,
 -5.74084846e-01, 1.01621913e+00,-1.33617437e+01, 4.60705616e+01,
 -4.22716118e-01,-1.07359902e+00,-2.54544652e+00, 1.88393640e+00,
  1.11925657e+01,-1.03915831e+02]

qfrc_actuator:
[ 5.54988612e-05, 6.99458771e-06, 1.36837175e-04, 1.03053766e-04,
 -2.69313852e-05, 2.58947343e-02, 8.28194406e-03, 3.88393313e-03,
 -5.23737908e-05, 4.98841245e-04, 1.12859265e-04, 1.10310022e-05,
  1.98770444e-03,-1.59952024e-03, 0.00000000e+00,-2.09631491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.39564883,  6.82005573, -4.89630056,  6.82005573, 13.44469418,
        7.0328139 , -4.89630056,  7.0328139 , 18.19165342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008833834999374193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14196220e-14,  4.71294329e-14,  1.00000000e+00, -1.48078897e-27,
        1.00000000e+00, -4.71294329e-14, -1.00000000e+00,  0.00000000e+00,
        3.14196220e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00195204, -0.00662395,  0.06189526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55315531e-05,-4.04797230e-06,-1.94624892e-05, 3.11146284e-05,
 -6.88169820e-05, 2.03595409e-05,-5.48588928e-05,-5.91076173e-05,
 -5.87714931e-06, 1.30563498e-04, 1.41427763e-05,-4.94326381e-05,
 -4.69032184e-05, 2.31692931e-05, 1.21619156e-05, 2.27330084e-04,
 -1.58139469e-03,-2.23635717e-03,-1.21288128e+00, 9.67847718e-04,
 -2.45527841e-02,-1.19706779e-04]


--- Step 1641 ---
qpos:
[ 3.31147051e-03,-3.21626803e-03, 1.19380022e-02, 4.17427225e-02,
  6.11195525e-03, 7.64600818e-01,-2.94671967e-02, 8.69380408e-01,
  5.83091056e-03, 1.64300777e-02,-9.29164276e-03, 2.59843904e-02,
  1.33526204e+00,-1.82264084e-04, 1.07806880e+00, 6.32844205e-02,
  1.24743999e-02,-3.61449700e-02, 7.46565384e-02, 6.75633110e-01,
 -1.81725788e-01,-6.84972770e-01,-2.03243558e-01]

qacc:
[  0.50098761,  3.82914265,-12.15219218, 13.25368911, -0.312011  ,
   1.39788249, -6.27387897, 14.81157322, -3.66004228, -1.68710926,
  10.94594424,-27.65731853, -0.74247266,  1.1885746 ,  4.97450774,
 -16.20509555,  2.81193979,  0.64257056,  3.58359565,-20.18897495,
 152.99434833,218.33929657]

qfrc_actuator:
[ 5.77140000e-05, 8.40109188e-05, 9.96624881e-05, 1.05364372e-04,
 -4.68226752e-05, 2.59053113e-02, 8.28923529e-03, 3.92596080e-03,
 -7.38034041e-05, 4.91347136e-04, 1.09552959e-04,-3.76093090e-05,
  1.96922068e-03,-1.57897505e-03, 0.00000000e+00,-2.17996277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010105684524124303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.23959294e-14, -1.09861239e-13,  1.00000000e+00,  9.05211891e-27,
        1.00000000e+00,  1.09861239e-13, -1.00000000e+00,  0.00000000e+00,
        8.23959294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05509149, -0.01424038,  0.06188028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22755827e-06, 7.21002290e-05,-3.93285078e-05, 2.06774667e-06,
 -5.07672450e-05, 9.04196081e-06, 3.21188224e-06, 3.96859277e-05,
 -2.15524324e-05, 6.63336450e-05, 2.36971686e-05,-4.35161424e-05,
 -3.85544536e-05, 1.49802922e-05, 2.67617819e-05,-7.03444275e-05,
 -1.51882810e-03,-2.16562946e-03,-1.21254687e+00, 1.17659023e-03,
 -2.45306639e-02,-1.33651571e-04]


--- Step 1642 ---
qpos:
[ 3.31266059e-03,-3.21567493e-03, 1.19365102e-02, 4.17436679e-02,
  6.11188036e-03, 7.64606349e-01,-2.94727187e-02, 8.69413628e-01,
  5.83061399e-03, 1.64303019e-02,-9.29146940e-03, 2.59827454e-02,
  1.33537787e+00,-1.82235159e-04, 1.07827165e+00, 6.32805785e-02,
  1.24289454e-02,-3.62424448e-02, 7.45741403e-02, 6.75082393e-01,
 -1.78973930e-01,-6.85418472e-01,-2.05994208e-01]

qacc:
[ 1.21977971e-01, 3.76887575e+00,-1.37995734e+01, 2.10386196e+01,
  2.26660749e-01,-2.07218976e+00, 7.89004910e+00,-1.27487843e+01,
  3.80886940e+00, 1.33254340e+00,-3.66055675e+00, 1.71245621e+00,
 -6.11117805e-02,-1.57378179e-01, 7.30319910e+00,-2.49831854e+01,
  2.46564267e+00, 5.35820425e-01, 2.18438677e+00,-1.91171484e+01,
  1.34472942e+02, 1.91493139e+02]

qfrc_actuator:
[ 5.85368983e-05, 1.12006564e-04, 6.04861206e-05, 1.24271192e-04,
  1.27812597e-05, 2.59094205e-02, 8.31375875e-03, 3.90173457e-03,
 -5.06102186e-05, 4.68795745e-04, 7.17051642e-05,-4.78850613e-05,
  1.95397753e-03,-1.60252408e-03, 0.00000000e+00,-2.29970888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.84661242, -3.6079704 ,  7.84661242, 11.68651441,
        6.63346656, -3.6079704 ,  6.63346656, 23.06282376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012399702610833285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.59601639e-15, -1.79072524e-13,  1.00000000e+00,  1.00209278e-27,
        1.00000000e+00,  1.79072524e-13, -1.00000000e+00,  0.00000000e+00,
        5.59601639e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0543987 , -0.01440383,  0.06185432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.42245288e-07, 6.02852898e-05,-2.90499784e-05, 2.06746747e-05,
  3.68237261e-05, 1.09221380e-05, 2.78783617e-05,-2.29371357e-05,
  2.25996479e-05, 1.75600516e-05,-2.27362116e-05,-7.45728269e-06,
 -3.31231812e-05,-2.88987663e-05,-1.77993825e-06,-1.21657582e-04,
  4.54674754e-04, 8.19355948e-04,-1.21354172e+00, 6.20114127e-04,
 -2.46413128e-02,-1.45128827e-04]


--- Step 1643 ---
qpos:
[ 3.31385153e-03,-3.21491774e-03, 1.19353196e-02, 4.17441276e-02,
  6.11257518e-03, 7.64612308e-01,-2.94783341e-02, 8.69445944e-01,
  5.83128750e-03, 1.64305117e-02,-9.29166426e-03, 2.59817097e-02,
  1.33549362e+00,-1.82743332e-04, 1.07847383e+00, 6.32803511e-02,
  1.23928582e-02,-3.63379427e-02, 7.44936102e-02, 6.74762337e-01,
 -1.76459112e-01,-6.85611623e-01,-2.08553764e-01]

qacc:
[ 1.40502710e-02,-1.62703787e+00, 8.16383049e+00,-1.71684196e+01,
  4.28721875e-01,-7.55314871e-01, 5.23181358e+00,-1.58321963e+01,
  8.44993402e+00, 2.24802117e+00,-1.06447768e+01, 2.18218452e+01,
  5.91027441e-01,-1.23801240e+00,-1.19457130e+01, 4.02410315e+01,
  2.34180270e+00, 4.94230066e-01, 4.67004126e-01,-1.98919320e+01,
  1.22781714e+02, 1.92096235e+02]

qfrc_actuator:
[ 5.85438787e-05, 1.10433819e-04, 7.35460478e-05, 9.95075446e-05,
  6.60826319e-05, 2.59451780e-02, 8.31265055e-03, 3.85644151e-03,
 -1.33374694e-06, 4.55022247e-04, 4.92067943e-05,-1.77998988e-05,
  1.94599572e-03,-1.63424828e-03, 0.00000000e+00,-2.10235643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -2.12898372,  -8.36983902,  -2.12898372,
        51.49271866, -10.90110357,  -8.36983902, -10.90110357,
        11.40920932,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001415039641329982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41330711e-14, -1.56917586e-13,  1.00000000e+00,  6.92525499e-27,
        1.00000000e+00,  1.56917586e-13, -1.00000000e+00,  0.00000000e+00,
        4.41330711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0580172 , -0.01511604,  0.06183479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46291102e-08, 2.70144805e-05, 2.26566091e-05,-2.27844401e-05,
  6.98270322e-05, 4.64844606e-05, 3.56793960e-06,-4.46236892e-05,
  4.99322096e-05,-8.96939361e-06,-2.19317652e-05, 2.99076432e-05,
 -3.37042826e-05,-4.62958107e-05,-1.90168140e-05, 1.89271881e-04,
  1.56209639e-03, 3.18849897e-03,-1.21427008e+00, 2.56844176e-04,
 -2.47252966e-02,-1.56770546e-04]


--- Step 1644 ---
qpos:
[ 3.31537846e-03,-3.21436362e-03, 1.19350378e-02, 4.17442922e-02,
  6.11337276e-03, 7.64618559e-01,-2.94847049e-02, 8.69476824e-01,
  5.83289159e-03, 1.64306137e-02,-9.29210816e-03, 2.59813920e-02,
  1.33560907e+00,-1.83125071e-04, 1.07867607e+00, 6.32807650e-02,
  1.23650966e-02,-3.64317363e-02, 7.44109433e-02, 6.74649182e-01,
 -1.74156460e-01,-6.85580416e-01,-2.10944310e-01]

qacc:
[ 2.98080330e+00,-3.42311158e+00, 1.30495281e+01,-1.94472676e+01,
  5.67334412e-02,-6.67281863e-02, 3.95543794e+00,-2.09535422e+01,
  8.11070302e+00, 2.01569883e+00,-1.04523318e+01, 2.33843192e+01,
 -2.83650831e-01, 3.86095164e-01,-1.84404663e+00, 6.60455695e+00,
  2.08140596e+00, 4.26066482e-01,-5.34186427e-01,-1.87835965e+01,
  1.09585191e+02, 1.71123705e+02]

qfrc_actuator:
[ 7.58237967e-05, 9.13362169e-05, 1.17182588e-04, 8.47568627e-05,
  4.40658031e-05, 2.59284864e-02, 8.26102991e-03, 3.78137654e-03,
  4.51333104e-05, 4.46682917e-04, 3.60066398e-05, 1.80524381e-05,
  1.94237016e-03,-1.61725200e-03, 0.00000000e+00,-2.07478592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.28772744, -2.42906374,  8.28772744, 10.20734714,
        5.36004177, -2.42906374,  5.36004177, 26.92430088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001546507081507928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69209006e-14, -7.17890683e-14,  1.00000000e+00,  1.93262637e-27,
        1.00000000e+00,  7.17890683e-14, -1.00000000e+00,  0.00000000e+00,
        2.69209006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05759701, -0.01520578,  0.06182024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72896625e-05,-3.05523785e-07, 5.12214752e-05,-1.32533441e-05,
  9.32440186e-06, 8.24673334e-06,-4.33856620e-05,-7.44834316e-05,
  4.78951378e-05,-1.65871608e-05,-1.67186202e-05, 3.52914814e-05,
 -3.32978707e-05,-2.21802235e-06, 1.02452406e-05, 3.51911712e-05,
  2.03299557e-03, 5.10228927e-03,-1.21487669e+00, 3.08823097e-05,
 -2.47941295e-02,-1.68472554e-04]


--- Step 1645 ---
qpos:
[ 3.31710059e-03,-3.21389076e-03, 1.19349975e-02, 4.17446549e-02,
  6.11387108e-03, 7.64624521e-01,-2.94919340e-02, 8.69505247e-01,
  5.83400617e-03, 1.64303014e-02,-9.29201140e-03, 2.59814910e-02,
  1.33572422e+00,-1.83092695e-04, 1.07887873e+00, 6.32781660e-02,
  1.23447884e-02,-3.65240371e-02, 7.43226962e-02, 6.74723032e-01,
 -1.72045194e-01,-6.85347981e-01,-2.13184020e-01]

qacc:
[  1.72247268, -0.37770399,  0.34924289,  2.75837005, -0.16685575,
  -2.33048681, 12.78627311,-40.74987167, -4.24509573, -1.19230153,
   1.71126764,  4.92758868, -0.75935156,  1.25205464,  9.78664241,
 -33.17873259,  1.86336146,  0.37321026, -1.39507433,-17.79411675,
  98.66221307,153.73315548]

qfrc_actuator:
[ 8.53793927e-05, 7.97778410e-05, 1.25179395e-04, 9.37702865e-05,
  1.27223957e-05, 2.58625376e-02, 8.19755381e-03, 3.65383568e-03,
  1.85556684e-05, 4.23950529e-04, 6.39187974e-05, 3.92601795e-05,
  1.93605416e-03,-1.58922477e-03, 0.00000000e+00,-2.23632031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44365373, -1.81424598,  8.44365373,  9.63729982,
        4.65844138, -1.81424598,  4.65844138, 30.31714251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016319441258763404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55115128e-14, -3.40153504e-14,  1.00000000e+00,  8.67783046e-28,
        1.00000000e+00,  3.40153504e-14, -1.00000000e+00,  0.00000000e+00,
        2.55115128e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05732232, -0.01526619,  0.06181071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00449489e-05,-1.73287693e-06, 1.37781510e-05, 1.05127744e-05,
 -2.71564760e-05,-7.24290639e-05,-6.90900863e-05,-1.30274633e-04,
 -2.52114988e-05,-3.39251024e-05, 2.36521371e-05, 2.06050515e-05,
 -2.53192443e-05, 1.97041600e-05, 3.94644146e-06,-1.59334951e-04,
  2.01647527e-03, 6.61333677e-03,-1.21531304e+00,-8.30339054e-05,
 -2.48422386e-02,-1.80039778e-04]


--- Step 1646 ---
qpos:
[ 3.31823412e-03,-3.21349094e-03, 1.19350844e-02, 4.17451300e-02,
  6.11441900e-03, 7.64630218e-01,-2.94997603e-02, 8.69534321e-01,
  5.83375927e-03, 1.64296340e-02,-9.29126211e-03, 2.59814826e-02,
  1.33583934e+00,-1.83301339e-04, 1.07908109e+00, 6.32760051e-02,
  1.23311973e-02,-3.66150068e-02, 7.42259138e-02, 6.74967177e-01,
 -1.70107885e-01,-6.84933377e-01,-2.15287918e-01]

qacc:
[-5.16085121e+00,-2.10729532e-01, 1.54621718e-01, 1.62120263e+00,
  2.70975896e-02, 2.39895071e+00,-9.79725011e+00, 1.67969799e+01,
 -1.18481125e+01,-2.49126344e+00, 8.69556429e+00,-1.13806381e+01,
  2.11886487e-01,-4.70072566e-01,-1.78550552e+00, 5.55499397e+00,
  1.67925346e+00, 3.32775335e-01,-2.13381296e+00,-1.69156269e+01,
  8.95873160e+01, 1.39250983e+02]

qfrc_actuator:
[ 5.48015089e-05, 7.27024372e-05, 1.29848699e-04, 9.89143742e-05,
  2.94018306e-05, 2.58740155e-02, 8.18062742e-03, 3.69168562e-03,
 -5.08009442e-05, 4.10684571e-04, 9.80556315e-05, 3.39425146e-05,
  1.93346218e-03,-1.60817511e-03, 0.00000000e+00,-2.20612520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58013932, -0.98386286,  8.58013932,  8.95707323,
        2.79686638, -0.98386286,  2.79686638, 33.02746946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016796316550080348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.30495981e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.30495981e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05716364, -0.01530289,  0.06180519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02948955e-05,-4.76758990e-06, 6.36414727e-06, 5.74874655e-06,
  4.48530918e-06,-4.65563191e-05,-4.30903739e-05, 3.04944585e-05,
 -7.00938151e-05,-2.64637068e-05, 3.07598057e-05,-5.55057612e-06,
 -1.25074893e-05,-1.97501304e-05,-2.12919602e-05, 2.05907650e-05,
  1.64818007e-03, 7.81554948e-03,-1.21562157e+00,-1.16020352e-04,
 -2.48738147e-02,-1.91374990e-04]


--- Step 1647 ---
qpos:
[ 3.31899259e-03,-3.21339812e-03, 1.19356115e-02, 4.17460170e-02,
  6.11529244e-03, 7.64635698e-01,-2.95078626e-02, 8.69564635e-01,
  5.83302709e-03, 1.64292959e-02,-9.29066079e-03, 2.59813775e-02,
  1.33595444e+00,-1.83729226e-04, 1.07928292e+00, 6.32771927e-02,
  1.23236957e-02,-3.67047664e-02, 7.41180648e-02, 6.75367549e-01,
 -1.68329862e-01,-6.84352354e-01,-2.17268467e-01]

qacc:
[ -3.27269998, -0.78087072,  0.4691391 ,  6.16675214,  0.18097229,
   2.61423721,-11.76380141, 25.57098812, -4.24274156,  0.65811745,
  -1.29294143, -0.40036762,  0.37437655, -0.69305279,-10.9238596 ,
  37.00384153,  1.52239275,  0.3025182 , -2.76666058,-16.14010935,
  82.02846041,127.15028982]

qfrc_actuator:
[ 3.63545223e-05, 5.05884567e-05, 1.50291744e-04, 1.19495973e-04,
  5.69132074e-05, 2.58787822e-02, 8.17396043e-03, 3.75563270e-03,
 -7.37466272e-05, 4.56462930e-04, 1.00093864e-04, 3.08198131e-05,
  1.93308894e-03,-1.61931725e-03, 0.00000000e+00,-2.02763288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63617582,  0.05695742,  8.63617582,  8.63747147,
       -0.1679756 ,  0.05695742, -0.1679756 , 34.10568387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016965361582989003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.81608632e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.81608632e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05709754, -0.01532039,  0.06180288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93135191e-05,-2.32499507e-05, 2.04343780e-05, 2.07084000e-05,
  2.95174499e-05,-2.86420142e-05,-1.98811008e-05, 6.18528698e-05,
 -2.49665134e-05, 3.70858731e-05, 1.70086013e-07,-3.29777979e-06,
 -1.24485815e-05,-1.86256324e-05,-1.02194278e-05, 1.76268654e-04,
  1.02309617e-03, 8.77819128e-03,-1.21583191e+00,-9.02157712e-05,
 -2.48920509e-02,-2.02415177e-04]


--- Step 1648 ---
qpos:
[ 3.31986840e-03,-3.21314157e-03, 1.19359506e-02, 4.17467813e-02,
  6.11629231e-03, 7.64640547e-01,-2.95154528e-02, 8.69593748e-01,
  5.83236947e-03, 1.64295701e-02,-9.28995393e-03, 2.59815260e-02,
  1.33606945e+00,-1.84507542e-04, 1.07948493e+00, 6.32781305e-02,
  1.23217438e-02,-3.67934033e-02, 7.39969837e-02, 6.75912287e-01,
 -1.66698749e-01,-6.83617954e-01,-2.19136032e-01]

qacc:
[ 1.02118059e+00, 4.86804710e-01,-9.07326706e-01,-1.03270185e+00,
  7.13931237e-02,-4.29777312e+00, 1.58421991e+01,-2.81823401e+01,
  6.43319386e-01, 1.03510248e+00,-3.58904835e+00, 7.35998968e+00,
  1.69237979e-01,-5.09049711e-01, 9.95429182e-01,-3.14912287e+00,
  1.38740666e+00, 2.80681114e-01,-3.30799464e+00,-1.54594125e+01,
  7.57233601e+01, 1.17014368e+02]

qfrc_actuator:
[ 4.29606199e-05, 7.29723980e-05, 1.44330099e-04, 1.13490383e-04,
  5.51227083e-05, 2.58263223e-02, 8.19111946e-03, 3.69236881e-03,
 -6.91773660e-05, 5.19372927e-04, 1.18917687e-04, 4.67988093e-05,
  1.91807138e-03,-1.64345246e-03, 0.00000000e+00,-2.04729011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54772494,  1.23416987,  8.54772494,  9.14211766,
       -3.50279679,  1.23416987, -3.50279679, 32.89634936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016885252540396675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.28755232e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.28755232e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05710518, -0.01532237,  0.06180312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04516069e-06, 1.44697558e-05,-7.53979090e-06,-5.89399826e-06,
  1.14504922e-05,-7.03486235e-05, 1.11010916e-05,-6.33739457e-05,
  3.86618793e-06, 8.35368717e-05, 2.63886820e-05, 1.75105320e-05,
 -2.63096160e-05,-3.15750018e-05, 1.23901628e-05,-1.17439077e-05,
  2.07883064e-04, 9.55288035e-03,-1.21596495e+00,-2.14739618e-05,
 -2.48993845e-02,-2.13122158e-04]


--- Step 1649 ---
qpos:
[ 3.32047123e-03,-3.21244247e-03, 1.19358208e-02, 4.17467603e-02,
  6.11713601e-03, 7.64644936e-01,-2.95219192e-02, 8.69620791e-01,
  5.83211638e-03, 1.64304641e-02,-9.28909195e-03, 2.59825499e-02,
  1.33618424e+00,-1.85514081e-04, 1.07968709e+00, 6.32778357e-02,
  1.23169968e-02,-3.68641269e-02, 7.39162553e-02, 6.76291102e-01,
 -1.65391697e-01,-6.83090377e-01,-2.20597978e-01]

qacc:
[-2.41875017e+00, 2.82362537e-01, 3.16209189e+00,-1.63313054e+01,
 -8.54277565e-02,-7.23910277e+00, 2.77632859e+01,-4.94295894e+01,
  3.52302184e+00, 2.18087917e+00,-1.02959606e+01, 2.47564103e+01,
 -9.01746919e-02,-1.06555559e-01, 3.94926487e+00,-1.34831412e+01,
 -6.98760293e-01, 4.47829715e+00, 1.00881572e+01, 3.79568375e+01,
 -1.95926820e+02, 2.12430990e+02]

qfrc_actuator:
[ 2.87509138e-05, 1.03954545e-04, 1.22977583e-04, 7.41497262e-05,
  3.58199679e-05, 2.58287900e-02, 8.25740152e-03, 3.59022754e-03,
 -4.84648655e-05, 5.56641791e-04, 1.29865914e-04, 9.16799595e-05,
  1.89959944e-03,-1.65741201e-03, 0.00000000e+00,-2.11256749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.42499701, -4.41091785,  7.42499701, 30.46512241,
       36.74483956, -4.41091785, 36.74483956, 70.48977673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00199835789182317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16675748e-14,  2.77783832e-14,  1.00000000e+00, -1.15745786e-27,
        1.00000000e+00, -2.77783832e-14, -1.00000000e+00,  0.00000000e+00,
        4.16675748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04115948, -0.07445851,  0.06177035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40332276e-05, 3.72481769e-05,-1.95061556e-05,-3.90999325e-05,
 -1.41738784e-05,-3.64166714e-05, 5.17931106e-05,-1.05495236e-04,
  2.08522968e-05, 9.01652830e-05, 3.20474972e-05, 4.97121077e-05,
 -4.06350233e-05,-2.77852923e-05,-3.67569703e-07,-6.54515228e-05,
 -7.50744969e-04, 1.01784340e-02,-1.21603549e+00, 7.88032618e-05,
 -2.48976757e-02,-2.23475655e-04]


--- Step 1650 ---
qpos:
[ 3.32124406e-03,-3.21132296e-03, 1.19351088e-02, 4.17462788e-02,
  6.11797492e-03, 7.64649058e-01,-2.95276715e-02, 8.69647784e-01,
  5.83211377e-03, 1.64319224e-02,-9.28858963e-03, 2.59838013e-02,
  1.33629851e+00,-1.86107900e-04, 1.07988877e+00, 6.32804425e-02,
  1.22952382e-02,-3.69053533e-02, 7.38681239e-02, 6.76532920e-01,
 -1.64358892e-01,-6.82736813e-01,-2.21720108e-01]

qacc:
[ 1.46629652e+00, 1.23139062e+00,-1.64638609e+00,-5.69474624e+00,
 -1.91447568e-03,-2.36575426e+00, 7.46331480e+00,-7.12112551e+00,
  2.16389194e+00, 2.21519166e+00,-7.78396438e+00, 1.18884990e+01,
 -4.97919371e-01, 8.06952467e-01,-9.42972008e+00, 3.20518295e+01,
 -4.25289264e+00, 7.37434536e+00, 8.14923453e+00, 3.11917109e+01,
 -1.63982718e+02, 1.79073763e+02]

qfrc_actuator:
[ 3.79003761e-05, 1.21998659e-04, 9.27466963e-05, 5.10248370e-05,
  4.17471841e-05, 2.58287924e-02, 8.29908305e-03, 3.59037796e-03,
 -3.61788466e-05, 5.60521046e-04, 1.00491722e-04, 9.99211768e-05,
  1.87907071e-03,-1.62974292e-03, 0.00000000e+00,-1.95559756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.75015163,  7.21268579,  4.75015163,  9.28234598,
       -0.42543293,  7.21268579, -0.42543293,  8.9165465 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030373297793245746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47085655,  0.47085655,  0.7460484 ,  0.25130745,  0.88220979,
       -0.39818395, -0.84565872,  0.        , -0.53372402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04043278, -0.07374186,  0.06174304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.76307485e-06, 3.31388359e-05,-2.62993157e-05,-2.29662236e-05,
 -4.37727388e-07,-1.33988210e-05, 3.73010139e-05,-1.84830224e-06,
  1.29157583e-05, 6.30122028e-05,-5.10580850e-06, 1.41744153e-05,
 -4.99846437e-05, 1.15222485e-05,-1.20051455e-05, 1.52222444e-04,
 -2.29250179e-04, 5.92559910e-03,-1.21610231e+00, 8.71630803e-04,
 -2.47511726e-02,-2.19992112e-04]


--- Step 1651 ---
qpos:
[ 3.32281048e-03,-3.21023895e-03, 1.19347526e-02, 4.17455174e-02,
  6.11904316e-03, 7.64652347e-01,-2.95327017e-02, 8.69677040e-01,
  5.83191427e-03, 1.64335467e-02,-9.28880093e-03, 2.59852193e-02,
  1.33641242e+00,-1.86413165e-04, 1.08009049e+00, 6.32835337e-02,
  1.22740652e-02,-3.69366922e-02, 7.38425469e-02, 6.76650177e-01,
 -1.63579409e-01,-6.82544559e-01,-2.22529187e-01]

qacc:
[ 6.97707539e+00,-1.63201370e+00, 6.90742216e+00,-1.22665710e+01,
  1.28317431e-01, 8.82331717e-01,-9.39205268e+00, 3.61256772e+01,
 -1.74215574e+00, 2.55993186e+00,-9.50655338e+00, 1.34004234e+01,
 -4.69235960e-01, 7.34078090e-01,-1.35689103e+00, 4.93399301e+00,
  1.46377487e-01, 2.47185307e+00, 5.63860610e+00, 2.88217987e+01,
 -1.50897231e+02, 1.65306485e+02]

qfrc_actuator:
[ 7.84841865e-05, 1.14372445e-04, 1.10747542e-04, 3.76188540e-05,
  6.27234460e-05, 2.57562935e-02, 8.32596446e-03, 3.70396937e-03,
 -4.67091094e-05, 5.26421383e-04, 4.73768091e-05, 1.04228830e-04,
  1.86799266e-03,-1.61315158e-03, 0.00000000e+00,-1.93520979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.38373003, -5.81676609, -6.38373003,  6.70849481,
        2.11577944, -5.81676609,  2.11577944,  6.31435781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002452290809955307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.39546707e-14, -6.79093413e-14,  1.00000000e+00,  2.30583932e-27,
        1.00000000e+00,  6.79093413e-14, -1.00000000e+00,  0.00000000e+00,
        3.39546707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03992569, -0.07324649,  0.06172459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08442745e-05, 4.45852926e-06, 2.08070168e-05,-1.33439342e-05,
  2.07774695e-05,-7.26847871e-05, 2.84920755e-05, 1.14245710e-04,
 -1.01330545e-05, 6.32932676e-07,-4.02635539e-05, 7.09947758e-06,
 -3.60454711e-05, 7.69381970e-06, 8.21489510e-06, 2.65999942e-05,
  2.83524161e-05, 3.23416943e-03,-1.21617763e+00, 1.39508241e-03,
 -2.46589021e-02,-2.19163831e-04]


--- Step 1652 ---
qpos:
[ 3.32450628e-03,-3.20935707e-03, 1.19352475e-02, 4.17449333e-02,
  6.11995524e-03, 7.64655282e-01,-2.95371963e-02, 8.69707739e-01,
  5.83193580e-03, 1.64345209e-02,-9.28899242e-03, 2.59867337e-02,
  1.33652620e+00,-1.86825262e-04, 1.08029246e+00, 6.32848410e-02,
  1.22529960e-02,-3.69593245e-02, 7.38327381e-02, 6.76658307e-01,
 -1.63025398e-01,-6.82495312e-01,-2.23061436e-01]

qacc:
[ 1.16594495e+00,-2.28379459e+00, 7.00294600e+00,-5.14351911e+00,
 -8.66561621e-02, 5.93692509e-01,-5.80594151e+00, 2.27562898e+01,
  1.93946495e+00,-7.19699648e-01, 9.05753977e-01, 1.21766387e+00,
 -1.50372771e-01, 9.30741217e-02, 5.75835064e+00,-1.95954120e+01,
  2.59830896e-02, 2.17664947e+00, 3.94207543e+00, 2.51778874e+01,
 -1.33353736e+02, 1.46767098e+02]

qfrc_actuator:
[ 8.39791170e-05, 1.09384414e-04, 1.56982373e-04, 4.78003764e-05,
  3.92390514e-05, 2.57652367e-02, 8.36142473e-03, 3.77681720e-03,
 -3.50767076e-05, 4.51954449e-04, 3.37731851e-05, 1.06146310e-04,
  1.86259032e-03,-1.62100043e-03, 0.00000000e+00,-2.03102002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.44172301,  8.51517537, -1.44172301, 11.14609966,
        0.42492891,  8.51517537,  0.42492891,  8.70830928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025712241517855117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07946931e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07946931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03960491, -0.07293849,  0.06171307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65668627e-06, 1.20726748e-06, 4.92467219e-05, 1.08308025e-05,
 -1.41729799e-05,-2.21007848e-05, 2.78588482e-05, 7.39765410e-05,
  1.13486914e-05,-8.21894188e-05,-1.82060250e-05, 6.83678566e-07,
 -2.36092896e-05,-1.43707343e-05, 2.01961923e-06,-9.43635756e-05,
  1.25935463e-04, 1.46088024e-03,-1.21624815e+00, 1.75475840e-03,
 -2.45984985e-02,-2.19506036e-04]


--- Step 1653 ---
qpos:
[ 3.32591007e-03,-3.20841893e-03, 1.19356596e-02, 4.17448525e-02,
  6.12044284e-03, 7.64658896e-01,-2.95417971e-02, 8.69736245e-01,
  5.83244115e-03, 1.64351319e-02,-9.28884302e-03, 2.59875098e-02,
  1.33663977e+00,-1.87296915e-04, 1.08049400e+00, 6.32883420e-02,
  1.22316708e-02,-3.69742256e-02, 7.38329013e-02, 6.76569794e-01,
 -1.62673578e-01,-6.82573610e-01,-2.23347012e-01]

qacc:
[-2.56636561e+00, 1.34819131e+00,-6.81314731e+00, 1.56023451e+01,
 -2.36442708e-01,-2.62795598e+00, 1.47219893e+01,-3.99652100e+01,
  4.23605336e+00,-2.96110013e+00, 1.29647782e+01,-2.60061233e+01,
  4.36811470e-02,-1.75407973e-01,-7.26262540e+00, 2.44722248e+01,
 -6.40240258e-02, 1.93278232e+00, 2.49296782e+00, 2.21167730e+01,
 -1.18788754e+02, 1.31278645e+02]

qfrc_actuator:
[ 6.87674928e-05, 1.06160117e-04, 1.48509365e-04, 7.17891921e-05,
  7.12465356e-06, 2.58406519e-02, 8.36642472e-03, 3.66535933e-03,
 -1.04858637e-05, 4.60532509e-04, 6.11809819e-05, 7.11278878e-05,
  1.84993481e-03,-1.62548080e-03, 0.00000000e+00,-1.91043249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.46528715,  8.51115212, -1.46528715, 11.67391486,
        0.52294739,  8.51115212,  0.52294739,  8.7263947 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002634798457175777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05342310e-14, -2.10684620e-14,  1.00000000e+00,  2.21940046e-28,
        1.00000000e+00,  2.10684620e-14, -1.00000000e+00,  0.00000000e+00,
        1.05342310e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943092, -0.07277797,  0.06170701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50272237e-05, 8.04738777e-06,-1.80001849e-06, 2.59530856e-05,
 -3.84790474e-05, 7.09886207e-05, 6.09064132e-06,-1.09644195e-04,
  2.48913711e-05,-4.11465646e-05, 8.19866344e-06,-3.91628231e-05,
 -2.95620077e-05,-1.32939024e-05,-1.42819777e-05, 1.14487637e-04,
  1.02180833e-04, 4.56297267e-04,-1.21630688e+00, 1.97511345e-03,
 -2.45653435e-02,-2.20725606e-04]


--- Step 1654 ---
qpos:
[ 3.32677580e-03,-3.20752434e-03, 1.19357734e-02, 4.17447429e-02,
  6.12072399e-03, 7.64662917e-01,-2.95462185e-02, 8.69762515e-01,
  5.83289247e-03, 1.64356177e-02,-9.28881116e-03, 2.59885511e-02,
  1.33675311e+00,-1.87808173e-04, 1.08069550e+00, 6.32925532e-02,
  1.22098236e-02,-3.69822048e-02, 7.38380865e-02, 6.76394782e-01,
 -1.62504415e-01,-6.82766340e-01,-2.23411141e-01]

qacc:
[-4.73114957e+00, 7.26322890e-01,-2.53572702e+00, 2.52989170e+00,
 -1.14611887e-01,-3.83571242e+00, 1.83570271e+01,-4.35850518e+01,
 -4.72620615e-01, 7.10144157e-01,-3.89091537e+00, 8.76145864e+00,
 -9.79657920e-02, 3.30440434e-02,-2.20229782e+00, 7.62455486e+00,
 -1.30504822e-01, 1.73050010e+00, 1.25553351e+00, 1.95307772e+01,
 -1.06641103e+02, 1.18283606e+02]

qfrc_actuator:
[ 4.15015847e-05, 8.60639001e-05, 1.25557756e-04, 6.81601969e-05,
  5.66828388e-06, 2.58485426e-02, 8.37132880e-03, 3.55289198e-03,
 -1.39764203e-05, 4.65652879e-04, 5.96087369e-05, 8.57547262e-05,
  1.83826397e-03,-1.62794462e-03, 0.00000000e+00,-1.87630182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.50080386,  8.50496118, -1.50080386, 12.28488812,
        0.64382653,  8.50496118,  0.64382653,  8.74997466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002653130681513266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09228862e-14, -4.18457723e-14,  1.00000000e+00,  8.75534331e-28,
        1.00000000e+00,  4.18457723e-14, -1.00000000e+00,  0.00000000e+00,
        2.09228862e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937303, -0.07273397,  0.06170528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76955268e-05,-1.49045037e-05,-2.06294743e-05,-2.84383200e-06,
 -1.87120932e-05, 4.48608488e-05, 1.63151053e-05,-1.12501668e-04,
 -2.78785498e-06,-1.78891047e-05,-1.04279832e-05, 1.23806759e-05,
 -3.13384817e-05,-1.25609674e-05, 3.30194938e-06, 3.80012166e-05,
 -4.35502870e-06, 7.36213002e-06,-1.21635223e+00, 2.09169123e-03,
 -2.45520899e-02,-2.22379576e-04]


--- Step 1655 ---
qpos:
[ 3.32730779e-03,-3.20668518e-03, 1.19358920e-02, 4.17445717e-02,
  6.12090316e-03, 7.64666834e-01,-2.95503815e-02, 8.69788312e-01,
  5.83329876e-03, 1.64359599e-02,-9.28908190e-03, 2.59897746e-02,
  1.33686615e+00,-1.88080195e-04, 1.08089730e+00, 6.32944594e-02,
  1.21872613e-02,-3.69839358e-02, 7.38440697e-02, 6.76141537e-01,
 -1.62501475e-01,-6.83062348e-01,-2.23274992e-01]

qacc:
[-2.92826851e+00,-2.07811482e-01, 9.04728714e-01,-1.94939646e+00,
 -5.64501940e-02,-1.65467500e+00, 6.34243222e+00,-1.12731501e+01,
 -3.99648600e-01, 1.03158792e+00,-4.72089175e+00, 8.45992116e+00,
 -5.73422003e-01, 8.69369956e-01, 7.46214373e+00,-2.53339290e+01,
 -1.78758089e-01, 1.56203802e+00, 1.99466121e-01, 1.73349911e+01,
 -9.64770750e+01, 1.07348936e+02]

qfrc_actuator:
[ 2.51185742e-05, 9.14270934e-05, 1.29672833e-04, 6.60438716e-05,
  4.80587728e-06, 2.58159186e-02, 8.37593209e-03, 3.52950427e-03,
 -1.62188622e-05, 4.50853289e-04, 4.09705347e-05, 9.39550764e-05,
  1.82719307e-03,-1.61144202e-03, 0.00000000e+00,-1.99995505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.57536583,  8.49146627, -1.57536583, 13.02219082,
        0.81367364,  8.49146627,  0.81367364,  8.78731915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002634764601240777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940703, -0.07278209,  0.06170697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71790747e-05,-7.40022438e-06,-1.61413045e-06,-3.52499063e-06,
 -9.25159673e-06,-8.21517323e-06, 1.19472035e-05,-2.40149160e-05,
 -2.32691667e-06,-2.64465968e-05,-2.31972909e-05, 7.31058127e-06,
 -3.15022611e-05, 6.14066554e-06, 1.53217521e-06,-1.22098697e-04,
 -1.67458710e-04,-3.68470186e-05,-1.21638503e+00, 2.12997176e-03,
 -2.45534661e-02,-2.24169940e-04]


--- Step 1656 ---
qpos:
[ 3.32798390e-03,-3.20587761e-03, 1.19360163e-02, 4.17447182e-02,
  6.12083512e-03, 7.64670508e-01,-2.95549451e-02, 8.69814024e-01,
  5.83332989e-03, 1.64363265e-02,-9.28906988e-03, 2.59903336e-02,
  1.33697881e+00,-1.87870582e-04, 1.08109910e+00, 6.32948749e-02,
  1.21638476e-02,-3.69799822e-02, 7.38472488e-02, 6.75816792e-01,
 -1.62650922e-01,-6.83452119e-01,-2.22956368e-01]

qacc:
[  1.26584376,  0.5943408 , -3.52412755,  9.03992496, -0.13794525,
   0.61579081, -2.21931348,  1.12999709, -3.26393145, -2.11954804,
  10.42073227,-22.40264896, -0.75067944,  1.25565614,  4.54393457,
 -15.77855844, -0.21285539,  1.42115179, -0.70100453, 15.46153731,
 -87.95658529, 98.13330977]

qfrc_actuator:
[ 3.30288526e-05, 9.43426054e-05, 1.32091647e-04, 8.26322169e-05,
 -1.34746798e-05, 2.57770879e-02, 8.34469903e-03, 3.52318793e-03,
 -3.54524542e-05, 4.77428051e-04, 6.55827356e-05, 6.27713907e-05,
  1.81117184e-03,-1.58382256e-03, 0.00000000e+00,-2.07352648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.7229112 ,  8.46276278, -1.7229112 , 13.88826244,
        1.06922001,  8.46276278,  1.06922001,  8.85404327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025869234239214098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07291833e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07291833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03951363, -0.0729029 ,  0.06171135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.41582958e-06,-1.74617106e-06, 5.58814433e-07, 1.61457381e-05,
 -2.24332280e-05,-4.18624250e-05,-3.21981469e-05,-6.76338830e-06,
 -1.93078424e-05, 7.29575045e-06, 1.65419502e-05,-3.29801214e-05,
 -3.24952858e-05, 2.20061322e-05,-1.79351121e-05,-8.13507246e-05,
 -3.69289679e-04, 2.16180047e-04,-1.21640721e+00, 2.10834871e-03,
 -2.45656598e-02,-2.25897310e-04]


--- Step 1657 ---
qpos:
[ 3.32874920e-03,-3.20485982e-03, 1.19357607e-02, 4.17454030e-02,
  6.12034143e-03, 7.64673935e-01,-2.95599070e-02, 8.69840843e-01,
  5.83313066e-03, 1.64361900e-02,-9.28855642e-03, 2.59909123e-02,
  1.33709124e+00,-1.87588015e-04, 1.08130073e+00, 6.32947109e-02,
  1.21394903e-02,-3.69708176e-02, 7.38445565e-02, 6.75426025e-01,
 -1.62941106e-01,-6.83927529e-01,-2.22470259e-01]

qacc:
[  0.76756101,  2.44840582,-10.59953174, 20.36898418, -0.23757461,
   2.67295964,-11.70455395, 23.94590648, -1.98489961, -2.02177863,
   6.16714257, -6.26298171, -0.25132498,  0.32889631,  1.52015425,
  -5.63521665, -0.23590981,  1.30277667, -1.46786647, 13.85544913,
 -80.80917707, 90.36381091]

qfrc_actuator:
[ 3.74181062e-05, 1.13540468e-04, 1.15737041e-04, 1.10088609e-04,
 -4.20201018e-05, 2.57702173e-02, 8.32802494e-03, 3.58017553e-03,
 -4.67799710e-05, 4.22201115e-04, 8.01755968e-05, 6.19889113e-05,
  1.79752454e-03,-1.58537635e-03, 0.00000000e+00,-2.09918850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.98572481,  8.40497911, -1.98572481, 14.89947182,
        1.47969545,  8.40497911,  1.47969545,  8.98595022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025157156787765783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20657492e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.20657492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03967728, -0.07308072,  0.06171786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59646565e-06, 1.89978576e-05,-1.60999779e-05, 2.77123868e-05,
 -3.86180025e-05,-3.66977826e-05,-2.88380864e-05, 5.45263605e-05,
 -1.18764463e-05,-4.91647763e-05, 1.69913802e-05,-5.40587348e-07,
 -2.70572395e-05,-3.43392300e-06,-2.12263714e-05,-3.34010548e-05,
 -5.97754266e-04, 6.89701808e-04,-1.21642110e+00, 2.04015673e-03,
 -2.45858958e-02,-2.27429696e-04]


--- Step 1658 ---
qpos:
[ 3.32887112e-03,-3.20347057e-03, 1.19352489e-02, 4.17456911e-02,
  6.12006014e-03, 7.64676843e-01,-2.95649097e-02, 8.69867796e-01,
  5.83348668e-03, 1.64357837e-02,-9.28818856e-03, 2.59914927e-02,
  1.33720351e+00,-1.87320105e-04, 1.08150241e+00, 6.32925291e-02,
  1.20999722e-02,-3.69427565e-02, 7.38349278e-02, 6.74979044e-01,
 -1.63352011e-01,-6.84474356e-01,-2.21842887e-01]

qacc:
[-5.66159810e+00, 4.00878909e-01, 9.75409733e-01,-7.72279710e+00,
  1.18491871e-01,-3.36692869e-01,-3.61475244e-02, 2.00551069e+00,
  4.84271564e+00, 4.43155018e-02,-6.98674540e-01, 1.17615983e+00,
 -2.41134287e-01, 2.76292058e-01, 6.19610649e+00,-2.15105005e+01,
 -3.79019371e+00, 4.72409975e+00,-1.73408726e+00, 1.09022708e+01,
 -6.82789724e+01, 7.69174497e+01]

qfrc_actuator:
[ 4.18676380e-06, 1.42278567e-04, 1.06254517e-04, 9.04602525e-05,
 -5.43659796e-06, 2.57293681e-02, 8.32024432e-03, 3.58522411e-03,
 -1.78533071e-05, 4.07174028e-04, 7.06724272e-05, 6.12760659e-05,
  1.79062621e-03,-1.58646542e-03, 0.00000000e+00,-2.20293559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.20624817,  6.89070075,  5.20624817, 11.65685074,
       -2.28211992,  6.89070075, -2.28211992, 10.36061246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003122120635203471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44500754,  0.44500754,  0.77713356,  0.22113432,  0.89552682,
       -0.38617525, -0.86779485,  0.        , -0.49692263])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03988536, -0.07330285,  0.06172601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30973898e-05, 3.71870584e-05,-6.59392154e-06,-1.88357924e-05,
  1.92477976e-05,-6.51846579e-05,-1.66872664e-05, 4.24586222e-06,
  2.85686116e-05,-3.90408234e-05,-1.75901180e-05,-2.24404346e-06,
 -2.32592163e-05,-7.97185545e-06,-1.67514997e-05,-1.09093877e-04,
 -8.44740776e-04, 1.32898355e-03,-1.21642905e+00, 1.93507527e-03,
 -2.46121428e-02,-2.28681210e-04]


--- Step 1659 ---
qpos:
[ 3.32824885e-03,-3.20175149e-03, 1.19346273e-02, 4.17453914e-02,
  6.12070310e-03, 7.64679281e-01,-2.95695463e-02, 8.69891466e-01,
  5.83418583e-03, 1.64359727e-02,-9.28828889e-03, 2.59909344e-02,
  1.33731579e+00,-1.87377560e-04, 1.08170369e+00, 6.32914395e-02,
  1.20623984e-02,-3.69131854e-02, 7.38142900e-02, 6.74472942e-01,
 -1.63887820e-01,-6.85095473e-01,-2.21068374e-01]

qacc:
[ -6.54128256, -0.45592865,  4.75938847,-15.01964926,  0.51606191,
  -7.30952088, 30.73760862,-66.63104207,  2.96722075, -0.25462263,
   6.84703973,-26.2330344 ,  0.33752541, -0.69671578, -3.93167331,
  12.80493526,  0.48606519,  0.37749101, -2.75226799, 11.61463636,
 -71.17780593, 79.77963995]

qfrc_actuator:
[-3.31674181e-05, 1.58742860e-04, 1.00923495e-04, 6.10533800e-05,
  6.97564825e-05, 2.57040062e-02, 8.33535402e-03, 3.41761746e-03,
 -9.72866503e-07, 4.87245314e-04, 6.49107461e-05, 7.35731633e-06,
  1.79310577e-03,-1.60496986e-03, 0.00000000e+00,-2.13883200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.15802082, -6.05520903, -6.15802082,  8.10360408,
        0.54180531, -6.05520903,  0.54180531,  8.08535898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002323429903891394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58378476e-14,  2.38918984e-14,  1.00000000e+00, -8.56234215e-28,
        1.00000000e+00, -2.38918984e-14, -1.00000000e+00,  0.00000000e+00,
        3.58378476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04011298, -0.07354433,  0.06173541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82868361e-05, 3.50335902e-05, 8.76477803e-07,-2.84100362e-05,
  8.38212410e-05,-6.46725559e-05, 4.71430250e-07,-1.70096937e-04,
  1.76857536e-05, 5.45299772e-05,-1.60719784e-05,-5.62464524e-05,
 -1.29729403e-05,-2.55447451e-05,-2.36544108e-05, 5.49907837e-05,
 -1.07933068e-03, 2.02242370e-03,-1.21643228e+00, 1.81098636e-03,
 -2.46401827e-02,-2.29351864e-04]


--- Step 1660 ---
qpos:
[ 3.32752830e-03,-3.19971720e-03, 1.19336529e-02, 4.17447605e-02,
  6.12205329e-03, 7.64682055e-01,-2.95740294e-02, 8.69912187e-01,
  5.83439243e-03, 1.64367257e-02,-9.28883125e-03, 2.59897355e-02,
  1.33742810e+00,-1.87923259e-04, 1.08190447e+00, 6.32937564e-02,
  1.20261349e-02,-3.68817729e-02, 7.37808385e-02, 6.73910783e-01,
 -1.64541229e-01,-6.85785441e-01,-2.20156240e-01]

qacc:
[ -0.87921795,  0.72222709, -0.5704329 , -4.83097536,  0.39454194,
  -5.09470791, 23.99464513,-57.11461493, -4.31970181,  0.67049584,
   1.41077657,-12.22359897,  0.62069913, -1.20284843,-11.08164222,
  37.55995778,  0.32759143,  0.46037312, -3.20343214, 10.49969142,
 -66.69720935, 74.85634498]

qfrc_actuator:
[-3.71318712e-05, 1.67735899e-04, 8.02867171e-05, 4.38817988e-05,
  9.63079553e-05, 2.57768589e-02, 8.36380751e-03, 3.27405051e-03,
 -2.68354090e-05, 5.17102751e-04, 4.40221507e-05,-2.40874540e-05,
  1.79055102e-03,-1.63360695e-03, 0.00000000e+00,-1.95856830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 4.87628326, 7.12801785, 4.87628326, 5.44503013,
       2.18319405, 7.12801785, 2.18319405, 7.14283867, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00221029535942166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04057843e-14, -2.51148115e-14,  1.00000000e+00,  5.12487426e-28,
        1.00000000e+00,  2.51148115e-14, -1.00000000e+00,  0.00000000e+00,
        2.04057843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0403693 , -0.07381423,  0.06174576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04639395e-06, 2.74822356e-05,-1.42855587e-05,-1.61936856e-05,
  6.41595759e-05, 3.16532040e-05, 1.06401360e-05,-1.49484117e-04,
 -2.53331706e-05, 5.46246100e-05,-1.35502480e-05,-3.07582371e-05,
 -1.62041518e-05,-3.77023301e-05,-7.13279821e-06, 1.79729193e-04,
 -1.35250323e-03, 2.89286759e-03,-1.21643488e+00, 1.65127759e-03,
 -2.46744656e-02,-2.29963702e-04]


--- Step 1661 ---
qpos:
[ 3.32676562e-03,-3.19772822e-03, 1.19328554e-02, 4.17439386e-02,
  6.12369013e-03, 7.64685274e-01,-2.95788760e-02, 8.69931734e-01,
  5.83394283e-03, 1.64380243e-02,-9.29023880e-03, 2.59885463e-02,
  1.33754003e+00,-1.87976645e-04, 1.08210544e+00, 6.32958422e-02,
  1.20046080e-02,-3.68468149e-02, 7.37561602e-02, 6.73599367e-01,
 -1.65439820e-01,-6.86221716e-01,-2.19073767e-01]

qacc:
[-3.63689273e-01,-9.47710476e-01, 4.09886439e+00,-7.65435245e+00,
  1.59403283e-01,-4.73892988e-01, 4.94472555e+00,-1.88204085e+01,
 -5.75941299e+00, 3.17018984e+00,-1.02784142e+01, 1.14050935e+01,
 -6.80562242e-01, 1.16703727e+00, 1.05401179e+00,-3.11784003e+00,
  3.68413005e+00, 8.86347126e-01, 2.19330174e+00,-3.15048099e+01,
  1.30457500e+02, 1.89940712e+02]

qfrc_actuator:
[-3.91633646e-05, 1.54376251e-04, 8.62587635e-05, 3.40299483e-05,
  9.35217995e-05, 2.58015069e-02, 8.34707550e-03, 3.21689618e-03,
 -5.98926709e-05, 5.34377553e-04,-3.53410843e-06,-2.43377321e-05,
  1.77964788e-03,-1.59702009e-03, 0.00000000e+00,-1.97764906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.71482759, -3.8817795 ,  7.71482759, 23.55567156,
       29.65132058, -3.8817795 , 29.65132058, 67.56676552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002337711179672214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74918816e-14,  2.37459408e-14,  1.00000000e+00, -1.12773941e-27,
        1.00000000e+00, -2.37459408e-14, -1.00000000e+00,  0.00000000e+00,
        4.74918816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05528949, -0.01591118,  0.06173183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16971538e-06,-1.69629893e-06, 9.31868177e-06,-9.48480712e-06,
  2.60122926e-05, 3.94793213e-05,-1.37534658e-05,-5.92163896e-05,
 -3.37609617e-05, 4.36776759e-05,-3.90046093e-05, 1.02646048e-06,
 -2.87318332e-05, 2.35223227e-05, 1.41402520e-05,-1.05975235e-05,
 -1.63331677e-03, 3.84586516e-03,-1.21643757e+00, 1.46988559e-03,
 -2.47114189e-02,-2.30182444e-04]


--- Step 1662 ---
qpos:
[ 3.32598467e-03,-3.19615334e-03, 1.19323049e-02, 4.17433935e-02,
  6.12542824e-03, 7.64688399e-01,-2.95839826e-02, 8.69950489e-01,
  5.83344510e-03, 1.64398554e-02,-9.29202057e-03, 2.59880215e-02,
  1.33765164e+00,-1.87374859e-04, 1.08230642e+00, 6.32980357e-02,
  1.19956165e-02,-3.68089222e-02, 7.37349831e-02, 6.73510322e-01,
 -1.66556642e-01,-6.86432727e-01,-2.17836735e-01]

qacc:
[-1.45247484e-01,-6.67055704e-01, 4.17469652e-01, 4.27950551e+00,
  5.63871378e-02,-7.93873999e-01, 4.25984621e+00,-1.32480918e+01,
 -4.40099310e-01, 3.11835201e+00,-1.29011532e+01, 2.46044479e+01,
 -7.32682665e-01, 1.36775816e+00,-2.64041385e-01, 1.06898150e+00,
  3.13388583e+00, 7.33690853e-01, 8.75293709e-01,-2.67489930e+01,
  1.15477821e+02, 1.69924518e+02]

qfrc_actuator:
[-4.00518974e-05, 1.10086793e-04, 9.00547751e-05, 4.63148304e-05,
  9.10233832e-05, 2.57614841e-02, 8.32144038e-03, 3.17548951e-03,
 -6.14008359e-05, 5.79400937e-04,-1.32330985e-05, 1.14872663e-05,
  1.77442224e-03,-1.55758937e-03, 0.00000000e+00,-1.97204066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.90911472,  6.29834423, -5.90911472,  8.05154924,
       -0.54867362,  6.29834423, -0.54867362,  8.12159733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002449630783957074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53220555e-14, -2.26610278e-14,  1.00000000e+00,  1.02704436e-27,
        1.00000000e+00,  2.26610278e-14, -1.00000000e+00,  0.00000000e+00,
        4.53220555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05496626, -0.01600053,  0.06171982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.56230452e-07,-4.37787092e-05, 4.25396510e-06, 1.23494552e-05,
  9.18142983e-06,-2.27940611e-05,-2.12033575e-05,-4.19029662e-05,
 -2.45672367e-06, 6.13941466e-05,-5.44065605e-06, 3.63713655e-05,
 -1.56394174e-05, 3.85406675e-05, 1.05590360e-07, 5.63158681e-06,
 -2.94462817e-04, 3.34685575e-03,-1.21643762e+00, 1.35081762e-03,
 -2.47275554e-02,-2.20202192e-04]


--- Step 1663 ---
qpos:
[ 3.32554400e-03,-3.19486991e-03, 1.19312213e-02, 4.17433843e-02,
  6.12718687e-03, 7.64691664e-01,-2.95896977e-02, 8.69967563e-01,
  5.83293307e-03, 1.64419790e-02,-9.29387409e-03, 2.59886300e-02,
  1.33776317e+00,-1.86811134e-04, 1.08250710e+00, 6.33022800e-02,
  1.19973774e-02,-3.67685765e-02, 7.37127683e-02, 6.73619653e-01,
 -1.67868925e-01,-6.86441784e-01,-2.16458459e-01]

qacc:
[ 2.97515485e+00, 2.20393613e+00,-1.06872269e+01, 2.10374456e+01,
  1.11682418e-02,-1.09011389e+00, 7.63032363e+00,-2.70878080e+01,
 -1.31189434e-01, 2.92031762e+00,-1.46365709e+01, 3.41501196e+01,
  1.05393014e-01,-2.05385651e-01,-6.63281668e+00, 2.25551280e+01,
  2.68806158e+00, 6.13249269e-01,-2.59428343e-01,-2.28217914e+01,
  1.03042963e+02, 1.53075545e+02]

qfrc_actuator:
[-2.25090495e-05, 8.31316256e-05, 5.68991889e-05, 7.14904098e-05,
  8.87683254e-05, 2.57717813e-02, 8.29050534e-03, 3.09036056e-03,
 -6.20777657e-05, 5.87610342e-04,-1.81152543e-05, 6.82988120e-05,
  1.76196053e-03,-1.57007003e-03, 0.00000000e+00,-1.86310174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.94164619,  6.26766443, -5.94164619,  8.24348881,
       -0.37243908,  6.26766443, -0.37243908,  8.28329731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002508686392802238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21275770e-14,  2.21275770e-14,  1.00000000e+00, -4.89629662e-28,
        1.00000000e+00, -2.21275770e-14, -1.00000000e+00,  0.00000000e+00,
        2.21275770e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05479528, -0.01605313,  0.06171325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74953284e-05,-5.00758265e-05,-4.12568920e-05, 2.36870292e-05,
  1.86268746e-06,-7.89635998e-06,-3.91221447e-05,-8.74477450e-05,
 -7.23353586e-07, 4.29294846e-05, 8.38819350e-06, 5.99632059e-05,
 -1.22286150e-05,-6.50877487e-06,-3.65854568e-06, 1.08263887e-04,
  4.07361131e-04, 2.71202320e-03,-1.21632195e+00, 1.30986506e-03,
 -2.47216573e-02,-2.11580983e-04]


--- Step 1664 ---
qpos:
[ 3.32531685e-03,-3.19378990e-03, 1.19296550e-02, 4.17443531e-02,
  6.12893196e-03, 7.64694766e-01,-2.95952075e-02, 8.69985541e-01,
  5.83241717e-03, 1.64441576e-02,-9.29564001e-03, 2.59899343e-02,
  1.33787453e+00,-1.86312459e-04, 1.08270817e+00, 6.33040933e-02,
  1.20084393e-02,-3.67261584e-02, 7.36856183e-02, 6.73906990e-01,
 -1.69357360e-01,-6.86268080e-01,-2.14950172e-01]

qacc:
[ 1.86299147e+00, 3.09304803e+00,-1.55490674e+01, 3.33972038e+01,
 -7.46764920e-03, 7.98904963e-01,-4.94238166e+00, 1.53711003e+01,
 -3.15886783e-02, 1.26051179e+00,-7.32671814e+00, 1.91890967e+01,
 -2.48319760e-01, 2.51377802e-01, 7.92545109e+00,-2.68599247e+01,
  2.32526469e+00, 5.18113047e-01,-1.23378726e+00,-1.95467418e+01,
  9.26741884e+01, 1.38853690e+02]

qfrc_actuator:
[-1.20112371e-05, 8.43726522e-05, 3.77590698e-05, 1.21783099e-04,
  8.66995211e-05, 2.57765696e-02, 8.31010070e-03, 3.13997754e-03,
 -6.22705362e-05, 5.73758478e-04,-2.02600908e-05, 1.01462346e-04,
  1.74514716e-03,-1.57776107e-03, 0.00000000e+00,-1.99594564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.98923858,  6.22220203, -5.98923858,  8.43046884,
       -0.19818595,  6.22220203, -0.19818595,  8.4455979 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025245864047400007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39764320e-14,  4.39764320e-14,  1.00000000e+00, -1.93392658e-27,
        1.00000000e+00, -4.39764320e-14, -1.00000000e+00,  0.00000000e+00,
        4.39764320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05474588, -0.01607666,  0.06171104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09763988e-05,-3.42948335e-05,-3.37479528e-05, 4.71800899e-05,
 -1.23240454e-06,-1.01416110e-05, 1.09142209e-05, 4.62004773e-05,
 -1.96415114e-07, 1.43984959e-05, 9.82580272e-06, 3.64584364e-05,
 -2.51795106e-05,-1.20974296e-05, 7.07956264e-06,-1.28060871e-04,
  6.49664273e-04, 1.98830390e-03,-1.21612984e+00, 1.32090073e-03,
 -2.47016245e-02,-2.03715756e-04]


--- Step 1665 ---
qpos:
[ 3.32487256e-03,-3.19323558e-03, 1.19288211e-02, 4.17458735e-02,
  6.13064971e-03, 7.64697492e-01,-2.95996164e-02, 8.70006705e-01,
  5.83224799e-03, 1.64462766e-02,-9.29700981e-03, 2.59909291e-02,
  1.33798577e+00,-1.86140052e-04, 1.08290933e+00, 6.33036455e-02,
  1.20276152e-02,-3.66819691e-02, 7.36501942e-02, 6.74354993e-01,
 -1.71005523e-01,-6.85927449e-01,-2.13321327e-01]

qacc:
[-1.87353759e+00,-1.60239466e+00, 2.38486772e+00, 6.36596335e+00,
 -1.47285158e-02, 2.06487369e+00,-1.46389311e+01, 5.15905375e+01,
  3.03718371e+00,-1.82905574e+00, 7.70356955e+00,-1.36379962e+01,
  3.67947086e-03,-2.68081017e-01, 6.95951946e+00,-2.41602035e+01,
  2.02851065e+00, 4.42769314e-01,-2.06854921e+00,-1.67882506e+01,
  8.40007193e+01, 1.26833462e+02]

qfrc_actuator:
[-2.35024387e-05, 6.70546864e-05, 8.04491089e-05, 1.50984402e-04,
  8.47683268e-05, 2.57782996e-02, 8.37719653e-03, 3.30403605e-03,
 -4.44248786e-05, 5.64542841e-04,-3.14055047e-06, 8.49159658e-05,
  1.73105892e-03,-1.60028877e-03, 0.00000000e+00,-2.11042394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.04628317,  6.16678495, -6.04628317,  8.58880659,
       -0.04662776,  6.16678495, -0.04662776,  8.590647  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002505532425662163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10777156e-14, -4.43108624e-14,  1.00000000e+00,  4.90863131e-28,
        1.00000000e+00,  4.43108624e-14, -1.00000000e+00,  0.00000000e+00,
        1.10777156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05479351, -0.01607721,  0.0617123 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11931282e-05,-4.14638675e-05, 3.30855192e-05, 2.74814298e-05,
 -2.48646613e-06,-2.96866637e-07, 6.77619273e-05, 1.65112829e-04,
  1.78484842e-05, 2.36529644e-06, 2.25572452e-05,-1.48837436e-05,
 -3.13226061e-05,-3.11773759e-05,-1.61635161e-05,-1.21912417e-04,
  5.58257799e-04, 1.20801562e-03,-1.21588667e+00, 1.36583975e-03,
 -2.46727858e-02,-1.96199889e-04]


--- Step 1666 ---
qpos:
[ 3.32429393e-03,-3.19305372e-03, 1.19288023e-02, 4.17470151e-02,
  6.13213905e-03, 7.64700682e-01,-2.96038596e-02, 8.70026187e-01,
  5.83229476e-03, 1.64476453e-02,-9.29806734e-03, 2.59914685e-02,
  1.33809678e+00,-1.85972778e-04, 1.08311030e+00, 6.33024755e-02,
  1.20539283e-02,-3.66362485e-02, 7.36036409e-02, 6.74948873e-01,
 -1.72799414e-01,-6.85432967e-01,-2.11579839e-01]

qacc:
[ -1.14725596, -3.54952713, 13.54214446,-21.12742878, -0.1269772 ,
  -2.7602882 , 13.64477268,-32.72397512,  1.90556422, -2.80546356,
  10.4808221 ,-18.30246725, -0.21271113,  0.21538094,  1.91101273,
  -7.06434882,  1.7842764 ,  0.38286509, -2.78226403,-14.44082639,
  76.73126015,116.67472556]

qfrc_actuator:
[-3.00891541e-05, 5.67575922e-05, 1.23709832e-04, 1.32060853e-04,
  6.51862924e-05, 2.58139777e-02, 8.38305186e-03, 3.21456723e-03,
 -3.38578490e-05, 4.69438544e-04,-1.03112090e-05, 5.70232764e-05,
  1.72393382e-03,-1.59592596e-03, 0.00000000e+00,-2.14206980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.10580707,  6.10785534, -6.10580707,  8.71012177,
        0.0737334 ,  6.10785534,  0.0737334 ,  8.71007231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024584564346849178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.25796766e-14, -3.38695149e-14,  1.00000000e+00,  7.64762693e-28,
        1.00000000e+00,  3.38695149e-14, -1.00000000e+00,  0.00000000e+00,
        2.25796766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05491832, -0.01605967,  0.06171631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.92369100e-06,-2.54888144e-05, 3.97230183e-05,-1.90220492e-05,
 -2.07009380e-05, 5.41254698e-05, 1.85895869e-05,-8.36864194e-05,
  1.10847042e-05,-8.98171630e-05,-4.43053883e-06,-2.73051538e-05,
 -3.25347493e-05,-1.02997368e-05,-2.48535796e-05,-4.14158865e-05,
  2.22729987e-04, 3.93113839e-04,-1.21560880e+00, 1.43220280e-03,
 -2.46387353e-02,-1.88758177e-04]


--- Step 1667 ---
qpos:
[ 3.32364064e-03,-3.19307653e-03, 1.19292735e-02, 4.17479220e-02,
  6.13319554e-03, 7.64704541e-01,-2.96083676e-02, 8.70044106e-01,
  5.83212333e-03, 1.64481514e-02,-9.29909299e-03, 2.59920506e-02,
  1.33820743e+00,-1.85486272e-04, 1.08331107e+00, 6.33012282e-02,
  1.20865683e-02,-3.65891878e-02, 7.35435223e-02, 6.75676001e-01,
 -1.74727087e-01,-6.84795411e-01,-2.09732286e-01]

qacc:
[-6.36517427e-01,-2.12320171e+00, 8.16990730e+00,-1.28673077e+01,
 -2.41363599e-01,-1.11885359e+00, 8.31508495e+00,-2.66671898e+01,
 -1.88722655e+00,-1.13784809e+00, 2.22893126e+00,-9.13470279e-01,
 -5.07713741e-01, 8.09567389e-01,-2.35747682e-02,-2.54491502e-01,
  1.58176317e+00, 3.34990064e-01,-3.39134727e+00,-1.24214304e+01,
  7.06337453e+01, 1.08101632e+02]

qfrc_actuator:
[-3.37291306e-05, 5.07300707e-05, 1.49184753e-04, 1.20477279e-04,
  3.52257431e-05, 2.58515836e-02, 8.37041018e-03, 3.13634922e-03,
 -4.54185317e-05, 4.12278575e-04,-1.43779513e-05, 5.80977811e-05,
  1.71034950e-03,-1.57561947e-03, 0.00000000e+00,-2.14240343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.15972137,  6.05347912, -6.15972137,  8.76705259,
        0.13298262,  6.05347912,  0.13298262,  8.77168018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023892161235145037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0551041 , -0.01602795,  0.0617225 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84767582e-06,-1.29002522e-05, 2.44409227e-05,-1.16736553e-05,
 -3.92415312e-05, 6.85382832e-05,-2.33553856e-06,-7.78267644e-05,
 -1.12695959e-05,-1.09505992e-04,-2.41154642e-05,-3.46159652e-06,
 -3.46418296e-05, 1.04623650e-05,-1.91683959e-05,-6.55586903e-06,
 -2.93015135e-04,-4.41839416e-04,-1.21530661e+00, 1.51145709e-03,
 -2.46018887e-02,-1.81203938e-04]


--- Step 1668 ---
qpos:
[ 3.32294871e-03,-3.19331215e-03, 1.19303202e-02, 4.17493685e-02,
  6.13405359e-03, 7.64708864e-01,-2.96130122e-02, 8.70062342e-01,
  5.83181400e-03, 1.64486842e-02,-9.30000455e-03, 2.59925199e-02,
  1.33831787e+00,-1.85030374e-04, 1.08351149e+00, 6.33016249e-02,
  1.21248577e-02,-3.65409412e-02, 7.34677628e-02, 6.76525585e-01,
 -1.76778343e-01,-6.84023631e-01,-2.07784078e-01]

qacc:
[-3.17016138e-01,-7.77587893e-01, 8.89327340e-02, 8.48289197e+00,
 -1.10935623e-01, 1.52831309e+00,-4.99752606e+00, 7.96779635e+00,
 -1.19966332e+00,-5.13318301e-01, 2.36181596e+00,-4.52007954e+00,
 -2.07908263e-02,-6.60104701e-02,-5.47473283e+00, 1.84085374e+01,
  1.41232020e+00, 2.96488460e-01,-3.91023076e+00,-1.06639804e+01,
  6.55208101e+01, 1.00887381e+02]

qfrc_actuator:
[-3.56070034e-05, 4.72454829e-05, 1.81739884e-04, 1.48810530e-04,
  3.48391597e-05, 2.58722012e-02, 8.36478728e-03, 3.15419955e-03,
 -5.21554572e-05, 4.84813598e-04, 1.90783974e-05, 5.84840690e-05,
  1.69823474e-03,-1.58157435e-03, 0.00000000e+00,-2.05329520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.20060198,  6.01159812, -6.20060198,  8.7681165 ,
        0.13589516,  6.01159812,  0.13589516,  8.77653132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023027570654394758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.41063862e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.41063862e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05533759, -0.01598522,  0.06173039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99305729e-06,-6.15607486e-06, 3.24904951e-05, 2.83964176e-05,
 -1.79855544e-05, 5.55784237e-05, 5.28985614e-06, 1.82053267e-05,
 -7.09639796e-06, 6.15676952e-06, 7.75132216e-06,-5.20799899e-06,
 -2.92677978e-05,-1.12636819e-05,-1.29533391e-05, 8.55038369e-05,
 -9.43468422e-04,-1.28757737e-03,-1.21498654e+00, 1.59786933e-03,
 -2.45638596e-02,-1.73410327e-04]


--- Step 1669 ---
qpos:
[ 3.32223924e-03,-3.19321580e-03, 1.19313046e-02, 4.17504261e-02,
  6.13501339e-03, 7.64713262e-01,-2.96174460e-02, 8.70078941e-01,
  5.83177104e-03, 1.64492653e-02,-9.30055077e-03, 2.59922772e-02,
  1.33842811e+00,-1.84414255e-04, 1.08371196e+00, 6.33017140e-02,
  1.21683876e-02,-3.64915682e-02, 7.33777730e-02, 6.77494065e-01,
 -1.78943286e-01,-6.83119137e-01,-2.05740947e-01]

qacc:
[-1.61882375e-01,-1.88287594e-01, 2.94870422e+00,-9.82197410e+00,
  5.71496253e-02,-3.31384398e+00, 1.47370974e+01,-3.29023107e+01,
  2.33325530e+00,-2.42739952e+00, 1.17456924e+01,-2.46781458e+01,
 -2.93453233e-01, 4.54553891e-01, 1.02488259e+00,-3.42465564e+00,
  1.31011492e+00, 2.81607278e-01,-3.55756604e+00,-9.27006406e+00,
  6.53550384e+01, 9.50754853e+01]

qfrc_actuator:
[-3.64337781e-05, 8.08819244e-05, 1.82756313e-04, 1.29402813e-04,
  5.21356875e-05, 2.58470595e-02, 8.36335339e-03, 3.06866193e-03,
 -3.82385094e-05, 4.92600164e-04, 3.94483721e-05, 2.30905329e-05,
  1.69765299e-03,-1.56755864e-03, 0.00000000e+00,-2.07198581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.9028374 ,  7.70419607, -3.9028374 , 31.84781077,
       11.75859272,  7.70419607, 11.75859272, 14.59310136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002203630587726796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83396162e-14, -2.51907700e-14,  1.00000000e+00,  7.13896753e-28,
        1.00000000e+00,  2.51907700e-14, -1.00000000e+00,  0.00000000e+00,
        2.83396162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05219579, -0.01574484,  0.06173955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.88791491e-07, 3.81159324e-05, 4.71735531e-06,-1.79991774e-05,
  9.23309670e-06, 7.20554933e-06, 1.06911522e-05,-8.31866850e-05,
  1.37164237e-05, 1.25942925e-05, 2.24196298e-05,-3.49628121e-05,
 -1.96308111e-05, 4.47935033e-06, 4.93011837e-07,-1.62990737e-05,
 -1.69640138e-03,-2.13862847e-03,-1.21465237e+00, 1.68770190e-03,
 -2.45257162e-02,-1.65290909e-04]


--- Step 1670 ---
qpos:
[ 3.32152513e-03,-3.19244489e-03, 1.19315952e-02, 4.17505519e-02,
  6.13612854e-03, 7.64717211e-01,-2.96216774e-02, 8.70095819e-01,
  5.83224049e-03, 1.64494753e-02,-9.30116085e-03, 2.59910062e-02,
  1.33853810e+00,-1.83607252e-04, 1.08391219e+00, 6.33032489e-02,
  1.22166771e-02,-3.64412159e-02, 7.32724998e-02, 6.78574565e-01,
 -1.81212504e-01,-6.82086729e-01,-2.03608156e-01]

qacc:
[-7.47071600e-02, 9.11347799e-01, 1.97500320e+00,-1.74833643e+01,
  8.68688768e-02,-6.52368554e-01, 7.85737783e-01, 2.94664443e+00,
  4.47266991e+00,-2.43762174e+00, 1.23070058e+01,-2.97138782e+01,
 -2.33973859e-01, 3.71657771e-01,-4.69783759e+00, 1.59677730e+01,
  1.18993266e+00, 2.44818035e-01,-3.82085101e+00,-7.83485024e+00,
  6.28435321e+01, 8.89563562e+01]

qfrc_actuator:
[-3.66355269e-05, 1.18578700e-04, 1.47504497e-04, 8.20632061e-05,
  6.20686334e-05, 2.57946648e-02, 8.36414002e-03, 3.08269247e-03,
 -1.22783437e-05, 4.26000175e-04, 1.61643767e-05,-3.31266200e-05,
  1.68269426e-03,-1.55949179e-03, 0.00000000e+00,-1.99428810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.79890814,  6.39995635, -5.79890814,  9.04072225,
        0.36638351,  6.39995635,  0.36638351,  8.96833845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002110122036358991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94606214e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.94606214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05191597, -0.01532372,  0.06174816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14719453e-07, 5.91992036e-05,-2.74348541e-05,-4.58986388e-05,
  1.40784383e-05,-4.90287901e-05, 9.34383908e-07, 1.26943087e-05,
  2.63595358e-05,-5.64338655e-05,-1.91312302e-05,-5.55822426e-05,
 -2.50293889e-05, 4.72686309e-06,-5.86321987e-06, 7.58621573e-05,
 -2.58111703e-03,-3.03935983e-03,-1.21430441e+00, 1.79297284e-03,
 -2.44875813e-02,-1.56843445e-04]


--- Step 1671 ---
qpos:
[ 3.32046953e-03,-3.19146225e-03, 1.19312689e-02, 4.17512002e-02,
  6.13737319e-03, 7.64720810e-01,-2.96264185e-02, 8.70112419e-01,
  5.83301750e-03, 1.64495253e-02,-9.30241416e-03, 2.59894313e-02,
  1.33864793e+00,-1.83162237e-04, 1.08411214e+00, 6.33073550e-02,
  1.22692774e-02,-3.63899718e-02, 7.31503298e-02, 6.79759273e-01,
 -1.83579193e-01,-6.80932177e-01,-2.01388634e-01]

qacc:
[-3.01997424e+00, 3.08725858e+00,-1.27945721e+01, 2.26532207e+01,
  7.19034050e-02, 4.34340774e-01,-1.36049506e+00,-1.87204429e+00,
  2.66486853e+00, 9.55337992e-01,-2.43915246e+00,-1.66483362e+00,
  3.15401889e-01,-7.49795179e-01,-8.21717867e+00, 2.80590518e+01,
  1.07768505e+00, 2.22937119e-01,-4.22420601e+00,-6.48462123e+00,
  5.92002681e+01, 8.43450023e+01]

qfrc_actuator:
[-5.42207743e-05, 1.04978403e-04, 1.08900907e-04, 1.07426120e-04,
  6.74891235e-05, 2.57619179e-02, 8.33067791e-03, 3.06643965e-03,
  2.80252981e-06, 4.21684032e-04,-1.52762985e-05,-4.79788341e-05,
  1.65912113e-03,-1.59059428e-03, 0.00000000e+00,-1.86038769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.2870656 ,  5.92111332, -6.2870656 ,  9.16714029,
        0.56358111,  5.92111332,  0.56358111,  9.23477667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020088559932303907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.52664317e-14,  2.76332158e-14,  1.00000000e+00, -1.52718923e-27,
        1.00000000e+00, -2.76332158e-14, -1.00000000e+00,  0.00000000e+00,
        5.52664317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05217073, -0.0152671 ,  0.06175762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75704457e-05, 1.18416817e-05,-3.13550620e-05, 2.60534101e-05,
  1.17310597e-05,-5.93906893e-05,-4.26415496e-05,-1.75036578e-05,
  1.58196772e-05,-4.21950131e-05,-4.73705557e-05,-1.90116032e-05,
 -3.64307486e-05,-3.57311921e-05, 2.20379111e-06, 1.36554252e-04,
 -3.55571025e-03,-3.95245066e-03,-1.21394707e+00, 1.90292631e-03,
 -2.44507610e-02,-1.47999763e-04]


--- Step 1672 ---
qpos:
[ 3.31921157e-03,-3.19067661e-03, 1.19309537e-02, 4.17518114e-02,
  6.13870548e-03, 7.64724105e-01,-2.96321801e-02, 8.70129755e-01,
  5.83362423e-03, 1.64497801e-02,-9.30401033e-03, 2.59879674e-02,
  1.33875748e+00,-1.82795752e-04, 1.08431225e+00, 6.33113472e-02,
  1.23168955e-02,-3.63483486e-02, 7.30701835e-02, 6.80868224e-01,
 -1.85547564e-01,-6.79832120e-01,-1.99546614e-01]

qacc:
[-1.77237371e+00,-3.64265988e-01, 1.08319467e+00,-1.60313973e+00,
  4.79286275e-02, 3.63874064e+00,-1.41265134e+01, 2.17220465e+01,
 -1.49931117e+00, 1.46040284e+00,-5.27794243e+00, 7.59085507e+00,
 -1.79415954e-01, 1.00212296e-01, 6.02822841e-01,-1.72293017e+00,
 -1.24555881e+00,-2.40519934e+00, 1.05059513e+01, 5.38754922e+00,
  3.04444782e+01,-2.76550891e+02]

qfrc_actuator:
[-6.41447909e-05, 7.85455014e-05, 1.03991997e-04, 1.04318455e-04,
  7.01658651e-05, 2.57410403e-02, 8.27729767e-03, 3.10347313e-03,
 -6.39692186e-06, 4.72428317e-04,-1.55008093e-05,-3.83252404e-05,
  1.64635807e-03,-1.59146396e-03, 0.00000000e+00,-1.87199582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021344742821655036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20138862e-14,  5.20138862e-14,  1.00000000e+00, -2.70544436e-27,
        1.00000000e+00, -5.20138862e-14, -1.00000000e+00,  0.00000000e+00,
        5.20138862e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0025438 , -0.00842616,  0.06174298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04230860e-05,-2.52075301e-05,-5.43071880e-06,-3.18021095e-06,
  7.93334353e-06,-6.28132636e-05,-7.05270728e-05, 3.34528165e-05,
 -8.75941905e-06, 1.65731460e-05,-1.54152357e-05, 5.84198577e-06,
 -4.12508525e-05,-1.82999026e-05, 1.26672488e-05,-4.54788731e-06,
 -4.58680692e-03,-4.85917742e-03,-1.21357935e+00, 2.01096522e-03,
 -2.44157160e-02,-1.38700795e-04]


--- Step 1673 ---
qpos:
[ 3.31853427e-03,-3.19027026e-03, 1.19307017e-02, 4.17520558e-02,
  6.14008807e-03, 7.64727710e-01,-2.96381085e-02, 8.70149365e-01,
  5.83411642e-03, 1.64495482e-02,-9.30427833e-03, 2.59872928e-02,
  1.33886661e+00,-1.81955982e-04, 1.08451211e+00, 6.33175284e-02,
  1.23562916e-02,-3.63035383e-02, 7.30196327e-02, 6.81686825e-01,
 -1.87439249e-01,-6.79010689e-01,-1.97772810e-01]

qacc:
[ 5.10476093e+00,-1.44448226e+00, 5.95326725e+00,-1.21049541e+01,
  2.73046102e-02, 4.80599925e+00,-2.04711637e+01, 4.54233363e+01,
 -9.48589989e-01,-2.72841529e+00, 5.46503802e+00, 6.42926543e+00,
 -5.17820778e-01, 9.08687410e-01,-6.93868956e+00, 2.38337126e+01,
 -2.05549108e+00, 7.96744704e-01, 7.39885001e+00, 3.78130418e+00,
 -1.79569239e+02,-1.04108462e+02]

qfrc_actuator:
[-3.39693419e-05, 4.47370705e-05, 1.01166078e-04, 8.44789415e-05,
  7.11864132e-05, 2.58338933e-02, 8.30144427e-03, 3.22483269e-03,
 -1.20571085e-05, 4.49392161e-04, 5.62191853e-05, 3.49112455e-06,
  1.64009797e-03,-1.55657997e-03, 0.00000000e+00,-1.75622087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023630900327522505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05844311, -0.0541271 ,  0.0617185 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98678282e-05,-4.91882443e-05,-8.81673000e-06,-2.11708471e-05,
  4.57203839e-06, 4.51633694e-05, 4.65684187e-06, 1.17986761e-04,
 -5.90622998e-06,-1.66906544e-05, 7.34667612e-05, 4.21136500e-05,
 -3.34654630e-05, 2.07081943e-05, 3.35054683e-07, 1.15988323e-04,
 -4.45272610e-03,-4.24903561e-03,-1.21430182e+00, 1.73713095e-03,
 -2.44767717e-02,-1.29546391e-04]


--- Step 1674 ---
qpos:
[ 3.31822393e-03,-3.19041181e-03, 1.19304906e-02, 4.17524296e-02,
  6.14168908e-03, 7.64731857e-01,-2.96426163e-02, 8.70167747e-01,
  5.83453700e-03, 1.64486513e-02,-9.30321705e-03, 2.59871472e-02,
  1.33897548e+00,-1.80749889e-04, 1.08471204e+00, 6.33240296e-02,
  1.23884243e-02,-3.62560261e-02, 7.29909036e-02, 6.82250398e-01,
 -1.89266852e-01,-6.78434278e-01,-1.96059644e-01]

qacc:
[ 3.23152056e+00,-5.77806321e-01, 4.52289834e-01, 2.13810966e+00,
  1.22909102e-01,-5.25956377e+00, 2.09586427e+01,-3.39124690e+01,
 -5.71425087e-01,-3.50404204e+00, 8.98712583e+00,-1.46961888e+00,
 -4.71614328e-01, 8.16715604e-01,-8.15454643e-01, 3.10722836e+00,
 -1.81585084e+00, 6.75496907e-01, 5.45543600e+00, 1.58301639e+00,
 -1.58077203e+02,-9.06068559e+01]

qfrc_actuator:
[-1.59415499e-05, 6.76441525e-06, 9.95333474e-05, 9.04502787e-05,
  8.89681531e-05, 2.59057307e-02, 8.38941423e-03, 3.16417114e-03,
 -1.55813822e-05, 4.00449989e-04, 1.16314118e-04, 2.83771606e-05,
  1.63243474e-03,-1.53626946e-03, 0.00000000e+00,-1.74379962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.03036371,  3.17805531, -8.03036371,  9.03248844,
        1.00093483,  3.17805531,  1.00093483, 11.16554262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025217526289841724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10064624e-14,  2.20129249e-14,  1.00000000e+00, -2.42284431e-28,
        1.00000000e+00, -2.20129249e-14, -1.00000000e+00,  0.00000000e+00,
        1.10064624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05782338, -0.05386275,  0.06170183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88615489e-05,-6.82064986e-05,-1.36141428e-05, 3.14513102e-06,
  1.98384080e-05, 1.01509239e-04, 1.00987135e-04,-5.63969740e-05,
 -3.70525784e-06,-4.12828293e-05, 6.71614985e-05, 2.75353580e-05,
 -2.12167456e-05, 1.75402045e-05, 9.17677026e-06, 1.80240917e-05,
 -1.97607798e-03,-2.29338575e-03,-1.21459079e+00, 9.67735623e-04,
 -2.45011739e-02,-1.18684174e-04]


--- Step 1675 ---
qpos:
[ 3.31778704e-03,-3.19066108e-03, 1.19303290e-02, 4.17531598e-02,
  6.14349739e-03, 7.64736058e-01,-2.96454491e-02, 8.70184256e-01,
  5.83491150e-03, 1.64479027e-02,-9.30222268e-03, 2.59869482e-02,
  1.33908418e+00,-1.79548273e-04, 1.08491231e+00, 6.33279575e-02,
  1.24118422e-02,-3.62083785e-02, 7.29792107e-02, 6.82550397e-01,
 -1.90927248e-01,-6.78108071e-01,-1.94528110e-01]

qacc:
[-1.10714954e+00, 4.55846386e-01,-3.33092375e+00, 9.49124837e+00,
  1.17270726e-01,-7.70943798e+00, 2.96903275e+01,-4.91472741e+01,
 -4.06560965e-01, 2.74064819e-01,-4.66407580e-01,-4.59704990e-01,
 -2.92683031e-01, 3.57758766e-01, 8.28994563e+00,-2.82250310e+01,
 -2.17869583e+00, 3.38494618e-02, 4.25904861e+00,-4.98976357e+00,
 -1.41179563e+02,-1.68195204e+02]

qfrc_actuator:
[-2.29735416e-05, 3.76240703e-05, 1.16366259e-04, 1.11558433e-04,
  9.88657359e-05, 2.58758380e-02, 8.46089962e-03, 3.06790021e-03,
 -1.78212090e-05, 4.25100321e-04, 1.15643738e-04, 2.52970798e-05,
  1.61860693e-03,-1.54253802e-03, 0.00000000e+00,-1.88116036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.05027231,  6.16287123, -6.05027231,  8.4498352 ,
       -0.18312047,  6.16287123, -0.18312047,  8.45658888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026434409821700713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04997902e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04997902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06068317, -0.04502691,  0.06168923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51752917e-06,-9.94448513e-06, 1.17943290e-06, 1.77758656e-05,
  1.88146281e-05, 4.44081457e-05, 1.01447147e-04,-9.12635741e-05,
 -2.36608079e-06, 1.66382934e-05, 2.61718267e-08,-1.98929210e-06,
 -2.14922207e-05,-6.86501310e-06, 1.54393847e-06,-1.36276651e-04,
 -4.22644944e-04,-5.56081085e-04,-1.21479712e+00, 3.48791116e-04,
 -2.45160177e-02,-1.08492936e-04]


--- Step 1676 ---
qpos:
[ 3.31726926e-03,-3.19075931e-03, 1.19299444e-02, 4.17541217e-02,
  6.14506353e-03, 7.64740248e-01,-2.96478052e-02, 8.70199212e-01,
  5.83525652e-03, 1.64468580e-02,-9.30108651e-03, 2.59874478e-02,
  1.33919293e+00,-1.78949919e-04, 1.08511277e+00, 6.33285399e-02,
  1.24275153e-02,-3.61606772e-02, 7.29784257e-02, 6.82617320e-01,
 -1.92441693e-01,-6.78004190e-01,-1.93158243e-01]

qacc:
[-7.19352687e-01, 1.30213511e+00,-5.32791516e+00, 9.57988212e+00,
 -1.34194330e-01,-4.00169291e+00, 1.66694046e+01,-3.35818660e+01,
 -2.47181308e-01, 6.50842927e-01,-5.83706872e+00, 1.79173362e+01,
  2.67660509e-01,-7.68148934e-01, 1.03450707e+01,-3.58627934e+01,
 -1.93621154e+00, 1.34307255e-02, 2.72694919e+00,-5.63029537e+00,
 -1.25271042e+02,-1.48552261e+02]

qfrc_actuator:
[-2.69420471e-05, 5.63042065e-05, 1.08748350e-04, 1.23717480e-04,
  6.84513215e-05, 2.58384369e-02, 8.46841371e-03, 2.98690539e-03,
 -1.92872544e-05, 3.86843083e-04, 1.14883904e-04, 5.90658517e-05,
  1.61173094e-03,-1.58228238e-03, 0.00000000e+00,-2.05236726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.37782926,  2.09732059, -8.37782926,  9.01241193,
        1.50213963,  2.09732059,  1.50213963, 14.63671921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002730139477895639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03327162e-14,  2.03327162e-14,  1.00000000e+00, -4.13419349e-28,
        1.00000000e+00, -2.03327162e-14, -1.00000000e+00,  0.00000000e+00,
        2.03327162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06033522, -0.04493153,  0.06168031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15759684e-06, 1.41326201e-05,-8.90772516e-06, 1.21195630e-05,
 -2.19646118e-05, 4.22042700e-06, 2.52019131e-05,-7.85912788e-05,
 -1.52937521e-06,-2.90165648e-05, 2.60947594e-06, 3.44440512e-05,
 -2.09125354e-05,-4.62063618e-05,-1.93574653e-05,-1.79756618e-04,
  4.25415605e-04, 9.50316347e-04,-1.21505343e+00,-1.35053203e-04,
 -2.45217887e-02,-9.91470503e-05]


--- Step 1677 ---
qpos:
[ 3.31670810e-03,-3.19105486e-03, 1.19299283e-02, 4.17545349e-02,
  6.14631462e-03, 7.64744280e-01,-2.96508518e-02, 8.70214540e-01,
  5.83523693e-03, 1.64447677e-02,-9.29932858e-03, 2.59891030e-02,
  1.33930160e+00,-1.78805642e-04, 1.08531315e+00, 6.33267072e-02,
  1.24362565e-02,-3.61129841e-02, 7.29832884e-02, 6.82476475e-01,
 -1.93827632e-01,-6.78099098e-01,-1.91933122e-01]

qacc:
[-3.66114864e-01,-2.42131458e+00, 1.05701137e+01,-2.05087610e+01,
 -1.76103277e-01, 2.30887506e+00,-8.69428074e+00, 1.23967715e+01,
 -3.14203670e+00,-7.34488406e-01,-4.25543995e+00, 2.40218431e+01,
  1.30829240e-01,-5.18404382e-01, 7.15711363e+00,-2.52501584e+01,
 -1.73297917e+00,-2.07420710e-03, 1.41195533e+00,-6.00164783e+00,
 -1.11943669e+02,-1.32161092e+02]

qfrc_actuator:
[-2.90675132e-05, 3.19556947e-05, 1.22217872e-04, 9.49838489e-05,
  4.97215276e-05, 2.57965746e-02, 8.42032073e-03, 3.00426941e-03,
 -3.80398349e-05, 2.93473744e-04, 1.31641087e-04, 1.14213423e-04,
  1.60368794e-03,-1.60600638e-03, 0.00000000e+00,-2.17106964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.36752191,  2.13807247, -8.36752191,  9.14422839,
        1.98757036,  2.13807247,  1.98757036, 16.41488321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002764100458759841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00414497e-14,  2.00828993e-14,  1.00000000e+00, -2.01661423e-28,
        1.00000000e+00, -2.00828993e-14, -1.00000000e+00,  0.00000000e+00,
        1.00414497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06019112, -0.04489458,  0.06167663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23858625e-06,-1.77602206e-05, 1.57150938e-05,-2.82013594e-05,
 -2.85854209e-05,-3.71550272e-05,-4.67369243e-05, 1.64741631e-05,
 -1.88101325e-05,-1.07556499e-04, 1.22748507e-05, 5.46635293e-05,
 -3.14304133e-05,-3.95736946e-05,-3.26534223e-05,-1.32097426e-04,
  6.77932693e-04, 2.12116010e-03,-1.21524343e+00,-4.77155775e-04,
 -2.45279691e-02,-9.04145572e-05]


--- Step 1678 ---
qpos:
[ 3.31578080e-03,-3.19146935e-03, 1.19303449e-02, 4.17545862e-02,
  6.14710128e-03, 7.64748149e-01,-2.96544252e-02, 8.70229260e-01,
  5.83499258e-03, 1.64417410e-02,-9.29729710e-03, 2.59910721e-02,
  1.33941005e+00,-1.78928329e-04, 1.08551301e+00, 6.33260972e-02,
  1.24396211e-02,-3.60760365e-02, 7.30189858e-02, 6.82286494e-01,
 -1.94909645e-01,-6.78242460e-01,-1.91004022e-01]

qacc:
[-3.19824941e+00,-2.10693784e+00, 8.82115690e+00,-1.56987632e+01,
 -2.58988895e-01, 1.50525143e-01, 6.26791665e-01,-7.75548328e+00,
 -1.93553836e+00,-1.35232948e+00, 1.70752989e+00, 3.96901066e+00,
  1.27555092e-01,-4.39712804e-01,-4.47842380e+00, 1.45088043e+01,
 -1.34412413e+00,-2.68634583e+00, 7.70867358e+00, 3.23348319e+00,
  2.46617457e+01,-2.13470875e+02]

qfrc_actuator:
[-4.78449317e-05, 3.53358303e-05, 1.47837587e-04, 7.79076211e-05,
  2.04196073e-05, 2.57876913e-02, 8.39309780e-03, 2.97282664e-03,
 -4.90647785e-05, 2.38915650e-04, 1.40619167e-04, 1.28193833e-04,
  1.58962860e-03,-1.62002604e-03, 0.00000000e+00,-2.09808788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.57179432,  4.15387862, -7.57179432, 25.10219051,
       30.01432298,  4.15387862, 30.01432298, 63.34722575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028308376454714984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0026225 , -0.00914017,  0.06166969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88459667e-05,-4.50242910e-06, 2.29144056e-05,-1.78422068e-05,
 -4.21352068e-05,-3.82473099e-05,-3.94458796e-05,-3.36634075e-05,
 -1.16089435e-05,-1.09781434e-04,-9.83495142e-06, 1.08575494e-05,
 -4.17245247e-05,-3.06904397e-05,-3.26799995e-05, 6.07322669e-05,
  5.07114542e-04, 3.03781363e-03,-1.21538490e+00,-7.12907917e-04,
 -2.45354784e-02,-8.22352997e-05]


--- Step 1679 ---
qpos:
[ 3.31463555e-03,-3.19174767e-03, 1.19304271e-02, 4.17541073e-02,
  6.14728949e-03, 7.64752062e-01,-2.96581524e-02, 8.70243447e-01,
  5.83461737e-03, 1.64381658e-02,-9.29525107e-03, 2.59921257e-02,
  1.33951815e+00,-1.78961952e-04, 1.08571274e+00, 6.33256355e-02,
  1.24383482e-02,-3.60484544e-02, 7.30780412e-02, 6.82053437e-01,
 -1.95720586e-01,-6.78430238e-01,-1.90339103e-01]

qacc:
[-1.92609184e+00, 2.63652608e-02, 2.40961876e+00,-1.11531305e+01,
 -3.33434425e-01,-4.49110408e-01, 2.75735289e+00,-8.87942581e+00,
 -1.13211401e+00,-2.64787668e+00, 1.22586487e+01,-2.77264611e+01,
 -3.21205604e-01, 3.91047309e-01,-6.14753728e-01, 1.92842624e+00,
 -1.15939959e+00,-2.34139671e+00, 5.83949861e+00, 2.92883616e+00,
  2.18732365e+01,-1.90492163e+02]

qfrc_actuator:
[-5.85207718e-05, 3.76010691e-05, 1.27277834e-04, 5.01058916e-05,
 -1.49501843e-05, 2.58164175e-02, 8.39626217e-03, 2.94843916e-03,
 -5.54471514e-05, 2.25705966e-04, 1.45029300e-04, 8.23482688e-05,
  1.57730106e-03,-1.61047595e-03, 0.00000000e+00,-2.09029371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.86643771, -5.23820676,  6.86643771, 17.53459159,
       11.66413063, -5.23820676, 11.66413063, 23.92614315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002876965467479814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.92950356e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.92950356e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00262269, -0.00917429,  0.06166542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12135253e-05, 3.72264414e-06,-1.92832440e-05,-2.75481602e-05,
 -5.42834437e-05,-1.40223808e-06,-9.93950457e-06,-2.75619557e-05,
 -6.76063342e-06,-7.60897701e-05,-1.90949790e-05,-5.06808941e-05,
 -4.31228392e-05,-7.58716872e-06,-1.04326832e-05, 6.48221024e-06,
  1.97207630e-04, 2.21876311e-03,-1.21574871e+00,-5.95008956e-04,
 -2.45764145e-02,-7.97787136e-05]


--- Step 1680 ---
qpos:
[ 3.31371610e-03,-3.19199577e-03, 1.19302453e-02, 4.17539989e-02,
  6.14737010e-03, 7.64754728e-01,-2.96608807e-02, 8.70260744e-01,
  5.83451263e-03, 1.64347529e-02,-9.29380337e-03, 2.59925722e-02,
  1.33962585e+00,-1.78644616e-04, 1.08591230e+00, 6.33259190e-02,
  1.24330245e-02,-3.60291281e-02, 7.31541697e-02, 6.81782056e-01,
 -1.96287335e-01,-6.78658879e-01,-1.89912181e-01]

qacc:
[ 1.97332844e+00, 1.53725781e+00,-6.99164833e+00, 1.38060438e+01,
 -5.91129796e-02, 1.06261180e+00,-1.25734251e+01, 4.94130767e+01,
  2.33716814e+00, 6.32191707e-01, 6.12764862e-01,-1.02757518e+01,
 -5.08061976e-01, 8.17101271e-01,-2.46080459e+00, 8.33882963e+00,
 -1.01268049e+00,-2.06393824e+00, 4.26827157e+00, 2.68212894e+00,
  1.95942614e+01,-1.71643272e+02]

qfrc_actuator:
[-4.65847749e-05, 3.89898489e-05, 1.15109813e-04, 6.94396990e-05,
 -3.83005463e-07, 2.57077928e-02, 8.43524919e-03, 3.10597717e-03,
 -4.12953403e-05, 2.72797171e-04, 1.29095603e-04, 5.49687720e-05,
  1.56603192e-03,-1.58703326e-03, 0.00000000e+00,-2.05001624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.92268747, -5.1636397 ,  6.92268747, 18.76927952,
       13.58479946, -5.1636397 , 13.58479946, 26.84896684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002883452195177695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00261822, -0.00916758,  0.06166549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16207079e-05,-1.68267868e-06,-1.47224500e-05, 1.82919350e-05,
 -9.79339954e-06,-1.12321908e-04, 3.67350880e-05, 1.56569093e-04,
  1.39253196e-05,-1.47525933e-06,-3.57412311e-05,-3.22860356e-05,
 -3.72101099e-05, 1.16022368e-05,-7.85296133e-06, 3.84349628e-05,
 -4.36843460e-05, 1.56653707e-03,-1.21601064e+00,-4.96048998e-04,
 -2.46097633e-02,-7.82005040e-05]


--- Step 1681 ---
qpos:
[ 3.31260176e-03,-3.19218512e-03, 1.19301279e-02, 4.17547867e-02,
  6.14749928e-03, 7.64755815e-01,-2.96627850e-02, 8.70279146e-01,
  5.83457721e-03, 1.64326670e-02,-9.29377414e-03, 2.59929374e-02,
  1.33973348e+00,-1.78628800e-04, 1.08611156e+00, 6.33283346e-02,
  1.24241160e-02,-3.60171669e-02, 7.32420978e-02, 6.81476076e-01,
 -1.96631945e-01,-6.78925265e-01,-1.89701662e-01]

qacc:
[-1.70910868e+00, 1.74838712e+00,-9.89562131e+00, 2.52493464e+01,
  2.82562693e-02,-2.38481442e+00, 2.77991955e+00, 1.18257481e+01,
  1.40970245e+00, 5.54825265e+00,-1.68991252e+01, 1.67872832e+01,
  3.06472890e-01,-6.66367559e-01,-6.90385468e+00, 2.34482490e+01,
 -8.96227580e-01,-1.84129409e+00, 2.94989437e+00, 2.48220573e+00,
  1.77254170e+01,-1.56138316e+02]

qfrc_actuator:
[-5.69435168e-05, 5.76568469e-05, 1.25792652e-04, 1.16366417e-04,
  8.38960799e-06, 2.55890415e-02, 8.45913339e-03, 3.15620982e-03,
 -3.29246462e-05, 4.08835523e-04, 8.38100405e-05, 5.64794110e-05,
  1.56073979e-03,-1.60881041e-03, 0.00000000e+00,-1.93764707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.93810456, -5.14290598,  6.93810456, 20.96272212,
       16.62903509, -5.14290598, 16.62903509, 31.06998086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002858253503056074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88427067e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.88427067e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00261005, -0.00912885,  0.06166898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00274941e-05, 1.54869224e-05, 9.16063317e-06, 4.67021726e-05,
  4.35869110e-06,-1.68787296e-04, 1.06757725e-05, 5.13047572e-05,
  8.76289617e-06, 1.26557115e-04,-5.10883972e-05,-4.14814981e-07,
 -2.33252590e-05,-2.75309672e-05,-3.13733916e-06, 1.12633676e-04,
 -2.31982933e-04, 1.04235455e-03,-1.21619694e+00,-4.08954338e-04,
 -2.46372775e-02,-7.74458868e-05]


--- Step 1682 ---
qpos:
[ 3.31137209e-03,-3.19232386e-03, 1.19298709e-02, 4.17561455e-02,
  6.14751112e-03, 7.64757070e-01,-2.96648614e-02, 8.70294097e-01,
  5.83474174e-03, 1.64316461e-02,-9.29458797e-03, 2.59926193e-02,
  1.33984100e+00,-1.78650231e-04, 1.08631113e+00, 6.33290445e-02,
  1.24119918e-02,-3.60118586e-02, 7.33374090e-02, 6.81138410e-01,
 -1.96772524e-01,-6.79226659e-01,-1.89689709e-01]

qacc:
[-1.01721060e+00, 1.63636212e+00,-8.14228579e+00, 1.82039620e+01,
 -6.49270203e-02,-5.30439269e+00, 2.55539646e+01,-6.44101156e+01,
  8.26898651e-01, 2.35554970e+00,-3.47420030e+00,-7.78545813e+00,
 -1.74791318e-01, 1.85671727e-01, 5.60933484e+00,-1.89444711e+01,
 -8.03893391e-01,-1.66319623e+00, 1.84578097e+00, 2.31991441e+00,
  1.61896172e+01,-1.43366884e+02]

qfrc_actuator:
[-6.25960854e-05, 5.11449032e-05, 1.14458075e-04, 1.43669586e-04,
 -4.18026345e-06, 2.56780779e-02, 8.47373128e-03, 2.98304725e-03,
 -2.80296453e-05, 4.54991376e-04, 3.97254554e-05, 2.17831930e-05,
  1.56434614e-03,-1.60394949e-03, 0.00000000e+00,-2.03224477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.89812119, -5.19641231,  6.89812119, 24.87361409,
       21.55458706, -5.19641231, 21.55458706, 37.24959621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002808001297011517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95378387e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.95378387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00259895, -0.00906522,  0.06167513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93453331e-06, 6.04752727e-06,-5.38797121e-06, 2.91922362e-05,
 -1.06391957e-05,-7.59965936e-07,-1.59167836e-05,-1.77071601e-04,
  5.18591813e-06, 1.06434209e-04,-2.42264800e-05,-3.10450695e-05,
 -1.58221034e-05,-7.38725348e-06, 7.83342982e-06,-8.94911725e-05,
 -3.79668239e-04, 6.17718600e-04,-1.21632616e+00,-3.28740539e-04,
 -2.46602340e-02,-7.74650151e-05]


--- Step 1683 ---
qpos:
[ 3.31042899e-03,-3.19230244e-03, 1.19294428e-02, 4.17578093e-02,
  6.14699628e-03, 7.64759017e-01,-2.96673734e-02, 8.70306475e-01,
  5.83461963e-03, 1.64305273e-02,-9.29517981e-03, 2.59919647e-02,
  1.33994837e+00,-1.78626792e-04, 1.08651083e+00, 6.33276236e-02,
  1.23969446e-02,-3.60126354e-02, 7.34364122e-02, 6.80771310e-01,
 -1.96723943e-01,-6.79560660e-01,-1.89861588e-01]

qacc:
[   2.50734002,   1.3134964 ,  -5.67090935,  11.11246431,  -0.29358577,
   -2.38159214,  14.79118473, -44.58173918,  -2.49158252,  -1.43786312,
    6.3682739 , -12.48451791,  -0.2815494 ,   0.37900796,   6.65517246,
  -22.94121886,  -0.73077939,  -1.52129258,   0.92298675,   2.18769212,
   14.92632396,-132.84881073]

qfrc_actuator:
[-4.76739257e-05, 6.50155021e-05, 1.07843963e-04, 1.59165352e-04,
 -4.71617801e-05, 2.57486486e-02, 8.46567113e-03, 2.85748738e-03,
 -4.29710636e-05, 3.93691106e-04, 3.18587130e-05, 1.50264958e-06,
  1.55731916e-03,-1.60100202e-03, 0.00000000e+00,-2.14152189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.76452805, -5.36916541,  6.76452805, 32.27784504,
       29.78553498, -5.36916541, 29.78553498, 46.16269622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027382172149823802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04091021e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04091021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00258553, -0.00898247,  0.06168333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47546731e-05, 1.73967573e-05,-5.01536027e-06, 1.61349833e-05,
 -4.77536448e-05, 6.13304998e-05,-1.53709226e-05,-1.30084545e-04,
 -1.47574871e-05,-8.06681009e-06, 1.00826499e-05,-1.71572149e-05,
 -1.78733627e-05,-2.37519028e-06,-1.12565518e-05,-1.14401787e-04,
 -4.95566538e-04, 2.71472012e-04,-1.21641155e+00,-2.51865529e-04,
 -2.46795676e-02,-7.82135675e-05]


--- Step 1684 ---
qpos:
[ 3.30967188e-03,-3.19209292e-03, 1.19295067e-02, 4.17589051e-02,
  6.14596663e-03, 7.64761480e-01,-2.96708784e-02, 8.70317989e-01,
  5.83397432e-03, 1.64296225e-02,-9.29624265e-03, 2.59914266e-02,
  1.34005533e+00,-1.77969831e-04, 1.08671016e+00, 6.33272327e-02,
  1.23792054e-02,-3.60190473e-02, 7.35360290e-02, 6.80376491e-01,
 -1.96498379e-01,-6.79925159e-01,-1.90205141e-01]

qacc:
[   1.64437015,  -2.3006375 ,  10.95344067, -21.69957826,  -0.28771333,
    1.86278513,  -3.32661862,  -7.72015749,  -4.5815036 ,   1.8480136 ,
   -6.65505998,   9.2495172 ,  -0.71433108,   1.28672986,  -3.59175895,
   11.91893902,  -0.67297203,  -1.40876667,   0.15342525,   2.07924669,
   13.88742059,-124.20172567]

qfrc_actuator:
[-3.85153359e-05, 9.09858275e-05, 1.39654560e-04, 1.32109027e-04,
 -7.24287483e-05, 2.57542926e-02, 8.40884330e-03, 2.81424902e-03,
 -6.94677200e-05, 4.10675161e-04, 9.48956745e-06, 7.55072188e-06,
  1.53859347e-03,-1.56376457e-03, 0.00000000e+00,-2.08097288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026534903893418865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09200499e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.09200499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00257032, -0.00888528,  0.06169306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.58451551e-06, 3.53624674e-05, 3.53459674e-05,-2.61738186e-05,
 -4.66867364e-05, 3.24007950e-05,-5.04133388e-05,-4.46939042e-05,
 -2.69264655e-05, 1.38638556e-05,-2.33652852e-05, 5.72320644e-06,
 -2.98037977e-05, 3.28170311e-05,-2.19773099e-05, 5.17832856e-05,
 -5.86234694e-04,-1.22320669e-05,-1.21646263e+00,-1.75794584e-04,
 -2.46959642e-02,-7.96528102e-05]


--- Step 1685 ---
qpos:
[ 3.30903076e-03,-3.19201523e-03, 1.19303851e-02, 4.17596865e-02,
  6.14493811e-03, 7.64764493e-01,-2.96745723e-02, 8.70329192e-01,
  5.83301619e-03, 1.64289016e-02,-9.29757137e-03, 2.59906094e-02,
  1.34016184e+00,-1.76344044e-04, 1.08690942e+00, 6.33268562e-02,
  1.23589569e-02,-3.60307393e-02, 7.36336986e-02, 6.79955217e-01,
 -1.96105770e-01,-6.80318298e-01,-1.90710365e-01]

qacc:
[ 1.04579335e+00,-3.10161938e+00, 1.21276628e+01,-1.87674150e+01,
  2.85502132e-04, 6.94274759e-01,-6.88912306e-01,-3.48032909e+00,
 -2.73989728e+00, 4.17157594e-01, 5.30555785e-02,-4.60350666e+00,
 -1.06036987e+00, 1.99262540e+00,-5.88048323e-02, 2.66563108e-01,
 -6.27337534e-01,-1.32003929e+00,-4.86822580e-01, 1.98931073e+00,
  1.30342326e+01,-1.17117591e+02]

qfrc_actuator:
[-3.28289327e-05, 7.08660963e-05, 1.76172881e-04, 1.15777746e-04,
 -5.13629148e-05, 2.58096418e-02, 8.41224970e-03, 2.80197135e-03,
 -8.47936677e-05, 4.21099104e-04,-3.22418170e-06,-6.42772597e-06,
  1.52885612e-03,-1.50655973e-03, 0.00000000e+00,-2.08061033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025576259724515438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.25562564e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.25562564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00255373, -0.00877748,  0.06170393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97047632e-06, 5.82964314e-06, 4.72651363e-05,-1.41062544e-05,
  1.19897641e-07, 6.18868521e-05, 2.65300647e-06,-1.37743657e-05,
 -1.60963157e-05, 1.36304914e-05,-1.25052400e-05,-1.40748147e-05,
 -1.88024077e-05, 5.85277500e-05,-7.37544334e-06,-2.61372452e-07,
 -6.56576711e-04,-2.45350007e-04,-1.21648623e+00,-9.87037592e-05,
 -2.47099263e-02,-8.17493719e-05]


--- Step 1686 ---
qpos:
[ 3.30811794e-03,-3.19198279e-03, 1.19314280e-02, 4.17606458e-02,
  6.14424979e-03, 7.64767652e-01,-2.96777879e-02, 8.70340163e-01,
  5.83188154e-03, 1.64281625e-02,-9.29842434e-03, 2.59896055e-02,
  1.34026826e+00,-1.74350622e-04, 1.08710826e+00, 6.33291475e-02,
  1.23363430e-02,-3.60474335e-02, 7.37272957e-02, 6.79508377e-01,
 -1.95554171e-01,-6.80738432e-01,-1.91369067e-01]

qacc:
[  -2.37875043,  -0.14841374,  -0.30006365,   3.13961178,   0.18990758,
   -1.50663199,   5.71924811,  -8.03402307,  -1.52459961,  -1.73528494,
    6.94559114, -10.92956862,  -0.1557732 ,   0.43493127,  -8.6455494 ,
   29.40097052,  -0.59136105,  -1.25053197,  -1.01811001,   1.91345069,
   12.33535596,-111.34560098]

qfrc_actuator:
[-4.69828730e-05, 5.88422702e-05, 1.79491148e-04, 1.23607634e-04,
 -2.05600596e-05, 2.58058106e-02, 8.43363710e-03, 2.79030948e-03,
 -9.34182968e-05, 4.27531397e-04, 2.53438511e-05,-1.43204937e-05,
  1.52985489e-03,-1.49122107e-03, 0.00000000e+00,-1.93822983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00245376960512262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.39342075e-14,  4.52456100e-14,  1.00000000e+00, -1.53537391e-27,
        1.00000000e+00, -4.52456100e-14, -1.00000000e+00,  0.00000000e+00,
        3.39342075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00253611, -0.00866218,  0.0617156 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39844558e-05, 3.83957629e-07, 9.84334715e-06, 9.43652825e-06,
  3.08658682e-05, 3.04970033e-05, 3.34915082e-05,-9.91582194e-06,
 -9.08398904e-06, 1.09030640e-05, 2.93817738e-05,-8.00837560e-06,
  4.14395268e-06, 2.55863956e-05,-7.51753843e-06, 1.40487113e-04,
 -7.10279646e-04,-4.36955447e-04,-1.21648728e+00,-1.92751373e-05,
 -2.47218197e-02,-8.44748713e-05]


--- Step 1687 ---
qpos:
[ 3.30738751e-03,-3.19183037e-03, 1.19319424e-02, 4.17610283e-02,
  6.14411456e-03, 7.64770587e-01,-2.96810573e-02, 8.70350283e-01,
  5.83134156e-03, 1.64277856e-02,-9.29908814e-03, 2.59884851e-02,
  1.34037460e+00,-1.72116569e-04, 1.08730681e+00, 6.33347721e-02,
  1.23114770e-02,-3.60689135e-02, 7.38150619e-02, 6.79036536e-01,
 -1.94850054e-01,-6.81184094e-01,-1.92174578e-01]

qacc:
[ 1.58185829e+00, 4.44068447e-01, 1.07494040e+00,-1.02931765e+01,
  3.08323685e-01,-1.62680797e+00, 6.91760335e+00,-1.62457761e+01,
  5.18635721e+00,-2.99969425e-01, 2.23886986e+00,-4.80618068e+00,
 -2.45109663e-02, 1.64689481e-01,-1.05016166e+01, 3.61073075e+01,
 -5.63019988e-01,-1.19647786e+00,-1.45774456e+00, 1.84791710e+00,
  1.17650574e+01,-1.06679596e+02]

qfrc_actuator:
[-3.71944503e-05, 5.16421614e-05, 1.45460994e-04, 9.23098248e-05,
  1.57454963e-05, 2.57489026e-02, 8.41196351e-03, 2.74355908e-03,
 -6.25280294e-05, 4.67202703e-04, 4.25404126e-05,-1.85425537e-05,
  1.52130191e-03,-1.48303582e-03, 0.00000000e+00,-1.76655548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002344511985527341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.36770601e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.36770601e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00251776, -0.0085419 ,  0.06172778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.38807662e-06,-4.56549832e-06,-3.24251387e-05,-3.07608323e-05,
  5.01616267e-05,-3.37696554e-05,-1.20979518e-05,-4.49917937e-05,
  3.06294150e-05, 5.15266023e-05, 2.28106943e-05,-2.88808492e-06,
 -2.62749823e-07, 1.55547507e-05, 9.28958645e-06, 1.77857432e-04,
 -7.50125953e-04,-5.93964360e-04,-1.21646933e+00, 6.34461710e-05,
 -2.47319070e-02,-8.78054794e-05]


--- Step 1688 ---
qpos:
[ 3.30712518e-03,-3.19192400e-03, 1.19319070e-02, 4.17610825e-02,
  6.14426908e-03, 7.64772722e-01,-2.96838383e-02, 8.70362552e-01,
  5.83117576e-03, 1.64279698e-02,-9.29964410e-03, 2.59873022e-02,
  1.34048067e+00,-1.69426080e-04, 1.08750580e+00, 6.33387232e-02,
  1.22844482e-02,-3.60950127e-02, 7.38955463e-02, 6.78539982e-01,
 -1.93998553e-01,-6.81653970e-01,-1.93121515e-01]

qacc:
[   4.09525649,   0.52742959,  -0.98106318,  -3.62407648,   0.16177801,
    1.36268336, -10.65577889,  35.87805783,   3.25718072,   0.30525128,
    0.24036657,  -1.89496555,  -0.67043624,   1.16114062,   5.77468143,
  -19.10172241,  -0.54068384,  -1.15476995,  -1.8204352 ,   1.78952605,
   11.30208171,-102.94869865]

qfrc_actuator:
[-1.33860286e-05, 1.16838710e-05, 1.07401584e-04, 7.37242842e-05,
  1.94984398e-05, 2.56959662e-02, 8.43580460e-03, 2.85399230e-03,
 -4.41346912e-05, 5.08691506e-04, 5.30103652e-05,-2.05576702e-05,
  1.50169508e-03,-1.46141004e-03, 0.00000000e+00,-1.86307972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022319769003751044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48708449e-14,  2.48708449e-14,  1.00000000e+00, -6.18558924e-28,
        1.00000000e+00, -2.48708449e-14, -1.00000000e+00,  0.00000000e+00,
        2.48708449e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00249892, -0.00841869,  0.06174027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40757483e-05,-5.05333099e-05,-4.40688916e-05,-2.05045148e-05,
  2.62601617e-05,-7.55162787e-05, 1.44328757e-05, 1.07967024e-04,
  1.92864114e-05, 7.49237787e-05, 2.38360573e-05, 9.29524228e-07,
 -1.58281228e-05, 2.53121861e-05, 2.04823632e-05,-8.62694232e-05,
 -7.78220114e-04,-7.21663549e-04,-1.21643488e+00, 1.50152945e-04,
 -2.47403723e-02,-9.17214649e-05]


--- Step 1689 ---
qpos:
[ 3.30680550e-03,-3.19240526e-03, 1.19314408e-02, 4.17612695e-02,
  6.14438001e-03, 7.64774570e-01,-2.96867625e-02, 8.70376380e-01,
  5.83088751e-03, 1.64283394e-02,-9.30047558e-03, 2.59865251e-02,
  1.34058679e+00,-1.67022192e-04, 1.08770507e+00, 6.33398442e-02,
  1.22559588e-02,-3.61259424e-02, 7.39663303e-02, 6.78036617e-01,
 -1.92996209e-01,-6.82130297e-01,-1.94208822e-01]

qacc:
[-5.10205856e-01, 9.66788561e-01,-4.74862270e+00, 8.01881602e+00,
 -2.45795952e-02, 2.71503116e+00,-1.29308576e+01, 3.04803841e+01,
 -1.07946998e+00, 1.85249557e+00,-7.95958124e+00, 1.52830460e+01,
  5.34146710e-02,-2.53431356e-01, 8.94644301e+00,-3.07214627e+01,
 -3.65160254e-01,-1.20763601e+00,-2.42509258e+00, 3.29667670e+00,
  2.36711940e+01,-1.00318109e+02]

qfrc_actuator:
[-1.70295347e-05,-1.21060209e-05, 8.49100228e-05, 8.05009045e-05,
  3.76191221e-06, 2.56993353e-02, 8.43317606e-03, 2.93180706e-03,
 -5.10094999e-05, 4.79916531e-04, 2.39447491e-05,-3.50345868e-06,
  1.49677816e-03,-1.48528990e-03, 0.00000000e+00,-2.01033376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.66233864,  3.98438746, -7.66233864, 11.85807427,
        6.19564189,  3.98438746,  6.19564189, 20.5511452 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002117513362014102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94921611e-14, -1.13761864e-06,  1.00000000e+00,  3.35508322e-20,
        1.00000000e+00,  1.13761864e-06, -1.00000000e+00,  0.00000000e+00,
        2.94921611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00962802, -0.00372461,  0.06175292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97240829e-06,-6.20161666e-05,-3.90661502e-05, 2.68714868e-06,
 -3.96417126e-06,-3.22069428e-05,-1.26059952e-05, 7.82875094e-05,
 -6.29704275e-06, 1.80950390e-05,-1.06149558e-05, 2.11104882e-05,
 -7.85305206e-06,-2.12428174e-05,-5.94644589e-06,-1.50773871e-04,
 -7.96155057e-04,-8.24100655e-04,-1.21638568e+00, 2.41347746e-04,
 -2.47473391e-02,-9.62067488e-05]


--- Step 1690 ---
qpos:
[ 3.30609967e-03,-3.19294481e-03, 1.19305251e-02, 4.17614948e-02,
  6.14436685e-03, 7.64776917e-01,-2.96905547e-02, 8.70389962e-01,
  5.83052005e-03, 1.64280438e-02,-9.30177629e-03, 2.59860837e-02,
  1.34069312e+00,-1.65458269e-04, 1.08790437e+00, 6.33385149e-02,
  1.22271208e-02,-3.61616901e-02, 7.40234520e-02, 6.77551294e-01,
 -1.91842349e-01,-6.82588580e-01,-1.95431798e-01]

qacc:
[-3.40228885e+00, 1.26512355e+00,-4.77204196e+00, 6.18279353e+00,
 -7.00528580e-02, 2.57486722e+00,-7.09874931e+00, 3.07897172e+00,
 -6.93933929e-01, 1.12486656e+00,-6.70141635e+00, 1.37488994e+01,
  6.48840832e-01,-1.39869170e+00, 7.36387779e+00,-2.58660248e+01,
 -8.71433702e-02,-1.20449688e+00,-3.41558675e+00, 5.08409181e+00,
  4.00755638e+01,-9.41781793e+01]

qfrc_actuator:
[-3.68059865e-05, 9.55038919e-06, 7.18600165e-05, 8.44123513e-05,
 -5.69822241e-06, 2.57540482e-02, 8.39734925e-03, 2.91877178e-03,
 -5.49456159e-05, 3.73629367e-04,-2.85019822e-05, 6.79641371e-06,
  1.50065750e-03,-1.53591267e-03, 0.00000000e+00,-2.13294176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.25331694,  2.54352833, -8.25331694, 11.54294635,
        9.43136665,  2.54352833,  9.43136665, 39.23954467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020138636417329947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60487182e-07,  1.10258014e-13,  1.00000000e+00, -1.76949979e-20,
        1.00000000e+00, -1.10258014e-13, -1.00000000e+00,  0.00000000e+00,
        1.60487182e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02081881,  0.00346912,  0.06176441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98793325e-05,-2.09548105e-05,-3.05673160e-05,-4.26573659e-08,
 -1.12447748e-05, 3.68568980e-05,-4.12658910e-05,-1.26659817e-05,
 -4.11058988e-06,-9.74613323e-05,-4.92788674e-05, 1.11218494e-05,
 -6.16650976e-06,-5.73790575e-05,-2.38054183e-05,-1.32790547e-04,
 -7.20298200e-04,-8.35581543e-04,-1.21631170e+00, 3.15515021e-04,
 -2.47497131e-02,-1.01391564e-04]


--- Step 1691 ---
qpos:
[ 3.30516234e-03,-3.19360473e-03, 1.19294467e-02, 4.17614073e-02,
  6.14443199e-03, 7.64779774e-01,-2.96947738e-02, 8.70401875e-01,
  5.83045291e-03, 1.64272385e-02,-9.30346204e-03, 2.59860905e-02,
  1.34079926e+00,-1.63692793e-04, 1.08810335e+00, 6.33370322e-02,
  1.21980776e-02,-3.62020570e-02, 7.40657912e-02, 6.77084624e-01,
 -1.90541248e-01,-6.83026769e-01,-1.96786377e-01]

qacc:
[-2.03520625e+00,-3.44922488e-01, 2.32523176e+00,-7.39546320e+00,
  4.33396041e-02,-1.07353205e+00, 8.14263454e+00,-2.76509889e+01,
  2.61616695e+00, 1.31994497e+00,-7.58513353e+00, 1.63424327e+01,
 -3.00125907e-01, 4.87545570e-01, 3.39826857e-02,-7.21224395e-01,
 -5.13221451e-02,-1.15480615e+00,-3.69563622e+00, 4.79166505e+00,
  4.01848938e+01,-9.10860336e+01]

qfrc_actuator:
[-4.81578445e-05, 5.04239325e-06, 6.46659569e-05, 6.88935249e-05,
  6.45804357e-06, 2.57856372e-02, 8.37789089e-03, 2.83465515e-03,
 -3.93601475e-05, 3.63632267e-04,-4.14155560e-05, 3.07040699e-05,
  1.49914454e-03,-1.51315002e-03, 0.00000000e+00,-2.13349413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.96839571, -6.24219749,  5.96839571, 18.44382171,
        9.37727311, -6.24219749,  9.37727311, 17.60232101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019102869954748178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90590636e-14, -2.90590636e-14,  1.00000000e+00,  8.44429175e-28,
        1.00000000e+00,  2.90590636e-14, -1.00000000e+00,  0.00000000e+00,
        2.90590636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02187364,  0.00413358,  0.06177582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19215797e-05,-2.25165310e-05,-1.52707257e-05,-1.74712806e-05,
  7.11586404e-06, 4.34346918e-05,-1.73117736e-05,-8.44683333e-05,
  1.54328039e-05,-7.41763899e-05,-3.87110257e-05, 1.82470232e-05,
 -1.93696708e-05, 7.55817703e-06,-2.87193813e-05,-1.17318566e-05,
 -5.19822027e-04,-6.86567213e-04,-1.21620747e+00, 3.55799061e-04,
 -2.47453937e-02,-1.07161848e-04]


--- Step 1692 ---
qpos:
[ 3.30444117e-03,-3.19459094e-03, 1.19286595e-02, 4.17607841e-02,
  6.14461205e-03, 7.64782552e-01,-2.96989685e-02, 8.70412029e-01,
  5.83057249e-03, 1.64264380e-02,-9.30531324e-03, 2.59866465e-02,
  1.34090513e+00,-1.61652825e-04, 1.08830203e+00, 6.33365084e-02,
  1.21688700e-02,-3.62468869e-02, 7.40925514e-02, 6.76635112e-01,
 -1.89096123e-01,-6.83444707e-01,-1.98269802e-01]

qacc:
[ 1.91165763e+00,-2.35297440e+00, 1.00162971e+01,-1.95017428e+01,
  6.44131825e-02,-3.22421436e+00, 1.44710618e+01,-3.40220892e+01,
  1.62372095e+00, 1.59599005e+00,-8.00544681e+00, 1.77760348e+01,
 -3.39103576e-01, 5.66732406e-01,-3.32319286e+00, 1.10286476e+01,
 -4.10680836e-02,-1.11574278e+00,-3.89472419e+00, 4.39783383e+00,
  3.91618278e+01,-8.91888212e+01]

qfrc_actuator:
[-3.67024887e-05,-1.50788481e-05, 7.86311141e-05, 4.20522616e-05,
  1.36787712e-05, 2.57498843e-02, 8.36815960e-03, 2.74491554e-03,
 -3.01621939e-05, 4.11519881e-04,-3.05057505e-05, 6.25296247e-05,
  1.48377519e-03,-1.50031956e-03, 0.00000000e+00,-2.07988252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.98697471, -6.22438034,  5.98697471, 18.35735571,
        9.35022131, -6.22438034,  9.35022131, 17.62995585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001805994960382265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22114720e-14,  3.84214467e-14,  1.00000000e+00, -3.54289815e-27,
        1.00000000e+00, -3.84214467e-14, -1.00000000e+00,  0.00000000e+00,
        9.22114720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02197987,  0.00432657,  0.06178723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11124780e-05,-3.65796114e-05, 6.85080654e-06,-2.86695355e-05,
  1.04218595e-05,-1.78396024e-05,-5.69154613e-06,-9.07906399e-05,
  9.61097786e-06,-7.52585696e-07,-8.52064464e-06, 2.76673469e-05,
 -2.48919650e-05, 1.04742329e-05,-1.72098761e-05, 4.86469779e-05,
 -3.06978032e-04,-4.54832787e-04,-1.21608466e+00, 3.88412607e-04,
 -2.47385210e-02,-1.13284889e-04]


--- Step 1693 ---
qpos:
[ 3.30386272e-03,-3.19576204e-03, 1.19282679e-02, 4.17598185e-02,
  6.14489014e-03, 7.64784356e-01,-2.97020696e-02, 8.70422437e-01,
  5.83045639e-03, 1.64257663e-02,-9.30685654e-03, 2.59875290e-02,
  1.34101076e+00,-1.59665981e-04, 1.08850136e+00, 6.33302328e-02,
  1.21417339e-02,-3.62952281e-02, 7.41029627e-02, 6.76258922e-01,
 -1.87550166e-01,-6.83785091e-01,-1.99841824e-01]

qacc:
[ 1.26817597e+00,-2.05905309e+00, 8.42693081e+00,-1.48441233e+01,
  5.59423440e-02,-3.79402211e+00, 1.03238230e+01,-5.55531900e+00,
 -2.04794869e+00,-1.40235982e-02,-1.07478401e+00, 6.13195908e+00,
 -5.32390080e-01, 6.34515612e-01, 1.83625374e+01,-6.27561223e+01,
  5.17844438e-01,-8.77831372e-01,-4.08724721e+00, 3.08177438e+00,
  6.96661342e+01,-4.98295804e+01]

qfrc_actuator:
[-2.96704983e-05,-8.80869221e-06, 1.04903079e-04, 2.65181258e-05,
  1.78702322e-05, 2.56741106e-02, 8.41724199e-03, 2.75907668e-03,
 -4.25559259e-05, 4.40569790e-04,-5.36748326e-06, 8.10730885e-05,
  1.46010551e-03,-1.51135460e-03, 0.00000000e+00,-2.38538144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017040127286508944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.25767233e-14, -3.25767233e-14,  1.00000000e+00,  1.06124290e-27,
        1.00000000e+00,  3.25767233e-14, -1.00000000e+00,  0.00000000e+00,
        3.25767233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04367514,  0.00815751,  0.06179833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.34072556e-06,-1.39457312e-05, 1.85904647e-05,-1.74170486e-05,
  8.86728887e-06,-8.97220643e-05, 4.21832236e-05, 1.13574987e-05,
 -1.21236280e-05, 2.81077919e-05, 2.49201359e-05, 1.87591417e-05,
 -3.52598199e-05,-1.41268193e-05,-5.58349275e-06,-3.05705842e-04,
 -9.05799505e-05,-1.53987930e-04,-1.21594432e+00, 4.16571325e-04,
 -2.47296295e-02,-1.19761673e-04]


--- Step 1694 ---
qpos:
[ 3.30371821e-03,-3.19714474e-03, 1.19282117e-02, 4.17586816e-02,
  6.14543361e-03, 7.64785803e-01,-2.97047195e-02, 8.70432564e-01,
  5.83053742e-03, 1.64253570e-02,-9.30810720e-03, 2.59879194e-02,
  1.34111616e+00,-1.57795832e-04, 1.08870048e+00, 6.33216924e-02,
  1.21207916e-02,-3.63431706e-02, 7.41076798e-02, 6.76048342e-01,
 -1.86149012e-01,-6.83951365e-01,-2.01290124e-01]

qacc:
[ 3.82273450e+00,-1.57795247e+00, 5.93004839e+00,-9.26148878e+00,
  1.48437407e-01,-2.17662742e+00, 7.21594383e+00,-9.59469894e+00,
  1.72366156e+00,-1.48762899e+00, 7.87943211e+00,-1.70514355e+01,
 -2.16034121e-01, 1.48417332e-01, 6.55331619e+00,-2.33286635e+01,
  1.54846460e+00, 9.96748010e-02,-1.42353753e+00,-8.52959583e+00,
  8.94219190e+01, 1.24217143e+02]

qfrc_actuator:
[-7.55293219e-06,-2.22198693e-05, 1.20585475e-04, 1.77893650e-05,
  3.79676866e-05, 2.56817667e-02, 8.44727569e-03, 2.74550530e-03,
 -3.20516845e-05, 4.58191100e-04, 1.01480564e-05, 5.61449755e-05,
  1.44743951e-03,-1.51873848e-03, 0.00000000e+00,-2.49170894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016367874811730118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.39146968e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.39146968e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05213033, -0.01411288,  0.06180569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23260702e-05,-1.80622394e-05, 1.45096452e-05,-9.01644423e-06,
  2.40632205e-05,-3.33984522e-05, 1.75451548e-05,-1.49109223e-05,
  1.01612072e-05, 3.93266698e-05, 2.50644239e-05,-2.24927738e-05,
 -3.64449444e-05,-1.86995817e-05,-4.20342294e-05,-1.25325520e-04,
  2.93558438e-04, 5.23560557e-04,-1.21583595e+00, 3.61762304e-04,
 -2.47199996e-02,-1.26347063e-04]


--- Step 1695 ---
qpos:
[ 3.30384005e-03,-3.19869767e-03, 1.19283305e-02, 4.17578002e-02,
  6.14622499e-03, 7.64786761e-01,-2.97067955e-02, 8.70445908e-01,
  5.83108881e-03, 1.64247456e-02,-9.30891662e-03, 2.59877128e-02,
  1.34122154e+00,-1.56576243e-04, 1.08889861e+00, 6.33179052e-02,
  1.21057323e-02,-3.63906000e-02, 7.41036454e-02, 6.75993780e-01,
 -1.84892070e-01,-6.83954659e-01,-2.02616279e-01]

qacc:
[  2.34638721, -0.19230044, -0.72664239,  5.00164272,  0.13820341,
   3.39203349,-19.25061248, 56.16689831,  4.11929882, -2.73712454,
  11.87870315,-22.75218548,  0.80250155, -1.58180314,-15.89763419,
  53.30206185,  1.47076614,  0.12825834, -2.18788457, -8.85868862,
  82.56226191,121.47660211]

qfrc_actuator:
[ 5.51505293e-06,-2.95865305e-05, 1.29816214e-04, 3.08623453e-05,
  4.96495449e-05, 2.56682436e-02, 8.48383774e-03, 2.91100639e-03,
 -8.14719431e-06, 4.15512305e-04, 1.97820517e-05, 2.35746127e-05,
  1.44138314e-03,-1.55935212e-03, 0.00000000e+00,-2.23118303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.16771122, -4.81774767,  7.16771122, 15.96615235,
       10.90505614, -4.81774767, 10.90505614, 24.86060337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016569745373566733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08570250e-07, -5.08570219e-07,  1.00000000e+00, -2.58643683e-13,
        1.00000000e+00,  5.08570219e-07, -1.00000000e+00,  5.04870979e-29,
       -5.08570250e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05328244, -0.01472308,  0.06180371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37020719e-05,-1.47947665e-05, 6.99365478e-06, 1.26306836e-05,
  2.24761329e-05,-2.90591889e-05, 3.15541309e-05, 1.64623209e-04,
  2.42069048e-05,-1.64412081e-05, 2.00846197e-05,-3.04531148e-05,
 -3.16077793e-05,-5.33203905e-05,-3.58566111e-05, 2.47568983e-04,
  5.86710862e-04, 1.33786004e-03,-1.21603013e+00, 2.79258325e-04,
 -2.47332058e-02,-1.32550311e-04]


--- Step 1696 ---
qpos:
[ 3.30411758e-03,-3.20004697e-03, 1.19284021e-02, 4.17570493e-02,
  6.14700409e-03, 7.64787172e-01,-2.97082481e-02, 8.70459752e-01,
  5.83088774e-03, 1.64241551e-02,-9.30967302e-03, 2.59874619e-02,
  1.34132686e+00,-1.56118108e-04, 1.08909652e+00, 6.33168526e-02,
  1.20961284e-02,-3.64375254e-02, 7.40885871e-02, 6.76084253e-01,
 -1.83769520e-01,-6.83807218e-01,-2.03829671e-01]

qacc:
[ 1.36161656e+00, 6.67527342e-01,-2.54468974e+00, 4.73369261e+00,
 -6.15890639e-03,-1.53447816e+00, 3.02607768e+00, 3.65102867e+00,
 -6.56159999e+00,-1.99123779e-01, 9.59119712e-01,-1.85006524e+00,
  7.06719195e-01,-1.52559049e+00,-8.64253210e+00, 2.96144079e+01,
  1.36381481e+00, 1.26020723e-01,-2.75594986e+00,-8.72406613e+00,
  7.65076817e+01, 1.12700827e+02]

qfrc_actuator:
[ 1.31472942e-05, 2.22205477e-06, 1.35202122e-04, 3.89053755e-05,
  3.84407194e-05, 2.56245348e-02, 8.50626103e-03, 2.93202847e-03,
 -4.75651728e-05, 4.25776009e-04, 2.56214773e-05, 2.22258738e-05,
  1.43395774e-03,-1.60157043e-03, 0.00000000e+00,-2.09395708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.20129734, -2.70656587,  8.20129734, 10.51023629,
        5.67811298, -2.70656587,  5.67811298, 25.84189094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001657755961760085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.34857196e-14, -6.69714391e-14,  1.00000000e+00,  2.24258683e-27,
        1.00000000e+00,  6.69714391e-14, -1.00000000e+00,  0.00000000e+00,
        3.34857196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05337985, -0.0147684 ,  0.0618038 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.02153157e-06, 2.55821515e-05, 3.64650856e-06, 7.90174078e-06,
 -1.12875949e-06,-4.83292855e-05, 2.52922040e-05, 2.47827260e-05,
 -3.87321784e-05, 3.95564509e-06, 3.88006836e-06,-1.94830324e-06,
 -3.75963208e-05,-6.28273752e-05, 1.03264690e-05, 1.46251108e-04,
  6.20550180e-04, 1.98576650e-03,-1.21617961e+00, 2.44479877e-04,
 -2.47418548e-02,-1.38345306e-04]


--- Step 1697 ---
qpos:
[ 3.30448446e-03,-3.20097539e-03, 1.19284138e-02, 4.17563729e-02,
  6.14730856e-03, 7.64787730e-01,-2.97098519e-02, 8.70471992e-01,
  5.82952594e-03, 1.64237780e-02,-9.30991602e-03, 2.59874845e-02,
  1.34143181e+00,-1.55640988e-04, 1.08929497e+00, 6.33131012e-02,
  1.20916067e-02,-3.64839545e-02, 7.40606028e-02, 6.76310330e-01,
 -1.82772385e-01,-6.83519369e-01,-2.04938688e-01]

qacc:
[  0.77507956,  0.87584559, -2.63264996,  3.7109103 , -0.26428634,
  -2.18386855, 11.06346799,-29.26141401,-10.11118025, -0.56993743,
   1.32036425,  2.39992087, -0.49793329,  0.58474046,  8.98536335,
 -30.18544777,  1.27057559,  0.12409368, -3.23153029, -8.55929194,
  71.45507892,104.88400217]

qfrc_actuator:
[ 1.75222102e-05, 3.94773708e-05, 1.38433347e-04, 4.39532361e-05,
 -4.09410487e-06, 2.56517308e-02, 8.50216945e-03, 2.85004080e-03,
 -1.06189316e-04, 4.67663236e-04, 6.49011458e-05, 3.92962269e-05,
  1.42038778e-03,-1.59112254e-03, 0.00000000e+00,-2.24362551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.34456764, -2.2259757 ,  8.34456764,  9.95488097,
        4.94275705, -2.2259757 ,  4.94275705, 27.16539368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016391389278717708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65658106e-14, -3.38660441e-14,  1.00000000e+00,  1.57699980e-27,
        1.00000000e+00,  3.38660441e-14, -1.00000000e+00,  0.00000000e+00,
        4.65658106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05343573, -0.01475423,  0.0618059 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61620171e-06, 5.27041690e-05, 9.25388875e-06, 6.42781756e-06,
 -4.30490446e-05, 6.19723798e-06,-9.95756841e-06,-8.22074692e-05,
 -5.97357736e-05, 4.48338749e-05, 4.05249288e-05, 1.73413459e-05,
 -4.89467441e-05,-1.41074698e-05, 1.73185919e-05,-1.41050914e-04,
  4.49480465e-04, 2.49901082e-03,-1.21628152e+00, 2.46307748e-04,
 -2.47456089e-02,-1.43734805e-04]


--- Step 1698 ---
qpos:
[ 3.30455621e-03,-3.20163137e-03, 1.19285327e-02, 4.17554242e-02,
  6.14712031e-03, 7.64788855e-01,-2.97114713e-02, 8.70483797e-01,
  5.82885119e-03, 1.64233622e-02,-9.30874839e-03, 2.59880257e-02,
  1.34153651e+00,-1.55361529e-04, 1.08949312e+00, 6.33106296e-02,
  1.20918502e-02,-3.65298856e-02, 7.40180765e-02, 6.76664079e-01,
 -1.81893096e-01,-6.83099632e-01,-2.05950279e-01]

qacc:
[-2.59175824e+00,-4.95949919e-01, 3.44786560e+00,-8.54011609e+00,
 -2.74656145e-01, 3.10866732e-02, 1.79938689e+00,-7.21401790e+00,
  6.03751202e+00,-2.93771054e+00, 8.19034216e+00,-1.41866398e+00,
  4.27133583e-02,-2.83527454e-01,-4.32864763e+00, 1.44601792e+01,
  1.19129550e+00, 1.24477820e-01,-3.63546968e+00,-8.40083851e+00,
  6.72526671e+01, 9.83563617e+01]

qfrc_actuator:
[ 2.19417521e-06, 4.41967756e-05, 1.40403332e-04, 2.94551767e-05,
 -2.94520086e-05, 2.57209946e-02, 8.51819934e-03, 2.83242053e-03,
 -6.91121111e-05, 4.75065769e-04, 1.41516004e-04, 6.71178892e-05,
  1.40848765e-03,-1.60280867e-03, 0.00000000e+00,-2.17053299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.46119358, -1.73060108,  8.46119358,  9.49240408,
        4.18532265, -1.73060108,  4.18532265, 29.09909509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016051028992354124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89071910e-14,  3.45841698e-14,  1.00000000e+00, -1.34557290e-27,
        1.00000000e+00, -3.45841698e-14, -1.00000000e+00,  0.00000000e+00,
        3.89071910e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05353373, -0.01473064,  0.06180957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51757333e-05, 3.64138266e-05, 1.42301180e-05,-1.17918278e-05,
 -4.46754363e-05, 6.80970648e-05, 1.36376385e-05,-1.95882246e-05,
  3.53767518e-05, 4.15793393e-05, 9.14756634e-05, 3.14862337e-05,
 -4.25382856e-05,-2.65575716e-05,-1.37166176e-05, 6.60941972e-05,
  1.14291059e-04, 2.90391646e-03,-1.21634375e+00, 2.76050972e-04,
 -2.47450262e-02,-1.48732337e-04]


--- Step 1699 ---
qpos:
[ 3.30478879e-03,-3.20209609e-03, 1.19287242e-02, 4.17543224e-02,
  6.14674308e-03, 7.64790292e-01,-2.97128236e-02, 8.70495306e-01,
  5.82931543e-03, 1.64228716e-02,-9.30678448e-03, 2.59882526e-02,
  1.34164106e+00,-1.55527925e-04, 1.08969068e+00, 6.33127008e-02,
  1.20965855e-02,-3.65753092e-02, 7.39596368e-02, 6.77138834e-01,
 -1.81125267e-01,-6.82555025e-01,-2.06870188e-01]

qacc:
[  1.41058163, -0.26790101,  1.9626462 , -4.86185547, -0.1051258 ,
  -0.82453917,  3.88683285, -7.24756643,  9.9599746 , -2.99063987,
  11.81259118,-18.43127636,  0.53729346, -1.1049528 ,-14.62064247,
  49.78902772,  1.12295817,  0.12686117, -3.97837255, -8.24998498,
  63.7614487 , 92.90438453]

qfrc_actuator:
[ 1.08983586e-05, 4.71273424e-05, 1.41473373e-04, 2.12992003e-05,
 -2.65431885e-05, 2.57262581e-02, 8.52847433e-03, 2.81738718e-03,
 -1.15028655e-05, 4.44191468e-04, 1.68418855e-04, 4.77780169e-05,
  1.40291824e-03,-1.62756617e-03, 0.00000000e+00,-1.93117780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58115196, -0.9749912 ,  8.58115196,  8.92654894,
        2.55399659, -0.9749912 ,  2.55399659, 31.11475402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015589631440284038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.5607738e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.5607738e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05366431, -0.01469973,  0.06181447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28668287e-06, 2.57463455e-05, 9.94506224e-06,-6.32938464e-06,
 -1.71307075e-05, 4.50396626e-05, 2.46933937e-05,-1.28895386e-05,
  5.86327911e-05, 1.26323987e-05, 4.78361374e-05,-1.37845889e-05,
 -3.55443427e-05,-4.12386339e-05,-2.08997021e-06, 2.40563045e-04,
 -3.55767588e-04, 3.22002343e-03,-1.21637251e+00, 3.27455322e-04,
 -2.47405852e-02,-1.53351666e-04]


--- Step 1700 ---
qpos:
[ 3.30512398e-03,-3.20259932e-03, 1.19290244e-02, 4.17535043e-02,
  6.14610753e-03, 7.64792044e-01,-2.97146489e-02, 8.70507968e-01,
  5.83012226e-03, 1.64222527e-02,-9.30496631e-03, 2.59886654e-02,
  1.34174553e+00,-1.56286616e-04, 1.08988854e+00, 6.33145828e-02,
  1.21055732e-02,-3.66202089e-02, 7.38841198e-02, 6.77728986e-01,
 -1.80463494e-01,-6.81891302e-01,-2.07703156e-01]

qacc:
[  0.90473409,  0.22772583, -2.08532619,  6.85052705, -0.14467327,
   3.69287615,-14.24971257, 26.38271798,  2.98575856,  0.61434155,
  -3.23113977,  6.78497634,  0.3427608 , -0.91124225,  0.96696758,
  -2.84002541,  1.06308774,  0.13100714, -4.26931878, -8.10666708,
  60.86779903, 88.35409571]

qfrc_actuator:
[ 1.59313322e-05, 3.12041820e-05, 1.41995378e-04, 3.46907804e-05,
 -4.22862447e-05, 2.57286538e-02, 8.49951476e-03, 2.87495136e-03,
  4.44096583e-06, 4.08155402e-04, 1.47791968e-04, 5.40244627e-05,
  1.39581975e-03,-1.65983923e-03, 0.00000000e+00,-1.95089260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63604062,  0.07469461,  8.63604062,  8.63816265,
       -0.20799779,  0.07469461, -0.20799779, 32.68465086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015034998669462077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.69212878e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.69212878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05381971, -0.01466318,  0.06182029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27935116e-06, 2.76491692e-07, 6.85099713e-06, 1.47180297e-05,
 -2.34245604e-05, 3.17845390e-05,-1.76187629e-05, 5.94556517e-05,
  1.76280627e-05,-1.96652467e-05,-1.26220445e-05, 8.16855912e-06,
 -3.61668106e-05,-5.10099061e-05, 2.31141853e-05,-7.20648173e-06,
 -9.39591988e-04, 3.46218157e-03,-1.21637210e+00, 3.95953134e-04,
 -2.47326555e-02,-1.57605095e-04]


--- Step 1701 ---
qpos:
[ 3.30517195e-03,-3.20294915e-03, 1.19289903e-02, 4.17528595e-02,
  6.14525638e-03, 7.64794250e-01,-2.97170714e-02, 8.70519488e-01,
  5.83145935e-03, 1.64215442e-02,-9.30341472e-03, 2.59894994e-02,
  1.34184973e+00,-1.57403288e-04, 1.09008640e+00, 6.33169154e-02,
  1.21185995e-02,-3.66645615e-02, 7.37905385e-02, 6.78429821e-01,
 -1.79903206e-01,-6.81113155e-01,-2.08453074e-01]

qacc:
[-2.53391958e+00, 1.49955432e+00,-5.77455085e+00, 9.18491567e+00,
 -1.20599324e-01, 2.28938592e-01, 2.57357475e+00,-1.62991735e+01,
  4.61829895e+00, 1.48490647e+00,-7.26060285e+00, 1.50605276e+01,
  8.39170660e-02,-4.53004436e-01,-1.36706106e+00, 4.75999089e+00,
  1.00963814e+00, 1.36733642e-01,-4.51607323e+00,-7.96985672e+00,
  5.84780845e+01, 8.45626838e+01]

qfrc_actuator:
[ 1.00285433e-06, 3.96273154e-05, 1.24370568e-04, 4.28827722e-05,
 -5.13228644e-05, 2.57469541e-02, 8.46540030e-03, 2.81497061e-03,
  3.12316120e-05, 4.04610973e-04, 1.34776015e-04, 7.52483785e-05,
  1.37715298e-03,-1.67854422e-03, 0.00000000e+00,-1.92785543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52162581,  1.40309318,  8.52162581,  9.28745792,
       -3.95439298,  1.40309318, -3.95439298, 32.65319855,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014410414579996353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.85215505e-14, -3.85215505e-14,  1.00000000e+00,  1.48390985e-27,
        1.00000000e+00,  3.85215505e-14, -1.00000000e+00,  0.00000000e+00,
        3.85215505e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0539936 , -0.01462241,  0.06182681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47774476e-05, 1.06406171e-05,-1.62109393e-05, 8.72940334e-06,
 -1.95451169e-05, 3.43047175e-05,-2.80818671e-05,-5.81441183e-05,
  2.72892359e-05,-1.67896227e-05,-1.83649445e-05, 2.00992411e-05,
 -5.06428566e-05,-3.98817126e-05, 4.59627856e-06, 2.43828227e-05,
 -1.62206731e-03, 3.64171225e-03,-1.21634540e+00, 4.78219322e-04,
 -2.47215178e-02,-1.61503516e-04]


--- Step 1702 ---
qpos:
[ 3.30504050e-03,-3.20296686e-03, 1.19288989e-02, 4.17526208e-02,
  6.14425415e-03, 7.64796074e-01,-2.97196128e-02, 8.70531290e-01,
  5.83310715e-03, 1.64210019e-02,-9.30241855e-03, 2.59902230e-02,
  1.34195341e+00,-1.58201778e-04, 1.09028462e+00, 6.33164916e-02,
  1.21090575e-02,-3.66919959e-02, 7.37193337e-02, 6.78876551e-01,
 -1.79229475e-01,-6.80596164e-01,-2.09266063e-01]

qacc:
[-1.58203756e+00, 1.43943813e+00,-6.20275687e+00, 1.30698362e+01,
 -8.41500970e-02, 3.09717836e-01,-2.27531243e+00, 5.68665643e+00,
  2.68977464e+00, 1.53907419e+00,-4.71130661e+00, 3.57319071e+00,
 -8.35588895e-01, 1.20493088e+00, 8.91806216e+00,-3.02736827e+01,
 -5.64206188e+00, 4.22958368e+00, 5.59411991e+00, 2.13644555e+01,
 -1.57628094e+02,-1.10004219e+02]

qfrc_actuator:
[-7.80109484e-06, 8.02343499e-05, 1.31762520e-04, 6.57045565e-05,
 -5.62750207e-05, 2.56857690e-02, 8.44625901e-03, 2.82831688e-03,
  4.64530095e-05, 4.20574081e-04, 1.08753126e-04, 6.96437070e-05,
  1.35689046e-03,-1.65360048e-03, 0.00000000e+00,-2.07501015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.56421155,  1.11402753,  8.56421155,  8.81254804,
       -1.35443734,  1.11402753, -1.35443734, 19.04875258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024488105383505296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.68798691e-01,  5.68798691e-01,  5.94084251e-01,  4.20081002e-01,
       -4.20081002e-01,  8.04402824e-01,  7.07106781e-01,  7.07106781e-01,
       -5.55111512e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06220266, -0.05622212,  0.06182485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.21959869e-06, 4.35919647e-05, 7.90167725e-06, 2.28894604e-05,
 -1.37175383e-05,-4.96142006e-05,-1.73579140e-05, 1.22771541e-05,
  1.59971856e-05, 3.66145724e-06,-3.10690476e-05,-6.57307706e-06,
 -5.77134387e-05, 3.18197496e-06, 4.81973582e-07,-1.46213069e-04,
 -2.39250672e-03, 3.76725785e-03,-1.21629423e+00, 5.71851010e-04,
 -2.47073808e-02,-1.65056381e-04]


--- Step 1703 ---
qpos:
[ 3.30480462e-03,-3.20298158e-03, 1.19293231e-02, 4.17523140e-02,
  6.14315687e-03, 7.64797233e-01,-2.97221928e-02, 8.70542838e-01,
  5.83458037e-03, 1.64200867e-02,-9.30157752e-03, 2.59916063e-02,
  1.34205678e+00,-1.59031599e-04, 1.09048262e+00, 6.33159870e-02,
  1.21000701e-02,-3.67105809e-02, 7.36658760e-02, 6.79196458e-01,
 -1.78801256e-01,-6.80231038e-01,-2.09780880e-01]

qacc:
[-9.00514030e-01,-1.57636775e+00, 5.91592432e+00,-7.92311082e+00,
 -5.26347120e-02,-1.21114132e+00, 3.48359556e+00,-5.71059021e+00,
 -1.52076110e+00, 1.30207119e+00,-8.13849219e+00, 2.00751105e+01,
 -2.03998784e-01, 1.60097430e-01,-8.11140129e-02,-1.78153632e-01,
  1.38665274e-01, 2.21235016e+00, 4.43676618e+00, 2.26559588e+01,
 -1.47115463e+02, 1.57878928e+02]

qfrc_actuator:
[-1.29232346e-05, 6.89011199e-05, 1.54021313e-04, 6.14968650e-05,
 -5.87547725e-05, 2.56308046e-02, 8.43586210e-03, 2.81368180e-03,
  3.69876648e-05, 3.77011291e-04, 9.30741688e-05, 1.01563076e-04,
  1.34635511e-03,-1.65625839e-03, 0.00000000e+00,-2.07271659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.36514567, -5.83709667, -6.36514567, 10.59564051,
       -2.13652153, -5.83709667, -2.13652153, 10.96616414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016289611260296086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76880827e-14, -1.02232921e-13,  1.00000000e+00,  2.83063356e-27,
        1.00000000e+00,  1.02232921e-13, -1.00000000e+00,  0.00000000e+00,
        2.76880827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04256247, -0.07563205,  0.06180553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37061319e-06, 1.56554766e-05, 3.30304880e-05,-1.62022773e-06,
 -8.64317285e-06,-8.55175688e-05,-2.18078489e-05,-1.64643902e-05,
 -9.00454149e-06,-4.81975317e-05,-1.89827589e-05, 3.08703633e-05,
 -4.21032112e-05,-1.51810989e-05,-2.14027097e-05,-7.01166450e-06,
 -8.70209675e-04, 2.85309290e-03,-1.21635900e+00, 6.07502137e-04,
 -2.47026768e-02,-1.63302222e-04]


--- Step 1704 ---
qpos:
[ 3.30485404e-03,-3.20291370e-03, 1.19297656e-02, 4.17516386e-02,
  6.14239721e-03, 7.64798337e-01,-2.97248034e-02, 8.70553027e-01,
  5.83558388e-03, 1.64187684e-02,-9.30033690e-03, 2.59933268e-02,
  1.34215992e+00,-1.59927411e-04, 1.09068004e+00, 6.33188217e-02,
  1.20911511e-02,-3.67212972e-02, 7.36243156e-02, 6.79404300e-01,
 -1.78593367e-01,-6.80001108e-01,-2.10030236e-01]

qacc:
[ 2.50308242e+00,-7.06338571e-01, 4.22290284e+00,-1.06803979e+01,
  1.88329082e-01,-2.34876491e+00, 1.07243689e+01,-2.58837408e+01,
 -4.07723846e+00,-9.47460340e-01, 1.19532001e+00, 4.28349089e+00,
  1.11881769e-01,-2.81271174e-01,-1.09260911e+01, 3.69862094e+01,
  1.70614941e-02, 1.96714856e+00, 2.97434403e+00, 1.96261579e+01,
 -1.30870757e+02, 1.41247091e+02]

qfrc_actuator:
[ 1.91312877e-06, 6.21052734e-05, 1.49144844e-04, 4.13831710e-05,
 -2.42414223e-05, 2.56687728e-02, 8.44843175e-03, 2.74717594e-03,
  1.30712867e-05, 3.69216059e-04, 1.18928733e-04, 1.19765459e-04,
  1.34165468e-03,-1.65750241e-03, 0.00000000e+00,-1.89356374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.43504999,  8.51630251, -1.43504999,  9.1706243 ,
        0.09002625,  8.51630251,  0.09002625,  8.65153362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017712135061931505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.87638973e-15, -3.13407452e-14,  1.00000000e+00, -1.84170433e-28,
        1.00000000e+00,  3.13407452e-14, -1.00000000e+00,  0.00000000e+00,
       -5.87638973e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04213152, -0.07520929,  0.06178999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46872583e-05, 8.70701433e-06, 2.36583465e-06,-1.83316256e-05,
  3.06224034e-05,-1.42592307e-05,-7.29700258e-06,-7.02698096e-05,
 -2.41935877e-05,-3.73240725e-05, 1.46283647e-05, 1.60786218e-05,
 -3.19921396e-05,-1.46484304e-05,-1.38009089e-05, 1.75283957e-04,
 -4.60536840e-04, 1.26728369e-03,-1.21639199e+00, 8.72883307e-04,
 -2.46633240e-02,-1.62025537e-04]


--- Step 1705 ---
qpos:
[ 3.30508078e-03,-3.20268422e-03, 1.19300995e-02, 4.17510718e-02,
  6.14201843e-03, 7.64799642e-01,-2.97282191e-02, 8.70561321e-01,
  5.83663688e-03, 1.64180888e-02,-9.29951622e-03, 2.59948283e-02,
  1.34226280e+00,-1.60603172e-04, 1.09087825e+00, 6.33163745e-02,
  1.20819401e-02,-3.67249572e-02, 7.35896612e-02, 6.79512003e-01,
 -1.78584763e-01,-6.79892318e-01,-2.10041320e-01]

qacc:
[ 1.55024812e+00, 7.38034145e-01,-2.78485688e+00, 4.72453577e+00,
  2.11752361e-01,-8.49884304e-01, 7.41922152e+00,-2.94904818e+01,
  4.07571400e-01, 1.56598288e+00,-3.43518902e+00,-1.53897152e-01,
 -7.39678489e-01, 1.09558821e+00, 1.71572455e+01,-5.82112408e+01,
 -7.29676045e-02, 1.76409162e+00, 1.72647260e+00, 1.70942568e+01,
 -1.17403658e+02, 1.27364309e+02]

qfrc_actuator:
[ 1.06239961e-05, 7.57036946e-05, 1.46031044e-04, 4.75588894e-05,
 -3.43211306e-06, 2.56733913e-02, 8.40377819e-03, 2.65075515e-03,
  1.63545193e-05, 4.54071254e-04, 1.15952846e-04, 1.12043757e-04,
  1.33513322e-03,-1.64009827e-03, 0.00000000e+00,-2.17976740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.50884678,  8.50353799, -1.50884678,  9.7929108 ,
        0.20521487,  8.50353799,  0.20521487,  8.67277646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018627393613000545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42131622e-14,  5.96016301e-14,  1.00000000e+00, -1.44314394e-27,
        1.00000000e+00, -5.96016301e-14, -1.00000000e+00,  0.00000000e+00,
        2.42131622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04185147, -0.07493797,  0.06178   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.13239145e-06, 1.81696666e-05,-1.66337299e-06, 6.27344507e-06,
  3.45511342e-05,-6.97290009e-06,-5.04127033e-05,-9.86925092e-05,
  2.57288675e-06, 6.77181956e-05,-8.32849123e-06,-8.50458755e-06,
 -2.76219767e-05, 6.27183691e-06, 1.06200765e-05,-2.78800710e-04,
 -2.02522728e-04, 3.85893001e-04,-1.21641859e+00, 1.01432656e-03,
 -2.46434930e-02,-1.61237957e-04]


--- Step 1706 ---
qpos:
[ 3.30506545e-03,-3.20239027e-03, 1.19301496e-02, 4.17506081e-02,
  6.14175184e-03, 7.64800622e-01,-2.97322305e-02, 8.70567398e-01,
  5.83806551e-03, 1.64182339e-02,-9.29914877e-03, 2.59955119e-02,
  1.34236537e+00,-1.61039602e-04, 1.09107635e+00, 6.33118886e-02,
  1.20721747e-02,-3.67222376e-02, 7.35576501e-02, 6.79529244e-01,
 -1.78757782e-01,-6.79892753e-01,-2.09836857e-01]

qacc:
[-2.13465971e+00, 1.09553153e+00,-4.21000050e+00, 6.39262203e+00,
  6.25519164e-02,-2.66355775e+00, 1.32696202e+01,-3.82472501e+01,
  3.24747053e+00, 6.66897446e-01, 2.64587159e+00,-1.66709093e+01,
 -5.38614087e-01, 8.09564268e-01, 6.02911054e+00,-2.12377935e+01,
 -1.38598491e-01, 1.59491262e+00, 6.60853285e-01, 1.49603880e+01,
 -1.06182495e+02, 1.15723094e+02]

qfrc_actuator:
[-2.09920589e-06, 6.59213498e-05, 1.26341708e-04, 5.14258562e-05,
 -8.77617724e-06, 2.56222630e-02, 8.36108280e-03, 2.53746362e-03,
  3.56261922e-05, 5.04873018e-04, 9.63383656e-05, 7.14363232e-05,
  1.31687970e-03,-1.62951751e-03, 0.00000000e+00,-2.27633104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.62835212,  8.48146486, -1.62835212, 10.48431502,
        0.35478724,  8.48146486,  0.35478724,  8.70447906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019125023117851359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35831403e-14, -5.80508069e-14,  1.00000000e+00,  1.36902033e-27,
        1.00000000e+00,  5.80508069e-14, -1.00000000e+00,  0.00000000e+00,
        2.35831403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04169114, -0.0747868 ,  0.0617744 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24578857e-05, 2.94816004e-07,-1.59300371e-05, 4.70941772e-06,
  1.01628742e-05,-6.80946780e-05,-5.28353459e-05,-1.17274647e-04,
  1.93687224e-05, 8.66012658e-05,-6.95047302e-06,-3.81626763e-05,
 -3.27233990e-05, 6.05253593e-06,-3.23466491e-05,-1.12164503e-04,
 -5.45155045e-05, 2.10483807e-05,-1.21643585e+00, 1.06238278e-03,
 -2.46377981e-02,-1.60617616e-04]


--- Step 1707 ---
qpos:
[ 3.30489787e-03,-3.20204829e-03, 1.19296889e-02, 4.17502129e-02,
  6.14169645e-03, 7.64801083e-01,-2.97365481e-02, 8.70575182e-01,
  5.83971454e-03, 1.64185899e-02,-9.29877398e-03, 2.59954057e-02,
  1.34246769e+00,-1.61339119e-04, 1.09127371e+00, 6.33105822e-02,
  1.20616679e-02,-3.67137057e-02, 7.35246407e-02, 6.79463896e-01,
 -1.79097567e-01,-6.79992262e-01,-2.09435908e-01]

qacc:
[-1.35317103e+00, 1.63512915e+00,-6.02152192e+00, 7.98132722e+00,
  1.17285647e-01, 3.10682683e+00,-1.49280668e+01, 3.42002276e+01,
  1.91840749e+00,-1.37167217e+00, 8.62407831e+00,-2.24556031e+01,
 -5.54558496e-02, 8.27995437e-02,-1.06828663e+01, 3.58017356e+01,
 -1.85376183e-01, 1.45306797e+00,-2.49580330e-01, 1.31465149e+01,
 -9.67965969e+01, 1.05929269e+02]

qfrc_actuator:
[-9.58175263e-06, 5.98956877e-05, 9.69257587e-05, 5.38696272e-05,
  5.80933581e-06, 2.56091406e-02, 8.35518017e-03, 2.62816158e-03,
  4.63923663e-05, 4.81543278e-04, 8.46946404e-05, 2.95364472e-05,
  1.30757775e-03,-1.62313808e-03, 0.00000000e+00,-2.10046742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.82190699,  8.44200401, -1.82190699, 11.30299853,
        0.57549851,  8.44200401,  0.57549851,  8.76056457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019280657308678659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39833300e-15, -5.75822186e-14,  1.00000000e+00, -3.10847991e-28,
        1.00000000e+00,  5.75822186e-14, -1.00000000e+00,  0.00000000e+00,
       -5.39833300e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04162606, -0.07473128,  0.06177231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.83774088e-06,-8.96397845e-06,-3.11566414e-05, 1.99763408e-06,
  1.91387434e-05,-6.50212545e-05,-2.89315707e-05, 8.42662131e-05,
  1.13544246e-05, 2.20272778e-05, 4.06156218e-06,-3.91750438e-05,
 -2.67757237e-05, 6.62659315e-07,-3.04990487e-05, 1.64748059e-04,
  1.26683555e-05, 3.91589980e-05,-1.21644351e+00, 1.03898330e-03,
 -2.46423880e-02,-1.59949880e-04]


--- Step 1708 ---
qpos:
[ 3.30464162e-03,-3.20152144e-03, 1.19290436e-02, 4.17501550e-02,
  6.14202677e-03, 7.64801291e-01,-2.97410717e-02, 8.70584649e-01,
  5.84079029e-03, 1.64192017e-02,-9.29880377e-03, 2.59944765e-02,
  1.34256990e+00,-1.61607159e-04, 1.09147118e+00, 6.33086477e-02,
  1.20329341e-02,-3.66930397e-02, 7.34923343e-02, 6.79241669e-01,
 -1.79368588e-01,-6.80254088e-01,-2.09074248e-01]

qacc:
[ -0.78707327,  1.45729925, -6.26155793, 12.25434947,  0.21447599,
   3.14814959,-14.5840438 , 33.44596039, -5.01747621, -0.21556905,
   4.75061005,-18.5531151 , -0.15358267,  0.19856998,  2.07082094,
  -6.98099032, -4.55672856,  3.03351947,  0.17574844, 12.95217712,
 -97.76332601,-67.69001203]

qfrc_actuator:
[-1.39128985e-05, 9.16199469e-05, 9.75195374e-05, 7.32055721e-05,
  3.22087140e-05, 2.56191473e-02, 8.35354937e-03, 2.71394864e-03,
  1.65549589e-05, 4.85029108e-04, 5.98014505e-05,-1.28396399e-05,
  1.30897777e-03,-1.61927276e-03, 0.00000000e+00,-2.13835552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.63212599,   7.2890456 ,   4.63212599,
        25.77391273, -10.89076553,   7.2890456 , -10.89076553,
        15.55735176,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002713924786873633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49955763,  0.49955763,  0.70773183,  0.28807965,  0.86628065,
       -0.40812736, -0.81697753,  0.        , -0.5766695 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06018292, -0.05537797,  0.0617725 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.55688599e-06, 2.03533169e-05,-5.02340031e-06, 1.79142430e-05,
  3.49782852e-05,-2.90150125e-05,-1.52242770e-05, 8.47511250e-05,
 -2.95012908e-05, 1.49559230e-05,-2.12054590e-05,-4.20555464e-05,
 -1.34305074e-05,-2.11634516e-06, 2.58031926e-06,-3.30157891e-05,
  1.96534682e-05, 3.44608336e-04,-1.21644265e+00, 9.59989545e-04,
 -2.46544751e-02,-1.59091667e-04]


--- Step 1709 ---
qpos:
[ 3.30502517e-03,-3.20082119e-03, 1.19286767e-02, 4.17499523e-02,
  6.14270060e-03, 7.64801787e-01,-2.97455596e-02, 8.70595351e-01,
  5.84081050e-03, 1.64200228e-02,-9.29940555e-03, 2.59927194e-02,
  1.34267185e+00,-1.61303933e-04, 1.09166830e+00, 6.33089548e-02,
  1.20038982e-02,-3.66741193e-02, 7.34562775e-02, 6.78862966e-01,
 -1.79606872e-01,-6.80667756e-01,-2.08753085e-01]

qacc:
[ 5.62130018e+00,-8.58462049e-01, 3.98490034e+00,-7.04219585e+00,
  1.91020978e-01, 2.42269393e+00,-1.03042773e+01, 2.38362232e+01,
 -9.22825287e+00, 1.89194130e-01, 3.25364283e+00,-1.68552056e+01,
 -4.72634383e-01, 9.52832556e-01,-7.23503665e+00, 2.46699459e+01,
 -7.55230181e-02,-4.36394301e-01,-9.37605344e-01,-8.16278571e-01,
 -9.77360951e+01,-5.48639476e+01]

qfrc_actuator:
[ 1.91493823e-05, 1.10332841e-04, 1.15997285e-04, 6.68752576e-05,
  4.76847820e-05, 2.56784777e-02, 8.37225655e-03, 2.77837592e-03,
 -3.69390903e-05, 4.86722487e-04, 2.73675669e-05,-5.51525035e-05,
  1.30614410e-03,-1.58135998e-03, 0.00000000e+00,-2.01791662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.18750553, -6.02507694, -6.18750553,  7.80243745,
        0.8564078 , -6.02507694,  0.8564078 ,  7.75686814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019060517724344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91236324e-14, -5.82472649e-14,  1.00000000e+00,  1.69637193e-27,
        1.00000000e+00,  5.82472649e-14, -1.00000000e+00,  0.00000000e+00,
        2.91236324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0601932 , -0.05537791,  0.06177336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29380453e-05, 2.98120640e-05, 2.26849313e-05,-5.28293770e-06,
  3.11686145e-05, 4.29904617e-05, 1.38129227e-05, 6.49659914e-05,
 -5.43301336e-05, 3.84766781e-06,-3.34140373e-05,-4.32219259e-05,
 -1.10326396e-05, 3.44237457e-05,-6.78229391e-06, 1.17937298e-04,
 -2.37804705e-04, 6.02439637e-04,-1.21643652e+00, 9.25601474e-04,
 -2.46579568e-02,-1.59109164e-04]


--- Step 1710 ---
qpos:
[ 3.30580203e-03,-3.20013441e-03, 1.19289236e-02, 4.17493305e-02,
  6.14343005e-03, 7.64802295e-01,-2.97490886e-02, 8.70606025e-01,
  5.84053474e-03, 1.64200243e-02,-9.29972621e-03, 2.59912339e-02,
  1.34277366e+00,-1.60798842e-04, 1.09186541e+00, 6.33100058e-02,
  1.19739766e-02,-3.66564632e-02, 7.34138560e-02, 6.78339468e-01,
 -1.79814460e-01,-6.81221630e-01,-2.08469225e-01]

qacc:
[ 3.47137136e+00,-2.60466992e+00, 1.10166022e+01,-1.92264030e+01,
  3.18106739e-02,-2.62205272e+00, 8.70312447e+00,-8.15092797e+00,
 -2.55855151e+00,-1.30506113e+00, 1.94376019e+00, 2.89998990e+00,
 -2.05238159e-01, 3.77144557e-01,-2.24214010e+00, 7.86599474e+00,
 -2.21447045e-01,-3.16101768e-01,-1.59117483e+00,-6.45136807e-01,
 -9.03155223e+01,-5.08128134e+01]

qfrc_actuator:
[ 3.84494492e-05, 1.03423801e-04, 1.44816324e-04, 4.54924094e-05,
  3.87421528e-05, 2.56782002e-02, 8.42075986e-03, 2.77650596e-03,
 -5.06576454e-05, 3.98521272e-04, 2.62437806e-05,-4.38354487e-05,
  1.29546247e-03,-1.57682899e-03, 0.00000000e+00,-1.98262630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 4.60135994, 7.30850625, 4.60135994, 5.71674669,
       1.83816063, 7.30850625, 1.83816063, 7.47907672, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0018693694981884237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48475599e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.48475599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06028858, -0.05541688,  0.06177641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02461822e-05, 1.42109251e-05, 3.75829337e-05,-1.94254460e-05,
  5.05057486e-06, 2.83705548e-05, 6.05594762e-05, 1.39572220e-06,
 -1.52697673e-05,-9.48416165e-05,-5.93659693e-06, 9.49031279e-06,
 -8.67671918e-06, 1.05791974e-05, 6.75881854e-06, 4.02462126e-05,
 -7.02373967e-04, 8.77255387e-04,-1.21638795e+00, 9.15999783e-04,
 -2.46554758e-02,-1.58743996e-04]


--- Step 1711 ---
qpos:
[ 3.30645952e-03,-3.19945940e-03, 1.19295383e-02, 4.17488196e-02,
  6.14412167e-03, 7.64803019e-01,-2.97522205e-02, 8.70614534e-01,
  5.84078570e-03, 1.64196311e-02,-9.30074227e-03, 2.59899096e-02,
  1.34287547e+00,-1.60697762e-04, 1.09206271e+00, 6.33097982e-02,
  1.19283462e-02,-3.66285697e-02, 7.33638873e-02, 6.77691228e-01,
 -1.79967197e-01,-6.81903547e-01,-2.08216139e-01]

qacc:
[-1.03582468e+00,-8.12990537e-01, 2.41125198e+00,-1.07410670e+00,
 -2.03991017e-02,-4.54891963e+00, 2.02215463e+01,-4.42453292e+01,
  4.57915255e+00, 1.74478529e+00,-7.67383157e+00, 1.18816607e+01,
  2.07529885e-01,-5.63189158e-01, 4.06427238e+00,-1.38545735e+01,
 -3.92717151e+00, 2.55937891e+00,-1.88678877e+00, 1.02534321e+01,
 -7.74327192e+01,-5.36347893e+01]

qfrc_actuator:
[ 3.17301328e-05, 9.90117501e-05, 1.61640681e-04, 5.09155296e-05,
  3.30514310e-05, 2.56778225e-02, 8.43294546e-03, 2.66461488e-03,
 -2.30956229e-05, 3.81596970e-04,-9.97617065e-06,-3.66139024e-05,
  1.28006954e-03,-1.60993882e-03, 0.00000000e+00,-2.05108210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63582022, -0.09688116, -8.63582022,  8.63716733,
       -0.07164012, -0.09688116, -0.07164012, 15.02224084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026002212429824595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50628484,  0.50628484,  0.69810552,  0.49363515, -0.49363515,
        0.71599489,  0.70710678,  0.70710678,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06045129, -0.05548672,  0.06178118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14067934e-06, 1.04437557e-05, 2.37053866e-05, 6.95250287e-06,
 -3.42071986e-06, 2.73472837e-05, 2.48210520e-05,-1.09128349e-04,
  2.70904619e-05,-7.07790943e-05,-5.62062627e-05, 3.14107537e-06,
 -1.77539050e-05,-3.24368668e-05, 3.41246180e-06,-6.63165882e-05,
 -1.32855281e-03, 1.13918610e-03,-1.21633493e+00, 9.31660077e-04,
 -2.46540168e-02,-1.58492958e-04]


--- Step 1712 ---
qpos:
[ 3.30703136e-03,-3.19847565e-03, 1.19296821e-02, 4.17483949e-02,
  6.14436442e-03, 7.64804219e-01,-2.97556344e-02, 8.70623031e-01,
  5.84170969e-03, 1.64188922e-02,-9.30223706e-03, 2.59883156e-02,
  1.34297702e+00,-1.60634165e-04, 1.09225968e+00, 6.33114546e-02,
  1.18976420e-02,-3.66008476e-02, 7.33252628e-02, 6.77292283e-01,
 -1.80344069e-01,-6.82334071e-01,-2.07777273e-01]

qacc:
[-7.71820108e-01, 1.90361640e+00,-6.55548533e+00, 8.56798050e+00,
 -2.50509004e-01, 1.36581106e+00,-3.69395022e+00, 2.84008657e+00,
  5.86076727e+00, 3.14413613e-01,-6.65678905e-01,-2.95942346e+00,
 -4.14094665e-02,-5.90466783e-02,-6.12877836e+00, 2.07130789e+01,
  3.73151932e+00,-4.28641119e-02, 2.83603730e+00,-1.63452389e+01,
  1.30130306e+02, 1.87944604e+02]

qfrc_actuator:
[ 2.75071643e-05, 1.13854210e-04, 1.35763512e-04, 5.43071457e-05,
 -6.12222856e-06, 2.57126820e-02, 8.42351869e-03, 2.66638646e-03,
  1.07777986e-05, 3.71836440e-04,-3.08844702e-05,-4.96005772e-05,
  1.26184307e-03,-1.61185011e-03, 0.00000000e+00,-1.94929622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001962511979835907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.82857643e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.82857643e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05249331, -0.01500355,  0.06176424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39815120e-06, 2.58421552e-05,-2.05740016e-05, 4.79299135e-06,
 -4.07036669e-05, 5.14252186e-05,-4.44268998e-06, 9.14875572e-07,
  3.46248547e-05,-6.07768874e-05,-4.23244061e-05,-1.78985002e-05,
 -3.60486691e-05,-1.39504986e-05,-1.01786772e-05, 9.75050062e-05,
 -2.04863590e-03, 1.33531200e-03,-1.21628437e+00, 9.75610786e-04,
 -2.46530934e-02,-1.59807239e-04]


--- Step 1713 ---
qpos:
[ 3.30720290e-03,-3.19698042e-03, 1.19293714e-02, 4.17483321e-02,
  6.14395291e-03, 7.64805437e-01,-2.97586839e-02, 8.70631490e-01,
  5.84268793e-03, 1.64174651e-02,-9.30305379e-03, 2.59868872e-02,
  1.34307807e+00,-1.60029320e-04, 1.09245683e+00, 6.33119449e-02,
  1.18795776e-02,-3.65731553e-02, 7.32926072e-02, 6.77114904e-01,
 -1.80920705e-01,-6.82541189e-01,-2.07172946e-01]

qacc:
[-3.53629927e+00, 2.69996970e+00,-1.01605615e+01, 1.67615004e+01,
 -3.64148931e-01,-1.02592010e+00, 3.48762985e+00,-3.59340943e+00,
  5.06191690e-01,-2.46479102e+00, 6.76828215e+00,-4.47919689e+00,
 -8.66576967e-01, 1.40663217e+00, 3.87665348e+00,-1.29808400e+01,
  3.15998561e+00,-7.42793326e-03, 1.49223292e+00,-1.44292677e+01,
  1.15573023e+02, 1.67348819e+02]

qfrc_actuator:
[ 7.04340521e-06, 1.57686205e-04, 1.20462217e-04, 7.42129928e-05,
 -4.72068260e-05, 2.56973271e-02, 8.43715008e-03, 2.66405820e-03,
  1.25758117e-05, 3.48730598e-04, 1.07135963e-05,-3.88406180e-05,
  1.24193976e-03,-1.57749457e-03, 0.00000000e+00,-2.01427412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.15853965,  8.55830373,  1.15853965, 10.99217632,
       -0.31890693,  8.55830373, -0.31890693,  8.67953415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002091671628275997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32695664e-14,  2.65391329e-14,  1.00000000e+00, -3.52162786e-28,
        1.00000000e+00, -2.65391329e-14, -1.00000000e+00,  0.00000000e+00,
        1.32695664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05212629, -0.01508803,  0.06174965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05825697e-05, 5.41989151e-05,-1.23443553e-05, 2.03926850e-05,
 -5.93441934e-05, 1.22828923e-05, 2.33077871e-05,-7.96689204e-07,
  2.76758671e-06,-6.65395662e-05, 2.32405379e-05, 6.34989123e-06,
 -4.31834796e-05, 2.24740619e-05, 3.00383158e-06,-6.15840254e-05,
 -7.35136458e-04, 1.30184231e-03,-1.21636622e+00, 8.15240857e-04,
 -2.46687164e-02,-1.56501770e-04]


--- Step 1714 ---
qpos:
[ 3.30747281e-03,-3.19525785e-03, 1.19292404e-02, 4.17485004e-02,
  6.14317779e-03, 7.64806944e-01,-2.97616144e-02, 8.70639497e-01,
  5.84333510e-03, 1.64157298e-02,-9.30297480e-03, 2.59858788e-02,
  1.34317897e+00,-1.59589739e-04, 1.09265418e+00, 6.33099815e-02,
  1.18723108e-02,-3.65453722e-02, 7.32613023e-02, 6.77135808e-01,
 -1.81676627e-01,-6.82547827e-01,-2.06419876e-01]

qacc:
[ 8.65207244e-01, 2.72232963e-01,-1.51193066e+00, 5.05641013e+00,
 -2.02489480e-01,-7.25522975e-01, 3.87663174e+00,-9.08641476e+00,
 -2.85406120e+00,-2.04028632e+00, 4.91945657e+00, 1.13665208e+00,
 -1.62997033e-01, 6.33718579e-02, 7.69032899e+00,-2.64862803e+01,
  2.69936921e+00, 2.26739053e-02, 3.37663663e-01,-1.27673472e+01,
  1.03515096e+02, 1.50218402e+02]

qfrc_actuator:
[ 1.26893423e-05, 1.65327785e-04, 1.29431062e-04, 8.59643928e-05,
 -5.35477903e-05, 2.57231213e-02, 8.44633003e-03, 2.64154747e-03,
 -4.52186057e-06, 3.71356032e-04, 7.10975546e-05,-1.41599107e-05,
  1.23171231e-03,-1.59295319e-03, 0.00000000e+00,-2.14152051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.00913927,  8.5772032 ,  1.00913927, 11.61930047,
       -0.35095341,  8.5772032 , -0.35095341,  8.67765459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021694180438054655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83820569e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.83820569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05190628, -0.01513826,  0.06174073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.07381775e-06, 3.62153149e-05, 1.93360064e-05, 1.40411709e-05,
 -3.29720879e-05, 3.71556894e-05, 1.42774355e-05,-2.14331618e-05,
 -1.70483891e-05,-9.44264822e-06, 4.97518837e-05, 2.27652007e-05,
 -2.89888711e-05,-1.98708317e-05,-1.04622471e-05,-1.31430320e-04,
 -3.80923732e-05, 1.07472422e-03,-1.21634824e+00, 7.42450082e-04,
 -2.46707102e-02,-1.53173056e-04]


--- Step 1715 ---
qpos:
[ 3.30780811e-03,-3.19346719e-03, 1.19293698e-02, 4.17477871e-02,
  6.14259469e-03, 7.64808923e-01,-2.97639198e-02, 8.70646782e-01,
  5.84377164e-03, 1.64143892e-02,-9.30218788e-03, 2.59850948e-02,
  1.34327998e+00,-1.60141468e-04, 1.09285114e+00, 6.33088371e-02,
  1.18743507e-02,-3.65173976e-02, 7.32273890e-02, 6.77335363e-01,
 -1.82594556e-01,-6.82372840e-01,-2.05531851e-01]

qacc:
[ 5.80545596e-01,-2.45576635e+00, 1.26021230e+01,-2.83161367e+01,
  1.07441180e-01,-2.32501233e+00, 1.00480380e+01,-1.80106567e+01,
 -1.82163585e+00,-9.91528699e-01, 3.35061184e+00,-8.95219742e-01,
  8.99120922e-01,-1.88311627e+00,-3.11569863e+00, 9.89050099e+00,
  2.32668266e+00, 4.79008067e-02,-6.52103773e-01,-1.13111303e+01,
  9.34818993e+01, 1.35917253e+02]

qfrc_actuator:
[ 1.59099266e-05, 1.51334677e-04, 1.34756887e-04, 3.95514803e-05,
 -2.13188933e-05, 2.57733271e-02, 8.48844409e-03, 2.60735607e-03,
 -1.48406909e-05, 4.39068195e-04, 1.24511533e-04, 7.99806376e-07,
  1.22727798e-03,-1.65556294e-03, 0.00000000e+00,-2.09134226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.80111445,  8.59912743,  0.80111445, 12.33012747,
       -0.34411952,  8.59912743, -0.34411952,  8.6684226 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002205072870950564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51742933e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.51742933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0518038 , -0.0151612 ,  0.06173636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37102512e-06, 1.07936111e-05, 1.56542300e-05,-4.39233863e-05,
  1.74371454e-05, 7.29048393e-05, 5.04531094e-05,-3.30598616e-05,
 -1.08193719e-05, 7.37445609e-05, 5.84021322e-05, 1.67263554e-05,
 -2.57623544e-05,-7.40328159e-05,-2.36149780e-05, 4.05437533e-05,
  2.10707528e-04, 7.12883044e-04,-1.21626048e+00, 7.29495676e-04,
 -2.46631371e-02,-1.49656958e-04]


--- Step 1716 ---
qpos:
[ 3.30748956e-03,-3.19163442e-03, 1.19293000e-02, 4.17469047e-02,
  6.14250789e-03, 7.64811675e-01,-2.97660991e-02, 8.70653253e-01,
  5.84442566e-03, 1.64135809e-02,-9.30107655e-03, 2.59841588e-02,
  1.34338086e+00,-1.61161242e-04, 1.09304803e+00, 6.33075863e-02,
  1.18844856e-02,-3.64891477e-02, 7.31874797e-02, 6.77696967e-01,
 -1.83659863e-01,-6.82031776e-01,-2.04520251e-01]

qacc:
[-5.74599646e+00, 2.75101495e-01,-1.66932518e-01,-2.49378184e+00,
  2.76390165e-01,-7.38393797e-01, 5.52325818e+00,-1.52399919e+01,
  1.89795526e+00,-5.19748030e-01, 3.50956739e+00,-7.04428992e+00,
  2.35403684e-01,-6.92539769e-01, 1.72828567e-01,-8.44291862e-01,
  2.02375446e+00, 6.88104475e-02,-1.49898765e+00,-1.00223388e+01,
  8.51058653e+01, 1.23949379e+02]

qfrc_actuator:
[-1.78363490e-05, 1.42181693e-04, 1.19991795e-04, 3.02705245e-05,
  1.58891012e-05, 2.58201282e-02, 8.49650696e-03, 2.56660866e-03,
 -3.32758731e-06, 4.62242373e-04, 1.38067760e-04,-7.79803377e-06,
  1.22097412e-03,-1.67456067e-03, 0.00000000e+00,-2.09677428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.51470475,  8.62101246,  0.51470475, 13.06906734,
       -0.26464799,  8.62101246, -0.26464799,  8.65216405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022064954545324214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25790314e-14,  2.51580628e-14,  1.00000000e+00, -3.16464062e-28,
        1.00000000e+00, -2.51580628e-14, -1.00000000e+00,  0.00000000e+00,
        1.25790314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05179526, -0.01516239,  0.06173562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36509571e-05,-1.82986656e-06,-1.21487518e-05,-9.13485569e-06,
  4.50439878e-05, 9.60654949e-05, 2.72620786e-05,-3.76484285e-05,
  1.12220573e-05, 7.72318524e-05, 3.65705013e-05,-3.08775750e-06,
 -3.84674572e-05,-4.32515371e-05,-8.56558462e-06,-6.73707895e-06,
  1.30419533e-04, 2.57126030e-04,-1.21612276e+00, 7.57157018e-04,
 -2.46488812e-02,-1.45844707e-04]


--- Step 1717 ---
qpos:
[ 3.30711412e-03,-3.19002883e-03, 1.19291338e-02, 4.17466365e-02,
  6.14249594e-03, 7.64814354e-01,-2.97684776e-02, 8.70661702e-01,
  5.84521275e-03, 1.64130907e-02,-9.30019484e-03, 2.59825034e-02,
  1.34348159e+00,-1.62482143e-04, 1.09324532e+00, 6.33022431e-02,
  1.19017252e-02,-3.64605538e-02, 7.31386807e-02, 6.78206539e-01,
 -1.84860128e-01,-6.81537468e-01,-2.03394453e-01]

qacc:
[-4.98192718e-01, 1.23616719e+00,-7.43216232e+00, 1.83786221e+01,
  4.11723166e-02, 3.87611022e+00,-1.73526687e+01, 3.93227545e+01,
  1.14746900e+00,-4.20814791e-01, 5.14403698e+00,-1.74569777e+01,
 -1.69216889e-01,-1.51465164e-02, 1.29698814e+01,-4.44744329e+01,
  1.77616935e+00, 8.59902736e-02,-2.22240625e+00,-8.87006541e+00,
  7.80984779e+01, 1.13923132e+02]

qfrc_actuator:
[-1.98117512e-05, 1.18178890e-04, 1.11280179e-04, 6.06617008e-05,
  2.44557701e-06, 2.57578812e-02, 8.46663545e-03, 2.66432849e-03,
  3.18816600e-06, 4.40645529e-04, 1.10057063e-04,-4.79963623e-05,
  1.21889352e-03,-1.68527058e-03, 0.00000000e+00,-2.31250090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.13352841,  8.63533132,  0.13352841, 13.77823393,
       -0.07950891,  8.63533132, -0.07950891,  8.63759309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021803170737072636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.09202555e-14, -2.54601277e-14,  1.00000000e+00,  1.29643621e-27,
        1.00000000e+00,  2.54601277e-14, -1.00000000e+00,  0.00000000e+00,
        5.09202555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0518616 , -0.01514631,  0.06173778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93925099e-06,-2.80010499e-05,-1.09189846e-05, 2.97140833e-05,
  6.78562484e-06,-4.88622795e-06,-8.91970840e-06, 1.00756052e-04,
  6.86142029e-06, 2.90378500e-05,-7.66103622e-06,-3.56822603e-05,
 -3.38418823e-05,-3.03431877e-05,-8.29480552e-06,-2.18036887e-04,
 -1.94086274e-04,-2.64337095e-04,-1.21594816e+00, 8.12109053e-04,
 -2.46299984e-02,-1.41664680e-04]


--- Step 1718 ---
qpos:
[ 3.30706263e-03,-3.18898856e-03, 1.19295734e-02, 4.17470748e-02,
  6.14242841e-03, 7.64816250e-01,-2.97702447e-02, 8.70671280e-01,
  5.84572737e-03, 1.64125780e-02,-9.29977997e-03, 2.59807868e-02,
  1.34358206e+00,-1.63706644e-04, 1.09344256e+00, 6.32943532e-02,
  1.19161310e-02,-3.64404715e-02, 7.31151410e-02, 6.78657350e-01,
 -1.85749982e-01,-6.81092036e-01,-2.02570442e-01]

qacc:
[ 2.87254807e+00,-9.90520075e-01,-5.42115188e-01, 1.22222271e+01,
 -3.02980498e-02,-7.21511835e-01,-1.45868231e+00, 1.53798320e+01,
 -2.39068116e+00, 1.15334905e+00,-3.88863154e+00, 3.58142899e+00,
 -4.24726115e-01, 5.71613291e-01, 7.63460089e+00,-2.67596621e+01,
 -7.08422211e-01,-2.12788521e+00, 6.31479253e+00, 1.96146796e+00,
  2.28647058e+01,-2.18609442e+02]

qfrc_actuator:
[-3.06004223e-06, 8.55186525e-05, 1.41682769e-04, 9.63877527e-05,
 -5.66066359e-06, 2.56839996e-02, 8.48528877e-03, 2.71839417e-03,
 -1.10496816e-05, 4.09939936e-04, 7.52830968e-05,-5.32689786e-05,
  1.21402702e-03,-1.67323486e-03, 0.00000000e+00,-2.43734417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002186038629470838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274851, -0.00848704,  0.06173656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66525543e-05,-4.93564308e-05, 2.42864592e-05, 3.47247994e-05,
 -5.06294351e-06,-7.51763150e-05, 1.96947328e-05, 5.59296944e-05,
 -1.40302155e-05,-1.75630605e-05,-3.09544132e-05,-4.98504836e-06,
 -3.15052283e-05,-3.03495729e-06,-3.27876821e-05,-1.39139708e-04,
 -7.02200368e-04,-8.32145733e-04,-1.21574523e+00, 8.85150292e-04,
 -2.46079583e-02,-1.37070115e-04]


--- Step 1719 ---
qpos:
[ 3.30652228e-03,-3.18840388e-03, 1.19303479e-02, 4.17486331e-02,
  6.14228273e-03, 7.64818270e-01,-2.97725215e-02, 8.70678645e-01,
  5.84606729e-03, 1.64119007e-02,-9.29861776e-03, 2.59789544e-02,
  1.34368209e+00,-1.64254717e-04, 1.09363928e+00, 6.32876592e-02,
  1.19278652e-02,-3.64280482e-02, 7.31104981e-02, 6.79056690e-01,
 -1.86362072e-01,-6.80691129e-01,-2.02016773e-01]

qacc:
[-4.27175546e+00, 7.78235144e-01,-8.35773581e+00, 2.75176466e+01,
 -4.36033845e-02,-2.30018550e+00, 1.27910093e+01,-3.80840753e+01,
 -1.49754808e+00,-2.54149525e+00, 9.23963668e+00,-1.23204741e+01,
 -7.40807623e-01, 1.33664001e+00,-4.31974020e+00, 1.41381306e+01,
 -6.67945088e-01,-1.91475927e+00, 4.72422236e+00, 1.91881378e+00,
  2.06040675e+01,-1.95674774e+02]

qfrc_actuator:
[-2.86880589e-05, 6.58455939e-05, 1.59385016e-04, 1.52729449e-04,
 -1.04640496e-05, 2.57103934e-02, 8.46131547e-03, 2.60430365e-03,
 -1.96347565e-05, 4.27240479e-04, 1.25543398e-04,-5.57091035e-05,
  1.20217813e-03,-1.63007620e-03, 0.00000000e+00,-2.36554507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.86540675,  8.1471603 , -2.86540675, 38.75203074,
       10.59186668,  8.1471603 , 10.59186668, 12.36158876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022433380301899175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47448893e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.47448893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00276277, -0.00855005,  0.06173039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51771648e-05,-4.08071161e-05, 1.16814930e-05, 5.57388956e-05,
 -7.08749512e-06,-9.62573136e-06,-3.48501028e-05,-1.14629459e-04,
 -8.99344475e-06, 8.85756798e-07, 4.26532976e-05,-4.35611337e-06,
 -3.08541193e-05, 3.55139172e-05,-3.37156026e-05, 5.91283536e-05,
 -6.83259684e-04,-7.01104228e-04,-1.21601354e+00, 7.92876177e-04,
 -2.46272494e-02,-1.33189144e-04]


--- Step 1720 ---
qpos:
[ 3.30464411e-03,-3.18796817e-03, 1.19307010e-02, 4.17505221e-02,
  6.14207127e-03, 7.64820843e-01,-2.97761077e-02, 8.70682862e-01,
  5.84664592e-03, 1.64116362e-02,-9.29685369e-03, 2.59773864e-02,
  1.34378182e+00,-1.64294082e-04, 1.09383564e+00, 6.32828180e-02,
  1.19370652e-02,-3.64225874e-02, 7.31193899e-02, 6.79410262e-01,
 -1.86723134e-01,-6.80330941e-01,-2.01707654e-01]

qacc:
[-1.17526337e+01, 1.68573554e+00,-7.65130982e+00, 1.41145576e+01,
 -3.74210996e-02,-1.19739994e+00, 1.19772396e+01,-4.88332772e+01,
  2.09379379e+00,-5.96194196e-01, 1.79387573e+00, 1.52439612e+00,
 -4.83911578e-01, 9.09450654e-01,-6.06574006e+00, 2.05721650e+01,
 -6.33511639e-01,-1.74061701e+00, 3.38365183e+00, 1.84728928e+00,
  1.87413163e+01,-1.76885177e+02]

qfrc_actuator:
[-9.68133089e-05, 5.40812390e-05, 1.33990424e-04, 1.67486584e-04,
 -1.32409230e-05, 2.57430991e-02, 8.39489014e-03, 2.44546829e-03,
 -7.06432802e-06, 4.91248393e-04, 1.72538922e-04,-3.86181704e-05,
  1.19149151e-03,-1.60436763e-03, 0.00000000e+00,-2.26724769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.05259019,  8.07889039, -3.05259019, 40.7203357 ,
       12.12285519,  8.07889039, 12.12285519, 13.21695664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022649175162312712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.45091271e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.45091271e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00276981, -0.00857209,  0.06172829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.88623829e-05,-2.98240544e-05,-3.04737280e-05, 1.44930563e-05,
 -5.95707065e-06, 1.67983749e-05,-7.57883216e-05,-1.62795930e-04,
  1.23100961e-05, 7.31401474e-05, 5.22805467e-05, 1.85234090e-05,
 -1.97560206e-05, 2.75964222e-05,-1.12619969e-05, 9.67580808e-05,
 -6.32659513e-04,-5.11901291e-04,-1.21619661e+00, 7.05767343e-04,
 -2.46418672e-02,-1.30376507e-04]


--- Step 1721 ---
qpos:
[ 3.30230867e-03,-3.18766589e-03, 1.19307662e-02, 4.17518718e-02,
  6.14181335e-03, 7.64823643e-01,-2.97802181e-02, 8.70685822e-01,
  5.84702565e-03, 1.64119974e-02,-9.29494691e-03, 2.59767294e-02,
  1.34388153e+00,-1.64556929e-04, 1.09403172e+00, 6.32804996e-02,
  1.19438472e-02,-3.64235206e-02, 7.31373036e-02, 6.79722527e-01,
 -1.86855120e-01,-6.80008137e-01,-2.01621882e-01]

qacc:
[-4.02051867e+00,-4.75125973e-01, 3.72682093e+00,-1.25142363e+01,
 -2.61931898e-02,-4.68706822e-01, 4.76337517e+00,-1.94993658e+01,
 -1.74033314e+00, 2.30668928e+00,-1.08653293e+01, 2.59364221e+01,
  3.33668901e-01,-6.19450159e-01,-8.06265013e+00, 2.75321313e+01,
 -6.04516304e-01,-1.59850184e+00, 2.25548577e+00, 1.75791400e+00,
  1.72042405e+01,-1.61452131e+02]

qfrc_actuator:
[-1.18381865e-04, 4.69377280e-05, 1.18865181e-04, 1.39881509e-04,
 -1.47829930e-05, 2.57613615e-02, 8.37500769e-03, 2.38587348e-03,
 -1.76493662e-05, 5.29511223e-04, 1.81916868e-04, 7.61020125e-06,
  1.18683220e-03,-1.62473723e-03, 0.00000000e+00,-2.13643389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.34133528,  7.9638091 , -3.34133528, 41.90125194,
       13.95678166,  7.9638091 , 13.95678166, 14.49214023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022577873110558797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45865281e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.45865281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0027712 , -0.00856175,  0.06172941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35419341e-05,-2.95370064e-05,-2.45461537e-05,-2.96576956e-05,
 -4.20996828e-06, 7.37792911e-06,-3.01937372e-05,-6.50379268e-05,
 -1.02088786e-05, 9.07549002e-05, 3.15524966e-05, 5.15319451e-05,
 -9.15197717e-06,-1.80182710e-05, 2.44334974e-06, 1.34057014e-04,
 -5.59124055e-04,-2.81358852e-04,-1.21631501e+00, 6.26117207e-04,
 -2.46526822e-02,-1.28543007e-04]


--- Step 1722 ---
qpos:
[ 3.30007703e-03,-3.18740954e-03, 1.19308729e-02, 4.17525005e-02,
  6.14152586e-03, 7.64826469e-01,-2.97842926e-02, 8.70689068e-01,
  5.84693083e-03, 1.64131085e-02,-9.29348807e-03, 2.59759659e-02,
  1.34398112e+00,-1.64540070e-04, 1.09422784e+00, 6.32790843e-02,
  1.19483076e-02,-3.64303845e-02, 7.31604474e-02, 6.79996961e-01,
 -1.86776072e-01,-6.79719794e-01,-2.01742000e-01]

qacc:
[ 9.12679223e-01,-1.66454672e+00, 8.88478047e+00,-2.13882757e+01,
 -1.65080834e-02, 4.33549465e-01,-2.03156770e+00, 5.22797609e+00,
 -4.16576895e+00, 2.03211799e+00,-5.34390930e+00, 3.65017478e+00,
 -2.53911350e-01, 4.97104111e-01,-2.64347027e+00, 9.38947380e+00,
 -5.80393881e-01,-1.48269603e+00, 1.30753043e+00, 1.65797925e+00,
  1.59357087e+01,-1.48759935e+02]

qfrc_actuator:
[-1.12361833e-04, 6.03633938e-05, 1.27689339e-04, 1.05349555e-04,
 -1.55771930e-05, 2.57710632e-02, 8.38278958e-03, 2.40294515e-03,
 -4.17855794e-05, 5.51949074e-04, 1.51190026e-04,-4.41803032e-07,
  1.19109861e-03,-1.60121450e-03, 0.00000000e+00,-2.09403720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.67111693,  7.81726789, -3.67111693, 42.48724938,
       15.89692992,  7.81726789, 15.89692992, 16.10182208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002227798670579373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49174901e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.49174901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00276821, -0.00852597,  0.06173306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.34009514e-06,-9.44749367e-06,-1.33036027e-06,-3.72262836e-05,
 -2.68126163e-06, 5.71409276e-06, 3.81017379e-06, 1.49210021e-05,
 -2.43976289e-05, 8.18782473e-05,-6.33500281e-06,-2.07122321e-06,
 -4.96633793e-06, 1.68824670e-05, 1.27831052e-05, 4.94262537e-05,
 -4.68635919e-04,-2.08684294e-05,-1.21638336e+00, 5.55186684e-04,
 -2.46603884e-02,-1.27613739e-04]


--- Step 1723 ---
qpos:
[ 3.29793470e-03,-3.18729138e-03, 1.19310965e-02, 4.17527165e-02,
  6.14102556e-03, 7.64829391e-01,-2.97880495e-02, 8.70693506e-01,
  5.84654784e-03, 1.64145672e-02,-9.29278705e-03, 2.59751867e-02,
  1.34408049e+00,-1.63978199e-04, 1.09442423e+00, 6.32761888e-02,
  1.19480457e-02,-3.64358288e-02, 7.31862180e-02, 6.80095715e-01,
 -1.86655198e-01,-6.79605437e-01,-2.01906180e-01]

qacc:
[   0.78978582,  -1.36142504,   6.32671957, -13.54768937,  -0.11854529,
    1.33672001,  -6.94692737,  20.45002997,  -2.54303932,   2.54995452,
   -8.35020859,   9.02338443,  -0.67104752,   1.23223176,   4.92515249,
  -16.51474998,  -1.18059654,   0.35492309,   0.65669579,   0.38955834,
 -110.52739249, -63.16503869]

qfrc_actuator:
[-1.07919432e-04, 5.05911864e-05, 1.32916281e-04, 8.48115182e-05,
 -3.36736070e-05, 2.57934905e-02, 8.40681962e-03, 2.46497637e-03,
 -5.59446556e-05, 5.29012111e-04, 9.69338866e-05,-4.90376622e-06,
  1.18475461e-03,-1.56952280e-03, 0.00000000e+00,-2.17509074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022195560613852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05859128, -0.05469761,  0.06173456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59177964e-06,-1.69276445e-05, 1.81993753e-06,-2.17154243e-05,
 -1.92991425e-05, 2.67805188e-05, 2.60543715e-05, 6.26676439e-05,
 -1.48246419e-05, 2.13881112e-05,-3.82224735e-05,-1.21567390e-06,
 -5.07335186e-06, 3.47822896e-05, 6.96452734e-06,-7.76751942e-05,
 -3.65274145e-04, 2.61936141e-04,-1.21641215e+00, 4.93571421e-04,
 -2.46655311e-02,-1.27525812e-04]


--- Step 1724 ---
qpos:
[ 3.29655216e-03,-3.18720896e-03, 1.19310773e-02, 4.17523513e-02,
  6.14011803e-03, 7.64832058e-01,-2.97907157e-02, 8.70697952e-01,
  5.84565336e-03, 1.64159969e-02,-9.29230304e-03, 2.59743723e-02,
  1.34417989e+00,-1.63765127e-04, 1.09462074e+00, 6.32713482e-02,
  1.19433611e-02,-3.64400211e-02, 7.32110303e-02, 6.80033850e-01,
 -1.86496624e-01,-6.79650076e-01,-2.02110728e-01]

qacc:
[   6.66123684,  -0.57964018,   4.42766802, -14.04632073,  -0.22578979,
   -3.26860297,  10.31335649,  -8.9805315 ,  -4.46753437,   0.5042732 ,
   -1.68975584,   1.431553  ,   0.14512935,  -0.42931849,   6.03178815,
  -20.88492961,  -1.10566367,   0.31299057,  -0.23955643,   0.16319462,
 -101.07198514, -57.59139654]

qfrc_actuator:
[-6.89453916e-05, 4.47635042e-05, 1.18140263e-04, 5.48971992e-05,
 -6.19562786e-05, 2.57702151e-02, 8.45805507e-03, 2.46419951e-03,
 -8.18666327e-05, 5.14457882e-04, 8.23071204e-05,-7.25983015e-06,
  1.16673035e-03,-1.60431743e-03, 0.00000000e+00,-2.27493442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.83070094,  7.15898773, -4.83070094, 19.32026565,
        7.20922251,  7.15898773,  7.20922251, 13.50096171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002214600026296379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.50659941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.50659941e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05862652, -0.05471805,  0.06173561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90991188e-05,-1.58468934e-05,-1.88022254e-05,-3.10001862e-05,
 -3.69411282e-05,-1.34157350e-06, 6.14127223e-05, 2.28765091e-06,
 -2.63326747e-05,-1.06070066e-05,-1.49820370e-05,-2.78822563e-06,
 -1.29305732e-05,-2.70851345e-05,-1.03089298e-05,-1.04394067e-04,
 -4.59678299e-05, 1.19956815e-04,-1.21644129e+00, 4.91277102e-04,
 -2.46671885e-02,-1.27830473e-04]


--- Step 1725 ---
qpos:
[ 3.29564730e-03,-3.18690364e-03, 1.19307155e-02, 4.17519493e-02,
  6.13923893e-03, 7.64834186e-01,-2.97931345e-02, 8.70703119e-01,
  5.84445499e-03, 1.64175489e-02,-9.29235366e-03, 2.59735387e-02,
  1.34427926e+00,-1.64138552e-04, 1.09481700e+00, 6.32666714e-02,
  1.19345109e-02,-3.64431018e-02, 7.32318314e-02, 6.79823911e-01,
 -1.86303690e-01,-6.79841059e-01,-2.02352466e-01]

qacc:
[ 4.17803016e+00, 1.16852188e+00,-3.59775889e+00, 3.36076958e+00,
  1.61544986e-02,-1.24233181e-01,-2.09867295e+00, 1.08940561e+01,
 -2.66922192e+00, 1.62160244e+00,-5.45715762e+00, 5.87935975e+00,
  4.36572622e-01,-1.01272457e+00,-9.11145218e-01, 2.54319363e+00,
 -1.04137373e+00, 2.77923712e-01,-1.00281609e+00, 2.71519466e-02,
 -9.31380616e+01,-5.29314812e+01]

qfrc_actuator:
[-4.54638162e-05, 7.67606400e-05, 1.09428006e-04, 5.51961234e-05,
 -4.28132691e-05, 2.57020788e-02, 8.45370314e-03, 2.49745499e-03,
 -9.67551260e-05, 5.22923532e-04, 5.57150262e-05,-8.32655233e-06,
  1.15233653e-03,-1.64282278e-03, 0.00000000e+00,-2.26072681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.61610142,  7.29920438, -4.61610142, 21.76897878,
        8.30521798,  7.29920438,  8.30521798, 13.88867972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002183963223998428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54176218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.54176218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05875517, -0.05477975,  0.06173918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45916378e-05, 1.79400419e-05,-1.53741308e-05,-1.63465138e-06,
  2.56334542e-06,-5.67449234e-05, 2.52648079e-06, 3.51147774e-05,
 -1.56414185e-05,-7.47718028e-07,-3.07453640e-05,-2.09546524e-06,
 -2.85474625e-05,-4.79604196e-05,-2.01373478e-05, 6.19065301e-06,
 -2.38832004e-06,-8.29986988e-07,-1.21645189e+00, 5.21520397e-04,
 -2.46692298e-02,-1.28333305e-04]


--- Step 1726 ---
qpos:
[ 3.29468634e-03,-3.18660946e-03, 1.19311017e-02, 4.17521979e-02,
  6.13889441e-03, 7.64835556e-01,-2.97954179e-02, 8.70708673e-01,
  5.84308757e-03, 1.64189794e-02,-9.29322557e-03, 2.59730959e-02,
  1.34437837e+00,-1.64668466e-04, 1.09501258e+00, 6.32665151e-02,
  1.19217176e-02,-3.64451886e-02, 7.32460217e-02, 6.79476361e-01,
 -1.86079086e-01,-6.80167686e-01,-2.02628646e-01]

qacc:
[-4.68262870e-01,-7.63986978e-01,-4.06441160e-02, 1.01084275e+01,
  2.98165761e-01,-6.91174095e-01, 1.68915925e-01, 5.00500436e+00,
 -1.49777069e+00, 2.94220346e+00,-1.23683738e+01, 2.05281473e+01,
  2.33012929e-01,-5.22155157e-01,-1.46743941e+01, 4.98248016e+01,
 -9.85795818e-01, 2.48444673e-01,-1.65270267e+00,-3.80104076e-02,
 -8.64717386e+01,-4.90309755e+01]

qfrc_actuator:
[-4.90521693e-05, 9.57030548e-05, 1.57808804e-04, 9.10636030e-05,
  4.51237807e-06, 2.56429161e-02, 8.45191103e-03, 2.51490867e-03,
 -1.05026545e-04, 4.91803458e-04, 4.59554225e-06, 9.13100648e-06,
  1.14012430e-03,-1.64767210e-03, 0.00000000e+00,-2.01964557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.4518557 ,  7.40052415, -4.4518557 , 25.09853112,
        9.90297344,  7.40052415,  9.90297344, 14.59359151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00213279288531653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05895685, -0.05487371,  0.06174471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88144462e-06, 2.57344138e-05, 5.01377038e-05, 3.60723069e-05,
  4.84672471e-05,-8.90209908e-05,-1.16348159e-05, 1.65137717e-05,
 -8.71400573e-06,-3.80418798e-05,-5.51496749e-05, 1.63198418e-05,
 -3.97460349e-05,-2.32818018e-05,-1.13238247e-05, 2.38206071e-04,
 -1.72085592e-04,-1.04120901e-04,-1.21644843e+00, 5.77553184e-04,
 -2.46716752e-02,-1.29029174e-04]


--- Step 1727 ---
qpos:
[ 3.29368993e-03,-3.18616023e-03, 1.19320498e-02, 4.17525196e-02,
  6.13890525e-03, 7.64835641e-01,-2.97968217e-02, 8.70713367e-01,
  5.84197651e-03, 1.64201491e-02,-9.29464895e-03, 2.59725203e-02,
  1.34447718e+00,-1.65038067e-04, 1.09520799e+00, 6.32695422e-02,
  1.19055476e-02,-3.64544237e-02, 7.32675279e-02, 6.79090137e-01,
 -1.85634798e-01,-6.80529048e-01,-2.03117016e-01]

qacc:
[-2.96075356e-01,-1.21523641e+00, 4.32276621e+00,-4.07280875e+00,
  1.99453195e-01,-5.55639878e+00, 1.81468566e+01,-2.57074237e+01,
  2.22307486e+00, 9.18945902e-01,-3.22364101e+00, 2.00738151e+00,
 -1.50935120e-01, 2.09905983e-01,-9.84063016e+00, 3.41035791e+01,
 -8.44188513e-01,-1.78706725e+00, 1.82897134e+00, 2.39354934e+00,
  1.70463577e+01,-1.53950204e+02]

qfrc_actuator:
[-5.07871405e-05, 1.06957509e-04, 1.86234030e-04, 9.43416065e-05,
  1.49721995e-05, 2.55540680e-02, 8.48717316e-03, 2.46966932e-03,
 -9.15883670e-05, 4.72632072e-04,-2.52346213e-05, 1.79554942e-06,
  1.13456854e-03,-1.63252320e-03, 0.00000000e+00,-1.85989398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020674877753462523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.36991337e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.36991337e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00273879, -0.00833216,  0.06175154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81296261e-06, 3.75327872e-05, 4.11569605e-05, 6.81570898e-06,
  3.21983357e-05,-1.39955014e-04, 1.68652253e-05,-4.80605246e-05,
  1.31802151e-05,-5.11851790e-05,-4.39229986e-05,-1.05564981e-05,
 -3.27407404e-05,-1.02376165e-07, 1.89543981e-05, 1.71038193e-04,
 -5.09672584e-04,-1.92845924e-04,-1.21643453e+00, 6.54465839e-04,
 -2.46744932e-02,-1.29916108e-04]


--- Step 1728 ---
qpos:
[ 3.29302543e-03,-3.18558525e-03, 1.19331344e-02, 4.17525665e-02,
  6.13914212e-03, 7.64835308e-01,-2.97984194e-02, 8.70718150e-01,
  5.84172500e-03, 1.64208079e-02,-9.29604804e-03, 2.59715085e-02,
  1.34457580e+00,-1.65295774e-04, 1.09540373e+00, 6.32721276e-02,
  1.18863081e-02,-3.64701920e-02, 7.32928345e-02, 6.78667392e-01,
 -1.84986111e-01,-6.80922377e-01,-2.03802422e-01]

qacc:
[ 2.91512320e+00,-7.87351754e-01, 4.19763162e+00,-9.25235843e+00,
  1.25913368e-01, 1.27816553e-01,-1.29852164e+00, 2.51997069e+00,
  7.50602140e+00,-1.65613525e+00, 6.74203425e+00,-1.39287648e+01,
 -2.70429982e-01, 3.89249259e-01, 1.84220397e+00,-5.68599149e+00,
 -7.67367967e-01,-1.63330516e+00, 9.50114975e-01, 2.21544815e+00,
  1.57654906e+01,-1.43128368e+02]

qfrc_actuator:
[-3.36556591e-05, 9.56848360e-05, 1.84820075e-04, 7.83832959e-05,
  2.10305424e-05, 2.55725058e-02, 8.49061161e-03, 2.47666939e-03,
 -4.77295903e-05, 4.43065219e-04,-2.44798433e-05,-2.00484885e-05,
  1.13302051e-03,-1.62338220e-03, 0.00000000e+00,-1.89143233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.05571321, -4.9803301 ,  7.05571321, 21.04122792,
       17.57416938, -4.9803301 , 17.57416938, 33.53397011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002035737279167782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72683277e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.72683277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00273162, -0.00829433,  0.06175501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70885431e-05, 1.84832336e-05, 1.16277112e-05,-1.27973052e-05,
  2.04887137e-05,-5.73119506e-05,-2.36647599e-05, 1.94261707e-06,
  4.42230645e-05,-6.77385597e-05,-1.55909583e-05,-2.57616817e-05,
 -1.91749719e-05, 1.22452143e-06, 2.33893177e-05,-2.05777571e-05,
 -5.73523847e-04,-4.09117960e-04,-1.21640303e+00, 7.39892947e-04,
 -2.46784641e-02,-1.32577623e-04]


--- Step 1729 ---
qpos:
[ 3.29291653e-03,-3.18521748e-03, 1.19346363e-02, 4.17527912e-02,
  6.13951780e-03, 7.64835000e-01,-2.98001431e-02, 8.70721551e-01,
  5.84165639e-03, 1.64210026e-02,-9.29747767e-03, 2.59705857e-02,
  1.34467414e+00,-1.65388043e-04, 1.09559960e+00, 6.32740124e-02,
  1.18642464e-02,-3.64919961e-02, 7.33189872e-02, 6.78209696e-01,
 -1.84145592e-01,-6.81345184e-01,-2.04672299e-01]

qacc:
[ 4.89327110e+00,-1.08344109e+00, 2.69853542e+00,-1.17700967e-01,
  7.74710977e-02,-2.02408179e+00, 9.83429739e+00,-2.54001160e+01,
  1.60217739e+00,-3.47451472e-01,-3.27718632e-02, 1.97210439e+00,
 -3.92391464e-01, 5.61078458e-01, 2.33765909e+00,-7.82770975e+00,
 -7.05525666e-01,-1.50894209e+00, 2.11515710e-01, 2.06091534e+00,
  1.47079790e+01,-1.34196959e+02]

qfrc_actuator:
[-5.55748136e-06, 7.08631536e-05, 2.01208643e-04, 8.67071043e-05,
  2.44351800e-05, 2.56017060e-02, 8.49343005e-03, 2.40789242e-03,
 -3.95820805e-05, 4.25368214e-04,-2.34819199e-05,-1.47357353e-05,
  1.11257388e-03,-1.61786166e-03, 0.00000000e+00,-1.92887716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.9836044 , -5.08094936,  6.9836044 , 24.22951617,
       21.43229562, -5.08094936, 21.43229562, 38.094377  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00198779464878851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58519979e-14,  5.58519979e-14,  1.00000000e+00, -3.11944566e-27,
        1.00000000e+00, -5.58519979e-14, -1.00000000e+00,  0.00000000e+00,
        5.58519979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00272208, -0.00823912,  0.06176028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85885089e-05,-1.26578078e-05, 2.11761713e-05, 9.26439214e-06,
  1.25916971e-05,-7.14137530e-06,-1.11405344e-05,-7.12775678e-05,
  9.39366552e-06,-5.98919504e-05,-1.57972751e-05, 1.37106047e-06,
 -3.07036126e-05, 1.34815927e-06, 3.05305147e-06,-3.68469141e-05,
 -6.14395133e-04,-5.69651824e-04,-1.21634099e+00, 8.26735698e-04,
 -2.46798142e-02,-1.36007039e-04]


--- Step 1730 ---
qpos:
[ 3.29314536e-03,-3.18498645e-03, 1.19360448e-02, 4.17534860e-02,
  6.13978014e-03, 7.64834314e-01,-2.98017299e-02, 8.70724816e-01,
  5.84134143e-03, 1.64207473e-02,-9.29864310e-03, 2.59700565e-02,
  1.34477216e+00,-1.65137042e-04, 1.09579533e+00, 6.32764388e-02,
  1.18395624e-02,-3.65194333e-02, 7.33435063e-02, 6.77718136e-01,
 -1.83123537e-01,-6.81795220e-01,-2.05716253e-01]

qacc:
[ 2.96398421e+00, 1.04315371e+00,-5.97401350e+00, 1.43667019e+01,
 -6.28230503e-02,-1.10261242e+00, 3.32378168e+00,-4.35300397e+00,
 -2.13239806e+00,-5.18986256e-01,-6.67016895e-01, 7.37912900e+00,
 -4.56003348e-01, 7.57555423e-01,-1.80586395e+00, 6.10361597e+00,
 -6.55601638e-01,-1.40827240e+00,-4.08405199e-01, 1.92446097e+00,
  1.38353924e+01,-1.26847525e+02]

qfrc_actuator:
[ 1.10116288e-05, 5.59473594e-05, 1.92438054e-04, 1.09257392e-04,
  8.49177063e-06, 2.55660757e-02, 8.49588622e-03, 2.40160024e-03,
 -5.25284967e-05, 4.14950500e-04,-4.54035746e-06, 6.52013917e-06,
  1.10210681e-03,-1.59685906e-03, 0.00000000e+00,-1.89841966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.87794556, -5.22308737,  6.87794556, 28.30118816,
       25.8953341 , -5.22308737, 25.8953341 , 42.73625236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019273474682087663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.88018389e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.88018389e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00271065, -0.00817049,  0.06176693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73750300e-05,-1.72442438e-05,-8.47970125e-06, 2.29153542e-05,
 -1.02923127e-05,-4.40415926e-05,-2.36802725e-06,-8.47509281e-06,
 -1.26984940e-05,-4.70992652e-05, 4.68777381e-06, 1.81737423e-05,
 -2.73016718e-05, 1.42703012e-05,-7.26013180e-06, 2.77396079e-05,
 -6.36837171e-04,-6.85239773e-04,-1.21625437e+00, 9.16517147e-04,
 -2.46788959e-02,-1.40165849e-04]


--- Step 1731 ---
qpos:
[ 3.29322625e-03,-3.18480873e-03, 1.19370574e-02, 4.17541109e-02,
  6.14008139e-03, 7.64833324e-01,-2.98024878e-02, 8.70728971e-01,
  5.84121880e-03, 1.64198725e-02,-9.29950054e-03, 2.59701501e-02,
  1.34487030e+00,-1.65268014e-04, 1.09599047e+00, 6.32832076e-02,
  1.18214938e-02,-3.65463262e-02, 7.33655440e-02, 6.77413113e-01,
 -1.82270123e-01,-6.82055087e-01,-2.06615426e-01]

qacc:
[-1.31003647e+00, 8.95102578e-01,-2.99432448e+00, 2.45309404e+00,
  2.23567789e-02,-1.09704610e+00, 1.09341779e+00, 9.88433899e+00,
  1.69800943e+00,-4.00809558e-01,-2.39404323e+00, 1.31422420e+01,
  6.68338240e-01,-1.15308173e+00,-1.40286783e+01, 4.76919091e+01,
  1.65386210e+00, 1.36073914e-01,-6.20355522e-01,-1.02700524e+01,
  9.74280611e+01, 1.43149131e+02]

qfrc_actuator:
[ 2.90628972e-06, 4.69875210e-05, 1.68915640e-04, 1.04474998e-04,
  1.66414231e-05, 2.55807039e-02, 8.55117035e-03, 2.44985849e-03,
 -4.22699259e-05, 3.73566785e-04, 7.13223102e-06, 3.70018678e-05,
  1.11361781e-03,-1.62006912e-03, 0.00000000e+00,-1.66840917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019894849194633316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05249026, -0.01494526,  0.06176053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.61936375e-06,-1.93938108e-05,-2.73574246e-05,-5.37437406e-06,
  3.52429687e-06,-1.04877668e-05, 4.60847787e-05, 4.65869075e-05,
  9.87509026e-06,-6.59561396e-05, 3.16779712e-06, 2.89840370e-05,
 -3.74981410e-07,-2.59192912e-05,-3.98561744e-06, 2.29759914e-04,
 -6.44236497e-04,-7.63992773e-04,-1.21614731e+00, 1.01029475e-03,
 -2.46759435e-02,-1.45021164e-04]


--- Step 1732 ---
qpos:
[ 3.29286431e-03,-3.18433013e-03, 1.19373360e-02, 4.17543063e-02,
  6.14045242e-03, 7.64832136e-01,-2.98029613e-02, 8.70735762e-01,
  5.84156458e-03, 1.64186408e-02,-9.30028679e-03, 2.59705910e-02,
  1.34496854e+00,-1.65929302e-04, 1.09618603e+00, 6.32886317e-02,
  1.18094395e-02,-3.65726891e-02, 7.33818511e-02, 6.77278107e-01,
 -1.81570266e-01,-6.82142540e-01,-2.07384087e-01]

qacc:
[-3.91528674e+00, 1.57242635e+00,-3.20422627e+00,-3.28869054e+00,
  3.86975599e-02, 3.54865074e+00,-1.79724453e+01, 4.78537761e+01,
  4.09395673e+00, 3.64486552e-02,-2.29480963e+00, 8.47051985e+00,
  3.67112031e-01,-8.30632815e-01, 4.62869626e+00,-1.53972205e+01,
  1.50355067e+00, 1.32505676e-01,-1.43264236e+00,-9.82020258e+00,
  8.86201553e+01, 1.29849993e+02]

qfrc_actuator:
[-1.96531401e-05, 7.70777736e-05, 1.36882071e-04, 8.36448736e-05,
  2.13873708e-05, 2.55723075e-02, 8.56639406e-03, 2.58313373e-03,
 -1.84284957e-05, 3.67210779e-04, 1.42939698e-05, 5.48798405e-05,
  1.11165983e-03,-1.65146622e-03, 0.00000000e+00,-1.74874733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.2363456 , -2.59795844,  8.2363456 , 10.34425849,
        5.41456401, -2.59795844,  5.41456401, 25.80223505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020199382855452044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37408038e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37408038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05241141, -0.01495982,  0.0617576 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27836243e-05, 1.33416327e-05,-3.96100690e-05,-2.27158871e-05,
  6.32491718e-06,-3.59766385e-06, 1.98783531e-05, 1.35386153e-04,
  2.40965171e-05,-4.12980927e-05,-5.04983187e-06, 1.57283803e-05,
 -8.11391972e-06,-3.80132768e-05, 2.14365749e-05,-6.86153233e-05,
 -8.83633224e-05,-1.39647979e-04,-1.21631051e+00, 8.98722166e-04,
 -2.46871972e-02,-1.48908106e-04]


--- Step 1733 ---
qpos:
[ 3.29188999e-03,-3.18390671e-03, 1.19373345e-02, 4.17539194e-02,
  6.14049281e-03, 7.64830348e-01,-2.98034277e-02, 8.70747259e-01,
  5.84219331e-03, 1.64172150e-02,-9.30101543e-03, 2.59705319e-02,
  1.34506641e+00,-1.66102372e-04, 1.09638201e+00, 6.32904075e-02,
  1.18029021e-02,-3.65985288e-02, 7.33896584e-02, 6.77299256e-01,
 -1.81011312e-01,-6.82072200e-01,-2.08033980e-01]

qacc:
[ -5.38305221, -0.47953902,  4.07828587,-13.68359525, -0.18482204,
   7.3620022 ,-35.85833192, 88.97876263,  2.47264244, -1.45191788,
   6.90738322,-15.50168281, -0.89334654,  1.44893465, 11.71696683,
 -39.90434707,  1.37925967,  0.13079333, -2.12494111, -9.39227175,
  81.30240106,118.79427577]

qfrc_actuator:
[-5.05309500e-05, 5.92547001e-05, 1.17990924e-04, 5.35737086e-05,
 -1.14606034e-05, 2.55146052e-02, 8.55779439e-03, 2.81857423e-03,
 -4.54299868e-06, 3.64103957e-04, 1.88627981e-05, 2.97165870e-05,
  1.09629120e-03,-1.61646388e-03, 0.00000000e+00,-1.94033417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.22339933, -2.63865124,  8.22339933, 10.62997967,
        6.21313669, -2.63865124,  6.21313669, 27.99970479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020211048148003966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11986188e-14,  5.49314918e-14,  1.00000000e+00, -2.26310159e-27,
        1.00000000e+00, -5.49314918e-14, -1.00000000e+00,  0.00000000e+00,
        4.11986188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05241602, -0.01495569,  0.06175779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15214234e-05,-1.95449092e-05,-2.18081342e-05,-3.13136121e-05,
 -3.00120100e-05,-5.14133642e-05,-2.93058176e-06, 2.38999494e-04,
  1.45567317e-05,-2.65077441e-05,-4.01764331e-06,-2.67990977e-05,
 -2.89975647e-05, 2.37161035e-05,-2.95007403e-06,-1.93890827e-04,
  1.43321747e-04, 3.10214954e-04,-1.21640913e+00, 8.42517831e-04,
 -2.46916122e-02,-1.52375509e-04]


--- Step 1734 ---
qpos:
[ 3.29089820e-03,-3.18401790e-03, 1.19375861e-02, 4.17532004e-02,
  6.14036502e-03, 7.64828534e-01,-2.98036952e-02, 8.70757970e-01,
  5.84298381e-03, 1.64154315e-02,-9.30134188e-03, 2.59701688e-02,
  1.34516394e+00,-1.65621251e-04, 1.09657763e+00, 6.32925554e-02,
  1.18014675e-02,-3.66238463e-02, 7.33866087e-02, 6.77464909e-01,
 -1.80582614e-01,-6.81856125e-01,-2.08574786e-01]

qacc:
[-1.36358357e-01,-2.09855062e+00, 7.85851334e+00,-1.36173188e+01,
 -9.33410380e-02,-1.93763183e+00, 8.11225567e+00,-1.66824352e+01,
  1.42932713e+00,-2.22509210e+00, 8.52619222e+00,-1.41600474e+01,
 -7.04820403e-01, 1.30311348e+00,-1.59347825e+00, 4.94597756e+00,
  1.27567596e+00, 1.30555114e-01,-2.71425853e+00,-8.98856837e+00,
  7.52125328e+01, 1.09585060e+02]

qfrc_actuator:
[-5.05478482e-05, 1.29193241e-05, 1.24577493e-04, 3.60351155e-05,
 -1.32345219e-05, 2.55343164e-02, 8.57056960e-03, 2.77488978e-03,
  3.36703767e-06, 3.45174117e-04, 3.96136148e-05, 1.49423142e-05,
  1.08889207e-03,-1.57793355e-03, 0.00000000e+00,-1.91178655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.25122451, -2.55030801,  8.25122451, 10.76180608,
        6.87662146, -2.55030801,  6.87662146, 30.88487139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00199869081517165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.77737561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.77737561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05248635, -0.01493677,  0.06176043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.20663035e-07,-6.31331581e-05,-1.22193814e-06,-1.97385799e-05,
 -1.52536770e-05,-1.67348083e-06, 9.51034953e-06,-3.99865220e-05,
  8.31405450e-06,-3.56641346e-05, 1.38785268e-05,-1.65663547e-05,
 -1.84232898e-05, 3.80219914e-05,-2.81042752e-05, 1.61680795e-05,
  1.26327819e-04, 6.24737350e-04,-1.21645796e+00, 8.27107454e-04,
 -2.46904183e-02,-1.55427809e-04]


--- Step 1735 ---
qpos:
[ 3.29060341e-03,-3.18449748e-03, 1.19378464e-02, 4.17526179e-02,
  6.14034718e-03, 7.64827479e-01,-2.98042821e-02, 8.70764575e-01,
  5.84420770e-03, 1.64135242e-02,-9.30152323e-03, 2.59699644e-02,
  1.34526127e+00,-1.64458321e-04, 1.09677285e+00, 6.32966504e-02,
  1.18047870e-02,-3.66486376e-02, 7.33706975e-02, 6.77765260e-01,
 -1.80275197e-01,-6.81504257e-01,-2.09014479e-01]

qacc:
[ 6.12419954e+00,-2.42221764e-01,-4.39143992e-01, 3.07975124e+00,
  6.14167562e-02,-5.26573176e+00, 2.78601637e+01,-7.47134303e+01,
  3.78685659e+00,-2.49997097e-01,-2.86871713e-02, 2.64732307e+00,
 -5.22767355e-01, 1.11241664e+00,-6.40961501e+00, 2.16952717e+01,
  1.18853065e+00, 1.31554554e-01,-3.21536888e+00,-8.60939817e+00,
  7.01417736e+01, 1.01906524e+02]

qfrc_actuator:
[-1.46455291e-05, 3.23597629e-06, 1.28276987e-04, 4.37514904e-05,
  3.60576970e-06, 2.56001428e-02, 8.56046970e-03, 2.56734019e-03,
  2.54524377e-05, 3.52496802e-04, 5.19533690e-05, 2.41579472e-05,
  1.09161140e-03,-1.53764768e-03, 0.00000000e+00,-1.80697722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.33880021, -2.24748481,  8.33880021, 10.53019196,
        7.02663526, -2.24748481,  7.02663526, 34.70715496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019574901806756473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83583293e-14, -2.83583293e-14,  1.00000000e+00,  8.04194843e-28,
        1.00000000e+00,  2.83583293e-14, -1.00000000e+00,  0.00000000e+00,
        2.83583293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05260809, -0.01490621,  0.061765  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58551705e-05,-4.60798596e-05,-1.01734176e-05, 4.58704349e-06,
  9.99480232e-06, 6.55420636e-05,-1.05236094e-05,-2.08224383e-04,
  2.23053526e-05,-1.03894435e-05, 6.13501396e-06, 7.85040274e-06,
  1.04857704e-06, 4.57737911e-05,-1.38610261e-05, 1.01467936e-04,
 -8.48745385e-05, 8.32695161e-04,-1.21646727e+00, 8.42024165e-04,
 -2.46845659e-02,-1.58070813e-04]


--- Step 1736 ---
qpos:
[ 3.29108606e-03,-3.18517757e-03, 1.19377689e-02, 4.17524799e-02,
  6.14048941e-03, 7.64827136e-01,-2.98048692e-02, 8.70770355e-01,
  5.84568665e-03, 1.64116844e-02,-9.30190155e-03, 2.59695255e-02,
  1.34535867e+00,-1.63563100e-04, 1.09696837e+00, 6.32985854e-02,
  1.18125639e-02,-3.66728942e-02, 7.33402221e-02, 6.78192049e-01,
 -1.80081488e-01,-6.81024781e-01,-2.09359619e-01]

qacc:
[ 6.81674746e+00, 1.58262923e+00,-7.92508144e+00, 1.63286633e+01,
  8.90147469e-02,-4.96589360e-01, 4.65559872e+00,-1.45546847e+01,
  2.21713845e+00, 1.52756543e-01, 5.67435192e-01,-4.35236862e+00,
  1.08796537e-01,-3.02592908e-01, 6.93292632e+00,-2.36665079e+01,
  1.11436534e+00, 1.33645701e-01,-3.64104870e+00,-8.25361683e+00,
  6.59220477e+01, 9.55047497e+01]

qfrc_actuator:
[ 2.43482149e-05,-2.16116404e-06, 1.12634622e-04, 6.62850506e-05,
  1.36511216e-05, 2.56573580e-02, 8.57258878e-03, 2.53139472e-03,
  3.79540770e-05, 3.57727628e-04, 4.15900744e-05, 1.19212846e-05,
  1.07909904e-03,-1.56760831e-03, 0.00000000e+00,-1.92442423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.48546768, -1.60736276,  8.48546768,  9.76439953,
        5.95504158, -1.60736276,  5.95504158, 40.07376783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019015296271379656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18946699e-14,  2.91928932e-14,  1.00000000e+00, -6.39168758e-28,
        1.00000000e+00, -2.91928932e-14, -1.00000000e+00,  0.00000000e+00,
        2.18946699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05276964, -0.01486662,  0.06177106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00005592e-05,-3.30408416e-05,-2.62519427e-05, 2.02973280e-05,
  1.45433939e-05, 8.48344533e-05, 1.75765023e-05,-3.88971850e-05,
  1.31305438e-05, 1.10797963e-06,-1.14568538e-05,-1.23124076e-05,
 -1.30694999e-06,-1.81109765e-05, 2.05010530e-06,-1.14247473e-04,
 -4.50919289e-04, 9.55359949e-04,-1.21644418e+00, 8.79736103e-04,
 -2.46747850e-02,-1.60311204e-04]


--- Step 1737 ---
qpos:
[ 3.29134250e-03,-3.18569046e-03, 1.19373314e-02, 4.17522215e-02,
  6.14057238e-03, 7.64827995e-01,-2.98058523e-02, 8.70775633e-01,
  5.84730407e-03, 1.64098234e-02,-9.30210208e-03, 2.59689289e-02,
  1.34545603e+00,-1.63152341e-04, 1.09716416e+00, 6.32967603e-02,
  1.18007939e-02,-3.66761262e-02, 7.33250855e-02, 6.78456586e-01,
 -1.79943871e-01,-6.80723252e-01,-2.09601333e-01]

qacc:
[-1.99981550e+00, 9.83118733e-01,-2.66962441e+00, 1.03089887e+00,
 -3.37913420e-02, 1.77644559e+00,-2.75767268e+00,-4.37628025e+00,
  1.21346648e+00,-8.52004465e-01, 3.65867731e+00,-6.65169780e+00,
  7.63593961e-02,-4.43179726e-01, 1.17458904e+01,-4.05321509e+01,
 -4.88672620e+00, 5.25618547e+00, 3.83470254e+00, 2.02155501e+01,
 -1.30774236e+02, 2.11641848e+01]

qfrc_actuator:
[ 1.15796653e-05, 3.04981552e-05, 1.03482949e-04, 6.18410079e-05,
  1.77276201e-06, 2.57446550e-02, 8.56234255e-03, 2.50801037e-03,
  4.47104460e-05, 3.61561486e-04, 5.33942310e-05, 4.89552049e-06,
  1.05742928e-03,-1.60353478e-03, 0.00000000e+00,-2.11863885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.46575255,  1.70816003,  8.46575255,  9.26475881,
       -3.11436747,  1.70816003, -3.11436747, 24.071372  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002826943241123549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23638611e-01,  5.23100929e-01,  6.72434401e-01,  4.75727105e-01,
       -4.75238619e-01,  7.40156724e-01,  7.06743466e-01,  7.07469910e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05047586, -0.0651988 ,  0.06177111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16382192e-05, 9.66812431e-06,-1.85003901e-05,-6.37240290e-06,
 -5.33880899e-06, 1.36545033e-04, 7.34768372e-06,-2.10270763e-05,
  7.12781117e-06, 1.64052173e-06, 1.02237528e-05,-7.60864966e-06,
 -2.71944542e-05,-4.04751085e-05,-1.61806834e-05,-2.01364648e-04,
 -9.43390382e-04, 1.00851014e-03,-1.21639355e+00, 9.34829296e-04,
 -2.46616320e-02,-1.62156016e-04]


--- Step 1738 ---
qpos:
[ 3.29109931e-03,-3.18605035e-03, 1.19370345e-02, 4.17515329e-02,
  6.14035474e-03, 7.64829352e-01,-2.98069835e-02, 8.70780643e-01,
  5.84898951e-03, 1.64084364e-02,-9.30240893e-03, 2.59685534e-02,
  1.34555303e+00,-1.62575254e-04, 1.09735940e+00, 6.32962889e-02,
  1.17905535e-02,-3.66737294e-02, 7.33148073e-02, 6.78624843e-01,
 -1.79994600e-01,-6.80538064e-01,-2.09614433e-01]

qacc:
[  -4.38363614,  -1.06918231,   5.93488728, -13.73185901,  -0.16775825,
    0.58957503,  -0.5253935 ,  -3.08180893,   0.58213754,   1.37764219,
   -4.93830295,   8.58728957,  -0.2925748 ,   0.39203508,  -4.87381067,
   15.92605426,   0.38237572,   1.40718318,   1.21458914,  17.44892748,
 -112.54376487, 121.10088078]

qfrc_actuator:
[-1.38009369e-05, 5.01985814e-05, 1.16135560e-04, 4.15975906e-05,
 -2.31045199e-05, 2.57249579e-02, 8.53907303e-03, 2.49217035e-03,
  4.80342260e-05, 4.17876897e-04, 6.04502671e-05, 1.87659344e-05,
  1.04092461e-03,-1.58945903e-03, 0.00000000e+00,-2.03690256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.31315399, -5.89328971, -6.31315399,  7.60238987,
        1.10763867, -5.89328971,  1.10763867,  7.44981184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019713176204112157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99193786e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.99193786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04109537, -0.07452195,  0.06176369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57056010e-05, 2.10319472e-05, 1.21623280e-05,-2.05903704e-05,
 -2.72531857e-05, 5.67286353e-05, 3.87925933e-06,-1.17318562e-05,
  3.52235761e-06, 5.90972700e-05, 8.41772151e-06, 1.41523433e-05,
 -4.19333369e-05,-1.99371989e-06,-3.39003270e-05, 6.74893787e-05,
 -3.66470745e-04, 4.35758479e-04,-1.21642596e+00, 9.80420519e-04,
 -2.46529450e-02,-1.60080857e-04]


--- Step 1739 ---
qpos:
[ 3.29124349e-03,-3.18614799e-03, 1.19371025e-02, 4.17505767e-02,
  6.14003662e-03, 7.64830191e-01,-2.98076278e-02, 8.70785487e-01,
  5.85001174e-03, 1.64076607e-02,-9.30245417e-03, 2.59683027e-02,
  1.34564965e+00,-1.61827346e-04, 1.09755454e+00, 6.32957315e-02,
  1.17644546e-02,-3.66601511e-02, 7.33083574e-02, 6.78621339e-01,
 -1.79972047e-01,-6.80530322e-01,-2.09670268e-01]

qacc:
[ 3.40678655e+00,-1.23156486e+00, 6.01065414e+00,-1.14031257e+01,
 -5.52919399e-02,-2.28321580e+00, 7.04562733e+00,-7.95010463e+00,
 -5.78676160e+00, 3.44926911e-01,-5.64703895e-01, 1.83442173e+00,
 -4.16615137e-01, 5.65468880e-01, 1.48049115e-01,-6.52002583e-01,
 -3.96461683e+00, 2.79537802e+00, 9.57058785e-01, 1.34641598e+01,
 -1.07127852e+02,-7.34078786e+01]

qfrc_actuator:
[ 6.87301364e-06, 7.98236312e-05, 1.41514128e-04, 2.99851544e-05,
 -2.00108320e-05, 2.56412874e-02, 8.54340527e-03, 2.48082322e-03,
  1.38082312e-05, 4.69689131e-04, 8.26230526e-05, 2.71057466e-05,
  1.02222383e-03,-1.58134421e-03, 0.00000000e+00,-2.04174234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.69211435,  7.25057513,  4.69211435, 18.48421362,
       -6.37290661,  7.25057513, -6.37290661, 12.76050635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026736882312604106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46689983,  0.46689983,  0.7510054 ,  0.24651468,  0.88431021,
       -0.39651729, -0.8492556 ,  0.        , -0.52798194])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05943189, -0.0552231 ,  0.06175981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99510304e-05, 4.30261534e-05, 3.05188247e-05,-1.06873745e-05,
 -9.12875656e-06,-5.18748104e-05, 1.56148381e-05,-9.68307006e-06,
 -3.41101167e-05, 8.72662913e-05, 3.59288798e-05, 1.14438707e-05,
 -4.26817517e-05,-2.01980328e-06,-1.02595988e-05,-5.92607387e-06,
 -1.49823826e-04, 2.97481781e-05,-1.21641927e+00, 1.02437141e-03,
 -2.46418200e-02,-1.58449130e-04]


--- Step 1740 ---
qpos:
[ 3.29197903e-03,-3.18600917e-03, 1.19377660e-02, 4.17494754e-02,
  6.13969588e-03, 7.64830591e-01,-2.98075542e-02, 8.70789102e-01,
  5.85061589e-03, 1.64073296e-02,-9.30217629e-03, 2.59685159e-02,
  1.34574595e+00,-1.60984649e-04, 1.09774960e+00, 6.32951000e-02,
  1.17253171e-02,-3.66377550e-02, 7.33019325e-02, 6.78459671e-01,
 -1.79886740e-01,-6.80684660e-01,-2.09765651e-01]

qacc:
[ 5.20490106e+00,-1.66136953e+00, 6.97079298e+00,-1.05872640e+01,
 -1.15401304e-02,-4.64970164e+00, 1.73692644e+01,-3.00135610e+01,
 -3.64367457e+00, 6.46711321e-01,-3.40025049e+00, 1.05737225e+01,
 -3.19976018e-01, 3.97804017e-01, 1.17547183e-01,-5.44433647e-01,
 -3.25962841e+00, 2.20445046e+00, 6.29232140e-03, 1.05950820e+01,
 -9.86759776e+01,-6.59382417e+01]

qfrc_actuator:
[ 3.67399207e-05, 9.74803603e-05, 1.74247783e-04, 2.35607100e-05,
 -1.79670770e-05, 2.56265656e-02, 8.58147554e-03, 2.41891869e-03,
 -6.73832620e-06, 4.82967307e-04, 9.57878625e-05, 4.98877318e-05,
  1.00754512e-03,-1.57687697e-03, 0.00000000e+00,-2.04437162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.58064823, -5.59301759, -6.58064823,  5.85904501,
        3.26774529, -5.59301759,  3.26774529,  4.79159077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00266121383694031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61736367e-01,  4.61736367e-01,  7.57363225e-01,  2.40356636e-01,
        8.87017208e-01, -3.94245051e-01, -8.53831491e-01, -2.77555756e-17,
       -5.20549503e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05937282, -0.05519608,  0.06175893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04498545e-05, 4.75743578e-05, 4.50115442e-05,-3.73206229e-06,
 -2.06071112e-06,-4.07138625e-05, 2.93433850e-05,-6.33119093e-05,
 -2.14983180e-05, 7.00105584e-05, 3.60248216e-05, 2.79916192e-05,
 -3.89473283e-05,-5.92166496e-06,-9.18439385e-06,-5.14513213e-06,
 -5.22462673e-07, 3.25259224e-06,-1.21644272e+00, 1.01492189e-03,
 -2.46452820e-02,-1.57991762e-04]


--- Step 1741 ---
qpos:
[ 3.29237732e-03,-3.18577150e-03, 1.19383633e-02, 4.17483696e-02,
  6.13936044e-03, 7.64829793e-01,-2.98068354e-02, 8.70795822e-01,
  5.85165880e-03, 1.64071782e-02,-9.30214736e-03, 2.59694205e-02,
  1.34584232e+00,-1.60945861e-04, 1.09794448e+00, 6.32950897e-02,
  1.16907259e-02,-3.66150722e-02, 7.32919502e-02, 6.78218117e-01,
 -1.79962298e-01,-6.80934500e-01,-2.09671085e-01]

qacc:
[-2.96377983e+00, 3.12074443e-01,-8.94398040e-01, 8.39906423e-01,
  3.44694038e-03, 2.07215500e+00,-1.58005582e+01, 5.22129460e+01,
  3.81646726e+00, 2.34915551e+00,-1.09634889e+01, 2.32088771e+01,
  6.93223762e-01,-1.48044282e+00,-2.20468596e+00, 7.17567273e+00,
  1.13654017e+00, 7.16697881e-02,-8.89380180e-01, 1.29091836e+01,
 -9.35423552e+01, 1.02217250e+02]

qfrc_actuator:
[ 1.85057768e-05, 7.23717355e-05, 1.57760090e-04, 2.02336007e-05,
 -1.65909636e-05, 2.55290720e-02, 8.60385743e-03, 2.57634638e-03,
  1.64481896e-05, 4.55294677e-04, 6.78764534e-05, 8.09458785e-05,
  1.00594003e-03,-1.62784848e-03, 0.00000000e+00,-2.01014691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.24422351, -5.96627603, -6.24422351, 10.074956  ,
       -1.50561124, -5.96627603, -1.50561124, 10.21211593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020076520004657233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55530055e-14, -2.76497875e-14,  1.00000000e+00,  4.30037297e-28,
        1.00000000e+00,  2.76497875e-14, -1.00000000e+00,  0.00000000e+00,
        1.55530055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04090537, -0.07437118,  0.06175956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73527640e-05, 1.06304151e-05,-1.25506552e-06, 1.94902328e-07,
  4.45876936e-07,-1.16300189e-04, 1.58206554e-05, 1.55572179e-04,
  2.25913761e-05, 2.01213665e-05,-8.04237090e-06, 3.58503102e-05,
 -2.47368249e-05,-6.14616648e-05,-8.58238183e-06, 3.18922610e-05,
 -1.13639893e-04,-2.81892155e-05,-1.21643449e+00, 1.04228553e-03,
 -2.46451964e-02,-1.58413157e-04]


--- Step 1742 ---
qpos:
[ 3.29255449e-03,-3.18574018e-03, 1.19389330e-02, 4.17472706e-02,
  6.13903779e-03, 7.64828276e-01,-2.98059059e-02, 8.70803664e-01,
  5.85262663e-03, 1.64069971e-02,-9.30233521e-03, 2.59710617e-02,
  1.34593874e+00,-1.61570658e-04, 1.09813948e+00, 6.32937924e-02,
  1.16594499e-02,-3.65914419e-02, 7.32757115e-02, 6.77902931e-01,
 -1.80186750e-01,-6.81271752e-01,-2.09401886e-01]

qacc:
[-1.93802635e+00,-1.77912292e-01, 2.16974712e-01, 8.77527404e-02,
  7.40670727e-03, 4.32650857e-01,-5.12878634e+00, 1.85317662e+01,
 -6.60683882e-01, 2.08418628e+00,-1.05962234e+01, 2.37106226e+01,
  4.37685786e-01,-1.03719369e+00, 4.01283077e+00,-1.38926774e+01,
  8.28832343e-01, 2.36884328e-01,-1.56408639e+00, 1.15033179e+01,
 -8.60341789e+01, 9.43286859e+01]

qfrc_actuator:
[ 7.60832168e-06, 3.93995456e-05, 1.47668179e-04, 1.86822806e-05,
 -1.56343011e-05, 2.55071198e-02, 8.61661201e-03, 2.63074614e-03,
  1.19270476e-05, 4.38643820e-04, 5.12674084e-05, 1.16556722e-04,
  1.01215556e-03,-1.65796455e-03, 0.00000000e+00,-2.07874383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 4.85317991, 7.14376802, 4.85317991, 4.7502975 ,
       2.64003227, 7.14376802, 2.64003227, 6.84283513, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019774824332958324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40358140e-14,  2.80716280e-14,  1.00000000e+00, -3.94008149e-28,
        1.00000000e+00, -2.80716280e-14, -1.00000000e+00,  0.00000000e+00,
        1.40358140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04095297, -0.07443075,  0.06176239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13891335e-05,-2.72989859e-05,-8.05100241e-06,-1.13434919e-06,
  1.13750647e-06,-7.82890590e-05,-3.67834941e-06, 5.46931209e-05,
 -3.86800418e-06,-5.50947901e-06,-1.22032595e-05, 3.68900788e-05,
 -2.22110991e-05,-5.11858944e-05,-3.49124150e-06,-6.86545231e-05,
 -2.77882041e-04, 1.95733287e-04,-1.21641730e+00, 1.01898123e-03,
 -2.46462867e-02,-1.58605567e-04]


--- Step 1743 ---
qpos:
[ 3.29259949e-03,-3.18596703e-03, 1.19399779e-02, 4.17461337e-02,
  6.13853226e-03, 7.64827780e-01,-2.98056277e-02, 8.70807144e-01,
  5.85318778e-03, 1.64070448e-02,-9.30227210e-03, 2.59730509e-02,
  1.34603497e+00,-1.62317897e-04, 1.09833438e+00, 6.32920116e-02,
  1.16402971e-02,-3.65683941e-02, 7.32600732e-02, 6.77784560e-01,
 -1.80587357e-01,-6.81411534e-01,-2.08984733e-01]

qacc:
[-1.14084163e+00,-1.74577804e+00, 5.89303890e+00,-7.12340624e+00,
 -1.02048016e-01,-4.47090511e+00, 2.62510775e+01,-7.65223564e+01,
 -3.54289543e+00, 3.24352630e-01,-2.17500756e+00, 7.61524287e+00,
 -7.74992969e-02,-3.70995171e-02, 1.33299849e+00,-4.84537126e+00,
  3.03078076e+00,-1.45649640e-01, 1.50086510e-01,-1.22526059e+01,
  1.02201453e+02, 1.48550922e+02]

qfrc_actuator:
[ 1.13164421e-06, 3.74801509e-05, 1.76906994e-04, 1.81870714e-05,
 -3.26915430e-05, 2.56370075e-02, 8.60601380e-03, 2.41103962e-03,
 -8.88035012e-06, 4.82001506e-04, 7.70124477e-05, 1.36824780e-04,
  1.00708568e-03,-1.65763350e-03, 0.00000000e+00,-2.10085822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001954986543303505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.83946462e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.83946462e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05272707, -0.01481552,  0.06176424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.81071264e-06,-1.89064486e-05, 2.25649214e-05,-1.96369194e-06,
 -1.65588604e-05, 8.75595997e-05,-2.48134312e-05,-2.21076890e-04,
 -2.09216787e-05, 3.93437050e-05, 2.43821231e-05, 2.03251608e-05,
 -2.98430997e-05,-1.74695649e-05,-1.31511183e-05,-2.73051468e-05,
 -4.70779737e-04, 6.29622289e-04,-1.21639669e+00, 9.51731894e-04,
 -2.46536385e-02,-1.58544592e-04]


--- Step 1744 ---
qpos:
[ 3.29222112e-03,-3.18594818e-03, 1.19408552e-02, 4.17453241e-02,
  6.13763967e-03, 7.64828044e-01,-2.98061077e-02, 8.70807995e-01,
  5.85315014e-03, 1.64074578e-02,-9.30195330e-03, 2.59749031e-02,
  1.34613099e+00,-1.63308864e-04, 1.09852902e+00, 6.32912935e-02,
  1.16315149e-02,-3.65456869e-02, 7.32412560e-02, 6.77844352e-01,
 -1.81147775e-01,-6.81372128e-01,-2.08433543e-01]

qacc:
[-3.72510882e+00, 1.47529337e+00,-6.15687380e+00, 1.18936495e+01,
 -2.16109500e-01,-1.51424486e+00, 1.21783036e+01,-4.29524613e+01,
 -5.22099117e+00,-5.03458806e-01, 3.09132569e+00,-6.15744365e+00,
  9.65464647e-02,-3.70819735e-01,-3.62051081e+00, 1.20547921e+01,
  2.59266910e+00,-8.51206562e-02,-7.94716154e-01,-1.11286353e+01,
  9.26251018e+01, 1.34669309e+02]

qfrc_actuator:
[-2.04456795e-05, 7.20794177e-05, 1.75994597e-04, 3.61201171e-05,
 -6.03665878e-05, 2.56612688e-02, 8.56442918e-03, 2.28044109e-03,
 -3.90978736e-05, 5.07859729e-04, 9.22836523e-05, 1.30228517e-04,
  9.89937681e-04,-1.67481513e-03, 0.00000000e+00,-2.04211393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.62750835,  8.22696643,  2.62750835,  8.97623571,
       -0.10854751,  8.22696643, -0.10854751,  8.67103127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020011400017923495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.77397639e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.77397639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05260427, -0.01484131,  0.06175892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17788778e-05, 2.85995355e-05,-2.11306289e-06, 1.78667603e-05,
 -3.50903664e-05, 6.08279621e-05,-3.38267665e-05,-1.33568664e-04,
 -3.08047172e-05, 5.37545218e-05, 2.71003191e-05,-3.67471651e-06,
 -3.81287758e-05,-2.83265057e-05,-1.25829835e-05, 5.47283622e-05,
 -1.28328065e-05, 5.06132611e-04,-1.21639197e+00, 8.97723437e-04,
 -2.46559063e-02,-1.56340377e-04]


--- Step 1745 ---
qpos:
[ 3.29193187e-03,-3.18556378e-03, 1.19413559e-02, 4.17447343e-02,
  6.13659271e-03, 7.64828450e-01,-2.98069027e-02, 8.70807308e-01,
  5.85240591e-03, 1.64078416e-02,-9.30151498e-03, 2.59763773e-02,
  1.34622672e+00,-1.64247334e-04, 1.09872368e+00, 6.32902504e-02,
  1.16316892e-02,-3.65231244e-02, 7.32160327e-02, 6.78066560e-01,
 -1.81854196e-01,-6.81168605e-01,-2.07759775e-01]

qacc:
[ 7.64196292e-01, 1.98781270e+00,-7.31609705e+00, 1.14555197e+01,
 -8.60338895e-02,-1.63057968e+00, 9.08012391e+00,-2.66627401e+01,
 -6.15882396e+00,-1.13894629e+00, 5.62229800e+00,-1.23582934e+01,
 -2.84824627e-01, 3.31521926e-01, 1.02417296e+00,-3.50167043e+00,
  2.23910365e+00,-3.61890973e-02,-1.60152456e+00,-1.01163290e+01,
  8.46373500e+01, 1.23076464e+02]

qfrc_actuator:
[-1.52340819e-05, 9.26840101e-05, 1.57444161e-04, 4.70074016e-05,
 -5.86297053e-05, 2.56397577e-02, 8.54012528e-03, 2.20331927e-03,
 -7.46066882e-05, 4.69732387e-04, 8.34128085e-05, 1.07859367e-04,
  9.81529240e-04,-1.66682886e-03, 0.00000000e+00,-2.06047555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.46581802,  8.27686646,  2.46581802,  9.62162135,
       -0.29352488,  8.27686646, -0.29352488,  8.72380965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020140169663154794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51248099e-14,  2.75624050e-14,  1.00000000e+00, -1.51937233e-27,
        1.00000000e+00, -2.75624050e-14, -1.00000000e+00,  0.00000000e+00,
        5.51248099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05257342, -0.01484602,  0.0617572 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59976606e-06, 3.69108064e-05,-1.22925122e-05, 1.23878282e-05,
 -1.40000751e-05, 1.24548849e-06,-2.02217223e-05,-7.92298818e-05,
 -3.63719859e-05,-2.66069787e-06, 5.43223711e-06,-1.92038502e-05,
 -3.63019036e-05,-7.94485983e-06,-2.83794278e-06,-1.76507585e-05,
  1.02649408e-04, 2.67175680e-04,-1.21633125e+00, 8.89791472e-04,
 -2.46505916e-02,-1.53839325e-04]


--- Step 1746 ---
qpos:
[ 3.29205206e-03,-3.18486727e-03, 1.19416689e-02, 4.17435827e-02,
  6.13588499e-03, 7.64829132e-01,-2.98084193e-02, 8.70807093e-01,
  5.85193148e-03, 1.64080642e-02,-9.30106192e-03, 2.59772521e-02,
  1.34632214e+00,-1.64642771e-04, 1.09891865e+00, 6.32859731e-02,
  1.16396735e-02,-3.65005488e-02, 7.31816508e-02, 6.78437848e-01,
 -1.82694917e-01,-6.80813402e-01,-2.06972860e-01]

qacc:
[ 3.58199909e+00,-2.27742361e-01, 3.76799802e+00,-1.34039876e+01,
  1.88141161e-01, 3.13088641e+00,-1.09199485e+01, 1.52662791e+01,
  2.35597067e+00,-1.49272045e+00, 7.53612979e+00,-1.78061820e+01,
 -8.62829921e-01, 1.45673961e+00, 1.03125673e+01,-3.52163881e+01,
  1.95250108e+00, 3.28542201e-03,-2.28965527e+00,-9.19658191e+00,
  7.79594039e+01, 1.13379908e+02]

qfrc_actuator:
[ 5.70773672e-06, 1.04673681e-04, 1.46339601e-04, 1.81385359e-05,
 -2.15709043e-05, 2.56621089e-02, 8.50829735e-03, 2.22925372e-03,
 -5.96850750e-05, 4.46719965e-04, 7.78432664e-05, 7.63224453e-05,
  9.83705035e-04,-1.62618794e-03, 0.00000000e+00,-2.23065407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.22897603,  8.3437667 ,  2.22897603, 10.36830753,
       -0.4626761 ,  8.3437667 , -0.4626761 ,  8.75996416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001999964619186466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11024267e-13,  1.38780333e-14,  1.00000000e+00, -1.54079847e-27,
        1.00000000e+00, -1.38780333e-14, -1.00000000e+00,  0.00000000e+00,
        1.11024267e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05261581, -0.01483397,  0.06175833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10840880e-05, 3.06058584e-05,-4.57480141e-06,-2.74727851e-05,
  3.07772679e-05, 1.65136935e-05,-3.62944802e-05, 2.35657233e-05,
  1.38806529e-05,-2.42385229e-05,-6.12672271e-06,-3.18404761e-05,
 -1.99278015e-05, 3.02755817e-05,-7.40176530e-06,-1.72473087e-04,
 -4.07270397e-05,-5.65954867e-05,-1.21622821e+00, 9.14215273e-04,
 -2.46396184e-02,-1.50989786e-04]


--- Step 1747 ---
qpos:
[ 3.29207768e-03,-3.18427103e-03, 1.19420170e-02, 4.17421322e-02,
  6.13557547e-03, 7.64830113e-01,-2.98099170e-02, 8.70809564e-01,
  5.85163934e-03, 1.64081261e-02,-9.30098892e-03, 2.59784607e-02,
  1.34641747e+00,-1.64867016e-04, 1.09911360e+00, 6.32793486e-02,
  1.16312589e-02,-3.64673370e-02, 7.31568108e-02, 6.78612468e-01,
 -1.83461471e-01,-6.80657425e-01,-2.06234031e-01]

qacc:
[  -0.82733255,  -0.84495083,   4.08348347,  -9.23868331,   0.22118544,
    5.00286513, -22.06224345,  51.76721105,   1.58100252,   1.5338271 ,
   -7.19213055,  13.70130345,  -0.34387273,   0.56162721,   7.07920517,
  -24.75164887,  -4.09970419,   2.65904403,   2.38546296,  11.44174218,
 -122.46022534, -80.11035013]

qfrc_actuator:
[ 2.26464654e-07, 7.58963516e-05, 1.39664227e-04, 1.61493389e-06,
  7.43914318e-07, 2.57105872e-02, 8.52574548e-03, 2.36888555e-03,
 -5.07042110e-05, 4.32920165e-04, 5.65588428e-05, 9.29152805e-05,
  9.81592463e-04,-1.61972367e-03, 0.00000000e+00,-2.34686235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.40996099,  7.42556536,  4.40996099,  9.39843373,
       -0.45258498,  7.42556536, -0.45258498,  8.90514884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026010084854106836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33390434e-01,  4.33390434e-01,  7.90155341e-01,  2.08417624e-01,
        9.01206265e-01, -3.79986003e-01, -8.76775242e-01, -2.77555756e-17,
       -4.80900379e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05897806, -0.05501042,  0.06175208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87099838e-06,-1.38035914e-05,-1.87794028e-06,-1.59062777e-05,
  3.61297231e-05, 5.12209737e-05, 1.72404288e-05, 1.39601452e-04,
  9.37319204e-06,-2.99961623e-05,-2.81584734e-05, 1.47183220e-05,
 -6.60290744e-06, 9.77586344e-06,-2.73128805e-05,-1.27843278e-04,
 -3.82733829e-04,-4.43621660e-04,-1.21609207e+00, 9.61366368e-04,
 -2.46244059e-02,-1.47757124e-04]


--- Step 1748 ---
qpos:
[ 3.29169270e-03,-3.18379188e-03, 1.19420324e-02, 4.17405236e-02,
  6.13539538e-03, 7.64831030e-01,-2.98108695e-02, 8.70816455e-01,
  5.85145777e-03, 1.64073642e-02,-9.30089635e-03, 2.59802623e-02,
  1.34651274e+00,-1.65221689e-04, 1.09930797e+00, 6.32746898e-02,
  1.16214283e-02,-3.64351258e-02, 7.31359393e-02, 6.78599852e-01,
 -1.84186718e-01,-6.80683370e-01,-2.05542315e-01]

qacc:
[-3.61236536e+00, 4.56412066e-01,-1.17176954e+00,-9.61865763e-01,
  7.17464204e-02, 6.11635186e+00,-3.02491337e+01, 8.01539483e+01,
  9.79418524e-01, 7.53582136e-02,-4.35537537e+00, 1.51967928e+01,
  2.11907520e-01,-3.99907628e-01,-6.81970595e+00, 2.25544249e+01,
 -3.54026207e-01,-2.50152169e-01, 9.92155618e-01,-4.34287270e-01,
 -1.16868001e+02,-6.60390556e+01]

qfrc_actuator:
[-2.07684402e-05, 5.84516242e-05, 1.17746059e-04,-7.53977624e-06,
 -3.73493710e-06, 2.57035969e-02, 8.55455470e-03, 2.59208612e-03,
 -4.53082098e-05, 3.53701495e-04, 4.39870246e-05, 1.19939863e-04,
  9.71572525e-04,-1.63361075e-03, 0.00000000e+00,-2.23500287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.25434642, -5.9556635 , -6.25434642,  7.20484574,
        1.50331006, -5.9556635 ,  1.50331006,  7.05766096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020951514719143513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64950539e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.64950539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05878673, -0.05492332,  0.06174746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11396933e-05,-2.62571613e-05,-2.55587036e-05,-1.01192878e-05,
  1.17410152e-05, 2.92467827e-05, 4.51060436e-05, 2.28527448e-04,
  5.65523610e-06,-1.01181934e-04,-2.17319345e-05, 2.50478055e-05,
 -1.22246389e-05,-1.24827372e-05,-2.99170486e-05, 1.00513578e-04,
  7.83730209e-05, 1.50819890e-04,-1.21620698e+00, 7.48216051e-04,
 -2.46448436e-02,-1.43868129e-04]


--- Step 1749 ---
qpos:
[ 3.29105895e-03,-3.18340645e-03, 1.19420350e-02, 4.17387926e-02,
  6.13524368e-03, 7.64831998e-01,-2.98119067e-02, 8.70824611e-01,
  5.85168774e-03, 1.64050935e-02,-9.30028459e-03, 2.59820834e-02,
  1.34660787e+00,-1.65451198e-04, 1.09950225e+00, 6.32703417e-02,
  1.16098027e-02,-3.64035639e-02, 7.31152321e-02, 6.78417021e-01,
 -1.84874837e-01,-6.80874651e-01,-2.04893512e-01]

qacc:
[-2.18235736e+00,-3.35692463e-01, 1.54014302e+00,-3.57351174e+00,
  1.54793901e-02, 2.48817497e+00,-1.09693559e+01, 2.49524315e+01,
  3.63137239e+00,-3.41220949e+00, 9.17831410e+00,-8.54662541e+00,
 -1.82107300e-01, 2.86111144e-01,-1.04718390e+00, 3.51805356e+00,
 -4.48726764e-01,-1.62344500e-01, 4.10497955e-02,-6.90999402e-01,
 -1.06261859e+02,-5.99157043e+01]

qfrc_actuator:
[-3.29650344e-05, 6.56160066e-05, 1.22541292e-04,-1.22941575e-05,
 -6.42786413e-06, 2.56813210e-02, 8.53638885e-03, 2.64958677e-03,
 -2.43116930e-05, 2.35958762e-04, 5.41477884e-05, 1.17325562e-04,
  9.67459070e-04,-1.62397024e-03, 0.00000000e+00,-2.22046097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.10041206, 8.0606589 , 3.10041206, 6.93358548,
       0.65494819, 8.0606589 , 0.65494819, 8.3844476 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021002653365367746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32152710e-14,  2.64305420e-14,  1.00000000e+00, -3.49286776e-28,
        1.00000000e+00, -2.64305420e-14, -1.00000000e+00,  0.00000000e+00,
        1.32152710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.058732  , -0.05489797,  0.06174642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28076738e-05,-1.32514597e-05,-4.12742227e-06,-6.95707519e-06,
  2.57689902e-06, 1.01180717e-05,-3.18946082e-07, 6.49848551e-05,
  2.11211813e-05,-1.77716038e-04,-1.25464405e-05,-7.21764820e-06,
 -1.41809286e-05, 3.87570029e-06,-4.32925583e-06, 1.59004491e-05,
  1.82059993e-04, 7.25367218e-04,-1.21622132e+00, 5.84577906e-04,
 -2.46478690e-02,-1.40303786e-04]


--- Step 1750 ---
qpos:
[ 3.29028357e-03,-3.18291323e-03, 1.19419614e-02, 4.17373414e-02,
  6.13489153e-03, 7.64833481e-01,-2.98131789e-02, 8.70830595e-01,
  5.85216724e-03, 1.64016996e-02,-9.29937215e-03, 2.59838252e-02,
  1.34670290e+00,-1.65803588e-04, 1.09969626e+00, 6.32678617e-02,
  1.15961859e-02,-3.63824829e-02, 7.31166431e-02, 6.78178264e-01,
 -1.85275782e-01,-6.81113205e-01,-2.04528553e-01]

qacc:
[-1.24719296e+00, 9.34075350e-01,-4.29895662e+00, 9.17501882e+00,
 -1.11679277e-01,-2.45618734e+00, 1.38382268e+01,-3.87880756e+01,
  2.20486360e+00,-2.49211331e+00, 7.05903333e+00,-8.07580314e+00,
  1.41611059e-01,-3.15478456e-01,-6.05521286e+00, 2.05676334e+01,
 -4.97813834e-01,-2.62019995e+00, 5.52956491e+00, 4.53643394e-01,
  2.05828604e+01,-2.04146200e+02]

qfrc_actuator:
[-3.98802264e-05, 8.75693308e-05, 1.25425113e-04, 3.37155657e-06,
 -2.57526107e-05, 2.57207963e-02, 8.52595504e-03, 2.53804556e-03,
 -1.20526946e-05, 2.02631992e-04, 7.74406639e-05, 1.15016873e-04,
  9.56248489e-04,-1.63592187e-03, 0.00000000e+00,-2.12141988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021277805558387528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60887576e-14,  5.21775153e-14,  1.00000000e+00, -1.36124655e-27,
        1.00000000e+00, -5.21775153e-14, -1.00000000e+00,  0.00000000e+00,
        2.60887576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00297601, -0.00830753,  0.06174288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.28506225e-06, 1.33799648e-05,-6.01936629e-07, 1.48234838e-05,
 -1.81676761e-05, 4.70802100e-05,-6.51685625e-06,-1.09751020e-04,
  1.27970065e-05,-1.35528518e-04,-1.51972085e-05,-1.05003582e-05,
 -1.83437615e-05,-1.41425830e-05,-3.88852607e-06, 9.85349579e-05,
  1.73637185e-06, 1.25964569e-03,-1.21621949e+00, 4.65856996e-04,
 -2.46511810e-02,-1.36922351e-04]


--- Step 1751 ---
qpos:
[ 3.29012089e-03,-3.18205124e-03, 1.19414851e-02, 4.17364229e-02,
  6.13393315e-03, 7.64835132e-01,-2.98144070e-02, 8.70833834e-01,
  5.85313380e-03, 1.63985527e-02,-9.29908535e-03, 2.59850667e-02,
  1.34679787e+00,-1.66532527e-04, 1.09989060e+00, 6.32632183e-02,
  1.15805828e-02,-3.63706065e-02, 7.31342936e-02, 6.77889656e-01,
 -1.85416972e-01,-6.81394753e-01,-2.04419546e-01]

qacc:
[ 5.35902905e+00, 2.70141123e+00,-1.11900408e+01, 2.08013972e+01,
 -3.37206937e-01,-4.66436247e+00, 2.18398017e+01,-5.26113808e+01,
  4.22412092e+00, 1.03672305e+00,-1.12480192e+00,-6.70049252e+00,
  8.01293172e-02,-3.81406863e-01, 7.01548667e+00,-2.38503938e+01,
 -4.96561530e-01,-2.30113864e+00, 4.05986742e+00, 6.92755784e-01,
  1.87190260e+01,-1.84333212e+02]

qfrc_actuator:
[-8.12894514e-06, 1.18231990e-04, 1.09477849e-04, 3.09363408e-05,
 -7.25915890e-05, 2.57080735e-02, 8.52034460e-03, 2.39901943e-03,
  1.27138195e-05, 2.91183126e-04, 7.31183776e-05, 9.52298358e-05,
  9.46106747e-04,-1.66063079e-03, 0.00000000e+00,-2.23965036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.12726887,  6.08632509,  6.12726887, 15.2695428 ,
       -6.67780172,  6.08632509, -6.67780172, 15.3590881 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002168952444582088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00299103, -0.00834559,  0.06173827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15466464e-05, 3.86415344e-05,-1.27453616e-05, 2.84084084e-05,
 -5.49839416e-05, 8.54206860e-06,-3.80355237e-07,-1.40210163e-04,
  2.50776164e-05, 9.28788913e-06,-3.45276505e-05,-2.63239902e-05,
 -2.36292843e-05,-3.25102258e-05, 5.96853899e-06,-1.13976129e-04,
 -2.11951713e-04, 7.27103993e-04,-1.21634227e+00, 5.65394227e-04,
 -2.46594985e-02,-1.36120112e-04]


--- Step 1752 ---
qpos:
[ 3.29034003e-03,-3.18107744e-03, 1.19412054e-02, 4.17354879e-02,
  6.13240125e-03, 7.64836569e-01,-2.98152530e-02, 8.70835054e-01,
  5.85404422e-03, 1.63962939e-02,-9.29954420e-03, 2.59856396e-02,
  1.34689259e+00,-1.67034674e-04, 1.10008545e+00, 6.32531879e-02,
  1.15630032e-02,-3.63669065e-02, 7.31632289e-02, 6.77555929e-01,
 -1.85320944e-01,-6.81715538e-01,-2.04543482e-01]

qacc:
[   3.35553804,  -0.44276366,   1.85174264,  -2.52374517,  -0.31867445,
   -4.81680103,  20.07353231, -42.05021099,  -0.52851114,   1.8822506 ,
   -2.18259649,  -8.85543468,  -0.72331233,   1.07347427,  17.06025701,
  -58.47545405,  -0.49414311,  -2.04411343,   2.82120994,   0.86827859,
   17.1702524 ,-168.02323636]

qfrc_actuator:
[ 1.06192720e-05, 1.18310906e-04, 1.18094318e-04, 2.97702410e-05,
 -9.99478946e-05, 2.56819264e-02, 8.53519583e-03, 2.29820321e-03,
  9.14223516e-06, 3.80929698e-04, 5.30330305e-05, 6.54085299e-05,
  9.41931612e-04,-1.63943337e-03, 0.00000000e+00,-2.52046488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.96005387,  6.25016277,  5.96005387, 16.65463328,
       -7.64609192,  6.25016277, -7.64609192, 15.92755291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002178128713263554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.0971415e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.0971415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00299878, -0.00834889,  0.06173731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96575556e-05, 2.02595050e-05, 1.60076594e-05, 6.01012462e-07,
 -5.20291663e-05,-2.60101363e-05, 1.22677793e-05,-1.03738650e-04,
 -2.85646332e-06, 8.67997918e-05,-2.32997957e-05,-3.11275235e-05,
 -2.52713649e-05, 7.71749916e-06,-1.46876158e-05,-2.87492930e-04,
 -3.73949581e-04, 3.07532477e-04,-1.21640500e+00, 6.56952102e-04,
 -2.46658206e-02,-1.36336335e-04]


--- Step 1753 ---
qpos:
[ 3.29009270e-03,-3.18024044e-03, 1.19414618e-02, 4.17342094e-02,
  6.13083287e-03, 7.64838034e-01,-2.98155339e-02, 8.70836749e-01,
  5.85421534e-03, 1.63944155e-02,-9.29958937e-03, 2.59861796e-02,
  1.34698692e+00,-1.66994324e-04, 1.10027963e+00, 6.32445492e-02,
  1.15528662e-02,-3.63633208e-02, 7.31890806e-02, 6.77400089e-01,
 -1.85381439e-01,-6.81857487e-01,-2.04531680e-01]

qacc:
[-4.07524197e+00,-2.37958185e+00, 9.68361724e+00,-1.63954708e+01,
 -1.99314724e-02,-6.65009436e-01, 1.15373560e+00, 4.63468973e+00,
 -6.44185092e+00,-7.08535175e-01, 3.41610338e+00,-4.94925568e+00,
 -5.79547049e-01, 1.03233514e+00,-5.13051769e+00, 1.66421736e+01,
  1.86064150e+00,-2.85796907e-02,-7.70900467e-01,-8.56615436e+00,
  9.26345424e+01, 1.34101272e+02]

qfrc_actuator:
[-1.39538144e-05, 1.00149005e-04, 1.41010735e-04, 1.17019530e-05,
 -7.98995330e-05, 2.57190497e-02, 8.57972092e-03, 2.32719969e-03,
 -2.88364611e-05, 3.99642979e-04, 7.71180178e-05, 6.54404666e-05,
  9.25378454e-04,-1.60889751e-03, 0.00000000e+00,-2.43317237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021896054036995155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.13020199e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.13020199e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0515748 , -0.01464026,  0.06173631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40093716e-05,-3.52431806e-06, 2.90864854e-05,-1.66351733e-05,
 -3.30415513e-06, 2.17775052e-05, 3.76798354e-05, 2.61789791e-05,
 -3.80355641e-05, 6.11931787e-05, 3.80993301e-05, 2.34476945e-06,
 -2.96606061e-05, 2.71016545e-05,-4.35542926e-05, 6.83026437e-05,
 -4.95925737e-04,-2.34929443e-05,-1.21642185e+00, 7.44644024e-04,
 -2.46701997e-02,-1.37484160e-04]


--- Step 1754 ---
qpos:
[ 3.28955282e-03,-3.17931423e-03, 1.19416339e-02, 4.17330841e-02,
  6.12977935e-03, 7.64839533e-01,-2.98158553e-02, 8.70839155e-01,
  5.85392967e-03, 1.63930509e-02,-9.29936616e-03, 2.59863628e-02,
  1.34708106e+00,-1.67074834e-04, 1.10047336e+00, 6.32382806e-02,
  1.15494206e-02,-3.63596603e-02, 7.32082588e-02, 6.77407104e-01,
 -1.85588996e-01,-6.81835640e-01,-2.04393004e-01]

qacc:
[-2.57184694e+00, 6.74253747e-01,-2.86987522e+00, 5.57810373e+00,
  2.86616886e-01, 1.38646690e+00,-6.12086226e+00, 1.39923168e+01,
 -3.98479157e+00,-7.97620839e-01, 5.34916243e+00,-1.23454970e+01,
  1.18136967e-01,-3.09462955e-01,-7.83183890e+00, 2.64049515e+01,
  1.67287018e+00, 1.86940407e-02,-1.66839362e+00,-8.21031891e+00,
  8.42003716e+01, 1.24946454e+02]

qfrc_actuator:
[-2.83188494e-05, 1.06751782e-04, 1.36583701e-04, 1.93309939e-05,
 -3.17160171e-05, 2.57052148e-02, 8.57070398e-03, 2.36138713e-03,
 -5.12485453e-05, 4.29146757e-04, 9.13388773e-05, 4.75107225e-05,
  9.06745915e-04,-1.62642289e-03, 0.00000000e+00,-2.30716581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.38527214,  4.47711205,  7.38527214, 13.21899886,
       -7.55933913,  4.47711205, -7.55933913, 21.10595924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021954043966152595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.05703198e-14,  5.05703198e-14,  1.00000000e+00, -2.55735725e-27,
        1.00000000e+00, -5.05703198e-14, -1.00000000e+00,  0.00000000e+00,
        5.05703198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05209658, -0.01489625,  0.06173598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50533000e-05, 9.88928026e-06,-2.15680138e-06, 8.16219275e-06,
  4.67030530e-05, 6.46713763e-06, 3.98836860e-07, 3.66129947e-05,
 -2.34884972e-05, 7.17484178e-05, 3.16580263e-05,-1.39387439e-05,
 -2.90864860e-05,-1.73699740e-05,-1.40817323e-05, 1.23876216e-04,
 -1.05955083e-04, 5.89858881e-05,-1.21643353e+00, 6.86321972e-04,
 -2.46682002e-02,-1.37632739e-04]


--- Step 1755 ---
qpos:
[ 3.28918938e-03,-3.17794026e-03, 1.19412841e-02, 4.17323883e-02,
  6.12927687e-03, 7.64841051e-01,-2.98165477e-02, 8.70842318e-01,
  5.85337656e-03, 1.63929296e-02,-9.29930428e-03, 2.59862649e-02,
  1.34717503e+00,-1.67548356e-04, 1.10066672e+00, 6.32355425e-02,
  1.15519615e-02,-3.63558787e-02, 7.32184683e-02, 6.77563363e-01,
 -1.85928131e-01,-6.81663324e-01,-2.04141452e-01]

qacc:
[ 1.52480341e+00, 2.93351717e+00,-1.14174278e+01, 1.93601648e+01,
  3.06481887e-01, 2.34180821e+00,-9.38376016e+00, 1.74699514e+01,
 -2.35893537e+00, 1.52025875e+00,-1.84164183e+00,-3.68839920e+00,
  3.84192377e-01,-8.62374409e-01,-1.12508361e+01, 3.84668223e+01,
  1.49662377e+00, 3.02763370e-02,-2.24215762e+00,-7.61284001e+00,
  7.79230605e+01, 1.12303624e+02]

qfrc_actuator:
[-1.87937525e-05, 1.45794707e-04, 1.16156612e-04, 4.20193436e-05,
 -2.69341264e-06, 2.56962950e-02, 8.54769403e-03, 2.39826294e-03,
 -6.43074513e-05, 5.35849710e-04, 9.96210757e-05, 3.68936561e-05,
  8.86861206e-04,-1.65458603e-03, 0.00000000e+00,-2.12396074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.36085652,  4.51714159,  7.36085652, 12.06256215,
       -5.58312267,  4.51714159, -5.58312267, 17.73427745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021743614958281343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55298631e-14, -1.75382296e-07,  1.00000000e+00, -4.47748600e-21,
        1.00000000e+00,  1.75382296e-07, -1.00000000e+00, -7.52316385e-37,
       -2.55298631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05163862, -0.01461581,  0.06173845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09662339e-06, 4.44405687e-05,-1.83768038e-05, 2.31970105e-05,
  4.99827899e-05,-4.11533072e-06,-2.05944760e-05, 3.79256835e-05,
 -1.37118924e-05, 1.52804469e-04, 2.65334822e-05,-6.71515358e-06,
 -4.00746682e-05,-3.93005980e-05, 4.67776484e-06, 1.87713534e-04,
  2.95519933e-06, 3.04812960e-05,-1.21640023e+00, 6.67432132e-04,
 -2.46612804e-02,-1.37286585e-04]


--- Step 1756 ---
qpos:
[ 3.28928763e-03,-3.17615414e-03, 1.19406799e-02, 4.17316101e-02,
  6.12882067e-03, 7.64842794e-01,-2.98167372e-02, 8.70845485e-01,
  5.85267117e-03, 1.63937407e-02,-9.29882402e-03, 2.59867300e-02,
  1.34726869e+00,-1.68094693e-04, 1.10086012e+00, 6.32343388e-02,
  1.15517920e-02,-3.63583314e-02, 7.32378599e-02, 6.77677050e-01,
 -1.86033957e-01,-6.81528892e-01,-2.04116516e-01]

qacc:
[ 4.03715490e+00, 1.07841732e+00,-2.72053382e+00, 1.41269412e+00,
  2.61236800e-02,-1.05719824e+00, 3.82785746e+00,-3.54050720e+00,
 -1.33079884e+00, 1.22416929e+00,-4.94901727e+00, 1.33305570e+01,
 -8.20022008e-02,-3.70585271e-02,-4.55876286e+00, 1.60582476e+01,
 -6.77606022e-01,-1.55856551e+00, 2.29551744e+00, 1.71184415e+00,
  1.75365652e+01,-1.64159643e+02]

qfrc_actuator:
[ 4.71344636e-06, 1.68402212e-04, 1.04353421e-04, 3.79002976e-05,
 -2.09147434e-05, 2.57435816e-02, 8.58764554e-03, 2.40091692e-03,
 -7.17610976e-05, 5.81421345e-04, 1.22415077e-04, 6.62364257e-05,
  8.76883661e-04,-1.65330607e-03, 0.00000000e+00,-2.05056608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021409094592097916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.18575421e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.18575421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00300428, -0.00829526,  0.06174218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37777377e-05, 4.46167764e-05,-4.09498616e-06,-2.40079048e-06,
  4.20947150e-06, 4.21305016e-05, 3.79035707e-05, 2.76322875e-06,
 -7.79449437e-06, 1.36211268e-04, 5.73945883e-05, 3.66792997e-05,
 -4.09944114e-05,-1.81691036e-05, 1.97409495e-05, 8.37072689e-05,
 -1.06264668e-04,-8.64327084e-05,-1.21633338e+00, 6.78089159e-04,
 -2.46506798e-02,-1.36486681e-04]


--- Step 1757 ---
qpos:
[ 3.28932210e-03,-3.17420986e-03, 1.19400320e-02, 4.17308068e-02,
  6.12807095e-03, 7.64844156e-01,-2.98165091e-02, 8.70849757e-01,
  5.85291710e-03, 1.63947057e-02,-9.29768824e-03, 2.59879725e-02,
  1.34736210e+00,-1.68452007e-04, 1.10105362e+00, 6.32337074e-02,
  1.15490680e-02,-3.63666019e-02, 7.32626526e-02, 6.77751610e-01,
 -1.85924781e-01,-6.81429425e-01,-2.04300439e-01]

qacc:
[-5.63993893e-01, 2.80387636e-01,-5.88695061e-01, 1.06033034e-01,
 -1.63193860e-01, 2.90187924e-01,-4.07784550e+00, 1.71620141e+01,
  8.31602924e+00,-4.41161818e-02,-2.85878587e+00, 1.51859072e+01,
 -3.06346433e-01, 4.63326512e-01,-1.56352681e+00, 5.73080888e+00,
 -6.38603933e-01,-1.45444507e+00, 1.35028394e+00, 1.60839677e+00,
  1.61903249e+01,-1.51280302e+02]

qfrc_actuator:
[ 7.48817319e-07, 1.63252347e-04, 9.76658757e-05, 3.57896339e-05,
 -4.94454733e-05, 2.56823586e-02, 8.59363789e-03, 2.45449789e-03,
 -2.26018539e-05, 5.36869973e-04, 1.35648339e-04, 1.01071008e-04,
  8.78192616e-04,-1.63452323e-03, 0.00000000e+00,-2.02472104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.78518666,  5.34303461, -6.78518666, 26.15868203,
       22.25181187,  5.34303461, 22.25181187, 36.89421858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021184599168182078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00300146, -0.00826954,  0.06174493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27638776e-06, 1.88033126e-05, 1.92763422e-06,-3.89833580e-07,
 -2.66359002e-05,-3.03534025e-05, 1.87408666e-05, 5.61318128e-05,
  4.89826595e-05, 4.50053401e-05, 4.96915352e-05, 4.33678296e-05,
 -2.52487613e-05, 4.45285364e-06, 1.36144452e-05, 3.19551174e-05,
 -7.81993557e-05,-8.56882881e-06,-1.21641426e+00, 6.54297997e-04,
 -2.46635684e-02,-1.36217004e-04]


--- Step 1758 ---
qpos:
[ 3.28861950e-03,-3.17276426e-03, 1.19398813e-02, 4.17303774e-02,
  6.12700617e-03, 7.64844758e-01,-2.98159382e-02, 8.70854334e-01,
  5.85409596e-03, 1.63950863e-02,-9.29620824e-03, 2.59897420e-02,
  1.34745534e+00,-1.68634851e-04, 1.10124681e+00, 6.32360807e-02,
  1.15439162e-02,-3.63803494e-02, 7.32896705e-02, 6.77789695e-01,
 -1.85615642e-01,-6.81362341e-01,-2.04678585e-01]

qacc:
[-6.44477359e+00,-1.26566796e+00, 2.00049441e+00, 4.01842996e+00,
 -1.74929418e-01,-1.39643776e+00, 2.66992390e+00, 1.78172132e+00,
  8.15809902e+00,-6.65752148e-01,-9.99240143e-01, 1.00280539e+01,
 -6.28607315e-02, 1.40682798e-01,-9.51566816e+00, 3.26498144e+01,
 -6.06968354e-01,-1.36925325e+00, 5.56291126e-01, 1.50521361e+00,
  1.50800817e+01,-1.40683791e+02]

qfrc_actuator:
[-3.71107337e-05, 1.06031921e-04, 1.11691288e-04, 5.26122515e-05,
 -6.60879040e-05, 2.56098029e-02, 8.59689153e-03, 2.46652183e-03,
  2.39771478e-05, 4.38650231e-04, 1.24988039e-04, 1.21008194e-04,
  8.75628951e-04,-1.62322402e-03, 0.00000000e+00,-1.86728377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.82862563,  5.28740473, -6.82862563, 26.44535859,
       23.00012305,  5.28740473, 23.00012305, 38.34077207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020776102734859914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.34375017e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.34375017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00299518, -0.00822311,  0.06174971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79517160e-05,-4.63864244e-05, 1.81199738e-05, 1.76862073e-05,
 -2.86017488e-05,-8.39236514e-05, 1.10447002e-06, 1.28938490e-05,
  4.79993679e-05,-6.09626394e-05, 6.22824511e-06, 2.44197883e-05,
 -1.53439758e-05, 6.49345919e-06, 5.14126356e-06, 1.59894078e-04,
 -3.13865340e-05, 1.07258095e-04,-1.21645325e+00, 6.36510436e-04,
 -2.46734686e-02,-1.36783374e-04]


--- Step 1759 ---
qpos:
[ 3.28746867e-03,-3.17198331e-03, 1.19400545e-02, 4.17301874e-02,
  6.12589235e-03, 7.64844660e-01,-2.98146945e-02, 8.70858306e-01,
  5.85479020e-03, 1.63944487e-02,-9.29397152e-03, 2.59914207e-02,
  1.34754852e+00,-1.68956299e-04, 1.10144026e+00, 6.32379666e-02,
  1.15364386e-02,-3.63992954e-02, 7.33162498e-02, 6.77793306e-01,
 -1.85118879e-01,-6.81325347e-01,-2.05238900e-01]

qacc:
[-3.91237262e+00,-1.28346437e+00, 2.30563734e+00, 1.79008873e+00,
 -2.63041186e-02,-3.78717920e+00, 1.26959635e+01,-1.81652121e+01,
 -4.18602066e+00,-3.63919600e+00, 1.14201916e+01,-1.34649279e+01,
  2.17975477e-02,-1.38457014e-01, 1.84249600e+00,-5.91013872e+00,
 -5.81452091e-01,-1.29962921e+00,-1.09658226e-01, 1.40317639e+00,
  1.41656115e+01,-1.31977165e+02]

qfrc_actuator:
[-5.91031886e-05, 5.36680047e-05, 1.19868559e-04, 6.26531455e-05,
 -5.77057793e-05, 2.55842380e-02, 8.63391489e-03, 2.43621707e-03,
 -2.36464336e-06, 3.62164173e-04, 1.53298595e-04, 1.14193973e-04,
  8.70744016e-04,-1.63422867e-03, 0.00000000e+00,-1.89984200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.8543704 ,  5.25398736, -6.8543704 , 27.1846842 ,
       24.19820428,  5.25398736, 24.19820428, 40.20542608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002022434441848922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.23430665e-14,  2.74476888e-14,  1.00000000e+00, -2.26012687e-27,
        1.00000000e+00, -2.74476888e-14, -1.00000000e+00,  0.00000000e+00,
        8.23430665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00298621, -0.00816065,  0.06175607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30954814e-05,-7.38635432e-05, 1.42784671e-06, 9.02500128e-06,
 -4.46651305e-06,-7.14621131e-05, 2.09766853e-05,-3.26601900e-05,
 -2.49854301e-05,-1.08258274e-04, 1.73035303e-05,-8.74584522e-06,
 -1.15800589e-05,-1.30425812e-05, 1.66794462e-05,-2.37959927e-05,
  3.02562661e-05, 2.53031433e-04,-1.21645857e+00, 6.25567694e-04,
 -2.46808684e-02,-1.38135045e-04]


--- Step 1760 ---
qpos:
[ 3.28606264e-03,-3.17162592e-03, 1.19402841e-02, 4.17297618e-02,
  6.12501284e-03, 7.64844294e-01,-2.98140244e-02, 8.70861911e-01,
  5.85516348e-03, 1.63931763e-02,-9.29122727e-03, 2.59929729e-02,
  1.34764171e+00,-1.69652449e-04, 1.10163371e+00, 6.32398038e-02,
  1.15341376e-02,-3.64180067e-02, 7.33303531e-02, 6.77933241e-01,
 -1.84745469e-01,-6.81150337e-01,-2.05693587e-01]

qacc:
[-2.23104132e+00,-1.19897254e+00, 4.46354643e+00,-8.32513362e+00,
  1.30214393e-01, 5.62035521e-01,-1.44882909e+00,-2.90260324e+00,
 -2.77285386e+00,-2.51256844e+00, 8.28496704e+00,-1.08289400e+01,
  2.70855361e-01,-6.26277394e-01, 1.31578563e-01,-5.06871433e-01,
  1.29415394e+00, 5.86717134e-02,-3.11898595e+00,-7.36552863e+00,
  7.07788424e+01, 1.04583741e+02]

qfrc_actuator:
[-7.15693938e-05, 4.00886956e-05, 1.24511307e-04, 5.08575190e-05,
 -3.44489237e-05, 2.55693576e-02, 8.60196983e-03, 2.41680868e-03,
 -1.81566388e-05, 3.52643768e-04, 1.86688839e-04, 1.09488383e-04,
  8.64460835e-04,-1.65837235e-03, 0.00000000e+00,-1.90208621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001966514326740762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82281957e-14,  2.82281957e-14,  1.00000000e+00,  7.96831032e-28,
        1.00000000e+00, -2.82281957e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82281957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05281894, -0.01470641,  0.06176252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31528884e-05,-5.42366445e-05,-1.01345251e-05,-1.47350209e-05,
  2.12420779e-05,-5.13922996e-05,-4.46167663e-05,-2.18022277e-05,
 -1.65456712e-05,-6.68729464e-05, 1.28359483e-05,-8.92254324e-06,
 -1.58309470e-05,-3.00606338e-05, 1.74790633e-07,-2.56353262e-06,
  1.03979278e-04, 4.23134768e-04,-1.21643612e+00, 6.21913886e-04,
 -2.46861363e-02,-1.40229477e-04]


--- Step 1761 ---
qpos:
[ 3.28486261e-03,-3.17148171e-03, 1.19407599e-02, 4.17288123e-02,
  6.12439443e-03, 7.64844364e-01,-2.98143748e-02, 8.70865213e-01,
  5.85568893e-03, 1.63918251e-02,-9.28945268e-03, 2.59944871e-02,
  1.34773467e+00,-1.70324683e-04, 1.10182721e+00, 6.32409238e-02,
  1.15366441e-02,-3.64364251e-02, 7.33302388e-02, 6.78201144e-01,
 -1.84487767e-01,-6.80845768e-01,-2.06049782e-01]

qacc:
[ 1.81918108e+00,-2.05350160e+00, 9.11684600e+00,-1.84130408e+01,
  1.44422548e-01, 2.80463401e+00,-7.82660301e+00, 3.09127679e+00,
  1.29834317e+00, 2.52534404e+00,-8.99954607e+00, 9.95567190e+00,
 -2.36945517e-01, 2.68735134e-01, 2.25325438e+00,-7.73978805e+00,
  1.20186107e+00, 7.32220845e-02,-3.55439321e+00,-7.18119593e+00,
  6.65007311e+01, 9.79207893e+01]

qfrc_actuator:
[-6.05809477e-05, 4.98049292e-05, 1.44923801e-04, 2.63390310e-05,
 -2.02835920e-05, 2.56317474e-02, 8.56512635e-03, 2.40394132e-03,
 -9.83594016e-06, 3.47821376e-04, 1.34310239e-04, 1.06120099e-04,
  8.52010502e-04,-1.65460265e-03, 0.00000000e+00,-1.93964360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.57387623,  1.03702619,  8.57387623,  8.87690414,
       -1.98872944,  1.03702619, -1.98872944, 25.078687  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019159199179479627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79472563e-14, -5.79472563e-14,  1.00000000e+00,  3.35788451e-27,
        1.00000000e+00,  5.79472563e-14, -1.00000000e+00,  0.00000000e+00,
        5.79472563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05297528, -0.01466688,  0.06176834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05946081e-05,-2.33522653e-05, 7.44762007e-06,-2.74787982e-05,
  2.36918979e-05, 2.44217500e-05,-5.27785718e-05,-1.63488225e-05,
  7.82204415e-06,-3.99431553e-05,-6.49394712e-05,-5.96957103e-06,
 -2.85135036e-05,-7.35224144e-06,-4.01551406e-06,-3.85774982e-05,
 -5.12637474e-05, 5.92065502e-04,-1.21644965e+00, 6.33509497e-04,
 -2.46823973e-02,-1.42282966e-04]


--- Step 1762 ---
qpos:
[ 3.28449337e-03,-3.17158547e-03, 1.19414591e-02, 4.17279271e-02,
  6.12418361e-03, 7.64844717e-01,-2.98152256e-02, 8.70868666e-01,
  5.85596494e-03, 1.63904292e-02,-9.28865645e-03, 2.59956005e-02,
  1.34782744e+00,-1.71190122e-04, 1.10202057e+00, 6.32422447e-02,
  1.15365139e-02,-3.64596213e-02, 7.33305421e-02, 6.78433055e-01,
 -1.84033934e-01,-6.80571984e-01,-2.06595924e-01]

qacc:
[ 7.30319570e+00,-8.33786760e-01, 2.20090113e+00,-1.23473926e+00,
  2.26467167e-01, 1.98412700e+00,-6.40918333e+00, 7.36314021e+00,
 -2.20581663e+00, 1.85420683e+00,-4.99671468e+00,-3.53735856e-01,
  1.12635413e-02,-2.11395610e-01,-8.15281024e-01, 2.54402688e+00,
 -6.59163683e-01,-1.19443407e+00, 1.04371247e-01, 1.69740963e+00,
  1.50358441e+01,-1.37726072e+02]

qfrc_actuator:
[-1.81262057e-05, 3.79522568e-05, 1.56833320e-04, 3.00748093e-05,
  6.05894727e-06, 2.56511387e-02, 8.54377272e-03, 2.41283474e-03,
 -2.28976420e-05, 3.45515696e-04, 8.50024096e-05, 8.57635170e-05,
  8.35879733e-04,-1.66983891e-03, 0.00000000e+00,-1.92669047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.5581868 ,   1.15940309,   8.5581868 ,
        10.16063279, -11.25146231,   1.15940309, -11.25146231,
        91.68954631,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018623308179407522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.96147051e-14,  2.98073525e-14,  1.00000000e+00, -1.77695653e-27,
        1.00000000e+00, -2.98073525e-14, -1.00000000e+00,  0.00000000e+00,
        5.96147051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00295865, -0.00798513,  0.06177436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27484626e-05,-2.45511761e-05, 7.04814144e-06, 2.45879842e-06,
  3.69796669e-05, 2.19948713e-05,-2.31056842e-05, 7.71296568e-06,
 -1.28507298e-05,-3.82829205e-05,-6.57719709e-05,-2.44360102e-05,
 -3.38717367e-05,-2.35869721e-05,-1.02146660e-05, 9.34232070e-06,
 -3.49149553e-04, 6.85696978e-04,-1.21643442e+00, 6.65204602e-04,
 -2.46754213e-02,-1.43925381e-04]


--- Step 1763 ---
qpos:
[ 3.28463612e-03,-3.17210956e-03, 1.19421169e-02, 4.17271344e-02,
  6.12432819e-03, 7.64845509e-01,-2.98170985e-02, 8.70874284e-01,
  5.85608239e-03, 1.63886841e-02,-9.28812146e-03, 2.59964506e-02,
  1.34792020e+00,-1.72772932e-04, 1.10221413e+00, 6.32413427e-02,
  1.15315406e-02,-3.64802833e-02, 7.33340929e-02, 6.78483163e-01,
 -1.83528857e-01,-6.80478553e-01,-2.07187584e-01]

qacc:
[   4.49961263,  -0.25826377,  -0.29035824,   2.28176589,   0.19646782,
    7.09727933, -27.53869724,  50.35070736,  -1.38528106,  -0.27054663,
    1.41147598,  -5.29855501,   0.36924017,  -0.99314911,   6.95301268,
  -24.00900548,  -1.21075805,   0.63351778,   0.81191048,   3.79465112,
 -113.56200159, -68.25326348]

qfrc_actuator:
[ 6.99585673e-06,-4.47433045e-06, 1.45812727e-04, 3.26316955e-05,
  2.17042339e-05, 2.56802157e-02, 8.49609575e-03, 2.52321513e-03,
 -3.06953916e-05, 3.26964878e-04, 7.34388663e-05, 7.33447492e-05,
  8.28197745e-04,-1.71402383e-03, 0.00000000e+00,-2.04383597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019128634146690707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05947001, -0.05534824,  0.06176926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63305587e-05,-5.45808364e-05,-1.51448801e-05, 1.79591859e-06,
  3.22448197e-05, 3.69564599e-05,-4.57641168e-05, 1.10562349e-04,
 -8.17917380e-06,-5.45570205e-05,-2.84127994e-05,-1.68112511e-05,
 -3.21663740e-05,-5.79090017e-05,-7.12134796e-06,-1.18742652e-04,
 -2.02017813e-04, 1.05810148e-03,-1.21642993e+00, 6.10266925e-04,
 -2.46843609e-02,-1.45504748e-04]


--- Step 1764 ---
qpos:
[ 3.28473433e-03,-3.17305135e-03, 1.19426801e-02, 4.17260373e-02,
  6.12453697e-03, 7.64846761e-01,-2.98190782e-02, 8.70882508e-01,
  5.85645023e-03, 1.63863791e-02,-9.28740266e-03, 2.59974866e-02,
  1.34801262e+00,-1.74321536e-04, 1.10240763e+00, 6.32390365e-02,
  1.15101820e-02,-3.64895948e-02, 7.33381391e-02, 6.78375435e-01,
 -1.82956940e-01,-6.80547761e-01,-2.07817882e-01]

qacc:
[-3.86807127e-01,-9.14264562e-01, 3.74423857e+00,-8.55413739e+00,
  3.49720809e-02, 5.41713381e+00,-2.29860785e+01, 5.15448392e+01,
  2.19936290e+00,-8.75516841e-01, 1.25581546e+00, 2.08703389e+00,
 -3.79251893e-01, 4.29921597e-01, 4.18569363e+00,-1.46971254e+01,
 -4.09633730e+00, 2.83765581e+00, 1.23823787e-01, 1.18936320e+01,
 -9.84058238e+01,-6.71251802e+01]

qfrc_actuator:
[ 3.95217546e-06,-2.94684400e-05, 1.38962046e-04, 1.66747785e-05,
  1.30677147e-05, 2.57325867e-02, 8.50435737e-03, 2.65690786e-03,
 -1.75732595e-05, 2.98989255e-04, 8.41961260e-05, 8.34640322e-05,
  8.14923899e-04,-1.70396598e-03, 0.00000000e+00,-2.11242865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.09888493,  6.97052002,  5.09888493, 10.67182482,
       -1.48892512,  6.97052002, -1.48892512,  9.72550158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002469616226407907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44065313,  0.44065313,  0.78208033,  0.21630841,  0.89767746,
       -0.38390865, -0.87122643,  0.        , -0.49088136])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05940063, -0.05532788,  0.0617675 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31104249e-06,-5.85452762e-05,-1.99288010e-05,-1.87836619e-05,
  5.83909776e-06, 6.73544219e-05, 1.36175085e-05, 1.36006874e-04,
  1.28656844e-05,-6.50211839e-05,-4.58086670e-06, 6.47216450e-06,
 -4.52197188e-05,-1.17636751e-05,-2.05143863e-05,-7.70676299e-05,
  8.92800772e-05, 6.04837223e-04,-1.21645421e+00, 6.95225982e-04,
 -2.46852722e-02,-1.46962221e-04]


--- Step 1765 ---
qpos:
[ 3.28479543e-03,-3.17413057e-03, 1.19427406e-02, 4.17247499e-02,
  6.12471613e-03, 7.64848200e-01,-2.98200781e-02, 8.70888438e-01,
  5.85697196e-03, 1.63838958e-02,-9.28642702e-03, 2.59982355e-02,
  1.34810448e+00,-1.75222321e-04, 1.10260030e+00, 6.32415866e-02,
  1.14752752e-02,-3.64898904e-02, 7.33394277e-02, 6.78120884e-01,
 -1.82327144e-01,-6.80766650e-01,-2.08484164e-01]

qacc:
[-3.39402716e-01, 8.32083923e-01,-2.42620322e+00, 3.74136481e-02,
 -1.52953922e-02,-6.38501017e+00, 2.65035599e+01,-5.14104493e+01,
  1.35311156e+00,-1.54709325e+00, 6.38165738e+00,-1.16239099e+01,
 -5.54645910e-01, 1.00901638e+00,-1.58392891e+01, 5.37434809e+01,
 -3.38707508e+00, 2.25395793e+00,-6.89397617e-01, 9.50944953e+00,
 -9.14242180e+01,-6.08485656e+01]

qfrc_actuator:
[ 2.11339585e-06,-2.60849376e-05, 1.16930512e-04, 7.72211455e-06,
  7.76375908e-06, 2.57277274e-02, 8.54567544e-03, 2.53699039e-03,
 -9.99735435e-06, 3.18967102e-04, 1.08005301e-04, 7.12570887e-05,
  7.98325554e-04,-1.66182708e-03, 0.00000000e+00,-1.85002461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.30379321, -5.90330145, -6.30379321,  5.48080337,
        3.36963978, -5.90330145,  3.36963978,  5.03812076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002454105490172141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39329084e-01,  4.39329084e-01,  7.83568703e-01,  2.14855188e-01,
        8.98326197e-01, -3.83206592e-01, -8.72254094e-01, -2.77555756e-17,
       -4.89052958e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05942328, -0.05534073,  0.06176852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92083343e-06,-3.42471978e-05,-3.72220021e-05,-1.25123558e-05,
 -2.67562244e-06, 3.94805554e-05, 6.02737182e-05,-1.14265125e-04,
  7.91554819e-06,-1.69728833e-05, 1.00539571e-05,-1.50251563e-05,
 -4.47995583e-05, 2.88745928e-05,-2.15734403e-05, 2.54664801e-04,
  9.97028364e-05, 2.17376284e-04,-1.21641911e+00, 8.05989542e-04,
 -2.46769859e-02,-1.48728005e-04]


--- Step 1766 ---
qpos:
[ 3.28517883e-03,-3.17517718e-03, 1.19423846e-02, 4.17236824e-02,
  6.12484639e-03, 7.64849796e-01,-2.98210299e-02, 8.70891905e-01,
  5.85723558e-03, 1.63811008e-02,-9.28459081e-03, 2.59991519e-02,
  1.34819600e+00,-1.75668374e-04, 1.10279283e+00, 6.32468677e-02,
  1.14407530e-02,-3.64920993e-02, 7.33343408e-02, 6.77720440e-01,
 -1.81667340e-01,-6.81126085e-01,-2.09187089e-01]

qacc:
[ 2.81538802e+00, 1.65535391e+00,-6.77586053e+00, 1.12307888e+01,
 -2.67941591e-02,-4.19910151e+00, 1.96502980e+01,-4.72514946e+01,
 -2.21906592e+00,-2.46776536e+00, 7.50131587e+00,-5.75536973e+00,
 -4.24559064e-01, 7.71088548e-01,-8.40950880e+00, 2.92140191e+01,
  9.61838342e-02,-4.78312490e-01,-1.59387594e+00,-9.47617367e-01,
 -9.08446159e+01,-5.06592866e+01]

qfrc_actuator:
[ 1.87605965e-05,-5.78806414e-06, 1.03988931e-04, 2.07322633e-05,
  4.52749912e-06, 2.57063711e-02, 8.53477318e-03, 2.41078705e-03,
 -2.35054682e-05, 3.14301521e-04, 1.57251712e-04, 8.15582317e-05,
  7.90414909e-04,-1.63657212e-03, 0.00000000e+00,-1.71426864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.20875734, -6.00317492, -6.20875734,  7.7633053 ,
        0.90295675, -6.00317492,  0.90295675,  7.70248457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018926244332264364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93302518e-14, -4.39953777e-14,  1.00000000e+00,  1.29039551e-27,
        1.00000000e+00,  4.39953777e-14, -1.00000000e+00,  0.00000000e+00,
        2.93302518e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05951864, -0.05537985,  0.06177173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65861652e-05,-7.03813401e-06,-2.50182226e-05, 1.00167970e-05,
 -4.43046911e-06, 8.72953530e-06, 3.83761380e-07,-1.25721758e-04,
 -1.32936486e-05,-1.26427765e-05, 4.64750744e-05, 9.63071121e-06,
 -2.54947486e-05, 2.19360582e-05, 1.63278867e-05, 1.46712673e-04,
 -1.04734021e-04,-1.48230592e-04,-1.21636922e+00, 9.43000063e-04,
 -2.46679188e-02,-1.51293649e-04]


--- Step 1767 ---
qpos:
[ 3.28575867e-03,-3.17607948e-03, 1.19420306e-02, 4.17230799e-02,
  6.12493311e-03, 7.64851490e-01,-2.98226690e-02, 8.70894224e-01,
  5.85699017e-03, 1.63781975e-02,-9.28219661e-03, 2.59998335e-02,
  1.34828730e+00,-1.75816301e-04, 1.10298548e+00, 6.32530751e-02,
  1.14165717e-02,-3.64961364e-02, 7.33281931e-02, 6.77513744e-01,
 -1.81179701e-01,-6.81293608e-01,-2.09733311e-01]

qacc:
[ 1.72194042e+00, 1.14052634e+00,-5.75758323e+00, 1.37023242e+01,
 -2.46697095e-02,-4.47625540e-03, 2.77758888e+00,-1.62992471e+01,
 -4.42069709e+00,-2.17737380e+00, 8.56198837e+00,-1.34534558e+01,
 -3.42215201e-01, 5.94937863e-01,-2.59315619e+00, 9.39443881e+00,
  2.58522130e+00,-4.57050212e-01,-2.65193618e-01,-7.44660765e+00,
  9.87737910e+01, 1.49430726e+02]

qfrc_actuator:
[ 2.84021674e-05, 2.45417712e-05, 1.14368966e-04, 4.65861395e-05,
  2.56298116e-06, 2.56928249e-02, 8.49307845e-03, 2.35290888e-03,
 -4.93135428e-05, 3.12807129e-04, 1.85548733e-04, 6.95191991e-05,
  7.82392566e-04,-1.62151357e-03, 0.00000000e+00,-1.67207127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019044226175999046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18614099e-14, -2.91485465e-14,  1.00000000e+00,  6.37228322e-28,
        1.00000000e+00,  2.91485465e-14, -1.00000000e+00,  0.00000000e+00,
        2.18614099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05307357, -0.01458505,  0.06177026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01160405e-05, 2.17045815e-05, 6.20915863e-06, 2.48864212e-05,
 -3.94990240e-06,-1.26846353e-05,-4.37189456e-05,-6.04432118e-05,
 -2.62025975e-05, 1.52235750e-06, 3.17530733e-05,-1.07846163e-05,
 -1.64826742e-05, 1.44508846e-05, 1.94717649e-05, 5.14592252e-05,
 -5.02103439e-04,-5.04120128e-04,-1.21636040e+00, 1.10519876e-03,
 -2.46699245e-02,-1.54203715e-04]


--- Step 1768 ---
qpos:
[ 3.28610463e-03,-3.17654242e-03, 1.19413506e-02, 4.17231213e-02,
  6.12479151e-03, 7.64853110e-01,-2.98242225e-02, 8.70896151e-01,
  5.85643670e-03, 1.63758321e-02,-9.28055396e-03, 2.60000281e-02,
  1.34837856e+00,-1.76060132e-04, 1.10317826e+00, 6.32590902e-02,
  1.14013534e-02,-3.65015054e-02, 7.33175022e-02, 6.77483092e-01,
 -1.80848549e-01,-6.81286933e-01,-2.10139422e-01]

qacc:
[-2.07015430e+00, 2.82330921e+00,-1.19320710e+01, 2.32607756e+01,
 -1.27005008e-01,-1.00917343e+00, 4.09082949e+00,-8.32545454e+00,
 -2.71983373e+00, 1.81393234e+00,-3.37034881e+00,-4.26467687e+00,
  2.45937870e-02,-1.09549703e-01, 7.81084788e-01,-2.44449925e+00,
  2.24073447e+00,-3.32970515e-01,-1.13579409e+00,-7.60198481e+00,
  8.98764020e+01, 1.35011757e+02]

qfrc_actuator:
[ 1.60846837e-05, 6.07666422e-05, 1.02984749e-04, 7.98129722e-05,
 -1.63769304e-05, 2.57017135e-02, 8.50463485e-03, 2.33569491e-03,
 -6.43948080e-05, 3.48642075e-04, 1.47976574e-04, 4.44113732e-05,
  7.79630581e-04,-1.63035077e-03, 0.00000000e+00,-1.68529691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.4587604 , 4.35358129, 7.4587604 , 8.4961619 ,
       0.24020021, 4.35358129, 0.24020021, 8.22484133, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019454792985471592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85334063e-14, -5.70668126e-14,  1.00000000e+00,  1.62831055e-27,
        1.00000000e+00,  5.70668126e-14, -1.00000000e+00,  0.00000000e+00,
        2.85334063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05296507, -0.01459652,  0.06176577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20197104e-05, 5.07504867e-05,-5.26009304e-06, 3.48594769e-05,
 -2.07131084e-05,-8.72682391e-06, 2.19845097e-06,-2.03087576e-05,
 -1.58392345e-05, 4.28488141e-05,-3.37145537e-05,-2.41531266e-05,
 -8.25513115e-06,-9.10471754e-06, 9.82295303e-06,-8.99560389e-06,
 -6.45909484e-05,-8.94396952e-05,-1.21643888e+00, 1.01903108e-03,
 -2.46702930e-02,-1.56747166e-04]


--- Step 1769 ---
qpos:
[ 3.28664574e-03,-3.17708369e-03, 1.19407367e-02, 4.17239454e-02,
  6.12442433e-03, 7.64854485e-01,-2.98252875e-02, 8.70897851e-01,
  5.85605138e-03, 1.63738478e-02,-9.27942669e-03, 2.60009602e-02,
  1.34846964e+00,-1.75883350e-04, 1.10337127e+00, 6.32632357e-02,
  1.13939829e-02,-3.65078079e-02, 7.32992989e-02, 6.77613604e-01,
 -1.80660692e-01,-6.81120673e-01,-2.10418977e-01]

qacc:
[  1.71664915,  1.32149324, -8.16941209, 21.67047673, -0.12508107,
  -2.03816883,  6.82154725, -8.68402952,  1.44438303,  3.45952198,
 -14.72307999, 28.03567894, -0.57624383,  1.01796147,  6.02688912,
 -20.48409584,  1.96196318, -0.23339741, -1.87809345, -7.62440926,
  82.45795555,123.04623563]

qfrc_actuator:
[ 2.64487663e-05, 2.91652259e-05, 9.66218525e-05, 1.17098903e-04,
 -2.75472431e-05, 2.56886899e-02, 8.52989140e-03, 2.32483134e-03,
 -5.52847199e-05, 3.70766515e-04, 1.25227155e-04, 8.28189903e-05,
  7.80015676e-04,-1.59999275e-03, 0.00000000e+00,-1.78428605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.43026471,  4.40203853,  7.43026471,  8.68681415,
       -0.08515615,  4.40203853, -0.08515615,  8.78009993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019554314405100873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83881859e-14, -2.83881859e-14,  1.00000000e+00,  8.05889098e-28,
        1.00000000e+00,  2.83881859e-14, -1.00000000e+00,  0.00000000e+00,
        2.83881859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05294377, -0.01459028,  0.06176463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00403344e-05,-2.79564307e-06, 4.69159492e-06, 3.99593132e-05,
 -2.04672211e-05,-1.81069523e-05, 2.31766106e-05,-1.15372256e-05,
  8.66762292e-06, 3.81452143e-05,-1.88786935e-05, 3.86089839e-05,
 -6.46138350e-06, 2.62410931e-05,-8.85326384e-07,-9.92761660e-05,
  4.81524810e-05, 1.59960016e-04,-1.21646747e+00, 9.86079989e-04,
 -2.46664511e-02,-1.58717892e-04]


--- Step 1770 ---
qpos:
[ 3.28765170e-03,-3.17764860e-03, 1.19400554e-02, 4.17255582e-02,
  6.12408086e-03, 7.64855652e-01,-2.98262350e-02, 8.70897697e-01,
  5.85646765e-03, 1.63723184e-02,-9.27864646e-03, 2.60023235e-02,
  1.34856048e+00,-1.75069819e-04, 1.10356450e+00, 6.32641537e-02,
  1.13935533e-02,-3.65147243e-02, 7.32710545e-02, 6.77892746e-01,
 -1.80605006e-01,-6.80806896e-01,-2.10583065e-01]

qacc:
[ 4.07881145e+00, 1.77500886e+00,-9.71423096e+00, 2.34991266e+01,
  1.37564029e-02,-3.80703040e+00, 1.63877235e+01,-3.67643838e+01,
  6.97351076e+00, 2.44533151e+00,-9.69076769e+00, 1.73990067e+01,
 -8.66556904e-01, 1.54358744e+00, 1.01443750e+01,-3.48406958e+01,
  1.73522204e+00,-1.53439287e-01,-2.51029337e+00,-7.55085894e+00,
  7.62616904e+01, 1.13095360e+02]

qfrc_actuator:
[ 5.00863195e-05, 2.82205146e-05, 9.30099505e-05, 1.56423769e-04,
 -1.62145806e-05, 2.56627204e-02, 8.52742558e-03, 2.22900712e-03,
 -1.42601529e-05, 4.02358865e-04, 1.11435812e-04, 1.05048207e-04,
  7.71651683e-04,-1.56434839e-03, 0.00000000e+00,-1.95073183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.37677382,  4.49110063,  7.37677382,  8.92688475,
       -0.47719005,  4.49110063, -0.47719005,  9.42016328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019402571067632796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86102038e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.86102038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05299158, -0.01456993,  0.06176616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39228963e-05, 1.99431051e-07,-2.21806555e-06, 4.01455416e-05,
  2.14436296e-06,-3.18295583e-05,-3.71741898e-06,-9.59666658e-05,
  4.12805192e-05, 5.07366814e-05,-6.89412139e-06, 2.39614698e-05,
 -6.18833757e-06, 4.10323871e-05,-1.59537232e-05,-1.73149097e-04,
 -8.68311326e-05, 2.83648849e-04,-1.21645622e+00, 9.91656637e-04,
 -2.46587829e-02,-1.60171872e-04]


--- Step 1771 ---
qpos:
[ 3.28893316e-03,-3.17813797e-03, 1.19395795e-02, 4.17275978e-02,
  6.12402018e-03, 7.64856320e-01,-2.98273636e-02, 8.70896441e-01,
  5.85702779e-03, 1.63709755e-02,-9.27817558e-03, 2.60032841e-02,
  1.34865147e+00,-1.74625076e-04, 1.10375791e+00, 6.32607059e-02,
  1.13926844e-02,-3.65144430e-02, 7.32491097e-02, 6.78073969e-01,
 -1.80744355e-01,-6.80610786e-01,-2.10513962e-01]

qacc:
[ 2.42337386e+00, 4.00424631e-01,-3.09136764e+00, 1.01004131e+01,
  1.57802395e-01,-2.07818901e+00, 8.52731291e+00,-2.05062065e+01,
  1.24170218e+00, 2.79582798e-01, 1.05717351e+00,-7.66594700e+00,
  1.05055071e-01,-3.37131553e-01, 1.34290957e+01,-4.66318060e+01,
 -1.09837354e-01, 1.79940344e+00, 1.57491250e+00, 1.68192557e+01,
 -1.14808907e+02, 1.24494821e+02]

qfrc_actuator:
[ 6.35875496e-05, 4.56464664e-05, 1.08908469e-04, 1.78900370e-04,
  8.46081449e-06, 2.56112912e-02, 8.50850187e-03, 2.17268610e-03,
 -8.04551958e-06, 3.86147796e-04, 8.53045189e-05, 8.20764146e-05,
  7.68701701e-04,-1.59692713e-03, 0.00000000e+00,-2.17329847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00200032073227574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.77511253e-14,  2.77511253e-14,  1.00000000e+00, -7.70124954e-28,
        1.00000000e+00, -2.77511253e-14, -1.00000000e+00,  0.00000000e+00,
        2.77511253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04050027, -0.07431814,  0.06175964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41833136e-05, 1.88289601e-05, 1.70646618e-05, 2.31878761e-05,
  2.56344786e-05,-7.28889728e-05,-2.85219289e-05,-5.96301572e-05,
  7.41106496e-06, 1.18229015e-05,-1.56665144e-05,-2.05727326e-05,
  2.52626867e-06,-2.32228348e-05,-3.07660031e-05,-2.35232238e-04,
 -4.14051795e-04, 3.10192905e-04,-1.21641217e+00, 1.02532226e-03,
 -2.46476906e-02,-1.61147382e-04]


--- Step 1772 ---
qpos:
[ 3.29071172e-03,-3.17869581e-03, 1.19396723e-02, 4.17295385e-02,
  6.12424817e-03, 7.64856161e-01,-2.98292683e-02, 8.70897347e-01,
  5.85731353e-03, 1.63698076e-02,-9.27801852e-03, 2.60039646e-02,
  1.34874263e+00,-1.74790502e-04, 1.10395106e+00, 6.32552489e-02,
  1.13911626e-02,-3.65076957e-02, 7.32292613e-02, 6.78166615e-01,
 -1.81061772e-01,-6.80520745e-01,-2.10233662e-01]

qacc:
[   4.38219004,  -1.89303641,   7.02026211,  -9.57437449,   0.16008628,
    4.76411268, -21.90507744,  46.13120276,  -2.40637729,   0.53629613,
   -0.38600285,  -4.09781619,   0.4661296 ,  -0.99302245,   5.63577648,
  -20.38146173,  -0.16321358,   1.61647844,   0.5241002 ,  14.65963895,
 -103.93267078, 113.29129448]

qfrc_actuator:
[ 8.87630457e-05, 3.84998330e-05, 1.36267311e-04, 1.73561779e-04,
  2.31206541e-05, 2.55449610e-02, 8.46220261e-03, 2.28207789e-03,
 -2.23797433e-05, 3.94599005e-04, 6.96229918e-05, 6.81507470e-05,
  7.68973569e-04,-1.63418363e-03, 0.00000000e+00,-2.26733451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.94055907,  8.120338  , -2.94055907, 10.49169194,
        0.67185657,  8.120338  ,  0.67185657,  8.87965818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002037397089200907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04038106, -0.07420901,  0.06175554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55860501e-05, 7.92019907e-06, 3.41570978e-05,-3.49340342e-06,
  2.61549671e-05,-1.14256601e-04,-6.57548414e-05, 1.04848486e-04,
 -1.41197691e-05, 1.09902167e-05,-1.58725138e-05,-1.43618595e-05,
 -5.06176054e-06,-4.18645462e-05,-4.34761377e-05,-1.11844125e-04,
 -1.68346039e-04,-3.19669430e-05,-1.21639959e+00, 1.04828869e-03,
 -2.46383421e-02,-1.59115823e-04]


--- Step 1773 ---
qpos:
[ 3.29174351e-03,-3.17912986e-03, 1.19394954e-02, 4.17314339e-02,
  6.12450410e-03, 7.64854957e-01,-2.98313189e-02, 8.70899198e-01,
  5.85777028e-03, 1.63686406e-02,-9.27831559e-03, 2.60051959e-02,
  1.34883367e+00,-1.75083147e-04, 1.10414372e+00, 6.32506501e-02,
  1.13855221e-02,-3.64995879e-02, 7.32119464e-02, 6.78080877e-01,
 -1.81331974e-01,-6.80606832e-01,-2.09998525e-01]

qacc:
[-6.56516876e+00, 8.37199385e-01,-2.53435830e+00, 2.06741110e+00,
  1.57194461e-02, 6.61269427e-01,-6.00516604e+00, 1.74254616e+01,
  1.47777720e+00, 2.40158254e+00,-1.08917115e+01, 2.11552385e+01,
  7.82101362e-02,-2.35706603e-01,-3.33566418e+00, 1.05780467e+01,
 -1.02968680e+00, 3.40160012e-01, 6.33367221e-01, 3.00711912e+00,
 -1.11368001e+02,-6.60751389e+01]

qfrc_actuator:
[ 4.96007524e-05, 3.44760691e-05, 1.16798995e-04, 1.69641696e-04,
  1.38995196e-05, 2.54879698e-02, 8.45340317e-03, 2.32830066e-03,
 -1.31772988e-05, 3.82279367e-04, 4.25869158e-05, 9.51964726e-05,
  7.60519972e-04,-1.63835263e-03, 0.00000000e+00,-2.21385207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020550264234637933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05875415, -0.05507755,  0.0617534 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84306730e-05, 7.32894300e-06,-1.37479151e-05,-2.47158236e-06,
  2.49980015e-06,-1.29902294e-04,-3.57389146e-05, 4.29723680e-05,
  8.79939627e-06,-1.00330811e-05,-2.72066988e-05, 2.66893738e-05,
 -2.22250358e-05,-1.53357615e-05,-3.42531438e-05, 4.12345473e-05,
 -8.94063986e-06,-8.16929799e-06,-1.21638121e+00, 1.00398498e-03,
 -2.46390522e-02,-1.57115793e-04]


--- Step 1774 ---
qpos:
[ 3.29160835e-03,-3.17952257e-03, 1.19391203e-02, 4.17332738e-02,
  6.12471035e-03, 7.64852323e-01,-2.98326345e-02, 8.70899850e-01,
  5.85833336e-03, 1.63677237e-02,-9.27904330e-03, 2.60063626e-02,
  1.34892446e+00,-1.75160698e-04, 1.10433623e+00, 6.32459957e-02,
  1.13649038e-02,-3.64816523e-02, 7.31943724e-02, 6.77840095e-01,
 -1.81540303e-01,-6.80851767e-01,-2.09801803e-01]

qacc:
[-1.02492371e+01, 5.14628674e-01,-1.48653139e+00, 7.74621886e-01,
 -2.61749238e-02,-5.94422174e+00, 1.99533833e+01,-3.12778711e+01,
  9.09706488e-01, 1.39938495e+00,-4.24030395e+00, 3.62981150e+00,
 -3.50401760e-01, 5.41110609e-01,-5.89200654e-03,-2.06484268e-01,
 -3.74443753e+00, 2.45692818e+00,-6.47933657e-02, 1.05268222e+01,
 -9.66381739e+01,-6.47614456e+01]

qfrc_actuator:
[-9.36652975e-06, 3.21611554e-05, 1.05350569e-04, 1.66558636e-04,
  8.24770139e-06, 2.54016255e-02, 8.48453651e-03, 2.26596420e-03,
 -7.94114050e-06, 4.10859027e-04, 2.67565720e-05, 9.28482488e-05,
  7.52177025e-04,-1.62290800e-03, 0.00000000e+00,-2.21594318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.30647647,  6.8138157 ,  5.30647647, 10.13907241,
       -1.17028242,  6.8138157 , -1.17028242,  9.54775843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025050023657420123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40505409,  0.40505409,  0.81967211,  0.1794489 ,  0.91429272,
       -0.36313484, -0.8965095 ,  0.        , -0.44302452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05874051, -0.05507728,  0.0617532 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00575559e-05,-1.16524431e-06,-1.17100281e-05,-3.29442280e-06,
 -4.54898108e-06,-1.63958137e-04, 2.71012630e-06,-6.65882257e-05,
  5.48110160e-06, 1.85404285e-05,-2.03159300e-05,-3.19990129e-06,
 -2.47207509e-05, 6.65838845e-06,-1.30684969e-05,-4.62408789e-06,
 -1.25637494e-05, 2.02869216e-04,-1.21639473e+00, 9.50606848e-04,
 -2.46435359e-02,-1.55720508e-04]


--- Step 1775 ---
qpos:
[ 3.29145697e-03,-3.17983425e-03, 1.19388565e-02, 4.17350356e-02,
  6.12485607e-03, 7.64849190e-01,-2.98342481e-02, 8.70900409e-01,
  5.85860957e-03, 1.63674584e-02,-9.27989833e-03, 2.60070731e-02,
  1.34901499e+00,-1.75038284e-04, 1.10452868e+00, 6.32409919e-02,
  1.13318949e-02,-3.64559120e-02, 7.31733149e-02, 6.77455273e-01,
 -1.81695060e-01,-6.81242972e-01,-2.09640814e-01]

qacc:
[-1.40262238e-01,-3.65236142e-01, 1.78735247e+00,-3.37665998e+00,
 -3.37350720e-02,-1.31142563e-02,-5.52609335e-01,-2.73501387e-01,
 -2.51754780e+00, 2.82630426e-01, 2.17681152e+00,-1.03590236e+01,
 -3.65175060e-01, 5.49928965e-01, 9.89047144e-01,-3.52986374e+00,
 -3.09764682e+00, 1.95119650e+00,-8.70836837e-01, 8.26112679e+00,
 -8.97458134e+01,-5.87351371e+01]

qfrc_actuator:
[-8.48740733e-06, 4.86571145e-05, 1.16503204e-04, 1.64006185e-04,
  4.80392516e-06, 2.54227412e-02, 8.48554920e-03, 2.26452566e-03,
 -2.28411090e-05, 4.81481418e-04, 3.55604730e-05, 7.32587349e-05,
  7.38590820e-04,-1.61373926e-03, 0.00000000e+00,-2.23305540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.33934625, -5.8651058 , -6.33934625,  5.58152918,
        3.30184211, -5.8651058 ,  3.30184211,  5.06754133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002473885857052593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40587824,  0.40587824,  0.81885634,  0.18025194,  0.91392716,
       -0.36365696, -0.8959755 ,  0.        , -0.44410349])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05881363, -0.0551093 ,  0.0617556 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.30104331e-07, 1.32784536e-05, 9.36308139e-06,-3.07156371e-06,
 -5.50832323e-06,-7.12573856e-05,-3.29941641e-05,-8.10954603e-06,
 -1.47388623e-05, 7.66994493e-05, 1.00376126e-05,-1.95592567e-05,
 -2.59480318e-05, 5.25381922e-06,-9.95219020e-06,-1.98221661e-05,
 -2.58373481e-04, 3.79483014e-04,-1.21639968e+00, 9.37297461e-04,
 -2.46492117e-02,-1.55180422e-04]


--- Step 1776 ---
qpos:
[ 3.29131659e-03,-3.17984716e-03, 1.19386379e-02, 4.17363836e-02,
  6.12514699e-03, 7.64846355e-01,-2.98356577e-02, 8.70900151e-01,
  5.85801612e-03, 1.63668321e-02,-9.28052613e-03, 2.60079944e-02,
  1.34910534e+00,-1.74817175e-04, 1.10472137e+00, 6.32331220e-02,
  1.13111914e-02,-3.64316720e-02, 7.31555969e-02, 6.77281161e-01,
 -1.82037409e-01,-6.81424858e-01,-2.09315014e-01]

qacc:
[ 9.25407020e-02,-5.83970852e-01, 4.39971916e+00,-1.18491018e+01,
  8.10884277e-02,-1.57755210e+00, 7.52677639e+00,-1.67613439e+01,
 -7.57211448e+00,-6.63423499e-01, 8.08593658e-01, 2.71520333e+00,
 -3.97478002e-01, 5.58048752e-01, 9.03339940e+00,-3.10219733e+01,
  3.07632810e+00,-3.75095739e-01, 8.34859104e-01,-1.02025828e+01,
  1.08038722e+02, 1.60827271e+02]

qfrc_actuator:
[-7.88965365e-06, 7.63833834e-05, 1.23233390e-04, 1.44064227e-04,
  2.04683199e-05, 2.55079748e-02, 8.52248623e-03, 2.22798943e-03,
 -6.72247150e-05, 3.99301611e-04, 2.35085857e-05, 7.92472313e-05,
  7.32519755e-04,-1.60840697e-03, 0.00000000e+00,-2.38313263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021027971826501138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96985585e-14, -2.63987187e-14,  1.00000000e+00,  7.84003890e-28,
        1.00000000e+00,  2.63987187e-14, -1.00000000e+00,  0.00000000e+00,
        2.96985585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0525325 , -0.01464684,  0.06174679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.79407115e-07, 3.69646322e-05, 1.05228415e-05,-1.91115534e-05,
  1.31824149e-05, 3.90688081e-05, 1.88702370e-05,-3.99914589e-05,
 -4.47804705e-05,-3.80400390e-05, 4.36341475e-06, 9.24363091e-06,
 -1.94301161e-05, 7.65139594e-07,-1.04550482e-05,-1.53288998e-04,
 -6.89575945e-04, 5.42099875e-04,-1.21638098e+00, 9.53105671e-04,
 -2.46520282e-02,-1.55195380e-04]


--- Step 1777 ---
qpos:
[ 3.29118455e-03,-3.17963066e-03, 1.19382588e-02, 4.17371600e-02,
  6.12599588e-03, 7.64843751e-01,-2.98366832e-02, 8.70900142e-01,
  5.85655066e-03, 1.63653585e-02,-9.28095930e-03, 2.60087020e-02,
  1.34919565e+00,-1.74580637e-04, 1.10491397e+00, 6.32235022e-02,
  1.13010031e-02,-3.64085032e-02, 7.31370004e-02, 6.77296513e-01,
 -1.82548844e-01,-6.81417998e-01,-2.08841722e-01]

qacc:
[ 6.38707446e-02,-4.26710205e-01, 4.37240320e+00,-1.41750292e+01,
  3.11001233e-01,-3.02446901e-01, 7.97828911e-01, 2.11908922e+00,
 -7.58562930e+00,-2.08891996e+00, 6.75110603e+00,-1.01643561e+01,
 -1.57078953e-01, 2.10303141e-01, 5.17039655e+00,-1.82422761e+01,
  2.62881708e+00,-2.67794441e-01,-2.19637019e-01,-9.51582626e+00,
  9.73489643e+01, 1.44564481e+02]

qfrc_actuator:
[-7.48144395e-06, 7.50924088e-05, 1.09579298e-04, 1.14055449e-04,
  6.51687276e-05, 2.55245638e-02, 8.54508996e-03, 2.24216725e-03,
 -1.10848332e-04, 3.14955579e-04, 1.63922261e-05, 6.45926878e-05,
  7.36285025e-04,-1.60535525e-03, 0.00000000e+00,-2.46831142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.05260904,  7.00413583,  5.05260904,  9.1076059 ,
       -0.33994242,  7.00413583, -0.33994242,  8.88158963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021606978779070835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13826128e-14, -2.56913064e-14,  1.00000000e+00,  1.32008645e-27,
        1.00000000e+00,  2.56913064e-14, -1.00000000e+00,  0.00000000e+00,
        5.13826128e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05237441, -0.01467443,  0.06174022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37988117e-07, 2.07352290e-05,-5.38431767e-06,-2.84357836e-05,
  5.06225941e-05, 4.07643142e-05, 3.13090497e-05, 1.50859053e-05,
 -4.49234359e-05,-1.04310344e-04,-1.41029626e-05,-1.59513536e-05,
 -7.41377306e-06,-9.43720165e-07,-2.60706566e-05,-9.60151258e-05,
 -1.05069584e-04, 4.87290151e-04,-1.21637764e+00, 8.78239874e-04,
 -2.46520512e-02,-1.53761246e-04]


--- Step 1778 ---
qpos:
[ 3.29105859e-03,-3.17935688e-03, 1.19375515e-02, 4.17369146e-02,
  6.12718771e-03, 7.64841524e-01,-2.98380550e-02, 8.70900674e-01,
  5.85491759e-03, 1.63635987e-02,-9.28138369e-03, 2.60088245e-02,
  1.34928594e+00,-1.74553297e-04, 1.10510603e+00, 6.32159076e-02,
  1.12998850e-02,-3.63860601e-02, 7.31139175e-02, 6.77483434e-01,
 -1.83213757e-01,-6.81239346e-01,-2.08235131e-01]

qacc:
[ 4.15793344e-02,-1.11245735e+00, 8.38595723e+00,-2.55807450e+01,
  1.90462358e-01, 2.37132659e+00,-8.41428471e+00, 1.37738099e+01,
 -1.45707508e+00,-1.60445759e+00, 7.64750148e+00,-1.75830697e+01,
  2.94699723e-01,-5.54190288e-01,-6.94523333e+00, 2.30656619e+01,
  2.26757134e+00,-1.81418417e-01,-1.12159280e+00,-8.83851677e+00,
  8.84391710e+01, 1.31028575e+02]

qfrc_actuator:
[-7.18870256e-06, 5.63409523e-05, 8.38820761e-05, 6.05773868e-05,
  7.35620036e-05, 2.55354208e-02, 8.52332662e-03, 2.26828010e-03,
 -1.18160478e-04, 3.36456346e-04, 2.99315396e-05, 3.78925065e-05,
  7.29970195e-04,-1.62138072e-03, 0.00000000e+00,-2.35474707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.91477696,  7.10153112,  4.91477696,  9.62771677,
       -0.6860886 ,  7.10153112, -0.6860886 ,  9.11118694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021809833169183085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.81785253e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.81785253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05232088, -0.01467916,  0.06173769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13406383e-07,-9.49107466e-06,-2.30611390e-05,-5.33310846e-05,
  3.11176234e-05, 4.01827216e-05,-9.63708527e-06, 2.87003390e-05,
 -8.63991977e-06,-4.03904338e-05,-1.02754105e-05,-3.19644762e-05,
 -1.14066100e-05,-1.75652757e-05,-2.55944696e-05, 1.04208963e-04,
  8.63725781e-05, 2.90930726e-04,-1.21631701e+00, 8.59014460e-04,
 -2.46452892e-02,-1.51854207e-04]


--- Step 1779 ---
qpos:
[ 3.29128197e-03,-3.17895021e-03, 1.19367394e-02, 4.17363506e-02,
  6.12858131e-03, 7.64840057e-01,-2.98398195e-02, 8.70900791e-01,
  5.85389838e-03, 1.63619809e-02,-9.28163452e-03, 2.60089033e-02,
  1.34937599e+00,-1.74389007e-04, 1.10529733e+00, 6.32143658e-02,
  1.13066657e-02,-3.63640653e-02, 7.30832672e-02, 6.77826802e-01,
 -1.84018948e-01,-6.80902891e-01,-2.07506881e-01]

qacc:
[ 3.06031981e+00,-1.94151556e-01, 2.28021952e+00,-7.71002296e+00,
  1.11798083e-01, 1.33729563e+00,-2.22673415e+00,-3.50333155e+00,
  5.35719154e+00,-3.97718225e-01, 1.85663075e+00,-2.97451587e+00,
  1.40939684e-01,-1.85698339e-01,-1.94095314e+01, 6.62427701e+01,
  1.97465629e+00,-1.12081317e-01,-1.89183016e+00,-8.17617527e+00,
  8.09931619e+01, 1.19737177e+02]

qfrc_actuator:
[ 1.07862994e-05, 8.04514626e-05, 8.66962958e-05, 4.69544062e-05,
  7.79154760e-05, 2.55958567e-02, 8.51102516e-03, 2.24790496e-03,
 -8.62887166e-05, 3.85737695e-04, 5.59722471e-05, 3.99271165e-05,
  7.17606179e-04,-1.61312879e-03, 0.00000000e+00,-2.03624888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.70786317,  7.2403592 ,  4.70786317, 10.27401547,
       -1.0648423 ,  7.2403592 , -1.0648423 ,  9.32875081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021707846241184464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83578942e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.83578942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05235066, -0.01466571,  0.0617384 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79836729e-05, 1.17546816e-05,-3.82629742e-06,-1.58641688e-05,
  1.83243094e-05, 8.17878714e-05,-4.59593579e-06,-1.87297436e-05,
  3.16057785e-05, 2.32626520e-05, 1.53498155e-05,-6.69270088e-07,
 -2.31097517e-05, 1.33079049e-06,-2.04399752e-06, 3.20600548e-04,
 -1.47196897e-05,-7.11221923e-06,-1.21621330e+00, 8.78297044e-04,
 -2.46333479e-02,-1.49472610e-04]


--- Step 1780 ---
qpos:
[ 3.29206384e-03,-3.17825506e-03, 1.19358162e-02, 4.17362980e-02,
  6.13008656e-03, 7.64840016e-01,-2.98423043e-02, 8.70899580e-01,
  5.85326875e-03, 1.63606922e-02,-9.28167513e-03, 2.60086324e-02,
  1.34946574e+00,-1.73848928e-04, 1.10548829e+00, 6.32186288e-02,
  1.13203897e-02,-3.63422966e-02, 7.30424225e-02, 6.78313816e-01,
 -1.84953223e-01,-6.80420185e-01,-2.06666502e-01]

qacc:
[ 4.89377139e+00, 1.73650978e+00,-7.81118235e+00, 1.66400525e+01,
  6.11935973e-02, 1.51528073e+00, 3.33051308e-01,-1.71788758e+01,
  3.39887865e+00,-8.78964362e-01, 5.23024402e+00,-1.18482947e+01,
 -1.33118379e-01, 3.25456389e-01,-1.79987087e+01, 6.22917719e+01,
  1.73586042e+00,-5.65172444e-02,-2.54864106e+00,-7.53135475e+00,
  7.47611378e+01, 1.10308983e+02]

qfrc_actuator:
[ 3.90249832e-05, 1.12427988e-04, 8.87724368e-05, 7.47025608e-05,
  7.98490605e-05, 2.57032600e-02, 8.48683308e-03, 2.18262465e-03,
 -6.71262817e-05, 4.15868409e-04, 7.15928608e-05, 2.33899208e-05,
  7.06958188e-04,-1.59057289e-03, 0.00000000e+00,-1.74164916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.39842753,  7.43240285,  4.39842753, 11.06973402,
       -1.44004618,  7.43240285, -1.44004618,  9.4885697 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021361130814887136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59869909e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.59869909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05244652, -0.01463786,  0.06174167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87555060e-05, 3.70814661e-05, 3.48893067e-06, 2.78118172e-05,
  1.01694843e-05, 1.51270342e-04,-9.12982189e-06,-6.32306618e-05,
  2.00705000e-05, 4.63505013e-05, 2.23126924e-05,-1.50197201e-05,
 -2.25021935e-05, 1.72219482e-05, 3.24395704e-05, 3.11688001e-04,
 -3.36369861e-04,-3.78999586e-04,-1.21607610e+00, 9.24136544e-04,
 -2.46174613e-02,-1.46616175e-04]


--- Step 1781 ---
qpos:
[ 3.29317832e-03,-3.17747018e-03, 1.19352943e-02, 4.17362222e-02,
  6.13125610e-03, 7.64840666e-01,-2.98445768e-02, 8.70897961e-01,
  5.85287398e-03, 1.63596959e-02,-9.28175421e-03, 2.60074968e-02,
  1.34955530e+00,-1.73287704e-04, 1.10567980e+00, 6.32227277e-02,
  1.13293107e-02,-3.63187380e-02, 7.30144829e-02, 6.78579469e-01,
 -1.85829313e-01,-6.80154852e-01,-2.05880421e-01]

qacc:
[   2.93031028,  -1.05690456,   4.02749831,  -5.12345418,  -0.18704986,
   -0.3749231 ,   3.27955967,  -8.32493807,   2.04189202,  -1.29023786,
    8.8052048 , -23.91738899,  -0.19912615,   0.22580555,   1.32161401,
   -3.40926841,  -1.2007759 ,   0.44746504,   3.22631452,   3.25234646,
 -137.9989712 , -81.18672345]

qfrc_actuator:
[ 5.53203468e-05, 1.13410132e-04, 1.08206789e-04, 7.33131426e-05,
  4.48348578e-05, 2.57136055e-02, 8.49149654e-03, 2.16248947e-03,
 -5.56107209e-05, 4.16512148e-04, 6.31027151e-05,-2.17194869e-05,
  6.92029358e-04,-1.59523348e-03, 0.00000000e+00,-1.76535641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021975995448803645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.5259903e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.5259903e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05795226, -0.05473538,  0.06173477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71248372e-05, 2.36234131e-05, 2.84866058e-05, 8.60383144e-07,
 -3.04274016e-05, 9.03666011e-05, 3.15643065e-05,-1.70122150e-05,
  1.21025547e-05, 3.05813085e-05, 3.32747036e-06,-4.26407478e-05,
 -2.22711413e-05,-6.05223695e-06, 4.53248684e-05,-3.15597115e-06,
 -8.26935506e-04,-8.05360823e-04,-1.21591182e+00, 9.88222996e-04,
 -2.45985737e-02,-1.43285693e-04]


--- Step 1782 ---
qpos:
[ 3.29447995e-03,-3.17698513e-03, 1.19355012e-02, 4.17361582e-02,
  6.13204065e-03, 7.64841245e-01,-2.98455696e-02, 8.70896127e-01,
  5.85262049e-03, 1.63589045e-02,-9.28167919e-03, 2.60068638e-02,
  1.34964469e+00,-1.72757123e-04, 1.10587192e+00, 6.32232274e-02,
  1.13337243e-02,-3.62936111e-02, 7.29942672e-02, 6.78646674e-01,
 -1.86654953e-01,-6.80084432e-01,-2.05143332e-01]

qacc:
[   1.67075419,  -2.4130385 ,   7.97323518,  -8.70936985,  -0.21328285,
   -3.92547676,  13.27546405, -14.43758406,   1.2338126 ,   0.87230398,
   -4.84381582,  13.15013899,  -0.37580295,   0.43878185,  11.79585799,
  -39.89150022,  -1.12682102,   0.39207785,   1.93095648,   2.08152281,
 -123.87472212, -72.31772983]

qfrc_actuator:
[ 6.44522159e-05, 7.81263682e-05, 1.37587945e-04, 7.25236284e-05,
  2.35599384e-05, 2.56836319e-02, 8.54833411e-03, 2.15130180e-03,
 -4.86843996e-05, 4.34874153e-04, 7.58159740e-05, 5.44583933e-06,
  6.79857793e-04,-1.59826701e-03, 0.00000000e+00,-1.95864817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.21557009,  6.88364769, -5.21557009, 11.40257998,
        2.09589391,  6.88364769,  2.09589391, 10.22437076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002256169365221973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46041596e-14,  2.46041596e-14,  1.00000000e+00, -6.05364671e-28,
        1.00000000e+00, -2.46041596e-14, -1.00000000e+00,  0.00000000e+00,
        2.46041596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05770291, -0.05463062,  0.06172823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.62477627e-06,-1.61723569e-05, 3.77943520e-05, 1.22353087e-06,
 -3.49173567e-05, 2.57787523e-05, 7.77977000e-05,-7.73525127e-06,
  7.28206389e-06, 3.43657655e-05, 1.79789065e-05, 2.77654921e-05,
 -2.54711020e-05,-9.96878526e-06, 1.40830346e-05,-1.89137583e-04,
 -9.09543563e-05,-1.00073300e-04,-1.21601117e+00, 7.16276954e-04,
 -2.46113949e-02,-1.38247979e-04]


--- Step 1783 ---
qpos:
[ 3.29588116e-03,-3.17678373e-03, 1.19355748e-02, 4.17361439e-02,
  6.13231488e-03, 7.64842346e-01,-2.98456866e-02, 8.70892757e-01,
  5.85245169e-03, 1.63587742e-02,-9.28169597e-03, 2.60072092e-02,
  1.34973393e+00,-1.72281777e-04, 1.10606414e+00, 6.32211000e-02,
  1.13338982e-02,-3.62670990e-02, 7.29773439e-02, 6.78534488e-01,
 -1.87436398e-01,-6.80190017e-01,-2.04450694e-01]

qacc:
[ 8.74731165e-01, 9.85162824e-02,-1.10784486e+00, 2.39337284e+00,
 -2.83452039e-01,-4.34540515e+00, 1.86163987e+01,-3.54679649e+01,
  7.25273183e-01, 3.14317174e+00,-1.40730330e+01, 3.06697488e+01,
 -2.38247599e-01, 2.45429808e-01, 8.08466761e+00,-2.80464220e+01,
 -1.05994617e+00, 3.46289130e-01, 8.23092855e-01, 1.19263895e+00,
 -1.12041109e+02,-6.49375605e+01]

qfrc_actuator:
[ 6.92983913e-05, 3.91893508e-05, 1.19191364e-04, 7.20685159e-05,
 -7.04046535e-06, 2.57364700e-02, 8.59981858e-03, 2.07444106e-03,
 -4.45119664e-05, 4.99342931e-04, 8.33214564e-05, 5.72019288e-05,
  6.74672522e-04,-1.60028098e-03, 0.00000000e+00,-2.09041618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.18884488,  6.9038153 , -5.18884488, 12.30661831,
        2.75853008,  6.9038153 ,  2.75853008, 10.70964979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022741643237767298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88189447e-14,  2.44094724e-14,  1.00000000e+00, -1.19164468e-27,
        1.00000000e+00, -2.44094724e-14, -1.00000000e+00,  0.00000000e+00,
        4.88189447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05760989, -0.05459511,  0.06172589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11137016e-06,-4.01422342e-05,-1.70493033e-05, 1.81707159e-07,
 -4.62678764e-05, 8.22090426e-05, 6.53001833e-05,-7.38694077e-05,
  4.38871000e-06, 8.86209178e-05, 1.77886410e-05, 5.43939170e-05,
 -2.19764420e-05,-1.02807252e-05,-2.02843559e-05,-1.41825478e-04,
  1.89162489e-04, 5.44515624e-04,-1.21607156e+00, 5.13588100e-04,
 -2.46214857e-02,-1.33677727e-04]


--- Step 1784 ---
qpos:
[ 3.29698465e-03,-3.17678453e-03, 1.19353932e-02, 4.17364684e-02,
  6.13235563e-03, 7.64843959e-01,-2.98458259e-02, 8.70890615e-01,
  5.85302378e-03, 1.63596782e-02,-9.28231204e-03, 2.60071226e-02,
  1.34982307e+00,-1.72079779e-04, 1.10625622e+00, 6.32173807e-02,
  1.13300878e-02,-3.62498476e-02, 7.29838429e-02, 6.78369080e-01,
 -1.87926585e-01,-6.80342584e-01,-2.04041562e-01]

qacc:
[-2.61747792e+00, 1.14997278e+00,-5.90796514e+00, 1.23172413e+01,
 -1.30550137e-01, 2.86169204e+00,-1.13708221e+01, 2.45604697e+01,
  6.42576604e+00, 2.13998201e+00,-3.84360423e+00,-3.41572387e+00,
  2.27546092e-02,-2.49848315e-01, 4.60232720e+00,-1.64039106e+01,
 -9.96085228e-01,-2.31514700e+00, 5.85558471e+00, 2.20985696e+00,
  2.23034601e+01,-2.05084158e+02]

qfrc_actuator:
[ 5.38332306e-05, 3.36694039e-05, 1.08203937e-04, 8.95239399e-05,
 -7.45158017e-06, 2.57496659e-02, 8.59472538e-03, 2.13710980e-03,
 -6.48654334e-06, 5.55432283e-04, 5.23812765e-05, 3.42724404e-05,
  6.63030333e-04,-1.61939899e-03, 0.00000000e+00,-2.16704977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023482129841158467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36397429e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.36397429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0032304 , -0.00842068,  0.06171764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53336115e-05,-3.14921141e-05,-2.13774385e-05, 1.51484265e-05,
 -2.11632592e-05, 6.92367594e-05, 1.64129768e-05, 6.55850823e-05,
  3.81787888e-05, 1.11657356e-04,-8.56057110e-06,-1.74582651e-05,
 -2.69220684e-05,-2.64670580e-05,-2.87149698e-05,-8.79768612e-05,
  1.33609093e-04, 1.13841432e-03,-1.21610363e+00, 3.64169834e-04,
 -2.46299336e-02,-1.29472243e-04]


--- Step 1785 ---
qpos:
[ 3.29754919e-03,-3.17695242e-03, 1.19355816e-02, 4.17372964e-02,
  6.13268183e-03, 7.64845637e-01,-2.98463191e-02, 8.70888265e-01,
  5.85404754e-03, 1.63613823e-02,-9.28379306e-03, 2.60068113e-02,
  1.34991199e+00,-1.71847180e-04, 1.10644792e+00, 6.32144012e-02,
  1.13227193e-02,-3.62408155e-02, 7.30076101e-02, 6.78156141e-01,
 -1.88154393e-01,-6.80538015e-01,-2.03887672e-01]

qacc:
[-4.71555340e+00,-2.08685089e-01,-1.68405520e+00, 9.90805271e+00,
  1.58719786e-01, 6.84240413e-01,-1.67143576e+00,-1.02838191e+00,
  3.89887146e+00, 3.00457632e+00,-8.24336713e+00, 5.16261000e+00,
 -1.17341300e-01, 1.10456755e-01,-2.79246929e+00, 8.96363276e+00,
 -8.89494345e-01,-2.05485916e+00, 4.31706893e+00, 2.07598058e+00,
  2.00444055e+01,-1.84704698e+02]

qfrc_actuator:
[ 2.65387392e-05, 4.82317006e-05, 1.37342585e-04, 1.17416708e-04,
  2.79308111e-05, 2.57033742e-02, 8.55623320e-03, 2.12157334e-03,
  1.56553406e-05, 5.70350974e-04,-1.08208475e-06, 2.08086811e-05,
  6.58167768e-04,-1.61303395e-03, 0.00000000e+00,-2.12182385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52048063, -1.41003077,  8.52048063, 10.29321405,
       10.01195303, -1.41003077, 10.01195303, 69.13621494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023840872345759143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16420134e-14,  2.32840269e-14,  1.00000000e+00, -2.71072954e-28,
        1.00000000e+00, -2.32840269e-14, -1.00000000e+00,  0.00000000e+00,
        1.16420134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00323591, -0.00845527,  0.06171379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77418971e-05,-6.82224638e-06, 2.05258844e-05, 2.60990584e-05,
  2.58936366e-05,-2.63437625e-06,-2.09796464e-05,-1.13393884e-05,
  2.32784302e-05, 7.48315017e-05,-3.20616037e-05,-9.31666733e-06,
 -2.66581857e-05,-6.25806302e-06,-2.58278781e-05, 3.59828860e-05,
 -5.27868539e-05, 6.62622984e-04,-1.21628263e+00, 4.44492982e-04,
 -2.46489337e-02,-1.28540566e-04]


--- Step 1786 ---
qpos:
[ 3.29778189e-03,-3.17700315e-03, 1.19357774e-02, 4.17374039e-02,
  6.13317132e-03, 7.64846893e-01,-2.98472831e-02, 8.70885112e-01,
  5.85532969e-03, 1.63632203e-02,-9.28565841e-03, 2.60067400e-02,
  1.35000074e+00,-1.71346922e-04, 1.10663899e+00, 6.32156204e-02,
  1.13121352e-02,-3.62391612e-02, 7.30434606e-02, 6.77900115e-01,
 -1.88143532e-01,-6.80772676e-01,-2.03965706e-01]

qacc:
[-2.91479259e+00,-1.34515906e+00, 8.06939353e+00,-2.06427784e+01,
  9.08979080e-02,-6.77581724e-01, 3.36883760e+00,-1.23541286e+01,
  2.23963181e+00, 1.74077643e+00,-6.97100666e+00, 1.16485333e+01,
 -3.99594772e-02, 1.68660962e-01,-1.36022930e+01, 4.62457697e+01,
 -8.03919342e-01,-1.84443247e+00, 3.02079358e+00, 1.95632876e+00,
  1.81859657e+01,-1.67934853e+02]

qfrc_actuator:
[ 1.02595961e-05, 5.71365004e-05, 1.36775759e-04, 8.02612180e-05,
  3.11058586e-05, 2.56393826e-02, 8.51579500e-03, 2.07781036e-03,
  2.82599662e-05, 5.42635304e-04,-3.20487357e-05, 3.07423601e-05,
  6.62711658e-04,-1.59157370e-03, 0.00000000e+00,-1.89866147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58327991, -0.95607679,  8.58327991,  9.56298874,
        8.3188743 , -0.95607679,  8.3188743 , 83.31993266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002386808927861167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48862139e-14,  2.32574759e-14,  1.00000000e+00, -8.11365281e-28,
        1.00000000e+00, -2.32574759e-14, -1.00000000e+00,  0.00000000e+00,
        3.48862139e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00323572, -0.00845338,  0.06171367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70734732e-05, 1.04380181e-05, 1.45371897e-06,-3.62302509e-05,
  1.47957483e-05,-6.99866357e-05,-4.37243982e-05,-4.47369215e-05,
  1.33034571e-05, 7.07621793e-06,-1.97824009e-05, 1.18492721e-05,
 -1.19908659e-05, 1.38473771e-05,-1.03548571e-05, 2.21286633e-04,
 -1.88320343e-04, 3.01681303e-04,-1.21638919e+00, 5.16583710e-04,
 -2.46634202e-02,-1.28562120e-04]


--- Step 1787 ---
qpos:
[ 3.29850722e-03,-3.17668516e-03, 1.19350621e-02, 4.17360614e-02,
  6.13336057e-03, 7.64847448e-01,-2.98491445e-02, 8.70887036e-01,
  5.85675381e-03, 1.63643766e-02,-9.28692068e-03, 2.60064805e-02,
  1.35008949e+00,-1.71349915e-04, 1.10683022e+00, 6.32171211e-02,
  1.12986103e-02,-3.62442051e-02, 7.30870322e-02, 6.77604449e-01,
 -1.87913501e-01,-6.81043357e-01,-2.04256390e-01]

qacc:
[ 4.28797763e+00, 3.74255505e-02, 6.67581239e+00,-3.05626757e+01,
 -1.68697902e-01, 1.03157710e+01,-4.65696530e+01, 1.03092743e+02,
  1.26871644e+00,-2.97621840e+00, 1.00947944e+01,-1.38084487e+01,
  3.81842277e-01,-8.59382460e-01,-6.39704200e-01, 2.51015236e+00,
 -7.35203234e-01,-1.67452621e+00, 1.93028944e+00, 1.84916996e+00,
  1.66537780e+01,-1.54111683e+02]

qfrc_actuator:
[ 3.61034017e-05, 6.24293655e-05, 8.30949819e-05, 5.09929715e-06,
 -2.78815072e-06, 2.56007392e-02, 8.47444748e-03, 2.33733781e-03,
  3.51548503e-05, 4.71932516e-04,-1.41467189e-05, 1.88344467e-05,
  6.46275654e-04,-1.63231614e-03, 0.00000000e+00,-1.89203943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023630190915892024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52374330e-14,  2.34916220e-14,  1.00000000e+00, -8.27784455e-28,
        1.00000000e+00, -2.34916220e-14, -1.00000000e+00,  0.00000000e+00,
        3.52374330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00323097, -0.00842267,  0.06171651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53625109e-05, 9.87076122e-06,-5.26008788e-05,-7.53696768e-05,
 -2.72629356e-05,-8.75017940e-05,-6.15383227e-05, 2.54957464e-04,
  7.28287153e-06,-7.03601330e-05, 1.73383393e-05,-1.20586351e-05,
 -1.95859942e-05,-4.01047438e-05, 1.75484154e-05, 1.70887939e-05,
 -2.85007062e-04, 2.91432006e-05,-1.21644144e+00, 5.84956076e-04,
 -2.46742745e-02,-1.29467649e-04]


--- Step 1788 ---
qpos:
[ 3.29953667e-03,-3.17632305e-03, 1.19340159e-02, 4.17345214e-02,
  6.13319197e-03, 7.64847400e-01,-2.98513422e-02, 8.70894430e-01,
  5.85755974e-03, 1.63651678e-02,-9.28803140e-03, 2.60060716e-02,
  1.35017811e+00,-1.71990779e-04, 1.10702164e+00, 6.32177061e-02,
  1.12823653e-02,-3.62553990e-02, 7.31346612e-02, 6.77271788e-01,
 -1.87480331e-01,-6.81347220e-01,-2.04743784e-01]

qacc:
[   2.65808154,   0.57179624,  -1.13028178,  -1.77849163,  -0.20042495,
    9.61119028, -44.99229845, 106.33286757,  -5.38128579,  -1.20314626,
    4.23885786,  -6.81795425,   0.29766177,  -0.87915819,   2.99368967,
  -10.1705678 ,  -0.68001421,  -1.53753257,   1.01434053,   1.75251638,
   15.38924652,-142.7140855 ]

qfrc_actuator:
[ 5.10239785e-05, 6.52566626e-05, 6.94718601e-05,-3.08551849e-06,
 -2.30201106e-05, 2.55955039e-02, 8.46867456e-03, 2.61350750e-03,
  3.13168097e-06, 4.64962564e-04,-3.26245131e-06, 1.19063823e-05,
  6.22567026e-04,-1.67421109e-03, 0.00000000e+00,-1.94209324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023182634709663016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59177151e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.59177151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00322261, -0.00836937,  0.06172167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56517015e-05,-5.73997309e-06,-2.06652040e-05,-1.10466609e-05,
 -3.24826771e-05,-5.77173501e-05,-2.24335747e-05, 2.77311823e-04,
 -3.18368424e-05,-4.32705363e-05,-1.92826957e-06,-9.57726114e-06,
 -4.39165624e-05,-5.66498103e-05, 5.40255296e-06,-4.79195267e-05,
 -3.51604081e-04,-1.74411050e-04,-1.21645215e+00, 6.52735369e-04,
 -2.46821415e-02,-1.31197653e-04]


--- Step 1789 ---
qpos:
[ 3.30004736e-03,-3.17605316e-03, 1.19330944e-02, 4.17332260e-02,
  6.13253613e-03, 7.64847082e-01,-2.98526699e-02, 8.70901179e-01,
  5.85763058e-03, 1.63657419e-02,-9.28850120e-03, 2.60051839e-02,
  1.35026630e+00,-1.72574509e-04, 1.10721309e+00, 6.32173581e-02,
  1.12635777e-02,-3.62723018e-02, 7.31832752e-02, 6.76904123e-01,
 -1.86857188e-01,-6.81681741e-01,-2.05414711e-01]

qacc:
[-4.54756058e+00, 4.21274836e-02,-1.34307779e+00, 5.42523866e+00,
 -2.70413953e-01,-3.82559409e+00, 1.36064757e+01,-1.97596310e+01,
 -6.38838485e+00,-3.05146464e+00, 1.25070960e+01,-2.16820431e+01,
 -4.39950744e-01, 4.96537005e-01, 2.91166619e+00,-1.00202739e+01,
 -6.35668381e-01,-1.42723039e+00, 2.46271136e-01, 1.66430034e+00,
  1.43456654e+01,-1.33327664e+02]

qfrc_actuator:
[ 2.38767993e-05, 6.67817252e-05, 7.96677368e-05, 1.04906483e-05,
 -5.26297600e-05, 2.56104966e-02, 8.51954957e-03, 2.57769031e-03,
 -3.37863083e-05, 4.78435774e-04, 3.91267310e-05,-9.74988178e-06,
  6.05158480e-04,-1.66320373e-03, 0.00000000e+00,-1.98956270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022571670286884865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45932846e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.45932846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00321139, -0.00829857,  0.06172861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67018401e-05,-6.42164405e-06, 6.09246166e-06, 1.24042789e-05,
 -4.41993914e-05,-1.25400282e-05, 4.52735465e-05,-3.20375279e-05,
 -3.78438427e-05,-1.15559818e-05, 3.28889199e-05,-2.37605906e-05,
 -5.51006518e-05,-1.35522537e-05,-7.29973097e-06,-5.04814377e-05,
 -3.94537905e-04,-3.23349034e-04,-1.21643039e+00, 7.22087666e-04,
 -2.46874897e-02,-1.33701352e-04]


--- Step 1790 ---
qpos:
[ 3.30057401e-03,-3.17612281e-03, 1.19324398e-02, 4.17317799e-02,
  6.13147158e-03, 7.64847537e-01,-2.98539607e-02, 8.70904630e-01,
  5.85725824e-03, 1.63657928e-02,-9.28779052e-03, 2.60047354e-02,
  1.35035411e+00,-1.73077063e-04, 1.10740452e+00, 6.32160950e-02,
  1.12508279e-02,-3.62890042e-02, 7.32267107e-02, 6.76704472e-01,
 -1.86381761e-01,-6.81846267e-01,-2.05957680e-01]

qacc:
[ 1.54149983e-01,-1.50586900e+00, 5.35282907e+00,-8.13581548e+00,
 -2.27356002e-01,-4.80679561e+00, 2.45374170e+01,-6.20552752e+01,
 -3.81943519e+00,-3.07903039e+00, 8.13325144e+00,-2.04612284e+00,
 -4.11596284e-01, 4.91350102e-01, 2.75018600e+00,-9.61279809e+00,
  1.50947003e+00, 5.01224018e-02,-1.29463373e+00,-8.14351746e+00,
  8.76740358e+01, 1.26793979e+02]

qfrc_actuator:
[ 2.54481059e-05, 3.21388778e-05, 8.60790004e-05, 1.25518168e-06,
 -6.98408797e-05, 2.56907918e-02, 8.53233108e-03, 2.41186673e-03,
 -5.55243785e-05, 4.50915063e-04, 9.98688793e-05, 1.34040263e-05,
  5.91561959e-04,-1.65640010e-03, 0.00000000e+00,-2.03509802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002233593437922065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97056898e-14, -3.87718844e-07,  1.00000000e+00,  1.92718326e-20,
        1.00000000e+00,  3.87718844e-07, -1.00000000e+00,  3.00926554e-36,
        4.97056898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05166965, -0.01436438,  0.0617317 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08057655e-07,-3.64511176e-05, 6.27553817e-06,-9.05289745e-06,
 -3.70491928e-05, 8.12640850e-05, 1.45699349e-05,-1.65587929e-04,
 -2.28259773e-05,-2.82337597e-05, 6.15862845e-05, 2.33375924e-05,
 -4.73212485e-05,-9.41813915e-06,-1.31867334e-05,-5.02442537e-05,
 -4.18549893e-04,-4.28364875e-04,-1.21638256e+00, 7.94511255e-04,
 -2.46906547e-02,-1.36935695e-04]


--- Step 1791 ---
qpos:
[ 3.30077025e-03,-3.17652680e-03, 1.19319004e-02, 4.17302449e-02,
  6.13070435e-03, 7.64848563e-01,-2.98551608e-02, 8.70907811e-01,
  5.85697257e-03, 1.63656536e-02,-9.28643385e-03, 2.60049070e-02,
  1.35044165e+00,-1.73551862e-04, 1.10759568e+00, 6.32156121e-02,
  1.12436598e-02,-3.63054053e-02, 7.32618115e-02, 6.76659997e-01,
 -1.86046158e-01,-6.81854223e-01,-2.06380461e-01]

qacc:
[-2.89064800e+00,-9.41535224e-01, 3.10041000e+00,-4.58672197e+00,
  1.65504979e-01, 3.27596237e-02, 1.42761394e+00,-4.92190443e+00,
  7.79721113e-01,-7.81742113e-01,-1.98220305e-01, 1.00408724e+01,
 -1.66760600e-01, 1.55491646e-01,-2.73883083e+00, 9.03390735e+00,
  1.39542565e+00, 7.53162217e-02,-2.08368036e+00,-7.99806366e+00,
  8.02798583e+01, 1.18906180e+02]

qfrc_actuator:
[ 8.41802854e-06, 1.15847419e-05, 9.00274540e-05,-3.61727386e-06,
 -2.62386040e-05, 2.57205704e-02, 8.54049412e-03, 2.40173352e-03,
 -5.03997545e-05, 4.52448801e-04, 1.35321605e-04, 4.49648669e-05,
  5.85589305e-04,-1.65216561e-03, 0.00000000e+00,-1.99035442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.35003306, -2.2053854 ,  8.35003306, 10.09624402,
        5.527401  , -2.2053854 ,  5.527401  , 29.56421642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002224359377384022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24780087e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24780087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05223848, -0.01460681,  0.06173333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70184874e-05,-4.00171637e-05,-3.10985757e-06,-6.38822203e-06,
  2.69890339e-05, 7.23834759e-05, 2.08908987e-05,-1.08580817e-05,
  4.45786533e-06,-5.51436947e-07, 3.80064406e-05, 3.29362182e-05,
 -3.45486882e-05,-9.05700847e-06,-1.54812579e-05, 3.93802030e-05,
 -5.85488770e-05,-7.97334984e-05,-1.21645382e+00, 7.28288479e-04,
 -2.46918043e-02,-1.39486139e-04]


--- Step 1792 ---
qpos:
[ 3.30041580e-03,-3.17703982e-03, 1.19313373e-02, 4.17282989e-02,
  6.13036057e-03, 7.64849538e-01,-2.98556587e-02, 8.70909834e-01,
  5.85675007e-03, 1.63658696e-02,-9.28567125e-03, 2.60051260e-02,
  1.35052898e+00,-1.73793339e-04, 1.10778688e+00, 6.32142961e-02,
  1.12416376e-02,-3.63214686e-02, 7.32861593e-02, 6.76758986e-01,
 -1.85839772e-01,-6.81717598e-01,-2.06692937e-01]

qacc:
[-4.83257519e+00,-9.15625353e-01, 4.80577592e+00,-1.18174671e+01,
  2.36735879e-01,-3.97222857e+00, 1.56057275e+01,-2.78384415e+01,
  5.26419125e-01, 2.22625096e+00,-7.45874393e+00, 8.96922182e+00,
 -3.83499564e-01, 6.14262346e-01, 2.60774412e+00,-8.96010946e+00,
  1.28646990e+00, 8.44460265e-02,-2.68826443e+00,-7.68542764e+00,
  7.42323634e+01, 1.09626609e+02]

qfrc_actuator:
[-1.94329044e-05, 1.73671005e-05, 9.25431768e-05,-2.36260870e-05,
  5.12572231e-08, 2.56844276e-02, 8.56357021e-03, 2.34128618e-03,
 -4.72627104e-05, 4.71291438e-04, 1.02405082e-04, 4.57080610e-05,
  5.89520471e-04,-1.63169901e-03, 0.00000000e+00,-2.03479373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51356688, -1.45119119,  8.51356688,  9.22489798,
        3.45269908, -1.45119119,  3.45269908, 28.89198856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021915528626439973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79943958e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.79943958e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05234643, -0.01457775,  0.06173737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83471371e-05,-1.74934704e-05,-6.33912985e-06,-2.19487313e-05,
  3.84126633e-05, 7.72768293e-06, 3.94343040e-05,-5.77517972e-05,
  3.26270139e-06, 2.77859258e-05,-2.72246018e-05, 2.67227519e-06,
 -1.74212772e-05, 1.02094510e-05,-5.82926190e-06,-4.49412230e-05,
  4.73746004e-05, 1.45132514e-04,-1.21648165e+00, 7.01535156e-04,
 -2.46884614e-02,-1.41554977e-04]


--- Step 1793 ---
qpos:
[ 3.30007521e-03,-3.17777290e-03, 1.19308185e-02, 4.17264831e-02,
  6.13018371e-03, 7.64850681e-01,-2.98564475e-02, 8.70910461e-01,
  5.85622201e-03, 1.63666295e-02,-9.28600638e-03, 2.60057087e-02,
  1.35061633e+00,-1.74125563e-04, 1.10797814e+00, 6.32114407e-02,
  1.12443996e-02,-3.63371615e-02, 7.32976998e-02, 6.76991582e-01,
 -1.85753663e-01,-6.81446274e-01,-2.06903237e-01]

qacc:
[ 1.26994227e-01,-1.46849983e-01,-4.48081167e-01, 2.79240769e+00,
  9.29282753e-02,-1.41637043e+00, 8.09673671e+00,-2.41040481e+01,
 -2.70856003e+00, 4.54098652e+00,-1.66741404e+01, 2.43121660e+01,
 -2.43248603e-02,-2.20765606e-02, 4.72915191e+00,-1.64262268e+01,
  1.19603967e+00, 9.26280621e-02,-3.20180885e+00,-7.37769271e+00,
  6.91956847e+01, 1.01895313e+02]

qfrc_actuator:
[-1.79186339e-05, 3.35451415e-06, 9.42921050e-05,-1.68536858e-05,
 -2.04400901e-06, 2.56801343e-02, 8.54168848e-03, 2.26939784e-03,
 -6.30820180e-05, 5.00050217e-04, 4.72012998e-05, 6.37905454e-05,
  5.94071910e-04,-1.63721509e-03, 0.00000000e+00,-2.11368899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.5187209 , -1.42062351,  8.5187209 ,  9.295535  ,
        3.95269882, -1.42062351,  3.95269882, 32.3385887 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002140153438209287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59379305e-14, -2.59379305e-14,  1.00000000e+00,  6.72776241e-28,
        1.00000000e+00,  2.59379305e-14, -1.00000000e+00,  0.00000000e+00,
        2.59379305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05250416, -0.01453751,  0.06174327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04468797e-07,-2.60237715e-05,-3.38626369e-06, 5.38443336e-06,
  1.51452773e-05, 5.90676661e-06,-1.75583751e-05,-7.17661359e-05,
 -1.57136027e-05, 3.87709472e-05,-5.27373266e-05, 1.83803860e-05,
 -2.97228963e-06,-6.79093368e-06,-1.16213284e-05,-8.30549205e-05,
 -4.64926400e-05, 2.70808316e-04,-1.21647341e+00, 7.04559030e-04,
 -2.46812928e-02,-1.43168223e-04]


--- Step 1794 ---
qpos:
[ 3.30009990e-03,-3.17838064e-03, 1.19301691e-02, 4.17247300e-02,
  6.13026328e-03, 7.64852114e-01,-2.98580468e-02, 8.70914382e-01,
  5.85585324e-03, 1.63679349e-02,-9.28650633e-03, 2.60060927e-02,
  1.35070362e+00,-1.74490374e-04, 1.10816902e+00, 6.32099867e-02,
  1.12516424e-02,-3.63524538e-02, 7.32946901e-02, 6.77349480e-01,
 -1.85780289e-01,-6.81048382e-01,-2.07018036e-01]

qacc:
[ 3.19971028e+00, 6.54073471e-01,-2.36701080e+00, 3.58057678e+00,
  1.41379544e-01, 8.29011763e+00,-3.42657428e+01, 7.00236079e+01,
  1.37479405e+00, 7.69821345e-01,-8.64521934e-01,-2.70752207e+00,
  8.44918854e-02,-1.59833476e-01,-4.80043149e+00, 1.59596222e+01,
  1.12022324e+00, 1.00117128e-01,-3.63755108e+00,-7.07688836e+00,
  6.50036852e+01, 9.54565143e+01]

qfrc_actuator:
[ 8.70470250e-07, 3.08774903e-05, 9.55223199e-05,-1.21420664e-05,
  1.44220527e-05, 2.57125058e-02, 8.51129680e-03, 2.43988317e-03,
 -5.44264090e-05, 5.52180353e-04, 5.03769897e-05, 5.64360947e-05,
  5.88331867e-04,-1.64033740e-03, 0.00000000e+00,-2.03469182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.56271308, -1.12548729,  8.56271308,  9.13011291,
        3.75644705, -1.12548729,  3.75644705, 37.21543205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020742301914180097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01434360e-14,  2.67622906e-14,  1.00000000e+00, -1.07433030e-27,
        1.00000000e+00, -2.67622906e-14, -1.00000000e+00,  0.00000000e+00,
        4.01434360e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05270007, -0.01448867,  0.06175061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88032089e-05, 1.25396446e-05,-4.35685265e-06, 3.59140226e-06,
  2.32651051e-05, 2.98668755e-05,-3.34126285e-05, 1.68515000e-04,
  8.22228007e-06, 6.36730879e-05, 5.31845559e-06,-7.16169962e-06,
 -9.58679507e-06,-5.18942606e-06,-1.81172727e-05, 7.20537399e-05,
 -2.99710282e-04, 3.17436044e-04,-1.21643570e+00, 7.29898483e-04,
 -2.46708791e-02,-1.44342196e-04]


--- Step 1795 ---
qpos:
[ 3.30069439e-03,-3.17864633e-03, 1.19294061e-02, 4.17230173e-02,
  6.13036914e-03, 7.64853434e-01,-2.98590277e-02, 8.70920965e-01,
  5.85593625e-03, 1.63692805e-02,-9.28679702e-03, 2.60067695e-02,
  1.35079067e+00,-1.74575598e-04, 1.10835967e+00, 6.32101201e-02,
  1.12631087e-02,-3.63673175e-02, 7.32756528e-02, 6.77825685e-01,
 -1.85913286e-01,-6.80530583e-01,-2.07042787e-01]

qacc:
[ 4.99179773e+00, 8.43360399e-01,-2.53820838e+00, 3.18526048e+00,
  1.47208012e-02, 2.79740638e+00,-1.54237704e+01, 4.58018557e+01,
  3.94671574e+00, 6.33590402e-02,-1.39833768e+00, 6.11605426e+00,
 -2.74224404e-01, 4.82751339e-01,-5.09470412e+00, 1.74052413e+01,
  1.05584476e+00, 1.07149989e-01,-4.00689781e+00,-6.78340350e+00,
  6.15211546e+01, 9.01025371e+01]

qfrc_actuator:
[ 2.96675332e-05, 6.53118001e-05, 9.65986219e-05,-8.65149529e-06,
  6.36337116e-06, 2.57134284e-02, 8.54744578e-03, 2.57413406e-03,
 -3.14284733e-05, 5.29351120e-04, 5.25812772e-05, 6.97416631e-05,
  5.76423109e-04,-1.62429268e-03, 0.00000000e+00,-1.95204757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62725875, -0.39646344,  8.62725875,  8.71044489,
        1.61204802, -0.39646344,  1.61204802, 43.71540004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001997196343170818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55890776e-14,  2.77945388e-14,  1.00000000e+00, -1.54507277e-27,
        1.00000000e+00, -2.77945388e-14, -1.00000000e+00,  0.00000000e+00,
        5.55890776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05292476, -0.01443336,  0.06175903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93399933e-05, 4.07403992e-05, 3.27189017e-06, 3.95278904e-06,
  2.38485321e-06, 1.62467534e-05, 4.32677139e-05, 1.38026954e-04,
  2.32596054e-05, 1.35282641e-05, 1.57531393e-05, 1.60758065e-05,
 -1.87016485e-05, 1.26726680e-05,-2.80662138e-06, 8.37532683e-05,
 -6.82932689e-04, 2.99835505e-04,-1.21637302e+00, 7.72198905e-04,
 -2.46576689e-02,-1.45090643e-04]


--- Step 1796 ---
qpos:
[ 3.30128518e-03,-3.17929723e-03, 1.19292123e-02, 4.17220968e-02,
  6.13023725e-03, 7.64854135e-01,-2.98583358e-02, 8.70927370e-01,
  5.85560495e-03, 1.63703798e-02,-9.28691808e-03, 2.60083316e-02,
  1.35087752e+00,-1.74451547e-04, 1.10855035e+00, 6.32105568e-02,
  1.12713481e-02,-3.63867140e-02, 7.32624587e-02, 6.78260969e-01,
 -1.85821005e-01,-6.80048374e-01,-2.07284396e-01]

qacc:
[-7.42544801e-03,-4.68395884e-01,-2.40991528e+00, 1.54872264e+01,
 -1.30676535e-01,-5.64357963e+00, 1.79607753e+01,-1.78393365e+01,
 -3.60375434e+00, 1.02972986e+00,-7.86940185e+00, 2.30872293e+01,
 -2.91780335e-01, 4.71686251e-01,-8.59448264e-01, 3.10970364e+00,
 -8.06702534e-01,-1.13317254e+00, 1.46079382e+00, 2.44081430e+00,
  1.74934960e+01,-1.57694746e+02]

qfrc_actuator:
[ 2.86134595e-05, 1.48628957e-05, 1.15370438e-04, 2.96089669e-05,
 -1.62825892e-05, 2.56602648e-02, 8.62241434e-03, 2.56169133e-03,
 -5.34392554e-05, 4.97338551e-04, 5.38945694e-05, 1.12783877e-04,
  5.66156629e-04,-1.61479951e-03, 0.00000000e+00,-1.93897210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019331168006044286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87158806e-14, -1.43579403e-14,  1.00000000e+00,  4.12300899e-28,
        1.00000000e+00,  1.43579403e-14, -1.00000000e+00,  0.00000000e+00,
        2.87158806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00314577, -0.00795557,  0.06176596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02468913e-07,-2.67909759e-05, 2.77407390e-05, 4.02005340e-05,
 -2.15756842e-05,-3.12399402e-05, 8.73110782e-05,-7.48496673e-06,
 -2.13365859e-05,-2.05429912e-05, 6.58961278e-06, 4.44750763e-05,
 -1.75654486e-05, 8.36658115e-06, 4.55412413e-06, 1.65836463e-05,
 -1.17494632e-03, 2.28906119e-04,-1.21628833e+00, 8.27638764e-04,
 -2.46420051e-02,-1.45425035e-04]


--- Step 1797 ---
qpos:
[ 3.30185927e-03,-3.18056923e-03, 1.19297214e-02, 4.17216637e-02,
  6.13024243e-03, 7.64854531e-01,-2.98572807e-02, 8.70932928e-01,
  5.85501246e-03, 1.63714881e-02,-9.28677299e-03, 2.60096671e-02,
  1.35096425e+00,-1.74220096e-04, 1.10874121e+00, 6.32094719e-02,
  1.12742658e-02,-3.64023388e-02, 7.32583221e-02, 6.78491293e-01,
 -1.85665541e-01,-6.79771912e-01,-2.07576539e-01]

qacc:
[-1.13638587e-01,-1.78082314e+00, 3.10202906e+00, 4.66600126e+00,
  7.69621196e-02,-2.85073220e+00, 1.07989176e+01,-1.96145869e+01,
 -2.27020592e+00,-1.19395986e+00, 5.23826896e+00,-9.59885442e+00,
 -2.77753216e-01, 4.13351817e-01, 4.89378494e+00,-1.66642551e+01,
 -1.33043102e+00, 9.42899655e-01, 2.26439120e+00, 6.52498656e+00,
 -1.28222858e+02,-7.89795533e+01]

qfrc_actuator:
[ 2.77469108e-05,-3.26675796e-05, 1.44122047e-04, 5.24582119e-05,
  5.83049931e-06, 2.56284570e-02, 8.63060971e-03, 2.51626609e-03,
 -6.62646160e-05, 5.13344320e-04, 7.23818199e-05, 1.01948001e-04,
  5.62206838e-04,-1.60927879e-03, 0.00000000e+00,-2.02024655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020046438695266178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15369174e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.15369174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05873159, -0.05528449,  0.06175856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.82021759e-07,-5.50341023e-05, 2.80370113e-05, 2.34479578e-05,
  1.24247090e-05,-3.21603460e-05, 1.18545622e-05,-4.39638256e-05,
 -1.34425489e-05, 7.73475373e-06, 1.65799376e-05,-1.06275100e-05,
 -1.17133133e-05, 3.59961775e-06,-2.24026305e-07,-8.07272469e-05,
 -9.85023266e-04, 7.30420881e-04,-1.21637318e+00, 7.18348981e-04,
 -2.46629440e-02,-1.45423591e-04]


--- Step 1798 ---
qpos:
[ 3.30276319e-03,-3.18194471e-03, 1.19301563e-02, 4.17211504e-02,
  6.13065014e-03, 7.64854830e-01,-2.98566761e-02, 8.70936198e-01,
  5.85427127e-03, 1.63719053e-02,-9.28607688e-03, 2.60109331e-02,
  1.35105087e+00,-1.73912199e-04, 1.10893188e+00, 6.32087596e-02,
  1.12722453e-02,-3.64148371e-02, 7.32587227e-02, 6.78536334e-01,
 -1.85455062e-01,-6.79681091e-01,-2.07914591e-01]

qacc:
[ 2.89440027e+00,-1.00551912e-01, 4.89293284e-01,-1.67430346e+00,
  2.24326586e-01,-2.88015914e+00, 1.45083191e+01,-4.03643845e+01,
 -1.26802359e+00,-2.59377656e+00, 8.22074991e+00,-9.79952740e+00,
 -1.06978659e-01, 1.60351686e-01,-1.40755393e+00, 4.52047493e+00,
 -1.23455631e+00, 7.81641499e-01, 1.13428034e+00, 5.12749237e+00,
 -1.15981362e+02,-7.07377273e+01]

qfrc_actuator:
[ 4.47600060e-05,-2.47991534e-05, 1.42995072e-04, 4.82957883e-05,
  3.67666806e-05, 2.56093974e-02, 8.59938175e-03, 2.39853197e-03,
 -7.35661179e-05, 4.33735995e-04, 8.32564488e-05, 9.50481930e-05,
  5.56721188e-04,-1.60612338e-03, 0.00000000e+00,-1.99665385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -7.86081839e+00,  3.57691363e+00, -7.86081839e+00,
        8.63545218e+00, -2.00306516e-03,  3.57691363e+00, -2.00306516e-03,
        8.63196159e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0020563735372036776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34973414e-14,  2.69946827e-14,  1.00000000e+00, -3.64356448e-28,
        1.00000000e+00, -2.69946827e-14, -1.00000000e+00,  0.00000000e+00,
        1.34973414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05853145, -0.05521125,  0.0617533 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69702478e-05,-1.60721882e-05,-8.22050380e-06,-5.09061639e-06,
  3.65080212e-05,-3.59624126e-05,-3.75404356e-05,-1.19403490e-04,
 -7.68041237e-06,-7.23649923e-05, 1.41290950e-05,-6.20682016e-06,
 -1.14774282e-05, 1.55842186e-06,-1.33842797e-05, 1.80693357e-05,
 -2.93386233e-04, 4.56119538e-04,-1.21645126e+00, 6.99690543e-04,
 -2.46707584e-02,-1.44422346e-04]


--- Step 1799 ---
qpos:
[ 3.30317410e-03,-3.18327060e-03, 1.19302119e-02, 4.17205927e-02,
  6.13124280e-03, 7.64855459e-01,-2.98564527e-02, 8.70939024e-01,
  5.85275869e-03, 1.63715093e-02,-9.28540526e-03, 2.60125091e-02,
  1.35113746e+00,-1.73815899e-04, 1.10912251e+00, 6.32076357e-02,
  1.12548716e-02,-3.64163167e-02, 7.32605762e-02, 6.78420209e-01,
 -1.85177169e-01,-6.79757268e-01,-2.08291847e-01]

qacc:
[  -4.34005354,   1.04302899,  -3.42196434,   3.20924077,   0.10263896,
    0.69205056,  -0.73271505,  -4.89500138,  -6.71500057,  -0.3552109 ,
   -1.57921689,   7.55745271,   0.10925413,  -0.29995562,   1.18243186,
   -4.2345139 ,  -3.8382945 ,   2.75465149,   0.36323462,  11.96407446,
 -100.78448215, -68.44960829]

qfrc_actuator:
[ 1.89031265e-05,-1.94658108e-05, 1.24436852e-04, 4.60518978e-05,
  3.71711527e-05, 2.56689102e-02, 8.59842610e-03, 2.38121428e-03,
 -1.13066591e-04, 3.68466037e-04, 7.14195348e-05, 1.08196224e-04,
  5.50317392e-04,-1.62215179e-03, 0.00000000e+00,-2.01794207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.21188466,  6.8864385 ,  5.21188466,  9.83153749,
       -0.90454714,  6.8864385 , -0.90454714,  9.32095486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002499835982899847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95292542e-01,  3.95292542e-01,  8.29148727e-01,  1.70110822e-01,
        9.18555282e-01, -3.56817183e-01, -9.02666115e-01,  2.77555756e-17,
       -4.30341592e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05846767, -0.05519657,  0.06175171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53745509e-05,-5.52134877e-06,-2.30561180e-05,-3.31354085e-06,
  1.67856975e-05, 2.83578010e-05,-1.59754620e-05,-2.23101149e-05,
 -3.97438966e-05,-1.03115438e-04,-2.52756662e-05, 1.04098352e-05,
 -1.26882626e-05,-1.81193790e-05,-7.22819974e-06,-2.27164029e-05,
 -5.28815182e-06, 2.12178174e-04,-1.21649470e+00, 7.28078871e-04,
 -2.46764682e-02,-1.44148834e-04]


--- Step 1800 ---
qpos:
[ 3.30258232e-03,-3.18467351e-03, 1.19303101e-02, 4.17206900e-02,
  6.13172153e-03, 7.64856621e-01,-2.98566328e-02, 8.70940219e-01,
  5.85147351e-03, 1.63710810e-02,-9.28544890e-03, 2.60134873e-02,
  1.35122392e+00,-1.73862143e-04, 1.10931332e+00, 6.32042407e-02,
  1.12247465e-02,-3.64090169e-02, 7.32604405e-02, 6.78154835e-01,
 -1.84841164e-01,-6.79986613e-01,-2.08705462e-01]

qacc:
[-8.79759865e+00, 1.14635222e+00,-6.96801393e+00, 1.82570500e+01,
 -6.37402659e-02,-1.03988073e+00, 7.98013199e+00,-2.70609386e+01,
  1.96125055e+00, 7.21907645e-01,-1.18507579e-01,-9.05353370e+00,
 -1.49718142e-01, 6.78415381e-02, 7.12351850e+00,-2.45261527e+01,
 -3.18783870e+00, 2.19486524e+00,-4.97287221e-01, 9.48783106e+00,
 -9.32640199e+01,-6.18104731e+01]

qfrc_actuator:
[-3.19848164e-05,-1.57651987e-05, 1.31259857e-04, 8.04604914e-05,
  1.93131640e-05, 2.57041681e-02, 8.58023940e-03, 2.29894964e-03,
 -1.00193749e-04, 4.00960960e-04, 4.63107961e-05, 7.97633909e-05,
  5.38033417e-04,-1.63168040e-03, 0.00000000e+00,-2.13653437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.82749791, -5.28886086, -6.82749791,  6.1729619 ,
        3.18005534, -5.28886086,  3.18005534,  4.53116561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024838691631844777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39486921,  0.39486921,  0.82955205,  0.16971303,  0.91873734,
       -0.35653777, -0.90292624,  0.        , -0.42979554])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05850151, -0.05521803,  0.06175302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.16073250e-05,-4.25275310e-06, 2.74480395e-06, 3.33148200e-05,
 -1.03201361e-05, 4.70927923e-05,-1.51108827e-05,-8.23462997e-05,
  1.16980083e-05,-2.99584867e-05,-4.91683871e-05,-3.35265083e-05,
 -2.39122467e-05,-1.68891793e-05,-9.35174796e-06,-1.21603289e-04,
 -9.54542066e-06, 1.11450713e-06,-1.21649418e+00, 7.90182861e-04,
 -2.46767830e-02,-1.44490861e-04]


--- Step 1801 ---
qpos:
[ 3.30138516e-03,-3.18624792e-03, 1.19305387e-02, 4.17212047e-02,
  6.13202983e-03, 7.64857748e-01,-2.98568106e-02, 8.70939760e-01,
  5.85069683e-03, 1.63708815e-02,-9.28599492e-03, 2.60137224e-02,
  1.35131016e+00,-1.73977759e-04, 1.10950377e+00, 6.32017829e-02,
  1.11840410e-02,-3.63947913e-02, 7.32553839e-02, 6.77750163e-01,
 -1.84454595e-01,-6.80357450e-01,-2.09152958e-01]

qacc:
[-5.30617980e+00, 2.79232023e-01,-3.06682497e+00, 1.01853806e+01,
 -9.46066368e-02,-2.92170545e+00, 1.33041152e+01,-3.17264153e+01,
  4.41518403e+00, 1.68154957e-01, 2.96211069e+00,-1.51729055e+01,
 -5.00879999e-02,-5.63800758e-02,-3.36257027e+00, 1.09892673e+01,
 -2.64511252e+00, 1.73144232e+00,-1.23025458e+00, 7.51648225e+00,
 -8.69293511e+01,-5.62921538e+01]

qfrc_actuator:
[-6.16792577e-05,-3.06900928e-05, 1.35288812e-04, 1.00673696e-04,
  8.47523897e-06, 2.56712809e-02, 8.56964161e-03, 2.21458588e-03,
 -7.43397775e-05, 4.38401278e-04, 3.16921708e-05, 4.49184294e-05,
  5.22231580e-04,-1.63729354e-03, 0.00000000e+00,-2.08070063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.73365844, -5.40782958, -6.73365844,  6.06229969,
        3.20514306, -5.40782958,  3.20514306,  4.64542082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024422592435173703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39520638,  0.39520638,  0.82923087,  0.17002981,  0.91859235,
       -0.35676035, -0.9027191 ,  0.        , -0.43023043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05861246, -0.05526808,  0.06175662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11630908e-05,-1.52757368e-05, 4.65913224e-06, 2.07794973e-05,
 -1.54613537e-05,-1.24332347e-05,-5.53537332e-06,-8.51840951e-05,
  2.61809813e-05, 9.10803030e-06,-2.80215915e-05,-3.84844336e-05,
 -3.35009504e-05,-1.51971338e-05,-2.18634194e-05, 4.69284921e-05,
 -2.36383200e-04,-1.97715752e-04,-1.21647118e+00, 8.81422604e-04,
 -2.46750923e-02,-1.45644058e-04]


--- Step 1802 ---
qpos:
[ 3.30018579e-03,-3.18771992e-03, 1.19304554e-02, 4.17216080e-02,
  6.13218998e-03, 7.64857963e-01,-2.98563045e-02, 8.70941449e-01,
  5.85058084e-03, 1.63711535e-02,-9.28718887e-03, 2.60135160e-02,
  1.35139627e+00,-1.74437702e-04, 1.10969389e+00, 6.32013073e-02,
  1.11448725e-02,-3.63832232e-02, 7.32421600e-02, 6.77207144e-01,
 -1.84041715e-01,-6.80861505e-01,-2.09634782e-01]

qacc:
[-3.09638690e-02, 7.77962908e-01,-2.10730800e+00, 6.03429842e-01,
 -8.19374670e-02, 6.80212406e-01,-8.58443245e+00, 3.40550006e+01,
  5.73433553e+00, 1.51376582e+00,-2.64817891e+00,-4.28488758e+00,
  3.01959167e-01,-6.85130675e-01,-6.49767316e+00, 2.19588728e+01,
  3.84229421e-01,-6.64365723e-01,-2.04179539e+00,-1.58878498e+00,
 -8.62894655e+01,-4.73373785e+01]

qfrc_actuator:
[-6.09011974e-05,-2.11597320e-05, 1.19783865e-04, 9.45927149e-05,
  1.95142862e-06, 2.55978606e-02, 8.59885787e-03, 2.32491700e-03,
 -4.10691840e-05, 4.78560575e-04, 5.68819831e-06, 2.43632638e-05,
  5.14984291e-04,-1.65832619e-03, 0.00000000e+00,-1.97576905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.22714602, -5.98409803, -6.22714602,  7.74580359,
        0.92673071, -5.98409803,  0.92673071,  7.67199316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019715123071416887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81566344e-14,  2.81566344e-14,  1.00000000e+00, -7.92796060e-28,
        1.00000000e+00, -2.81566344e-14, -1.00000000e+00,  0.00000000e+00,
        2.81566344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05878405, -0.05534067,  0.06176202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11322574e-07, 2.88672085e-06,-1.73502452e-05,-6.16621170e-06,
 -1.34632935e-05,-8.41531123e-05, 2.35545328e-05, 1.07832305e-04,
  3.40257806e-05, 3.78348509e-05,-2.88992898e-05,-2.18834966e-05,
 -2.95303827e-05,-3.25816430e-05,-7.47578534e-06, 1.04138096e-04,
 -6.38049844e-04,-3.83514320e-04,-1.21643411e+00, 9.95657179e-04,
 -2.46724843e-02,-1.47393514e-04]


--- Step 1803 ---
qpos:
[ 3.29934995e-03,-3.18933762e-03, 1.19305532e-02, 4.17219332e-02,
  6.13224092e-03, 7.64856988e-01,-2.98558740e-02, 8.70946241e-01,
  5.85086455e-03, 1.63721448e-02,-9.28886280e-03, 2.60126750e-02,
  1.35148215e+00,-1.74892467e-04, 1.10988413e+00, 6.32003937e-02,
  1.11173430e-02,-3.63743553e-02, 7.32328303e-02, 6.76882498e-01,
 -1.83821817e-01,-6.81150738e-01,-2.09936406e-01]

qacc:
[ 3.19880979e+00,-8.66338914e-01, 3.12807877e+00,-4.65036668e+00,
 -6.09720986e-02, 4.02794023e+00,-2.22100460e+01, 5.79352050e+01,
  3.45861199e+00, 9.79169146e-01, 5.55684128e-01,-1.12875820e+01,
 -2.25241198e-01, 2.31068781e-01, 1.51657099e+00,-5.00919662e+00,
  2.90979570e+00,-6.75050881e-01, 9.73536624e-01,-6.42169547e+00,
  1.10270531e+02, 1.69370810e+02]

qfrc_actuator:
[-4.22006623e-05,-3.26667912e-05, 1.28454006e-04, 9.08496453e-05,
 -1.93803330e-06, 2.55010119e-02, 8.58026961e-03, 2.47791503e-03,
 -2.14568578e-05, 5.37769751e-04,-9.04784747e-06,-5.37496491e-06,
  5.07542096e-04,-1.65280257e-03, 0.00000000e+00,-2.00257231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020250669992064527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.22360217e-14, -5.48240145e-14,  1.00000000e+00,  4.50850884e-27,
        1.00000000e+00,  5.48240145e-14, -1.00000000e+00,  0.00000000e+00,
        8.22360217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05289864, -0.01433252,  0.06175583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87040023e-05,-1.36835587e-05, 6.93454950e-06,-4.33701625e-06,
 -9.94564227e-06,-1.35398446e-04,-2.92326199e-05, 1.53467684e-04,
  2.06024812e-05, 7.34753868e-05,-1.12277294e-05,-2.95415999e-05,
 -3.13750347e-05,-9.65109017e-06, 5.19812780e-06,-2.26434868e-05,
 -1.20624752e-03,-5.48688666e-04,-1.21642000e+00, 1.12963197e-03,
 -2.46768840e-02,-1.49051401e-04]


--- Step 1804 ---
qpos:
[ 3.29874490e-03,-3.19107013e-03, 1.19302194e-02, 4.17219046e-02,
  6.13221724e-03, 7.64856064e-01,-2.98566164e-02, 8.70951046e-01,
  5.85069188e-03, 1.63735658e-02,-9.29032955e-03, 2.60107825e-02,
  1.35156755e+00,-1.74517297e-04, 1.11007433e+00, 6.31995060e-02,
  1.10998183e-02,-3.63675159e-02, 7.32231381e-02, 6.76754077e-01,
 -1.83775550e-01,-6.81246947e-01,-2.10078707e-01]

qacc:
[ 2.01387733e+00, 3.22197267e-01, 1.16650932e-01,-5.45512320e+00,
 -4.26065403e-02, 3.25872688e+00,-1.06568411e+01, 9.67667282e+00,
 -3.98227867e+00,-2.16803328e+00, 1.30079222e+01,-3.18698289e+01,
 -9.66911100e-01, 1.71961800e+00,-5.51981042e-02, 3.01512209e-01,
  2.50116158e+00,-5.07127203e-01,-9.06476220e-02,-6.72794184e+00,
  9.92870495e+01, 1.51394247e+02]

qfrc_actuator:
[-3.08641179e-05,-5.65891614e-05, 9.80029961e-05, 7.07679698e-05,
 -4.22655794e-06, 2.55505227e-02, 8.53348454e-03, 2.47717148e-03,
 -4.55480256e-05, 5.54714521e-04, 8.20719968e-07,-5.80060738e-05,
  4.99998267e-04,-1.59605171e-03, 0.00000000e+00,-2.00027341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.69456834, 3.92178466, 7.69456834, 8.47428057,
       0.31800808, 3.92178466, 0.31800808, 8.0124296 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002096503456161705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29559358e-14,  2.64779679e-14,  1.00000000e+00, -1.40216557e-27,
        1.00000000e+00, -2.64779679e-14, -1.00000000e+00,  0.00000000e+00,
        5.29559358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05270144, -0.0143601 ,  0.06174796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18694019e-05,-3.02617629e-05,-3.25562123e-05,-2.05102359e-05,
 -6.77349182e-06,-2.63587148e-05,-7.22343467e-05,-2.46455805e-06,
 -2.34720583e-05, 5.44410802e-05, 2.26501458e-05,-5.04431989e-05,
 -2.71716588e-05, 4.70266169e-05,-4.56769247e-06, 6.85646804e-07,
 -4.19664061e-04,-1.85281884e-04,-1.21647008e+00, 9.98227441e-04,
 -2.46717212e-02,-1.50968026e-04]


--- Step 1805 ---
qpos:
[ 3.29828042e-03,-3.19255215e-03, 1.19293150e-02, 4.17219439e-02,
  6.13214529e-03, 7.64855787e-01,-2.98579111e-02, 8.70953641e-01,
  5.85057692e-03, 1.63753009e-02,-9.29108690e-03, 2.60085991e-02,
  1.35165267e+00,-1.73505442e-04, 1.11026450e+00, 6.31983038e-02,
  1.10909783e-02,-3.63621662e-02, 7.32094433e-02, 6.76803299e-01,
 -1.83886661e-01,-6.81168070e-01,-2.10078679e-01]

qacc:
[ 1.21157170e+00, 2.06369690e+00,-7.16786687e+00, 9.07493319e+00,
 -2.72351922e-02,-1.49164048e+00, 1.09648626e+01,-3.67529086e+01,
  5.20076338e-01,-2.16737852e+00, 9.55640142e+00,-1.59533094e+01,
 -7.07130315e-01, 1.29614243e+00, 9.77884899e-01,-3.32458169e+00,
  2.17118685e+00,-3.72415948e-01,-1.00060892e+00,-6.84055153e+00,
  9.01456314e+01, 1.36514642e+02]

qfrc_actuator:
[-2.39586487e-05,-1.69228022e-05, 8.01249610e-05, 7.66952800e-05,
 -5.54543516e-06, 2.56338256e-02, 8.52416675e-03, 2.36828042e-03,
 -4.19071895e-05, 5.81807730e-04, 4.27095136e-05,-7.04441436e-05,
  4.92422774e-04,-1.56264922e-03, 0.00000000e+00,-2.01630718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.65891216, 3.99096997, 7.65891216, 8.61363076,
       0.04362576, 3.99096997, 0.04362576, 8.55264318, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021287898129751653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.6076389e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.6076389e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05261522, -0.01436514,  0.06174436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.24100304e-06, 1.52135385e-05,-2.88239747e-05, 3.10952076e-06,
 -4.36172084e-06, 5.43968917e-05,-2.28989946e-05,-1.11964410e-04,
  2.99087183e-06, 6.00151776e-05, 5.41843398e-05,-1.02977603e-05,
 -1.15359772e-05, 3.90948408e-05,-6.14673869e-06,-1.75134324e-05,
 -6.52659550e-05,-1.93919993e-05,-1.21646506e+00, 9.36551722e-04,
 -2.46629427e-02,-1.52127595e-04]


--- Step 1806 ---
qpos:
[ 3.29790236e-03,-3.19361513e-03, 1.19280308e-02, 4.17223633e-02,
  6.13184797e-03, 7.64855834e-01,-2.98595103e-02, 8.70953546e-01,
  5.85050626e-03, 1.63774510e-02,-9.29109677e-03, 2.60066125e-02,
  1.35173774e+00,-1.72582012e-04, 1.11045501e+00, 6.31935547e-02,
  1.10897522e-02,-3.63578747e-02, 7.31886388e-02, 6.77014527e-01,
 -1.84141454e-01,-6.80928903e-01,-2.09950193e-01]

qacc:
[  0.73953534,  2.39810211, -9.35220353, 16.22999544, -0.12542969,
  -3.420421  , 17.87325219,-48.48334075,  0.40282553, -1.13633728,
   4.01490892, -2.10705841, -0.20961749,  0.21680469, 11.22121271,
 -38.49811238,  1.90348191, -0.26456397, -1.77745761, -6.81248638,
  82.51585889,124.16175559]

qfrc_actuator:
[-1.97139161e-05, 2.50721652e-05, 7.01021552e-05, 9.79478294e-05,
 -2.40316449e-05, 2.56302720e-02, 8.50167277e-03, 2.23222284e-03,
 -3.97113357e-05, 6.14933822e-04, 8.54727242e-05,-5.91064613e-05,
  4.79503080e-04,-1.57889974e-03, 0.00000000e+00,-2.20278413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.60266712,  4.09710014,  7.60266712,  8.79599638,
       -0.29621795,  4.09710014, -0.29621795,  9.18603203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021292777306015087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30352068e-14,  2.60704137e-14,  1.00000000e+00, -3.39833234e-28,
        1.00000000e+00, -2.60704137e-14, -1.00000000e+00,  0.00000000e+00,
        1.30352068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05261722, -0.01435217,  0.06174414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46294351e-06, 4.47500334e-05,-1.02949934e-05, 2.09723810e-05,
 -2.04339986e-05, 1.85093786e-05,-1.77617402e-05,-1.37551958e-04,
  2.30505928e-06, 7.73897543e-05, 6.14710098e-05, 1.55865508e-05,
 -1.03164860e-05,-8.83697051e-06,-8.65753563e-06,-1.89129452e-04,
 -3.28772907e-05, 1.53195483e-06,-1.21641746e+00, 9.24099869e-04,
 -2.46507862e-02,-1.52629042e-04]


--- Step 1807 ---
qpos:
[ 3.29757822e-03,-3.19419740e-03, 1.19262826e-02, 4.17230314e-02,
  6.13133028e-03, 7.64855426e-01,-2.98608257e-02, 8.70952555e-01,
  5.85011836e-03, 1.63794574e-02,-9.29115449e-03, 2.60055958e-02,
  1.35182280e+00,-1.72046280e-04, 1.11064492e+00, 6.31909540e-02,
  1.10952665e-02,-3.63542963e-02, 7.31580753e-02, 6.77374577e-01,
 -1.84528362e-01,-6.80541667e-01,-2.09704568e-01]

qacc:
[  0.45063028,  2.44447915, -8.84429627, 13.53764195, -0.12214195,
  -2.92014272, 10.902576  ,-20.2148837 , -2.7655452 ,  1.94594358,
 -11.29960091, 28.25774339,  0.43318578, -0.86106828, -7.41718036,
  24.55961988,  1.68509675, -0.17827435, -2.43973899, -6.68243937,
  76.13730183,113.88793069]

qfrc_actuator:
[-1.70676980e-05, 5.04429082e-05, 4.70774893e-05, 1.10303558e-04,
 -3.48692256e-05, 2.55746695e-02, 8.50675141e-03, 2.18774517e-03,
 -5.61447738e-05, 5.44937347e-04, 5.74282076e-05,-1.61220209e-05,
  4.68690790e-04,-1.60671900e-03, 0.00000000e+00,-2.07985833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.50901317,  4.26632138,  7.50901317,  9.04975544,
       -0.72759744,  4.26632138, -0.72759744,  9.91698417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021041549767325113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.63816838e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.63816838e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05268914, -0.01432489,  0.0617466 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79310206e-06, 4.92222174e-05,-1.42969557e-05, 1.43288201e-05,
 -2.00033885e-05,-5.32383145e-05, 2.55303793e-06,-4.75453714e-05,
 -1.63370821e-05,-1.34267309e-05,-3.96858794e-06, 4.87307646e-05,
 -1.93452771e-05,-3.20770429e-05,-2.93087598e-05, 1.10286151e-04,
 -2.43698563e-04,-8.53251142e-05,-1.21633592e+00, 9.46475158e-04,
 -2.46356041e-02,-1.52539743e-04]


--- Step 1808 ---
qpos:
[ 3.29728867e-03,-3.19486488e-03, 1.19256114e-02, 4.17238081e-02,
  6.13064559e-03, 7.64855009e-01,-2.98620387e-02, 8.70952732e-01,
  5.84953663e-03, 1.63813831e-02,-9.29150869e-03, 2.60054584e-02,
  1.35190778e+00,-1.71837707e-04, 1.11083475e+00, 6.31887801e-02,
  1.11068038e-02,-3.63511547e-02, 7.31154972e-02, 6.77872310e-01,
 -1.85037597e-01,-6.80016443e-01,-2.09351039e-01]

qacc:
[ 3.39024577e-01,-2.90087537e+00, 9.71975777e+00,-9.49930083e+00,
 -9.31577117e-02, 1.73951751e+00,-8.38446469e+00, 2.15237242e+01,
 -1.69794573e+00, 2.53558522e+00,-1.29025808e+01, 2.86488306e+01,
  2.15670656e-01,-5.37273651e-01,-1.43413381e+00, 4.78493316e+00,
  1.50575197e+00,-1.09182494e-01,-3.00363241e+00,-6.47847161e+00,
  7.08020703e+01, 1.05337754e+02]

qfrc_actuator:
[-1.53826683e-05, 4.78572038e-05, 1.05250892e-04, 1.17300511e-04,
 -4.10324685e-05, 2.56127544e-02, 8.52790708e-03, 2.25075636e-03,
 -6.56593287e-05, 5.37728340e-04, 4.06533049e-05, 2.72460327e-05,
  4.64468473e-04,-1.62339223e-03, 0.00000000e+00,-2.05960959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.35274332,  4.53033581,  7.35274332,  9.41787099,
       -1.26838787,  4.53033581, -1.26838787, 10.69495948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020586311479874053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.08952366e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.08952366e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05281612, -0.01428631,  0.06175118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78525165e-06, 2.26421289e-05, 6.71013185e-05, 8.89327245e-06,
 -1.51477161e-05, 7.58474294e-06, 9.52880374e-06, 6.03068073e-05,
 -9.98328138e-06,-1.35253998e-05,-1.83713211e-05, 4.36022504e-05,
 -2.27481905e-05,-2.91946840e-05,-2.83687650e-06, 2.22514134e-05,
 -6.41178110e-04,-2.53569793e-04,-1.21622637e+00, 9.93560532e-04,
 -2.46177716e-02,-1.51906455e-04]


--- Step 1809 ---
qpos:
[ 3.29736669e-03,-3.19573943e-03, 1.19260517e-02, 4.17246756e-02,
  6.12984889e-03, 7.64855793e-01,-2.98634433e-02, 8.70951489e-01,
  5.84918960e-03, 1.63838645e-02,-9.29178518e-03, 2.60053878e-02,
  1.35199269e+00,-1.71870410e-04, 1.11102443e+00, 6.31875235e-02,
  1.11035405e-02,-3.63372955e-02, 7.30876141e-02, 6.78151557e-01,
 -1.85463302e-01,-6.79714486e-01,-2.09050346e-01]

qacc:
[ 3.26474965e+00,-3.20074823e+00, 1.06204449e+01,-1.06626754e+01,
 -6.28167610e-02,-3.68468121e-01, 6.37264033e+00,-2.35511040e+01,
  2.04011159e+00, 6.50502509e-01,-1.54255655e+00, 2.17158538e+00,
  1.82188478e-01,-4.36542062e-01,-2.99256119e+00, 1.01287444e+01,
 -3.70016549e+00, 2.67938985e+00, 3.67373329e+00, 1.35030168e+01,
 -1.36328155e+02,-8.98358723e+01]

qfrc_actuator:
[ 3.47604533e-06, 2.88712760e-05, 1.57529815e-04, 1.21122867e-04,
 -4.43563408e-05, 2.57422928e-02, 8.54102425e-03, 2.18127568e-03,
 -5.32664423e-05, 6.21444174e-04, 6.64131918e-05, 3.50415526e-05,
  4.64205191e-04,-1.63328331e-03, 0.00000000e+00,-2.01134148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.88116141, 7.71513856, 3.88116141, 3.38243767,
       2.64302898, 7.71513856, 2.64302898, 7.30676703, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0024965009691788106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.59982907e-01,  3.59982907e-01,  8.60711690e-01,  1.38899681e-01,
        9.32958899e-01, -3.32106266e-01, -9.22561210e-01, -1.38777878e-17,
       -3.85850767e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05791693, -0.05500605,  0.06174137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89170404e-05, 7.94838917e-06, 6.55423923e-05, 7.28851731e-06,
 -1.01218407e-05, 1.37564832e-04, 1.75384314e-05,-6.75812909e-05,
  1.21066502e-05, 7.41554315e-05, 2.21936280e-05, 7.42590677e-06,
 -1.98252049e-05,-2.25519290e-05,-2.36586792e-06, 4.83263344e-05,
 -1.18471324e-03,-4.84469279e-04,-1.21609283e+00, 1.05826770e-03,
 -2.45976409e-02,-1.50762148e-04]


--- Step 1810 ---
qpos:
[ 3.29801508e-03,-3.19657346e-03, 1.19265457e-02, 4.17256243e-02,
  6.12918018e-03, 7.64856917e-01,-2.98644117e-02, 8.70956032e-01,
  5.84899400e-03, 1.63866363e-02,-9.29142249e-03, 2.60057501e-02,
  1.35207741e+00,-1.71782911e-04, 1.11121390e+00, 6.31881806e-02,
  1.10879173e-02,-3.63148556e-02, 7.30689485e-02, 6.78234347e-01,
 -1.85818256e-01,-6.79612624e-01,-2.08797575e-01]

qacc:
[ 5.00723501e+00, 6.11268821e-02,-4.99811817e-01, 1.80784914e+00,
  7.04058459e-02, 9.30585090e+00,-4.31807342e+01, 1.07820129e+02,
  1.33607517e+00,-5.13916224e-01, 5.56760640e-01, 5.70583222e+00,
 -1.03775148e-01, 1.56093260e-01,-6.09416454e+00, 2.08673617e+01,
 -3.08995102e+00, 2.14517242e+00, 2.30436203e+00, 1.04004427e+01,
 -1.22775564e+02,-7.93834604e+01]

qfrc_actuator:
[ 3.22921566e-05, 1.79537784e-05, 1.52548849e-04, 1.23014826e-04,
 -2.82121557e-05, 2.57479712e-02, 8.56732403e-03, 2.47823597e-03,
 -4.58327182e-05, 6.34842498e-04, 9.96857213e-05, 5.74597166e-05,
  4.60994593e-04,-1.62130747e-03, 0.00000000e+00,-1.91141789e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.74448442, -3.8222687 , -7.74448442,  7.57859589,
        2.14319464, -3.8222687 ,  2.14319464,  4.29393278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025524805007030556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34897776,  0.34897776,  0.8697293 ,  0.12995566,  0.93713101,
       -0.32387807, -0.92807653,  0.        , -0.37238951])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05761504, -0.05487828,  0.06173366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93569225e-05, 7.40843709e-06, 4.98806750e-06, 4.64052026e-06,
  1.16224199e-05, 8.31952017e-05, 5.34243909e-05, 3.00349674e-04,
  7.81297018e-06, 5.96857980e-05, 5.15544481e-05, 2.65031455e-05,
 -1.95398175e-05, 1.66811165e-06, 8.50696088e-07, 1.01516138e-04,
 -3.67745784e-04,-2.27036765e-04,-1.21623995e+00, 8.88863649e-04,
 -2.46203601e-02,-1.46777847e-04]


--- Step 1811 ---
qpos:
[ 3.29865912e-03,-3.19741221e-03, 1.19270263e-02, 4.17265995e-02,
  6.12867795e-03, 7.64857968e-01,-2.98650047e-02, 8.70963448e-01,
  5.84854521e-03, 1.63887647e-02,-9.29015012e-03, 2.60061350e-02,
  1.35216194e+00,-1.71341923e-04, 1.11140373e+00, 6.31866690e-02,
  1.10619753e-02,-3.62856046e-02, 7.30548253e-02, 6.78138974e-01,
 -1.86112800e-01,-6.79691399e-01,-2.08588496e-01]

qacc:
[-3.85075633e-02, 8.61107620e-02,-4.27882765e-01, 9.11881339e-01,
  9.25395685e-02, 3.87863796e+00,-1.93931886e+01, 5.18824549e+01,
 -2.16895818e+00,-3.34173242e+00, 1.05926895e+01,-1.11875356e+01,
 -5.58310816e-01, 9.38662747e-01, 7.13775605e+00,-2.40709551e+01,
 -2.57972648e+00, 1.70278636e+00, 1.13562882e+00, 7.94450936e+00,
 -1.11432242e+02,-7.07278663e+01]

qfrc_actuator:
[ 3.12276128e-05, 1.17125743e-05, 1.49330451e-04, 1.23721785e-04,
 -1.83349481e-05, 2.56974674e-02, 8.56547679e-03, 2.61561873e-03,
 -5.91377314e-05, 5.35082726e-04, 1.19120658e-04, 5.27533155e-05,
  4.61354525e-04,-1.59647646e-03, 0.00000000e+00,-2.03040112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.62959049, -4.04674262, -7.62959049,  7.44176389,
        2.25225762, -4.04674262,  2.25225762,  4.39003394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025675586381906576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34111204,  0.34111204,  0.87594815,  0.12378151,  0.94002265,
       -0.31786091, -0.93183728,  0.        , -0.3628764 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0574694 , -0.05481496,  0.06173034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24198581e-07,-8.38816425e-07,-9.13194484e-07, 1.28453323e-06,
  1.51006536e-05, 1.57146444e-05, 2.97599521e-05, 1.48472979e-04,
 -1.30542049e-05,-5.47013573e-05, 3.89929387e-05, 1.42851207e-07,
 -9.90312183e-06, 2.06650228e-05, 8.18903719e-06,-1.14024483e-04,
 -2.11545997e-05, 1.02797701e-06,-1.21632514e+00, 7.85870387e-04,
 -2.46354979e-02,-1.44013712e-04]


--- Step 1812 ---
qpos:
[ 3.29894080e-03,-3.19821811e-03, 1.19271585e-02, 4.17279397e-02,
  6.12851245e-03, 7.64859394e-01,-2.98657106e-02, 8.70966915e-01,
  5.84863058e-03, 1.63901635e-02,-9.28844855e-03, 2.60061619e-02,
  1.35224652e+00,-1.71151493e-04, 1.11159345e+00, 6.31847617e-02,
  1.10367364e-02,-3.62583397e-02, 7.30405888e-02, 6.77874009e-01,
 -1.86371655e-01,-6.79935871e-01,-2.08421796e-01]

qacc:
[-3.19187361e+00, 1.77604850e+00,-7.79772466e+00, 1.46329810e+01,
  1.88077662e-01,-6.05757238e+00, 2.94868494e+01,-7.40363014e+01,
  4.68460527e+00,-2.91025620e+00, 1.04736218e+01,-1.68031422e+01,
  2.06393810e-01,-4.30539203e-01, 1.00650389e+00,-3.81184371e+00,
  1.75797503e-01,-4.96550662e-01,-2.83580933e-02,-8.01355054e-01,
 -1.06152077e+02,-5.96044509e+01]

qfrc_actuator:
[ 1.25812484e-05, 8.30618336e-06, 1.29462608e-04, 1.41492573e-04,
  5.44501848e-06, 2.57022933e-02, 8.54662791e-03, 2.40931521e-03,
 -3.12840477e-05, 4.74761506e-04, 1.29726864e-04, 3.20092376e-05,
  4.58537345e-04,-1.61747160e-03, 0.00000000e+00,-2.04662723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.32828224, -5.87704183, -6.32828224,  7.05424884,
        1.70358987, -5.87704183,  1.70358987,  6.8019718 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022438070234429563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05744793, -0.0548031 ,  0.06173052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86510869e-05,-3.98860041e-06,-2.01077686e-05, 1.77267698e-05,
  3.05568959e-05, 2.41297472e-05,-7.85357976e-06,-2.01532377e-04,
  2.74669617e-05,-8.29486866e-05, 4.07406579e-06,-2.17442806e-05,
 -3.73785769e-06,-1.78398489e-05,-1.39037585e-05,-2.26763385e-05,
 -2.23190634e-05, 2.08398735e-04,-1.21636673e+00, 7.32992050e-04,
 -2.46458825e-02,-1.42101484e-04]


--- Step 1813 ---
qpos:
[ 3.29934166e-03,-3.19886548e-03, 1.19270001e-02, 4.17291169e-02,
  6.12865400e-03, 7.64860838e-01,-2.98665541e-02, 8.70968611e-01,
  5.84939363e-03, 1.63914379e-02,-9.28713526e-03, 2.60059192e-02,
  1.35233100e+00,-1.71122592e-04, 1.11178323e+00, 6.31813078e-02,
  1.10114117e-02,-3.62325182e-02, 7.30229903e-02, 6.77453813e-01,
 -1.86597739e-01,-6.80331779e-01,-2.08293746e-01]

qacc:
[ 1.03422690e+00, 6.83854933e-01,-1.45008285e+00,-1.01833644e+00,
  1.71255925e-01,-2.67704041e+00, 1.28506859e+01,-3.27568935e+01,
  5.90067653e+00, 3.54372431e-01,-3.84096780e-01,-3.54680999e+00,
 -7.01467680e-02,-4.83649668e-02, 4.75320337e+00,-1.65053344e+01,
 -2.14611002e-02,-3.60843020e-01,-8.40465723e-01,-7.16702735e-01,
 -9.70837661e+01,-5.45296179e+01]

qfrc_actuator:
[ 1.92508154e-05, 2.43176324e-05, 1.17698096e-04, 1.33647368e-04,
  1.95771546e-05, 2.56866409e-02, 8.53566861e-03, 2.32202149e-03,
  2.82615282e-06, 4.91704947e-04, 1.17399809e-04, 1.97669241e-05,
  4.43147348e-04,-1.62999453e-03, 0.00000000e+00,-2.12637315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.97155416, 7.66899827, 3.97155416, 5.22313481,
       1.76761327, 7.66899827, 1.76761327, 7.72096744, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0022107082056640748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51101213e-14,  2.51101213e-14,  1.00000000e+00, -6.30518192e-28,
        1.00000000e+00, -2.51101213e-14, -1.00000000e+00,  0.00000000e+00,
        2.51101213e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0575339 , -0.05484116,  0.06173346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13914444e-06, 1.04042585e-05,-1.44462605e-05,-8.36753780e-06,
  2.78520855e-05,-1.02972687e-05,-1.31782236e-05,-9.13372777e-05,
  3.48754752e-05,-2.95930096e-05,-2.97491602e-05,-1.60873349e-05,
 -2.21621956e-05,-1.76593852e-05,-1.19356788e-05,-8.35039341e-05,
 -2.96546476e-04, 4.22523909e-04,-1.21636869e+00, 7.15440335e-04,
 -2.46516023e-02,-1.40335851e-04]


--- Step 1814 ---
qpos:
[ 3.30016416e-03,-3.19944581e-03, 1.19269880e-02, 4.17301720e-02,
  6.12882845e-03, 7.64862289e-01,-2.98672357e-02, 8.70968542e-01,
  5.85021488e-03, 1.63930052e-02,-9.28711940e-03, 2.60065766e-02,
  1.35241504e+00,-1.70416099e-04, 1.11197292e+00, 6.31769075e-02,
  1.09964245e-02,-3.62091008e-02, 7.30089843e-02, 6.77249525e-01,
 -1.87015504e-01,-6.80514428e-01,-2.07986527e-01]

qacc:
[ 3.70409334e+00,-5.78919380e-01, 2.69472142e+00,-5.07536557e+00,
  1.88041185e-02,-3.49423427e+00, 1.55058340e+01,-3.50740662e+01,
  4.62631396e-01, 5.86513162e+00,-2.41519503e+01, 4.15872398e+01,
 -8.84694421e-01, 1.51608310e+00, 2.80976626e+00,-9.83144860e+00,
  2.58439766e+00,-6.01012013e-01, 8.98110715e-01,-6.04662256e+00,
  1.09001551e+02, 1.68275276e+02]

qfrc_actuator:
[ 4.07733248e-05, 3.40883336e-05, 1.28629680e-04, 1.28567172e-04,
  1.00629549e-05, 2.56944131e-02, 8.54726557e-03, 2.23452397e-03,
  4.82780856e-06, 5.19188571e-04, 5.64533336e-05, 6.59381953e-05,
  4.30878268e-04,-1.58416503e-03, 0.00000000e+00,-2.17191116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002177156370908609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.09941794e-14,  2.54970897e-14,  1.00000000e+00, -1.30020316e-27,
        1.00000000e+00, -2.54970897e-14, -1.00000000e+00,  0.00000000e+00,
        5.09941794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05250194, -0.01425245,  0.06173629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17039216e-05, 1.22699530e-05, 1.10178966e-05,-5.29846140e-06,
  2.98541559e-06,-3.47792335e-06, 5.29306663e-06,-9.02985053e-05,
  2.99818959e-06, 4.05414582e-06,-7.13105419e-05, 4.35541124e-05,
 -2.91289342e-05, 3.64215668e-05,-1.84378834e-05,-5.25655839e-05,
 -7.75387482e-04, 6.30329371e-04,-1.21635900e+00, 7.27552769e-04,
 -2.46577080e-02,-1.38798359e-04]


--- Step 1815 ---
qpos:
[ 3.30123816e-03,-3.19977744e-03, 1.19270210e-02, 4.17311412e-02,
  6.12914947e-03, 7.64863713e-01,-2.98678524e-02, 8.70968813e-01,
  5.85070903e-03, 1.63951562e-02,-9.28834097e-03, 2.60077398e-02,
  1.35249896e+00,-1.69496675e-04, 1.11216198e+00, 6.31759812e-02,
  1.09903900e-02,-3.61874770e-02, 7.29943143e-02, 6.77238757e-01,
 -1.87605566e-01,-6.80505055e-01,-2.07520329e-01]

qacc:
[ 2.20460059e+00, 2.08495442e-02, 7.57680308e-01,-2.49226768e+00,
  8.16505013e-02, 3.82375276e-01,-2.07350580e+00, 5.96538270e+00,
 -2.90124494e+00, 5.27666196e+00,-1.98207443e+01, 3.01119371e+01,
 -1.56545050e-03, 9.79125360e-02,-1.14173739e+01, 3.85939357e+01,
  2.23813366e+00,-4.48393370e-01,-1.66003118e-01,-6.12359235e+00,
  9.80866014e+01, 1.50540278e+02]

qfrc_actuator:
[ 5.31048516e-05, 5.78952913e-05, 1.35105763e-04, 1.25170206e-04,
  2.20175481e-05, 2.56984929e-02, 8.55439936e-03, 2.25412345e-03,
 -1.20872467e-05, 5.70381278e-04, 2.90493107e-06, 9.28380131e-05,
  4.31166165e-04,-1.57510912e-03, 0.00000000e+00,-1.98387447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.88909868,  3.51410001,  7.88909868,  8.78691594,
       -0.33798753,  3.51410001, -0.33798753,  9.39514027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002234773981792955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.48397161e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.48397161e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05233624, -0.01427326,  0.06172976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29554432e-05, 3.27409272e-05, 1.01870625e-05,-2.59536298e-06,
  1.32950742e-05, 2.80113004e-07, 4.33278452e-06, 1.75965126e-05,
 -1.68215281e-05, 4.05413526e-05,-6.00066085e-05, 2.54488101e-05,
 -7.53452092e-06, 1.17517170e-05,-1.79208958e-05, 1.81937577e-04,
 -1.42729497e-04, 5.82876370e-04,-1.21629692e+00, 6.43988361e-04,
 -2.46435722e-02,-1.38499554e-04]


--- Step 1816 ---
qpos:
[ 3.30176168e-03,-3.19952386e-03, 1.19269837e-02, 4.17316808e-02,
  6.12961302e-03, 7.64864994e-01,-2.98686890e-02, 8.70971070e-01,
  5.85065246e-03, 1.63969635e-02,-9.28953635e-03, 2.60082119e-02,
  1.35258301e+00,-1.69231568e-04, 1.11235113e+00, 6.31752567e-02,
  1.09817783e-02,-3.61752706e-02, 7.29986784e-02, 6.77175413e-01,
 -1.87924100e-01,-6.80541120e-01,-2.07320469e-01]

qacc:
[-4.84417251e+00, 9.44336580e-02, 2.61347631e+00,-1.03801206e+01,
  7.88872492e-02, 3.85104911e+00,-1.74010382e+01, 3.95033241e+01,
 -4.79721197e+00,-1.94066449e+00, 9.19480613e+00,-2.09621595e+01,
  5.87625776e-01,-1.19437088e+00,-5.36791996e-01, 1.93469749e+00,
 -6.44272731e-01,-2.35436970e+00, 4.75851856e+00, 1.10564257e+00,
  1.98818883e+01,-1.92292736e+02]

qfrc_actuator:
[ 2.44179988e-05, 1.07668168e-04, 1.38951076e-04, 1.05043316e-04,
  2.89739521e-05, 2.56826338e-02, 8.54113469e-03, 2.35433306e-03,
 -3.99903141e-05, 5.11123191e-04,-1.02403992e-05, 5.49512316e-05,
  4.22999118e-04,-1.62342899e-03, 0.00000000e+00,-1.97928208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002274799240729583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44026595e-14,  2.44026595e-14,  1.00000000e+00, -5.95489789e-28,
        1.00000000e+00, -2.44026595e-14, -1.00000000e+00,  0.00000000e+00,
        2.44026595e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00339076, -0.00815849,  0.0617252 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83058813e-05, 7.00852169e-05, 1.17727073e-05,-1.84246835e-05,
  1.29228567e-05,-1.43158355e-05,-1.21863287e-05, 1.00748616e-04,
 -2.83639367e-05,-4.79622170e-05,-1.12937597e-05,-3.77342978e-05,
 -9.55715836e-06,-4.70552481e-05, 1.00029890e-05, 1.19693938e-05,
  7.99187684e-05, 3.82225109e-04,-1.21618877e+00, 6.19879430e-04,
 -2.46262813e-02,-1.37379007e-04]


--- Step 1817 ---
qpos:
[ 3.30193755e-03,-3.19887278e-03, 1.19270454e-02, 4.17319871e-02,
  6.12998774e-03, 7.64866516e-01,-2.98700913e-02, 8.70974147e-01,
  5.85060724e-03, 1.63977125e-02,-9.29028214e-03, 2.60089811e-02,
  1.35266699e+00,-1.69465776e-04, 1.11254050e+00, 6.31729281e-02,
  1.09707127e-02,-3.61714002e-02, 7.30166404e-02, 6.77064793e-01,
 -1.87996182e-01,-6.80618627e-01,-2.07361970e-01]

qacc:
[-3.05518676e+00,-2.26265033e-01, 2.56341815e+00,-7.06232214e+00,
 -5.02392521e-02, 3.26998113e+00,-1.22208776e+01, 2.06250077e+01,
  1.31240640e-01,-2.04393351e+00, 4.00326322e+00, 1.19996170e+00,
  1.99298850e-01,-6.25683819e-01, 5.14589583e+00,-1.75832718e+01,
 -6.13478534e-01,-2.08398376e+00, 3.39948743e+00, 1.17050406e+00,
  1.81075848e+01,-1.74377191e+02]

qfrc_actuator:
[ 7.32677301e-06, 1.19326698e-04, 1.41315391e-04, 9.30090460e-05,
  1.51242243e-05, 2.57081979e-02, 8.51588979e-03, 2.39461196e-03,
 -3.86264591e-05, 4.21793694e-04, 8.74788957e-08, 6.79502497e-05,
  4.09740183e-04,-1.65213437e-03, 0.00000000e+00,-2.06512108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.82380087,   5.29363   ,   6.82380087,
        16.44902385, -10.07097918,   5.29363   , -10.07097918,
        21.61844897,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022922687029528765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.2108343e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.2108343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00339828, -0.00817069,  0.06172334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78736119e-05, 5.24712292e-05, 1.76500427e-05,-8.98404570e-06,
 -8.05336912e-06, 1.84233703e-05,-2.64416561e-05, 4.17429398e-05,
  5.40726359e-07,-1.20162812e-04,-2.28321605e-06, 9.81723804e-06,
 -2.97437660e-05,-4.28665493e-05, 1.95170613e-06,-8.48242271e-05,
 -6.44760318e-06, 1.66578577e-04,-1.21634431e+00, 6.52763883e-04,
 -2.46483852e-02,-1.36906182e-04]


--- Step 1818 ---
qpos:
[ 3.30225232e-03,-3.19841614e-03, 1.19274025e-02, 4.17325553e-02,
  6.13003449e-03, 7.64867293e-01,-2.98708630e-02, 8.70978748e-01,
  5.85126788e-03, 1.63978543e-02,-9.29077764e-03, 2.60102012e-02,
  1.35275062e+00,-1.69506825e-04, 1.11272960e+00, 6.31716012e-02,
  1.09572955e-02,-3.61749937e-02, 7.30436234e-02, 6.76911021e-01,
 -1.87842448e-01,-6.80734067e-01,-2.07624213e-01]

qacc:
[ 1.23199342e+00,-5.45651380e-01, 4.63540279e-01, 3.74324462e+00,
 -1.82113515e-01,-3.88119322e-02,-4.53479644e+00, 2.28340817e+01,
  6.17504109e+00,-5.85733526e-01,-1.00107284e+00, 8.87593024e+00,
 -3.34686216e-01, 4.67429633e-01,-3.38463978e+00, 1.13402320e+01,
 -5.87894691e-01,-1.86598254e+00, 2.25523273e+00, 1.20281439e+00,
  1.66355416e+01,-1.59615029e+02]

qfrc_actuator:
[ 1.49629122e-05, 7.25649940e-05, 1.42649937e-04, 1.03558625e-04,
 -1.10348345e-05, 2.56340191e-02, 8.53714848e-03, 2.47031433e-03,
 -2.29160290e-06, 4.21789288e-04, 2.40653980e-05, 9.30163626e-05,
  3.98764919e-04,-1.63345906e-03, 0.00000000e+00,-2.00821478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.60058411,   5.56947631,   6.60058411,
        18.50501002, -11.6956832 ,   5.56947631, -11.6956832 ,
        22.49733303,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022812002605331755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43341859e-14,  2.43341859e-14,  1.00000000e+00, -5.92152604e-28,
        1.00000000e+00, -2.43341859e-14, -1.00000000e+00,  0.00000000e+00,
        2.43341859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00339962, -0.00815207,  0.0617247 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.14281508e-06,-1.41906696e-05, 1.40272630e-05, 1.32314994e-05,
 -2.97709180e-05,-6.78806060e-05, 2.31037490e-05, 7.64433694e-05,
  3.63098737e-05,-6.72711790e-05,-7.86737061e-07, 2.00269306e-05,
 -3.77600789e-05, 9.56984358e-07,-1.28657111e-05, 5.14289339e-05,
 -5.66127837e-05, 2.73259190e-05,-1.21644053e+00, 6.84992322e-04,
 -2.46666918e-02,-1.37371378e-04]


--- Step 1819 ---
qpos:
[ 3.30265622e-03,-3.19848098e-03, 1.19282700e-02, 4.17332738e-02,
  6.12995872e-03, 7.64867256e-01,-2.98711657e-02, 8.70982509e-01,
  5.85235867e-03, 1.63977470e-02,-9.29140916e-03, 2.60113467e-02,
  1.35283390e+00,-1.69108353e-04, 1.11291930e+00, 6.31652436e-02,
  1.09505654e-02,-3.61793004e-02, 7.30637482e-02, 6.76919801e-01,
 -1.87833718e-01,-6.80687406e-01,-2.07756425e-01]

qacc:
[ 8.07353586e-01,-1.80816344e+00, 4.81036607e+00,-2.64089110e+00,
 -6.73168705e-02,-3.79325897e+00, 1.30601170e+01,-2.12112639e+01,
  3.75170419e+00,-1.10123881e-01, 2.17684447e-01,-1.09582672e+00,
 -9.49223387e-01, 1.47196615e+00, 1.61378537e+01,-5.50074299e+01,
  1.67177426e+00,-1.78307457e-01,-1.71453243e+00,-6.38012588e+00,
  8.29253994e+01, 1.25464252e+02]

qfrc_actuator:
[ 1.93353403e-05, 2.66893472e-05, 1.60883168e-04, 1.09503928e-04,
 -8.79955149e-06, 2.55718954e-02, 8.54983401e-03, 2.42421815e-03,
  1.88215328e-05, 4.22094269e-04, 2.07475444e-05, 8.95447498e-05,
  3.89187747e-04,-1.60460072e-03, 0.00000000e+00,-2.27593602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022631755010572574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45279923e-14,  4.90559846e-14,  1.00000000e+00,  1.20324481e-27,
        1.00000000e+00, -4.90559846e-14, -1.00000000e+00,  0.00000000e+00,
       -2.45279923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05228234, -0.01423402,  0.06172696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56789086e-06,-5.03674015e-05, 1.74762673e-05, 6.07695905e-06,
 -1.11368583e-05,-9.27556795e-05, 4.25919663e-06,-4.58327197e-05,
  2.21298259e-05,-3.66050493e-05,-1.66169735e-05,-5.99524927e-06,
 -3.01883434e-05, 2.03305556e-05,-3.43185987e-06,-2.67240434e-04,
 -7.89287849e-05,-5.27124913e-05,-1.21649073e+00, 7.19174029e-04,
 -2.46817325e-02,-1.38703907e-04]


--- Step 1820 ---
qpos:
[ 3.30310942e-03,-3.19899529e-03, 1.19294004e-02, 4.17337210e-02,
  6.12984384e-03, 7.64866537e-01,-2.98708852e-02, 8.70982218e-01,
  5.85334927e-03, 1.63976686e-02,-9.29218904e-03, 2.60117157e-02,
  1.35291709e+00,-1.68916091e-04, 1.11310884e+00, 6.31567394e-02,
  1.09498487e-02,-3.61840629e-02, 7.30743367e-02, 6.77077960e-01,
 -1.87958321e-01,-6.80491446e-01,-2.07770300e-01]

qacc:
[ 4.48501908e-01,-1.88934093e+00, 7.01683344e+00,-1.17977631e+01,
 -2.01970277e-02,-9.50434241e+00, 3.93462937e+01,-8.33892535e+01,
 -8.79499172e-01,-1.14391774e+00, 7.41585219e+00,-2.06426440e+01,
 -4.28695361e-02,-1.05727439e-01, 6.24700031e+00,-2.21956120e+01,
  1.50332761e+00,-1.13936743e-01,-2.38406606e+00,-6.33247814e+00,
  7.64078156e+01, 1.14969542e+02]

qfrc_actuator:
[ 2.17437607e-05,-4.97224153e-07, 1.71169912e-04, 9.49409623e-05,
 -7.35456452e-06, 2.55351250e-02, 8.57503773e-03, 2.21803296e-03,
  1.30423776e-05, 4.40222252e-04, 1.90910451e-05, 5.15431349e-05,
  3.80462936e-04,-1.62321408e-03, 0.00000000e+00,-2.37774941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.38246215,  2.07872681,  8.38246215,  8.90019845,
       -1.06391341,  2.07872681, -1.06391341, 12.92659259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002236425379239619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05236972, -0.01420402,  0.06173012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51917200e-06,-5.14910492e-05, 2.23437768e-06,-1.60011013e-05,
 -3.56609192e-06,-8.87917060e-05, 6.02036328e-06,-2.10062038e-04,
 -5.15743891e-06,-6.01128214e-06,-1.14656441e-05,-4.02635537e-05,
 -2.12410367e-05,-2.01007604e-05,-3.66902415e-05,-1.18361917e-04,
 -1.77264276e-05, 2.90168586e-05,-1.21645751e+00, 7.01666890e-04,
 -2.46701360e-02,-1.39766351e-04]


--- Step 1821 ---
qpos:
[ 3.30289809e-03,-3.19981491e-03, 1.19303063e-02, 4.17343512e-02,
  6.12972172e-03, 7.64865115e-01,-2.98697489e-02, 8.70979446e-01,
  5.85495266e-03, 1.63977584e-02,-9.29279752e-03, 2.60112402e-02,
  1.35300006e+00,-1.68644871e-04, 1.11329738e+00, 6.31533864e-02,
  1.09464043e-02,-3.61946746e-02, 7.30918921e-02, 6.77194600e-01,
 -1.87860915e-01,-6.80332167e-01,-2.07999742e-01]

qacc:
[-5.83440223e+00, 6.12947519e-01,-3.52263632e+00, 7.25023461e+00,
 -2.49997260e-03,-7.54155879e+00, 2.92905323e+01,-5.55237445e+01,
  5.34680660e+00,-2.00557461e+00, 1.10208772e+01,-2.60138848e+01,
  1.48285480e-01,-2.29368285e-01,-1.70461770e+01, 5.74516097e+01,
 -6.81892901e-01,-1.46231973e+00, 1.74168969e+00, 1.72146191e+00,
  1.67774982e+01,-1.56275288e+02]

qfrc_actuator:
[-1.25273078e-05,-1.63337496e-05, 1.58979366e-04, 1.03939662e-04,
 -6.41815443e-06, 2.55137590e-02, 8.62520301e-03, 2.09686989e-03,
  4.47440247e-05, 4.68865675e-04, 3.62507576e-05, 1.13078594e-05,
  3.72237698e-04,-1.61658264e-03, 0.00000000e+00,-2.09684781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.54751505,   1.23562264,   8.54751505,
        10.16583753, -10.58025383,   1.23562264, -10.58025383,
        81.82608682,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022027524171033264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04016255e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.04016255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00339038, -0.00805695,  0.06173396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42163225e-05,-4.48504081e-05,-2.31134803e-05, 6.55632746e-06,
 -6.74180074e-07,-7.60780008e-05, 2.70217259e-05,-1.28591069e-04,
  3.15528860e-05, 2.12004991e-05, 1.31230390e-05,-4.16717022e-05,
 -2.55483921e-05,-2.99014960e-06,-3.25171127e-05, 2.69037950e-04,
 -1.66916113e-04, 1.45317707e-05,-1.21639336e+00, 7.14192137e-04,
 -2.46559502e-02,-1.40267657e-04]


--- Step 1822 ---
qpos:
[ 3.30193258e-03,-3.20066617e-03, 1.19306443e-02, 4.17350728e-02,
  6.12979853e-03, 7.64863929e-01,-2.98681697e-02, 8.70975520e-01,
  5.85657852e-03, 1.63982532e-02,-9.29367199e-03, 2.60113213e-02,
  1.35308291e+00,-1.68571292e-04, 1.11348592e+00, 6.31513385e-02,
  1.09403864e-02,-3.62107747e-02, 7.31129449e-02, 6.77272662e-01,
 -1.87557983e-01,-6.80206721e-01,-2.08428792e-01]

qacc:
[-6.63667889e+00, 1.74706259e+00,-6.65266970e+00, 9.14150109e+00,
  1.11317954e-01,-2.89072516e+00, 1.25010757e+01,-2.52014144e+01,
  1.81017910e-01, 2.42416592e+00,-1.02175680e+01, 1.99784545e+01,
  1.36452599e-01,-3.57499300e-01,-3.94690312e+00, 1.37854121e+01,
 -6.43406687e-01,-1.37209066e+00, 8.74370584e-01, 1.58592066e+00,
  1.55451168e+01,-1.44690436e+02]

qfrc_actuator:
[-5.03593257e-05,-7.57201119e-06, 1.33684846e-04, 1.08977029e-04,
  1.19495145e-05, 2.55906929e-02, 8.67208682e-03, 2.04452217e-03,
  4.50033446e-05, 5.03667531e-04, 2.89344974e-05, 4.11214445e-05,
  3.64327788e-04,-1.63051227e-03, 0.00000000e+00,-2.03657218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.26865461,  4.66405801, -7.26865461, 22.86632111,
       22.17653506,  4.66405801, 22.17653506, 43.19716315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002164688728780166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56439415e-14,  3.84659123e-14,  1.00000000e+00, -9.86417607e-28,
        1.00000000e+00, -3.84659123e-14, -1.00000000e+00,  0.00000000e+00,
        2.56439415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00338407, -0.00801423,  0.06173839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88200847e-05,-2.08055799e-05,-3.71793500e-05, 2.44388124e-06,
  1.80554481e-05, 3.60249027e-05, 3.11190274e-05,-5.68864721e-05,
  1.17192410e-06, 4.76032568e-05,-2.75501044e-06, 3.03664039e-05,
 -2.25617196e-05,-2.06971781e-05, 1.40860907e-05, 7.09020079e-05,
 -9.35454446e-05, 1.89849029e-04,-1.21646541e+00, 6.83076720e-04,
 -2.46740884e-02,-1.40929914e-04]


--- Step 1823 ---
qpos:
[ 3.30052069e-03,-3.20129426e-03, 1.19302491e-02, 4.17354822e-02,
  6.13008429e-03, 7.64863578e-01,-2.98667197e-02, 8.70972696e-01,
  5.85750542e-03, 1.63991096e-02,-9.29465311e-03, 2.60120984e-02,
  1.35316569e+00,-1.69137457e-04, 1.11367449e+00, 6.31500406e-02,
  1.09319186e-02,-3.62320672e-02, 7.31345830e-02, 6.77314375e-01,
 -1.87063056e-01,-6.80112587e-01,-2.09044301e-01]

qacc:
[-3.94507870e+00, 1.70942917e+00,-4.33626379e+00,-7.16738627e-02,
  1.15695683e-01, 3.35952095e+00,-1.21954685e+01, 2.35658498e+01,
 -6.10536587e+00, 2.22049477e+00,-1.01414869e+01, 2.20673746e+01,
  4.55906740e-01,-1.07244814e+00,-2.27114120e+00, 7.89437530e+00,
 -6.12459505e-01,-1.29809184e+00, 1.46337493e-01, 1.45562324e+00,
  1.45290948e+01,-1.35163829e+02]

qfrc_actuator:
[-7.22198328e-05, 1.57971621e-05, 1.00960945e-04, 9.39032957e-05,
  2.28200305e-05, 2.56726924e-02, 8.68156710e-03, 2.10413920e-03,
  8.98985727e-06, 5.24107712e-04, 2.50541210e-05, 7.63958025e-05,
  3.45953750e-04,-1.67428616e-03, 0.00000000e+00,-2.00037070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.22185041,  4.73620666, -7.22185041, 23.96225182,
       23.3691812 ,  4.73620666, 23.3691812 , 44.27009812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021106580043520617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31502003e-14, -6.57510017e-15,  1.00000000e+00,  8.64638845e-29,
        1.00000000e+00,  6.57510017e-15, -1.00000000e+00,  0.00000000e+00,
        1.31502003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00337466, -0.00795352,  0.06174459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29699115e-05, 4.17458898e-06,-4.15091879e-05,-1.72025578e-05,
  1.89793272e-05, 1.06302948e-04, 1.84543179e-05, 6.04127754e-05,
 -3.59637478e-05, 4.77901471e-05, 6.66998081e-06, 3.78109483e-05,
 -3.54754371e-05,-5.44127199e-05, 1.01515461e-05, 4.09931231e-05,
 -6.01380770e-06, 3.92427391e-04,-1.21649898e+00, 6.59743013e-04,
 -2.46888934e-02,-1.42391124e-04]


--- Step 1824 ---
qpos:
[ 3.29954720e-03,-3.20165309e-03, 1.19296632e-02, 4.17353183e-02,
  6.13053312e-03, 7.64864158e-01,-2.98664494e-02, 8.70972383e-01,
  5.85833875e-03, 1.63997566e-02,-9.29508790e-03, 2.60126299e-02,
  1.35324806e+00,-1.69638535e-04, 1.11386274e+00, 6.31518722e-02,
  1.09199642e-02,-3.62509639e-02, 7.31555571e-02, 6.77197129e-01,
 -1.86523093e-01,-6.80176769e-01,-2.09696801e-01]

qacc:
[ 3.83699054e+00,-3.00293111e-01, 3.99231972e+00,-1.37907044e+01,
  8.89170703e-02, 8.76729670e+00,-3.30207396e+01, 5.90729762e+01,
 -7.95566366e-01,-2.30755155e+00, 8.86538022e+00,-1.38362825e+01,
 -1.60824638e-01, 1.18328766e-01,-9.90178813e+00, 3.39911635e+01,
 -8.71643267e-01, 5.98958951e-01,-1.66007854e-01, 4.35244776e+00,
 -9.95028662e+01,-5.92644576e+01]

qfrc_actuator:
[-4.89982815e-05, 4.76886255e-05, 9.96773052e-05, 6.71299935e-05,
  2.91026721e-05, 2.57037777e-02, 8.61574225e-03, 2.22914114e-03,
  5.18300988e-06, 4.82554400e-04, 4.09349741e-05, 6.13268026e-05,
  3.26627158e-04,-1.66443492e-03, 0.00000000e+00,-1.83655951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.76306466, -5.37100859,  6.76306466, 34.32225239,
       32.34314818, -5.37100859, 32.34314818, 49.36219735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002054901607692349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20402432e-06,  1.20402434e-06,  1.00000000e+00, -1.44967458e-12,
        1.00000000e+00, -1.20402434e-06, -1.00000000e+00,  0.00000000e+00,
        1.20402432e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05547723, -0.05425482,  0.06175101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25734412e-05, 2.49380403e-05,-6.11582360e-06,-2.83631056e-05,
  1.48148480e-05, 9.55623851e-05,-4.09195899e-05, 1.30326856e-04,
 -4.82101277e-06,-1.18615148e-05, 2.78845375e-05,-1.20541154e-05,
 -5.15602271e-05,-1.23835610e-05, 5.12525576e-06, 1.66449833e-04,
  9.28366039e-05, 6.16630167e-04,-1.21650114e+00, 6.44580803e-04,
 -2.47009088e-02,-1.44606724e-04]


--- Step 1825 ---
qpos:
[ 3.29920434e-03,-3.20181485e-03, 1.19293256e-02, 4.17348128e-02,
  6.13070267e-03, 7.64864191e-01,-2.98664328e-02, 8.70975734e-01,
  5.85912002e-03, 1.63997657e-02,-9.29476258e-03, 2.60126729e-02,
  1.35333009e+00,-1.70084293e-04, 1.11405092e+00, 6.31559765e-02,
  1.09136046e-02,-3.62702604e-02, 7.31673533e-02, 6.77233900e-01,
 -1.86120313e-01,-6.80086676e-01,-2.10227466e-01]

qacc:
[ 5.53933797e+00,-1.14829967e+00, 5.89379685e+00,-1.23244757e+01,
 -1.56248995e-01, 6.32495259e+00,-2.99944786e+01, 7.11828769e+01,
 -4.19845533e-01,-3.97219178e+00, 1.50033193e+01,-2.42032089e+01,
 -1.50396609e-01, 1.28828014e-01,-6.95659074e+00, 2.42076053e+01,
  1.39869763e+00,-9.99619959e-02,-2.29447457e+00,-6.82717110e+00,
  7.88708484e+01, 1.18443602e+02]

qfrc_actuator:
[-1.71863674e-05, 6.68054789e-05, 1.17008473e-04, 5.14755811e-05,
 -2.91037785e-06, 2.55973703e-02, 8.57684698e-03, 2.40927681e-03,
  2.62170328e-06, 4.21983987e-04, 6.80622281e-05, 3.44674819e-05,
  3.17414757e-04,-1.65836280e-03, 0.00000000e+00,-1.72313062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020464995340493605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71249274e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71249274e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0529688 , -0.01401958,  0.06175228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24668009e-05, 3.06152083e-05, 2.07589861e-05,-1.53482186e-05,
 -2.53516566e-05,-5.73745777e-05,-2.08397602e-05, 1.84917734e-04,
 -2.70254486e-06,-6.19786489e-05, 2.76919581e-05,-2.66386934e-05,
 -3.99779822e-05,-9.38230807e-06, 1.71907331e-05, 1.22524701e-04,
  9.35063107e-05, 2.18282603e-04,-1.21650638e+00, 7.57963716e-04,
 -2.47016538e-02,-1.46198462e-04]


--- Step 1826 ---
qpos:
[ 3.29890088e-03,-3.20203950e-03, 1.19295364e-02, 4.17351719e-02,
  6.13053637e-03, 7.64863180e-01,-2.98659355e-02, 8.70980189e-01,
  5.85986463e-03, 1.63990293e-02,-9.29398434e-03, 2.60124300e-02,
  1.35341195e+00,-1.70547721e-04, 1.11423934e+00, 6.31597457e-02,
  1.09033262e-02,-3.62869053e-02, 7.31782902e-02, 6.77107184e-01,
 -1.85668445e-01,-6.80159705e-01,-2.10798162e-01]

qacc:
[   0.36465847,   0.16457382,  -4.3555083 ,  18.48393626,  -0.18642155,
   -0.75067784,  -1.72408684,  15.50286699,  -0.29310873,  -2.83928234,
    9.90252249, -15.02824926,  -0.14743547,   0.13523173,   1.38163589,
   -4.28679038,  -0.97969884,   0.66288663,  -0.21482985,   4.94254041,
 -101.94344233, -62.61165502]

qfrc_actuator:
[-1.60930860e-05, 6.04694216e-05, 1.45145933e-04, 9.57479550e-05,
 -2.20184698e-05, 2.55160888e-02, 8.58916075e-03, 2.46056201e-03,
  8.03653372e-07, 3.68268252e-04, 8.37523896e-05, 1.86277357e-05,
  3.19603684e-04,-1.65457441e-03, 0.00000000e+00,-1.74684172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.15426292, -2.84513146,  8.15426292, 15.74086233,
       20.36178331, -2.84513146, 20.36178331, 66.99406592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020374247105962168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72457436e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.72457436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05812747, -0.05527486,  0.06175359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02951271e-06, 1.44377495e-05, 3.64929167e-05, 4.60042939e-05,
 -3.04963206e-05,-1.11279798e-04, 4.16469262e-06, 5.30251220e-05,
 -1.91677356e-06,-8.37986966e-05, 5.37363917e-06,-1.80566349e-05,
 -2.15233662e-05,-8.17630353e-06, 1.71084089e-05,-1.56987590e-05,
  5.72132595e-05, 4.56694532e-04,-1.21651156e+00, 7.49102422e-04,
 -2.46926882e-02,-1.48843514e-04]


--- Step 1827 ---
qpos:
[ 3.29861320e-03,-3.20228677e-03, 1.19301055e-02, 4.17364119e-02,
  6.13029123e-03, 7.64862268e-01,-2.98652396e-02, 8.70980988e-01,
  5.86023642e-03, 1.63980378e-02,-9.29348093e-03, 2.60119868e-02,
  1.35349379e+00,-1.71272327e-04, 1.11442786e+00, 6.31628877e-02,
  1.08983957e-02,-3.63032708e-02, 7.31870420e-02, 6.77128632e-01,
 -1.85358988e-01,-6.80085061e-01,-2.11241972e-01]

qacc:
[ 1.50584144e-01, 7.83932796e-01,-6.55475696e+00, 2.12401734e+01,
 -4.30880319e-02,-6.75414392e+00, 3.06626817e+01,-7.13855397e+01,
 -3.25608609e+00, 2.51426473e-02, 2.77722052e-01,-3.12830979e+00,
  1.19325544e-01,-3.47138022e-01, 2.01546823e+00,-6.88568416e+00,
  1.33695818e+00, 6.98640548e-02,-5.46283742e-01,-6.87267065e+00,
  7.35934900e+01, 1.20713609e+02]

qfrc_actuator:
[-1.53393750e-05, 5.67953895e-05, 1.61614984e-04, 1.39401651e-04,
 -1.54626592e-05, 2.55748653e-02, 8.61381426e-03, 2.27585637e-03,
 -1.83156531e-05, 3.72285920e-04, 7.48308021e-05, 9.39266640e-06,
  3.17978498e-04,-1.66985804e-03, 0.00000000e+00,-1.78012761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020221982516696545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.24708398e-08,  3.24709496e-08,  1.00000000e+00,  1.05435900e-15,
        1.00000000e+00, -3.24709496e-08, -1.00000000e+00,  0.00000000e+00,
       -3.24708398e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04384705, -0.01748238,  0.0617554 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.13597396e-07, 1.39144757e-05, 2.55374874e-05, 4.64296624e-05,
 -7.14768831e-06,-3.53093187e-07, 4.78367324e-06,-1.86931416e-04,
 -1.92045312e-05,-4.24870869e-05,-2.61933771e-05,-1.29910032e-05,
 -1.53520313e-05,-2.23923688e-05, 1.21240367e-06,-3.31104352e-05,
  4.63569077e-05, 1.12189720e-04,-1.21652042e+00, 8.48484158e-04,
 -2.46944461e-02,-1.49975375e-04]


--- Step 1828 ---
qpos:
[ 3.29868180e-03,-3.20256679e-03, 1.19306877e-02, 4.17375004e-02,
  6.13005561e-03, 7.64861641e-01,-2.98646116e-02, 8.70977492e-01,
  5.86037583e-03, 1.63971212e-02,-9.29355878e-03, 2.60114147e-02,
  1.35357540e+00,-1.72100968e-04, 1.11461610e+00, 6.31676135e-02,
  1.08893661e-02,-3.63168987e-02, 7.31947824e-02, 6.76987328e-01,
 -1.85000169e-01,-6.80173002e-01,-2.11725725e-01]

qacc:
[ 3.12808706e+00,-3.98402861e-01, 1.98587855e+00,-4.59162807e+00,
  5.94991880e-03,-6.89340816e+00, 3.28748574e+01,-8.11479103e+01,
 -2.04629937e+00, 1.46213694e+00,-4.51841298e+00, 3.15361905e+00,
  1.33444354e-02,-1.65182220e-01,-5.18597899e+00, 1.75508960e+01,
 -1.02477123e+00, 6.84394009e-01,-2.52845990e-01, 5.21871012e+00,
 -1.01473047e+02,-6.25661392e+01]

qfrc_actuator:
[ 2.97109558e-06, 3.69508114e-05, 1.53301220e-04, 1.29064052e-04,
 -1.13838072e-05, 2.55926851e-02, 8.61045618e-03, 2.06039137e-03,
 -2.97122628e-05, 3.92998796e-04, 5.16887619e-05, 4.14904006e-06,
  2.98081705e-04,-1.67858167e-03, 0.00000000e+00,-1.69446386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.13431941, -2.90165894,  8.13431941, 15.22870798,
       18.48054358, -2.90165894, 18.48054358, 60.4435013 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020255666382432078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.8513114e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.8513114e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05817757, -0.05532807,  0.0617553 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83354976e-05,-4.79916136e-06,-6.93913194e-07,-7.95752489e-06,
  8.73455931e-07, 1.26105645e-05,-8.50416554e-06,-2.19578408e-04,
 -1.19630233e-05,-8.98800876e-06,-3.55862540e-05,-8.22057061e-06,
 -3.38875239e-05,-1.78665787e-05,-7.11309830e-06, 8.30320936e-05,
  3.20585258e-05, 2.96890844e-04,-1.21651516e+00, 8.41044402e-04,
 -2.46840510e-02,-1.52258668e-04]


--- Step 1829 ---
qpos:
[ 3.29896937e-03,-3.20285686e-03, 1.19309219e-02, 4.17381345e-02,
  6.12985243e-03, 7.64860839e-01,-2.98645211e-02, 8.70972548e-01,
  5.86003274e-03, 1.63958957e-02,-9.29407598e-03, 2.60108239e-02,
  1.35365662e+00,-1.72503060e-04, 1.11480423e+00, 6.31736413e-02,
  1.08844503e-02,-3.63290594e-02, 7.32125663e-02, 6.76950784e-01,
 -1.84772278e-01,-6.80158329e-01,-2.12088399e-01]

qacc:
[ 1.91086179e+00, 1.93380632e-02, 1.82255923e+00,-9.11513829e+00,
  1.79553363e-02,-1.29271093e+00, 7.25536670e+00,-2.37438345e+01,
 -4.21687365e+00, 7.89300079e-01,-3.31320329e+00, 3.90283679e+00,
 -5.21790702e-01, 8.64040993e-01,-4.05924733e+00, 1.40537499e+01,
  1.02847256e+00, 3.66804059e-01, 2.51087896e+00,-4.31395402e+00,
  4.53021490e+01, 1.06092940e+02]

qfrc_actuator:
[ 1.37161616e-05, 2.51757250e-05, 1.30319525e-04, 1.04764309e-04,
 -8.84796855e-06, 2.55501978e-02, 8.57272570e-03, 1.98834538e-03,
 -5.42192009e-05, 3.52490313e-04, 2.04307950e-05, 1.30902841e-06,
  2.88543778e-04,-1.64791670e-03, 0.00000000e+00,-1.62815357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020118677032573504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21600868e-07,  6.89796242e-15,  1.00000000e+00,  8.38798221e-22,
        1.00000000e+00, -6.89796242e-15, -1.00000000e+00,  0.00000000e+00,
       -1.21600868e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02675428, -0.02398102,  0.06175688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12660987e-05,-1.49358906e-05,-2.43405777e-05,-2.46881138e-05,
  2.93276120e-06,-4.41829657e-05,-4.28347035e-05,-7.68871208e-05,
 -2.48542976e-05,-5.32061096e-05,-3.77686721e-05,-4.61247023e-06,
 -3.23510462e-05, 1.81909131e-05, 2.74694160e-06, 6.92677519e-05,
 -3.84738251e-06, 2.00516684e-05,-1.21652721e+00, 9.25257127e-04,
 -2.46868727e-02,-1.52960849e-04]


--- Step 1830 ---
qpos:
[ 3.29938357e-03,-3.20299102e-03, 1.19305220e-02, 4.17381260e-02,
  6.12968114e-03, 7.64860209e-01,-2.98652195e-02, 8.70969867e-01,
  5.85905320e-03, 1.63947291e-02,-9.29516592e-03, 2.60105112e-02,
  1.35373763e+00,-1.72384055e-04, 1.11499249e+00, 6.31790713e-02,
  1.08814233e-02,-3.63389078e-02, 7.32451826e-02, 6.76945191e-01,
 -1.84636300e-01,-6.80115883e-01,-2.12360617e-01]

qacc:
[ 1.08844743e+00, 6.52554343e-01, 6.79211964e-01,-1.08929862e+01,
  1.65743842e-02, 6.28535076e+00,-2.55228009e+01, 4.98967544e+01,
 -5.56992765e+00, 2.26182471e+00,-9.10689012e+00, 1.47708216e+01,
 -5.88334157e-01, 1.07769603e+00, 2.05999001e+00,-6.78923665e+00,
  4.72182853e-01, 5.78084898e-01, 3.70809896e+00,-4.33538174e-01,
  1.82206038e+00, 6.77231910e+01]

qfrc_actuator:
[ 1.99167914e-05, 3.59853633e-05, 9.88930330e-05, 7.24509108e-05,
 -7.26464848e-06, 2.55961424e-02, 8.55037365e-03, 2.10773852e-03,
 -8.62492605e-05, 3.82118650e-04, 2.14650617e-06, 1.76052183e-05,
  2.95895247e-04,-1.61186018e-03, 0.00000000e+00,-1.66257027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.19921753, -2.71285989,  8.19921753,  9.2559794 ,
        1.87269695, -2.71285989,  1.87269695, 14.29631303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019953990786266626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01036871, -0.03022818,  0.06175894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51888633e-06,-3.61832045e-06,-3.83653482e-05,-3.42778511e-05,
  2.89462604e-06, 1.05747954e-05,-3.83112496e-05, 1.14944456e-04,
 -3.27638556e-05,-8.08217152e-06,-3.40640035e-05, 1.26256584e-05,
 -5.97644927e-06, 3.30982368e-05, 4.93831520e-06,-3.11406003e-05,
  1.83469666e-05, 1.13134283e-04,-1.21651377e+00, 9.25734272e-04,
 -2.46760991e-02,-1.54641821e-04]


--- Step 1831 ---
qpos:
[ 3.30021410e-03,-3.20321951e-03, 1.19297804e-02, 4.17380876e-02,
  6.12953507e-03, 7.64860010e-01,-2.98661837e-02, 8.70970998e-01,
  5.85838615e-03, 1.63943246e-02,-9.29684610e-03, 2.60099600e-02,
  1.35381863e+00,-1.72347537e-04, 1.11518070e+00, 6.31843853e-02,
  1.08655627e-02,-3.63390876e-02, 7.32729373e-02, 6.76802320e-01,
 -1.84440081e-01,-6.80215928e-01,-2.12665861e-01]

qacc:
[ 3.64497090e+00, 7.62001656e-01,-2.78400138e+00, 2.89670281e+00,
  1.28860646e-02, 7.90154524e+00,-3.39380131e+01, 7.58390990e+01,
  2.69403991e+00, 2.16070804e+00,-5.24500425e+00, 1.51029769e+00,
  4.81155760e-02,-1.23437397e-01, 2.70738147e-01,-1.06769013e+00,
 -3.20838976e+00, 2.41712899e+00,-1.21538591e+00, 1.16154027e+01,
 -8.54662992e+01,-5.93945697e+01]

qfrc_actuator:
[ 4.11481423e-05, 2.46786310e-05, 8.05775861e-05, 7.12044388e-05,
 -6.26528446e-06, 2.56593634e-02, 8.55546776e-03, 2.30335762e-03,
 -6.91883431e-05, 4.71337487e-04,-8.04444720e-06, 9.58855223e-06,
  2.86749602e-04,-1.62609179e-03, 0.00000000e+00,-1.66728100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.17047702,  4.81363024,  7.17047702, 11.12098079,
       -3.70113393,  4.81363024, -3.70113393, 14.14964457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002293138314284587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63664459e-01,  3.63664459e-01,  8.57610822e-01,  1.41972709e-01,
        9.31530011e-01, -3.34806793e-01, -9.20647550e-01, -1.38777878e-17,
       -3.90394786e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05842639, -0.05548736,  0.06176254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14195825e-05,-2.27124026e-05,-2.49687721e-05,-3.39544096e-06,
  2.29887556e-06, 6.52178097e-05, 6.23803050e-06, 1.97414234e-04,
  1.61149337e-05, 7.82450603e-05,-1.55918724e-05,-9.28904656e-06,
 -4.82601778e-06,-7.01996188e-06,-5.61916041e-06,-6.85084559e-06,
 -2.30785749e-06, 8.89588136e-05,-1.21649436e+00, 9.45444894e-04,
 -2.46671695e-02,-1.55430273e-04]


--- Step 1832 ---
qpos:
[ 3.30129279e-03,-3.20369077e-03, 1.19291070e-02, 4.17387158e-02,
  6.12960316e-03, 7.64860042e-01,-2.98671621e-02, 8.70972052e-01,
  5.85827348e-03, 1.63941905e-02,-9.29766267e-03, 2.60089327e-02,
  1.35389973e+00,-1.72943180e-04, 1.11536860e+00, 6.31915950e-02,
  1.08567454e-02,-3.63407239e-02, 7.32912741e-02, 6.76813086e-01,
 -1.84378881e-01,-6.80165005e-01,-2.12847459e-01]

qacc:
[  2.18482689,  0.85768145, -6.34209582, 17.95040995,  0.11919958,
   0.20810085, -0.13379228, -0.96899747,  4.85736684, -3.04595897,
  13.37321735,-23.17594647,  0.67326589, -1.30560475, -6.25145296,
  21.04825028,  1.76080985, -0.36411459, -2.35449667, -5.5218973 ,
  77.58091429,118.02161344]

qfrc_actuator:
[ 5.33049470e-05, 1.80425799e-05, 8.78425978e-05, 1.05995052e-04,
  1.21302708e-05, 2.56438594e-02, 8.54131675e-03, 2.29372008e-03,
 -4.11198382e-05, 4.89068102e-04, 4.01250911e-05,-1.26105597e-05,
  2.78346653e-04,-1.67010114e-03, 0.00000000e+00,-1.56564758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019500001995199495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.11681353e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.11681353e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05329381, -0.01386405,  0.06176467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27616310e-05,-2.46178147e-05,-6.09468263e-07, 3.28888183e-05,
  1.94340183e-05, 2.81862928e-05, 5.38480058e-06,-2.88108708e-06,
  2.85556246e-05, 5.79059770e-05, 6.21145380e-05,-1.95611733e-05,
 -1.30567927e-05,-4.67299731e-05,-6.81134648e-06, 9.96992910e-05,
 -5.49191311e-05,-4.27022154e-05,-1.21649706e+00, 9.93996771e-04,
 -2.46685583e-02,-1.55618048e-04]


--- Step 1833 ---
qpos:
[ 3.30181910e-03,-3.20445462e-03, 1.19291315e-02, 4.17393727e-02,
  6.13008310e-03, 7.64860115e-01,-2.98682328e-02, 8.70974043e-01,
  5.85918834e-03, 1.63938452e-02,-9.29713212e-03, 2.60087114e-02,
  1.35398073e+00,-1.73550602e-04, 1.11555745e+00, 6.31915722e-02,
  1.08542365e-02,-3.63434025e-02, 7.32979828e-02, 6.76966339e-01,
 -1.84443026e-01,-6.79973580e-01,-2.12916127e-01]

qacc:
[ -4.82126683, -2.26929101,  7.42473244, -7.84594767,  0.22914758,
   1.92857993, -8.40142702, 18.73349965,  9.00844417, -2.40208887,
   4.72531514,  7.26296673, -0.58078419,  0.75432948, 23.28888047,
 -79.32288633,  1.57709452, -0.26056259, -2.90700252, -5.82889018,
  72.2541838 ,108.96065507]

qfrc_actuator:
[ 2.45133941e-05, 1.43951205e-05, 1.27935253e-04, 1.08465629e-04,
  4.07645031e-05, 2.56344049e-02, 8.53322598e-03, 2.34082034e-03,
  1.09389753e-05, 4.64092574e-04, 1.04340539e-04, 2.80245339e-05,
  2.81031444e-04,-1.66038393e-03, 0.00000000e+00,-1.95250472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.27558356, 2.47012017, 8.27558356, 8.58262634,
       0.18003475, 2.47012017, 0.18003475, 8.03319758, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019237826423188081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.21380238e-15, -3.60690119e-15,  1.00000000e+00,  2.60194724e-29,
        1.00000000e+00,  3.60690119e-15, -1.00000000e+00,  0.00000000e+00,
        7.21380238e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05338126, -0.01382973,  0.06176777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84359313e-05,-1.61062731e-05, 3.60811034e-05, 2.03561559e-06,
  3.73601232e-05, 7.14327464e-06,-1.99100793e-06, 4.80974816e-05,
  5.28943749e-05, 1.94244931e-05, 8.31627540e-05, 4.48883448e-05,
 -1.56271194e-05,-5.21192091e-06, 5.25517069e-06,-3.82842763e-04,
 -1.28951192e-05, 5.10467361e-05,-1.21646866e+00, 9.79757695e-04,
 -2.46577065e-02,-1.56820966e-04]


--- Step 1834 ---
qpos:
[ 3.30199630e-03,-3.20533509e-03, 1.19296154e-02, 4.17397023e-02,
  6.13093249e-03, 7.64860092e-01,-2.98694236e-02, 8.70979015e-01,
  5.86072031e-03, 1.63935363e-02,-9.29637208e-03, 2.60090251e-02,
  1.35406165e+00,-1.74093165e-04, 1.11574684e+00, 6.31829271e-02,
  1.08394420e-02,-3.63369659e-02, 7.33054137e-02, 6.76957095e-01,
 -1.84441604e-01,-6.79949326e-01,-2.13024178e-01]

qacc:
[  -3.0479298 ,  -2.10718754,   8.67995562, -15.00226283,   0.20516758,
    5.37114861, -24.58048979,  57.83386117,   5.38945273,   0.49719683,
   -3.97959991,  12.86253269,  -0.68897409,   0.95867889,  26.86617767,
  -92.72858636,  -3.07136779,   2.27878638,   0.18054397,  11.61446162,
 -101.21979622, -68.33785162]

qfrc_actuator:
[ 7.35936287e-06, 1.26877414e-05, 1.51562340e-04, 9.19153553e-05,
  5.75059505e-05, 2.56286785e-02, 8.52885523e-03, 2.49199052e-03,
  4.11918000e-05, 4.49372059e-04, 1.06344050e-04, 5.20103948e-05,
  2.79731856e-04,-1.65430357e-03, 0.00000000e+00,-2.39330187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.0512035 , 8.07941421, 3.0512035 , 3.19444133,
       2.05515053, 8.07941421, 2.05515053, 7.8602328 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002259529942317953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.64966236e-01,  3.64966236e-01,  8.56504112e-01,  1.43069155e-01,
        9.31020755e-01, -3.35755223e-01, -9.19962425e-01,  2.77555756e-17,
       -3.92006552e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05854514, -0.05557676,  0.06176677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79688989e-05,-3.15981327e-06, 2.48225542e-05,-1.59507776e-05,
  3.35087306e-05,-6.12503168e-07,-1.73600993e-06, 1.52430617e-04,
  3.17699319e-05, 1.52719991e-05, 1.78094706e-05, 2.85674538e-05,
 -1.21180011e-05, 1.63739008e-06,-4.62689852e-05,-4.62876424e-04,
 -1.57166979e-04, 5.83447672e-05,-1.21641482e+00, 9.91634182e-04,
 -2.46448270e-02,-1.57485873e-04]


--- Step 1835 ---
qpos:
[ 3.30231142e-03,-3.20634634e-03, 1.19295828e-02, 4.17399012e-02,
  6.13185642e-03, 7.64860259e-01,-2.98706176e-02, 8.70982963e-01,
  5.86156867e-03, 1.63935548e-02,-9.29565257e-03, 2.60092604e-02,
  1.35414258e+00,-1.75058944e-04, 1.11593549e+00, 6.31730377e-02,
  1.08143337e-02,-3.63232555e-02, 7.33102985e-02, 6.76797399e-01,
 -1.84383580e-01,-6.80078686e-01,-2.13168846e-01]

qacc:
[ 1.19638877e+00, 9.99446219e-01,-3.26695181e+00, 1.93284934e+00,
  4.16293392e-02,-1.51855941e+00, 7.62352582e+00,-1.92373498e+01,
 -5.96948724e+00, 3.96329722e-01,-4.34486900e-01,-1.11909719e+00,
  2.85424803e-01,-6.61703393e-01, 2.64523718e+00,-1.08962355e+01,
 -2.57847684e+00, 1.81844610e+00,-6.36549809e-01, 9.19654430e+00,
 -9.37387319e+01,-6.18288520e+01]

qfrc_actuator:
[ 1.49581636e-05,-2.34197981e-05, 1.12011516e-04, 8.20497305e-05,
  4.92367597e-05, 2.56430622e-02, 8.52678118e-03, 2.43689442e-03,
  5.10253867e-06, 4.76146761e-04, 1.07104455e-04, 4.82029261e-05,
  2.70718058e-04,-1.68598251e-03, 0.00000000e+00,-2.43611718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.5234134 , -4.24087581, -7.5234134 ,  7.1327711 ,
        2.66740851, -4.24087581,  2.66740851,  3.90431822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022487964576895616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62743952e-01,  3.62743952e-01,  8.58390151e-01,  1.41200503e-01,
        9.31888848e-01, -3.34134093e-01, -9.21129331e-01, -1.38777878e-17,
       -3.89256672e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05855141, -0.05558709,  0.06176742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08776309e-06,-3.34119134e-05,-3.76936417e-05,-9.45167987e-06,
  6.76707918e-06, 1.85873007e-05, 2.20365434e-06,-5.17056768e-05,
 -3.51753354e-05, 4.02354630e-05, 7.09143376e-06,-1.98353413e-06,
 -1.71380806e-05,-3.31110846e-05,-7.65285475e-05,-7.54096571e-05,
 -1.12661197e-05, 1.46436421e-05,-1.21645304e+00, 9.86093594e-04,
 -2.46518823e-02,-1.56468536e-04]


--- Step 1836 ---
qpos:
[ 3.30202515e-03,-3.20747094e-03, 1.19290629e-02, 4.17399772e-02,
  6.13255866e-03, 7.64861071e-01,-2.98716634e-02, 8.70984097e-01,
  5.86232277e-03, 1.63942870e-02,-9.29537948e-03, 2.60090810e-02,
  1.35422320e+00,-1.75793925e-04, 1.11612330e+00, 6.31659395e-02,
  1.07892956e-02,-3.63106266e-02, 7.33092128e-02, 6.76491027e-01,
 -1.84291320e-01,-6.80351672e-01,-2.13349953e-01]

qacc:
[-5.29180251e+00, 9.69555149e-01,-3.13712740e+00, 1.85179409e+00,
 -1.23112055e-01,-4.43655647e+00, 2.20151469e+01,-5.39106162e+01,
 -8.48459701e-01, 1.33900154e+00,-1.65193736e+00,-5.33966725e+00,
 -1.91574604e-01, 3.05539516e-01,-9.64857800e+00, 3.19923152e+01,
  1.75501167e-02,-2.70377807e-01,-1.49258816e+00, 9.81113954e-01,
 -9.14703865e+01,-5.28474109e+01]

qfrc_actuator:
[-1.61966120e-05,-2.68487090e-05, 8.86039164e-05, 7.61291568e-05,
  2.61083217e-05, 2.57047694e-02, 8.54376889e-03, 2.29635613e-03,
  1.27244186e-06, 5.27513047e-04, 8.95445723e-05, 2.81186856e-05,
  2.57069023e-04,-1.66884436e-03, 0.00000000e+00,-2.27957774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.33505219, -5.86974365, -6.33505219,  7.49873328,
        1.22781302, -5.86974365,  1.22781302,  7.31121895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019027443296502772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05863638, -0.05562784,  0.06177035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09594368e-05,-3.02654887e-05,-3.52675360e-05,-8.83856884e-06,
 -2.00880676e-05, 7.07945849e-05, 1.93582356e-05,-1.41052437e-04,
 -4.82367099e-06, 7.52268397e-05,-8.45073245e-06,-1.81537542e-05,
 -3.22250806e-05, 5.37680897e-06,-4.35800693e-05, 1.42520504e-04,
 -1.01208448e-04,-2.79724663e-05,-1.21646305e+00, 1.01338564e-03,
 -2.46557593e-02,-1.56259912e-04]


--- Step 1837 ---
qpos:
[ 3.30136749e-03,-3.20832303e-03, 1.19283180e-02, 4.17399130e-02,
  6.13320248e-03, 7.64862538e-01,-2.98725352e-02, 8.70982844e-01,
  5.86302522e-03, 1.63952453e-02,-9.29540559e-03, 2.60083699e-02,
  1.35430339e+00,-1.75586180e-04, 1.11631076e+00, 6.31613591e-02,
  1.07737838e-02,-3.63001751e-02, 7.33055847e-02, 6.76372774e-01,
 -1.84363900e-01,-6.80440421e-01,-2.13379137e-01]

qacc:
[-3.27163412e+00, 7.06810815e-01,-1.39540268e+00,-8.81378846e-01,
 -3.22150339e-02,-3.75190130e+00, 1.88091171e+01,-4.59187101e+01,
 -4.64097294e-01, 4.13669325e-02, 2.53336225e+00,-1.14274686e+01,
 -8.43922758e-01, 1.62673898e+00,-8.05142253e+00, 2.75813243e+01,
  2.38158197e+00,-5.44327377e-01,-6.35625485e-01,-6.39542347e+00,
  9.47273331e+01, 1.44506524e+02]

qfrc_actuator:
[-3.44141459e-05, 2.48696825e-05, 9.28123679e-05, 7.26202514e-05,
  2.98360144e-05, 2.57410817e-02, 8.55429090e-03, 2.17776263e-03,
 -1.27070408e-06, 5.04353843e-04, 6.14146267e-05,-1.36396963e-06,
  2.56645923e-04,-1.60514807e-03, 0.00000000e+00,-2.14898423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019556173056507545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19336738e-14,  2.83854878e-14,  1.00000000e+00, -9.06452909e-28,
        1.00000000e+00, -2.83854878e-14, -1.00000000e+00,  0.00000000e+00,
        3.19336738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05333704, -0.01377389,  0.06176451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91040752e-05, 2.71673857e-05,-6.67209376e-06,-6.19291991e-06,
 -5.27567227e-06, 7.48364944e-05, 2.24705261e-05,-1.18951956e-04,
 -2.65150101e-06, 1.63559278e-05,-1.42702140e-05,-2.69060672e-05,
 -1.71232712e-05, 5.77153935e-05,-5.24994669e-06, 1.32724414e-04,
 -3.91680849e-04,-5.85571595e-05,-1.21646211e+00, 1.06652841e-03,
 -2.46598868e-02,-1.56328923e-04]


--- Step 1838 ---
qpos:
[ 3.30084147e-03,-3.20913870e-03, 1.19276558e-02, 4.17401606e-02,
  6.13403811e-03, 7.64864313e-01,-2.98728590e-02, 8.70979847e-01,
  5.86334719e-03, 1.63959722e-02,-9.29527688e-03, 2.60073395e-02,
  1.35438343e+00,-1.74927776e-04, 1.11649825e+00, 6.31573507e-02,
  1.07665820e-02,-3.62913345e-02, 7.32961390e-02, 6.76425627e-01,
 -1.84586664e-01,-6.80361052e-01,-2.13272063e-01]

qacc:
[ 1.15758148e+00, 4.57596567e-01,-2.88099717e+00, 8.12166538e+00,
  1.07517295e-01,-4.10481261e+00, 1.79513720e+01,-3.72222880e+01,
 -3.30996097e+00,-1.38942984e+00, 5.86912434e+00,-1.14831434e+01,
 -3.99399771e-01, 7.96420303e-01,-1.63292720e+00, 5.88292163e+00,
  2.07749736e+00,-4.02745073e-01,-1.45439806e+00,-6.59604726e+00,
  8.64854718e+01, 1.30928883e+02]

qfrc_actuator:
[-2.71061304e-05, 2.05727840e-05, 9.57703731e-05, 8.83772870e-05,
  4.96027736e-05, 2.57441369e-02, 8.57860100e-03, 2.09078667e-03,
 -2.07992063e-05, 4.72186601e-04, 6.24792583e-05,-1.84500323e-05,
  2.53528950e-04,-1.58533166e-03, 0.00000000e+00,-2.12356451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.83376001, 3.63579167, 7.83376001, 8.49734399,
       0.29953492, 3.63579167, 0.29953492, 7.99097883, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019809749500685273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80221369e-14, -2.80221369e-14,  1.00000000e+00,  7.85240156e-28,
        1.00000000e+00,  2.80221369e-14, -1.00000000e+00,  0.00000000e+00,
        2.80221369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05327074, -0.01377382,  0.06176168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77733937e-06, 9.28682869e-06, 7.55371189e-06, 1.65739589e-05,
  1.74113074e-05, 4.51238386e-05, 3.80737746e-05,-8.66097624e-05,
 -1.95942287e-05,-2.71531652e-05, 1.74603008e-06,-1.74027879e-05,
  1.25871630e-06, 3.05565710e-05, 9.05553906e-06, 3.14149227e-05,
 -6.22344787e-05, 3.24618899e-05,-1.21643843e+00, 1.01300608e-03,
 -2.46500395e-02,-1.57041310e-04]


--- Step 1839 ---
qpos:
[ 3.30006235e-03,-3.21032564e-03, 1.19275181e-02, 4.17406173e-02,
  6.13508579e-03, 7.64865920e-01,-2.98727440e-02, 8.70977609e-01,
  5.86343225e-03, 1.63969804e-02,-9.29561134e-03, 2.60057440e-02,
  1.35446354e+00,-1.74497191e-04, 1.11668590e+00, 6.31523432e-02,
  1.07667032e-02,-3.62836523e-02, 7.32780824e-02, 6.76635266e-01,
 -1.84947254e-01,-6.80126865e-01,-2.13041493e-01]

qacc:
[-2.19842618e+00,-1.52241346e+00, 3.84188254e+00,-8.00103666e-01,
  1.18430640e-01,-8.87909305e-02,-1.70194664e+00, 1.07341535e+01,
 -2.08587980e+00, 5.07120807e-01, 1.12469691e+00,-1.03800790e+01,
  1.37361087e-01,-3.18342993e-01, 3.24169191e+00,-1.10263041e+01,
  1.83076524e+00,-2.89580221e-01,-2.15271117e+00,-6.64211421e+00,
  7.96020600e+01, 1.19661437e+02]

qfrc_actuator:
[-4.03425289e-05,-1.72062043e-05, 1.15513125e-04, 9.75453349e-05,
  6.10134983e-05, 2.57095704e-02, 8.59298784e-03, 2.12960982e-03,
 -3.24168099e-05, 5.05992339e-04, 4.52210262e-05,-4.58506136e-05,
  2.43458694e-04,-1.60948083e-03, 0.00000000e+00,-2.17806315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.78240024,  3.7444657 ,  7.78240024,  8.64194203,
       -0.01159399,  3.7444657 , -0.01159399,  8.66046028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019778219402033573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80668093e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.80668093e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05328357, -0.01375752,  0.06176189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30378914e-05,-3.02748258e-05, 2.31818692e-05, 1.01524372e-05,
  1.92320109e-05,-4.85913763e-06, 2.50542284e-05, 3.94439946e-05,
 -1.21858308e-05, 1.82050635e-05,-2.32607745e-05,-2.88412131e-05,
 -2.22574974e-06,-1.59679655e-05, 3.49818314e-06,-5.25339275e-05,
 -2.79750047e-05,-2.25690268e-06,-1.21637755e+00, 1.00293756e-03,
 -2.46371521e-02,-1.57107557e-04]


--- Step 1840 ---
qpos:
[ 3.29947559e-03,-3.21166179e-03, 1.19276172e-02, 4.17404814e-02,
  6.13610250e-03, 7.64867189e-01,-2.98731849e-02, 8.70976271e-01,
  5.86303253e-03, 1.63980671e-02,-9.29616058e-03, 2.60045319e-02,
  1.35454373e+00,-1.74568440e-04, 1.11687320e+00, 6.31494011e-02,
  1.07733421e-02,-3.62767667e-02, 7.32490352e-02, 6.76989611e-01,
 -1.85435224e-01,-6.79748837e-01,-2.12697820e-01]

qacc:
[ 1.69796270e+00,-2.08398156e+00, 9.63754269e+00,-2.01516493e+01,
 -1.77533986e-02, 2.61942032e+00,-1.11983057e+01, 2.10576805e+01,
 -4.23623255e+00, 1.50139012e+00,-6.80698114e+00, 1.37113311e+01,
  5.83268410e-01,-1.09832659e+00,-6.81004525e+00, 2.29432628e+01,
  1.62940078e+00,-1.99173122e-01,-2.74766389e+00,-6.57360740e+00,
  7.38456168e+01, 1.10297412e+02]

qfrc_actuator:
[-3.00682356e-05,-2.14234232e-05, 1.27099113e-04, 6.72328570e-05,
  4.95610025e-05, 2.56527829e-02, 8.54805278e-03, 2.17109616e-03,
 -5.70318909e-05, 5.07951019e-04, 3.52777777e-05,-2.58084362e-05,
  2.39855498e-04,-1.64175851e-03, 0.00000000e+00,-2.06613867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.69302883,  3.92480373,  7.69302883,  8.84649573,
       -0.41188105,  3.92480373, -0.41188105,  9.44369388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019517323971717238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84419889e-14, -2.84419889e-14,  1.00000000e+00,  8.08946734e-28,
        1.00000000e+00,  2.84419889e-14, -1.00000000e+00,  0.00000000e+00,
        2.84419889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05335903, -0.01372836,  0.06176452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.89481227e-06,-1.58822481e-05, 8.55497811e-06,-3.06068797e-05,
 -2.82289591e-06,-5.33153995e-05,-4.18326031e-05, 4.29812246e-05,
 -2.49533404e-05, 6.06524270e-06,-1.00494715e-05, 1.94587790e-05,
 -8.95544900e-06,-3.66888268e-05,-8.26843855e-06, 1.08515305e-04,
 -2.20226997e-04,-1.31333436e-04,-1.21628621e+00, 1.02398042e-03,
 -2.46214529e-02,-1.56596935e-04]


--- Step 1841 ---
qpos:
[ 3.29901610e-03,-3.21263268e-03, 1.19276009e-02, 4.17402866e-02,
  6.13682981e-03, 7.64867370e-01,-2.98736060e-02, 8.70977208e-01,
  5.86234108e-03, 1.63988019e-02,-9.29635860e-03, 2.60035854e-02,
  1.35462402e+00,-1.75284766e-04, 1.11705982e+00, 6.31524812e-02,
  1.07673221e-02,-3.62607818e-02, 7.32287503e-02, 6.77147043e-01,
 -1.85849632e-01,-6.79571451e-01,-2.12401601e-01]

qacc:
[   1.10710878,   0.68220847,  -1.48732223,   0.38868937,  -0.16115062,
    2.46681207, -15.0323431 ,  41.50042319,  -2.52726064,  -0.89478077,
    1.40199914,   2.88564753,   0.95608645,  -1.7029555 , -19.26736982,
   65.75279234,  -3.1647061 ,   2.27483362,   2.19057569,  11.85293395,
 -122.61923583, -80.60947455]

qfrc_actuator:
[-2.37843660e-05, 2.99281250e-05, 1.33868954e-04, 6.72078735e-05,
  2.45487659e-05, 2.55651476e-02, 8.53935423e-03, 2.28474697e-03,
 -7.13501708e-05, 4.73139185e-04, 4.74130223e-05,-1.35282730e-05,
  2.40127578e-04,-1.67854815e-03, 0.00000000e+00,-1.75050964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.62041335, 7.84087903, 3.62041335, 2.94979304,
       2.62569235, 7.84087903, 2.62569235, 7.42398788, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002276249892734026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40070489e-01,  3.40070489e-01,  8.76757735e-01,  1.22977397e-01,
        9.40399948e-01, -3.17055985e-01, -9.32324312e-01,  2.77555756e-17,
       -3.61623254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0581707 , -0.05545955,  0.06175962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.56526012e-06, 4.29790289e-05, 3.49887618e-06,-1.00232068e-06,
 -2.62869443e-05,-1.24085625e-04,-2.27448199e-05, 1.11663645e-04,
 -1.50291815e-05,-3.27022723e-05, 1.28206095e-05, 1.25735297e-05,
 -1.34219760e-05,-4.82076503e-05, 5.72839136e-06, 3.20020509e-04,
 -5.89400418e-04,-3.32491655e-04,-1.21616908e+00, 1.06743428e-03,
 -2.46032249e-02,-1.55557254e-04]


--- Step 1842 ---
qpos:
[ 3.29829069e-03,-3.21336164e-03, 1.19281740e-02, 4.17410947e-02,
  6.13745628e-03, 7.64866161e-01,-2.98734718e-02, 8.70981916e-01,
  5.86113806e-03, 1.63994729e-02,-9.29618089e-03, 2.60020641e-02,
  1.35470427e+00,-1.76448354e-04, 1.11724673e+00, 6.31566197e-02,
  1.07589771e-02,-3.62440441e-02, 7.32120930e-02, 6.77119660e-01,
 -1.86215561e-01,-6.79576881e-01,-2.12150873e-01]

qacc:
[-2.31897250e+00, 7.43120638e-01,-6.40819567e+00, 2.26303138e+01,
 -5.57983063e-02, 3.21848802e+00,-2.13882971e+01, 6.53324220e+01,
 -4.44950728e+00,-2.30923228e+00, 1.05537716e+01,-2.10734485e+01,
  3.54528763e-01,-7.88792826e-01,-2.80640628e+00, 1.03526775e+01,
 -5.81259463e-01, 1.88190809e-01, 9.06918041e-01, 3.19790223e+00,
 -1.15318240e+02,-6.84894796e+01]

qfrc_actuator:
[-3.76592383e-05, 6.09082528e-05, 1.73511959e-04, 1.20564027e-04,
  2.71767755e-05, 2.54953942e-02, 8.56979694e-03, 2.47546579e-03,
 -9.72421607e-05, 4.87674597e-04, 7.23152784e-05,-4.14463003e-05,
  2.37395772e-04,-1.69994836e-03, 0.00000000e+00,-1.70799866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.44245137, -5.75166038, -6.44245137,  6.76310826,
        2.09823874, -5.75166038,  2.09823874,  6.28612037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002038282329361353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72342798e-14,  2.72342798e-14,  1.00000000e+00, -7.41705995e-28,
        1.00000000e+00, -2.72342798e-14, -1.00000000e+00,  0.00000000e+00,
        2.72342798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05797916, -0.05537973,  0.06175488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36698348e-05, 5.57333399e-05, 4.89289461e-05, 5.53011881e-05,
 -9.18861557e-06,-1.39435690e-04, 6.71123313e-06, 1.88605316e-04,
 -2.63332949e-05,-5.94408074e-07, 2.01570677e-05,-2.86297456e-05,
 -2.09132364e-05,-3.71573793e-05, 3.60400361e-05, 6.05508884e-05,
 -1.03774306e-04,-8.07610752e-05,-1.21627655e+00, 9.39301150e-04,
 -2.46221937e-02,-1.52211656e-04]


--- Step 1843 ---
qpos:
[ 3.29774969e-03,-3.21387397e-03, 1.19293103e-02, 4.17418495e-02,
  6.13805240e-03, 7.64864807e-01,-2.98738153e-02, 8.70985012e-01,
  5.85997876e-03, 1.64001001e-02,-9.29545826e-03, 2.60005506e-02,
  1.35478421e+00,-1.77339370e-04, 1.11743404e+00, 6.31592741e-02,
  1.07481074e-02,-3.62265687e-02, 7.31953366e-02, 6.76923898e-01,
 -1.86538449e-01,-6.79748617e-01,-2.11941645e-01]

qacc:
[ 1.63251612e+00,-1.40107597e+00, 5.62950410e+00,-7.60420657e+00,
 -1.69428181e-02,-1.69652591e+00, 9.00447704e+00,-2.72928386e+01,
  3.99094214e-01,-1.56548200e+00, 5.46346979e+00,-6.16528526e+00,
 -5.58720625e-01, 8.35916418e-01, 5.11695542e+00,-1.69353540e+01,
 -6.31156732e-01, 1.84434240e-01,-2.47902763e-02, 2.43417231e+00,
 -1.05088087e+02,-6.20209060e+01]

qfrc_actuator:
[-2.77818193e-05, 6.18901198e-05, 1.96714775e-04, 1.16147494e-04,
  2.85634959e-05, 2.55258707e-02, 8.55217048e-03, 2.39047189e-03,
 -9.42365711e-05, 4.96165723e-04, 1.04712740e-04,-3.94910014e-05,
  2.27543125e-04,-1.67654942e-03, 0.00000000e+00,-1.79129821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.94960332,  8.58399851, -0.94960332,  8.28842584,
       -0.03849056,  8.58399851, -0.03849056,  8.63210563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020466162997438905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.42467596e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.42467596e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05792091, -0.05535995,  0.06175367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.50478993e-06, 4.46387321e-05, 4.26561738e-05, 7.39701021e-07,
 -2.75995206e-06,-3.94092014e-05,-3.86704609e-05,-8.49633025e-05,
  2.25295713e-06, 1.10595688e-05, 3.37601302e-05, 2.07246146e-06,
 -2.96910404e-05, 8.80528596e-06, 1.80119167e-05,-7.65402880e-05,
  1.53288241e-05, 1.61410850e-04,-1.21632096e+00, 8.61274197e-04,
 -2.46320153e-02,-1.49646608e-04]


--- Step 1844 ---
qpos:
[ 3.29698610e-03,-3.21387840e-03, 1.19301046e-02, 4.17422263e-02,
  6.13864144e-03, 7.64863958e-01,-2.98748723e-02, 8.70983910e-01,
  5.85920921e-03, 1.64008274e-02,-9.29524155e-03, 2.59994720e-02,
  1.35486377e+00,-1.77689768e-04, 1.11762129e+00, 6.31619418e-02,
  1.07345836e-02,-3.62083760e-02, 7.31752965e-02, 6.76573456e-01,
 -1.86822686e-01,-6.80072721e-01,-2.11770482e-01]

qacc:
[-1.97331420e+00, 8.52560597e-01,-4.64531813e-01,-5.90950867e+00,
 -3.98408056e-03,-4.69529077e+00, 2.57830604e+01,-7.37806683e+01,
  3.38217331e+00, 2.43499786e+00,-1.03382579e+01, 1.86136102e+01,
 -6.90121343e-01, 1.16654832e+00,-6.27767424e-02, 2.38699809e-01,
 -6.63551786e-01, 1.79326744e-01,-8.20942951e-01, 1.86405817e+00,
 -9.64967382e+01,-5.66226552e+01]

qfrc_actuator:
[-3.95022413e-05, 8.03068359e-05, 1.74338796e-04, 9.54749548e-05,
  2.91752837e-05, 2.55802901e-02, 8.52426601e-03, 2.17943069e-03,
 -7.42430970e-05, 4.83283136e-04, 7.02773218e-05,-1.99644571e-05,
  2.13444858e-04,-1.64456457e-03, 0.00000000e+00,-1.78819143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.91362535,  8.58790228, -0.91362535,  9.28016424,
        0.06849083,  8.58790228,  0.06849083,  8.64365004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020271872908477623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73833363e-14, -6.84583406e-15,  1.00000000e+00,  1.87461776e-28,
        1.00000000e+00,  6.84583406e-15, -1.00000000e+00,  0.00000000e+00,
        2.73833363e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05796842, -0.05538792,  0.06175527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14355451e-05, 5.22298344e-05,-7.88498982e-06,-1.72733502e-05,
 -6.30978408e-07, 2.22743268e-05,-4.26783311e-05,-2.15395015e-04,
  2.00628909e-05, 3.33756484e-07,-2.79346139e-05, 2.12090063e-05,
 -2.83315896e-05, 2.73468237e-05,-5.69153025e-06,-1.06257230e-07,
 -1.48101739e-04, 3.92213715e-04,-1.21634156e+00, 8.23627647e-04,
 -2.46405280e-02,-1.47517991e-04]


--- Step 1845 ---
qpos:
[ 3.29677821e-03,-3.21378500e-03, 1.19310352e-02, 4.17430633e-02,
  6.13942446e-03, 7.64863705e-01,-2.98764439e-02, 8.70980267e-01,
  5.85868541e-03, 1.64016743e-02,-9.29600751e-03, 2.59986675e-02,
  1.35494309e+00,-1.77678060e-04, 1.11780839e+00, 6.31652795e-02,
  1.07290563e-02,-3.61915538e-02, 7.31566492e-02, 6.76432203e-01,
 -1.87291418e-01,-6.80189807e-01,-2.11431372e-01]

qacc:
[ 4.88024342e+00, 6.86896513e-01,-4.21904221e+00, 1.19084403e+01,
  1.07832946e-01,-2.23464163e+00, 1.40772984e+01,-4.34772558e+01,
  2.11093808e+00, 3.46441731e+00,-1.32870689e+01, 1.95190852e+01,
 -3.92108745e-01, 6.94871069e-01,-2.21177376e+00, 7.49371821e+00,
  1.99913564e+00,-3.42624465e-01, 3.48217949e-01,-7.68311370e+00,
  1.05940058e+02, 1.61037361e+02]

qfrc_actuator:
[-1.05902481e-05, 7.33012598e-05, 1.78553414e-04, 1.18652798e-04,
  4.70636269e-05, 2.56307313e-02, 8.50837414e-03, 2.05576607e-03,
 -6.21730415e-05, 4.75202663e-04, 1.43276743e-05,-8.07810272e-06,
  2.07468725e-04,-1.62555787e-03, 0.00000000e+00,-1.75189707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002068847135647388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.366385e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        5.366385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05300534, -0.01374069,  0.06175023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86046604e-05, 1.98212677e-05, 1.34251689e-05, 2.48040507e-05,
  1.76118217e-05, 4.75103388e-05,-2.28863288e-05,-1.29130926e-04,
  1.26478061e-05,-1.27771188e-05,-5.85978198e-05, 1.13461686e-05,
 -1.51932438e-05, 1.94950422e-05,-6.55091938e-06, 3.46557388e-05,
 -5.25897037e-04, 6.13589696e-04,-1.21634513e+00, 8.17729964e-04,
 -2.46482399e-02,-1.45756908e-04]


--- Step 1846 ---
qpos:
[ 3.29726317e-03,-3.21347527e-03, 1.19320025e-02, 4.17438178e-02,
  6.14021245e-03, 7.64863879e-01,-2.98783253e-02, 8.70977246e-01,
  5.85831096e-03, 1.64020194e-02,-9.29664720e-03, 2.59980154e-02,
  1.35502217e+00,-1.77162842e-04, 1.11799534e+00, 6.31696774e-02,
  1.07306365e-02,-3.61757091e-02, 7.31355047e-02, 6.76479038e-01,
 -1.87926457e-01,-6.80119876e-01,-2.10942438e-01]

qacc:
[ 6.07864745e+00, 1.45914119e-03, 7.37152874e-01,-2.36064618e+00,
  2.19651787e-03, 2.47682700e+00,-8.86481460e+00, 1.51096663e+01,
  1.31509497e+00,-7.04894511e-01, 9.02947209e-01, 1.90768257e+00,
 -4.76907192e-01, 9.00370116e-01,-3.38444131e+00, 1.16117217e+01,
  1.77687533e+00,-2.44379864e-01,-6.24280957e-01,-7.45063213e+00,
  9.56082610e+01, 1.44629690e+02]

qfrc_actuator:
[ 2.42593226e-05, 8.67544834e-05, 1.80628093e-04, 1.14195975e-04,
  3.96144091e-05, 2.56607393e-02, 8.49977647e-03, 2.09106457e-03,
 -5.48689445e-05, 4.34438584e-04, 1.71591269e-05,-7.88889628e-07,
  2.01039986e-04,-1.59662316e-03, 0.00000000e+00,-1.69635232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.6056611 ,  0.72758089,  8.6056611 ,  8.67076483,
       -0.40688945,  0.72758089, -0.40688945, 13.44895944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021181723971432503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05285468, -0.01376285,  0.06174454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56682776e-05, 2.83673163e-05, 8.66591474e-06,-2.66567150e-06,
  4.63741260e-07, 4.77133194e-05,-5.73794344e-06, 3.31938853e-05,
  7.66580397e-06,-5.95442408e-05,-6.63300610e-06, 4.93591752e-06,
 -1.03183717e-05, 3.04930259e-05,-2.63899500e-06, 5.58224847e-05,
 -4.01598632e-05, 5.12248394e-04,-1.21625960e+00, 7.55934384e-04,
 -2.46310963e-02,-1.45260751e-04]


--- Step 1847 ---
qpos:
[ 3.29747239e-03,-3.21289903e-03, 1.19326889e-02, 4.17445286e-02,
  6.14095008e-03, 7.64863911e-01,-2.98801082e-02, 8.70975393e-01,
  5.85768208e-03, 1.64019890e-02,-9.29698919e-03, 2.59970821e-02,
  1.35510096e+00,-1.76000446e-04, 1.11818223e+00, 6.31746934e-02,
  1.07385909e-02,-3.61605259e-02, 7.31085294e-02, 6.76696207e-01,
 -1.88712474e-01,-6.79879396e-01,-2.10318458e-01]

qacc:
[-2.43364232e+00, 1.05247498e+00,-3.04946169e+00, 2.54023126e+00,
 -2.81350196e-02, 1.57427297e+00,-8.05642318e+00, 2.13191544e+01,
 -2.20353433e+00,-1.90264712e+00, 7.25872033e+00,-1.23323728e+01,
 -6.51619606e-01, 1.21722696e+00,-1.88214893e+00, 6.61295072e+00,
  1.59355086e+00,-1.65348552e-01,-1.45772510e+00,-7.12590108e+00,
  8.69970293e+01, 1.31010609e+02]

qfrc_actuator:
[ 9.05410607e-06, 9.45727343e-05, 1.63711364e-04, 1.11269635e-04,
  3.48266916e-05, 2.56251604e-02, 8.49555627e-03, 2.14858434e-03,
 -6.81789361e-05, 4.27895830e-04, 3.67907472e-05,-1.39986096e-05,
  1.89023100e-04,-1.56201790e-03, 0.00000000e+00,-1.66542080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58213443,  0.96630509,  8.58213443,  8.71823045,
       -0.72709128,  0.96630509, -0.72709128, 15.09394643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002132006490683097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0528056 , -0.01376295,  0.06174267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41817001e-05, 2.53437763e-05,-1.01007712e-05,-1.46935065e-06,
 -4.57304795e-06,-9.20194353e-06, 5.54200010e-06, 5.96256306e-05,
 -1.31106632e-05,-4.10009440e-05, 6.68993387e-06,-1.58931702e-05,
 -1.05551770e-05, 4.00813688e-05, 1.40375775e-06, 3.28633940e-05,
  7.07205853e-05, 2.77309684e-04,-1.21613019e+00, 7.46925428e-04,
 -2.46102699e-02,-1.44052409e-04]


--- Step 1848 ---
qpos:
[ 3.29749834e-03,-3.21246486e-03, 1.19333446e-02, 4.17452347e-02,
  6.14202210e-03, 7.64863122e-01,-2.98808241e-02, 8.70976327e-01,
  5.85758825e-03, 1.64017233e-02,-9.29715550e-03, 2.59959879e-02,
  1.35517974e+00,-1.74930466e-04, 1.11836992e+00, 6.31733376e-02,
  1.07523098e-02,-3.61457506e-02, 7.30728709e-02, 6.77068734e-01,
 -1.89636515e-01,-6.79481946e-01,-2.09571484e-01]

qacc:
[-1.60710308e+00,-1.08700360e-01, 1.41104772e-01,-7.74765813e-02,
  1.87033648e-01, 8.75213008e-01,-1.05326179e+01, 4.34099911e+01,
  4.67615867e+00,-1.14258588e+00, 4.28620470e+00,-7.16193068e+00,
 -3.85855837e-01, 4.65034235e-01, 2.04294526e+01,-6.97122979e+01,
  1.44111859e+00,-1.02004552e-01,-2.17079280e+00,-6.73719774e+00,
  7.98033127e+01, 1.19683257e+02]

qfrc_actuator:
[ 1.27337160e-08, 6.33680155e-05, 1.53455241e-04, 1.09255606e-04,
  6.71944965e-05, 2.55683801e-02, 8.54693613e-03, 2.28965249e-03,
 -4.02554649e-05, 4.24207534e-04, 4.85279021e-05,-2.13824242e-05,
  1.78992097e-04,-1.57761327e-03, 0.00000000e+00,-2.00429173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52905807,  1.35718284,  8.52905807,  8.85309823,
       -1.36204342,  1.35718284, -1.36204342, 17.19596745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021171239787533547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24401516e-14,  2.62200758e-14,  1.00000000e+00, -1.37498475e-27,
        1.00000000e+00, -2.62200758e-14, -1.00000000e+00,  0.00000000e+00,
        5.24401516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05283737, -0.01374547,  0.06174384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.43867712e-06,-1.92178431e-05,-6.33219885e-06,-1.31039399e-06,
  3.03132546e-05,-5.88696064e-05, 5.20107909e-05, 1.42295315e-04,
  2.75331252e-05,-2.59148535e-05, 3.54825138e-06,-9.21537096e-06,
 -6.42337201e-06,-7.72817044e-06, 3.10842514e-07,-3.37790152e-04,
 -9.73266842e-05,-5.26948125e-05,-1.21596732e+00, 7.74226155e-04,
 -2.45865211e-02,-1.42193210e-04]


--- Step 1849 ---
qpos:
[ 3.29741547e-03,-3.21200998e-03, 1.19335610e-02, 4.17455737e-02,
  6.14345130e-03, 7.64861681e-01,-2.98803589e-02, 8.70980303e-01,
  5.85748503e-03, 1.64010426e-02,-9.29740990e-03, 2.59955460e-02,
  1.35525855e+00,-1.74249933e-04, 1.11855744e+00, 6.31692900e-02,
  1.07619752e-02,-3.61382448e-02, 7.30578011e-02, 6.77386861e-01,
 -1.90271564e-01,-6.79131478e-01,-2.09103342e-01]

qacc:
[-9.69423241e-01, 5.01038169e-01,-1.95236964e-01,-5.47060679e+00,
  1.99690816e-01, 1.22947246e+00,-1.20012325e+01, 4.76550143e+01,
 -7.72354869e-02, 1.04071698e+00,-7.26056377e+00, 1.89963501e+01,
  1.37148683e-01,-4.35371602e-01, 7.86536659e+00,-2.79116401e+01,
 -1.01335500e+00,-1.81737167e+00, 5.14716998e+00, 2.86743784e+00,
  2.23331499e+01,-2.02731930e+02]

qfrc_actuator:
[-5.31250829e-06, 6.23093962e-05, 1.29305111e-04, 9.00150629e-05,
  8.59857277e-05, 2.55528730e-02, 8.61291551e-03, 2.44325761e-03,
 -4.15375174e-05, 3.86736833e-04, 3.77786765e-05, 1.02268040e-05,
  1.70137611e-04,-1.60509567e-03, 0.00000000e+00,-2.13223832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021668601756660508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56182433e-14,  5.12364866e-14,  1.00000000e+00, -1.31258878e-27,
        1.00000000e+00, -5.12364866e-14, -1.00000000e+00,  0.00000000e+00,
        2.56182433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0034526 , -0.00789686,  0.06173818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.60267453e-06,-1.31976662e-05,-2.89588881e-05,-2.03119874e-05,
  3.23844565e-05,-3.32924525e-05, 6.46525418e-05, 1.56521853e-04,
 -5.02873110e-07,-5.16011061e-05,-1.59778283e-05, 3.04443345e-05,
 -1.52304423e-05,-3.04424347e-05,-4.28802279e-05,-1.48001161e-04,
 -4.75757465e-04,-4.51088436e-04,-1.21577790e+00, 8.26401568e-04,
 -2.45604968e-02,-1.39727127e-04]


--- Step 1850 ---
qpos:
[ 3.29692413e-03,-3.21114387e-03, 1.19326936e-02, 4.17460194e-02,
  6.14456905e-03, 7.64860579e-01,-2.98804737e-02, 8.70984365e-01,
  5.85667774e-03, 1.63999259e-02,-9.29779545e-03, 2.59961831e-02,
  1.35533723e+00,-1.73621511e-04, 1.11874422e+00, 6.31676944e-02,
  1.07679945e-02,-3.61373958e-02, 7.30577090e-02, 6.77656429e-01,
 -1.90646168e-01,-6.78824010e-01,-2.08886971e-01]

qacc:
[-3.62635491e+00, 3.80095684e+00,-1.32007037e+01, 1.64637488e+01,
 -1.74159289e-01, 2.16180454e+00,-6.75327397e+00, 6.85269585e+00,
 -6.13698609e+00, 2.02364178e+00,-1.25867247e+01, 3.17700269e+01,
  1.32947630e-01,-2.60349790e-01,-8.51026366e+00, 2.81516598e+01,
 -9.11541050e-01,-1.66418981e+00, 3.74442635e+00, 2.59445089e+00,
  2.01299283e+01,-1.82879412e+02]

qfrc_actuator:
[-2.61618551e-05, 9.69851008e-05, 7.94867589e-05, 9.63079468e-05,
  4.32165925e-05, 2.55800417e-02, 8.58059778e-03, 2.44324209e-03,
 -7.77650866e-05, 3.64775695e-04, 3.14837518e-05, 6.44829729e-05,
  1.67312430e-04,-1.60387102e-03, 0.00000000e+00,-1.99274059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61421918, -0.61806538, -8.61421918,  8.90951684,
       -3.80704311, -0.61806538, -3.80704311, 61.69661404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002201239053422517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.52181385e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.52181385e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00345794, -0.00793685,  0.06173449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10132537e-05, 2.04224618e-05,-5.68223594e-05, 4.32807895e-06,
 -2.82430026e-05, 2.65130076e-05,-2.67185551e-05, 4.42256758e-06,
 -3.62631140e-05,-5.27844605e-05,-1.78566139e-05, 5.20875648e-05,
 -1.94686709e-05,-9.58883346e-06,-3.83271276e-05, 1.25241629e-04,
 -4.46260299e-04,-3.39919963e-04,-1.21605009e+00, 7.60188916e-04,
 -2.45967229e-02,-1.37526863e-04]


--- Step 1851 ---
qpos:
[ 3.29618681e-03,-3.21027601e-03, 1.19318847e-02, 4.17465100e-02,
  6.14506554e-03, 7.64859962e-01,-2.98815718e-02, 8.70987023e-01,
  5.85613182e-03, 1.63987170e-02,-9.29810535e-03, 2.59970611e-02,
  1.35541582e+00,-1.73024493e-04, 1.11893058e+00, 6.31690467e-02,
  1.07697140e-02,-3.61334261e-02, 7.30628463e-02, 6.77739340e-01,
 -1.90965629e-01,-6.78704198e-01,-2.08715421e-01]

qacc:
[-2.15718549e+00,-6.48362678e-02, 5.28141032e-02, 6.19575992e-01,
 -3.46882215e-01, 8.59997203e-01, 1.14353659e+00,-1.81706755e+01,
  2.28382015e+00, 1.57953692e-01,-1.76448995e+00, 5.88741611e+00,
  1.62045556e-01,-2.73295580e-01,-9.52866634e+00, 3.24084999e+01,
 -1.07495353e+00, 7.80149709e-01, 1.30737830e+00, 5.27803469e+00,
 -1.16904717e+02,-7.12857685e+01]

qfrc_actuator:
[-3.82298400e-05, 9.94447166e-05, 8.60982923e-05, 9.98413746e-05,
 -4.57758955e-07, 2.55965803e-02, 8.52609586e-03, 2.37054625e-03,
 -6.32510003e-05, 3.87812524e-04, 4.56923391e-05, 7.83817579e-05,
  1.68117672e-04,-1.60335634e-03, 0.00000000e+00,-1.83886449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.59916836, -5.57115373,  6.59916836, 25.99401776,
       20.56056745, -5.57115373, 20.56056745, 32.99086054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022405455871091773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.71635941e-14,  2.47757294e-14,  1.00000000e+00, -9.20755153e-28,
        1.00000000e+00, -2.47757294e-14, -1.00000000e+00,  0.00000000e+00,
        3.71635941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05699698, -0.0550471 ,  0.06173057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26592288e-05, 2.30039405e-06, 3.98128819e-06, 2.52622776e-06,
 -5.63454303e-05, 2.61252664e-05,-5.22071893e-05,-7.25521455e-05,
  1.34509693e-05,-7.90861165e-06, 2.92487117e-06, 1.20358838e-05,
 -1.24897671e-05,-6.31026348e-06,-4.86937340e-06, 1.55661956e-04,
 -3.87463160e-04,-1.73407535e-04,-1.21624099e+00, 6.98569891e-04,
 -2.46260003e-02,-1.36283202e-04]


--- Step 1852 ---
qpos:
[ 3.29600035e-03,-3.20961751e-03, 1.19315507e-02, 4.17466916e-02,
  6.14538754e-03, 7.64859997e-01,-2.98828416e-02, 8.70987348e-01,
  5.85610862e-03, 1.63973730e-02,-9.29845821e-03, 2.59970762e-02,
  1.35549419e+00,-1.72150362e-04, 1.11911682e+00, 6.31725437e-02,
  1.07673510e-02,-3.61268437e-02, 7.30692008e-02, 6.77652558e-01,
 -1.91237093e-01,-6.78754579e-01,-2.08584768e-01]

qacc:
[ 4.85328418e+00,-2.25055490e+00, 8.90909241e+00,-1.48412873e+01,
 -9.71850149e-02,-2.72971242e+00, 1.53236779e+01,-4.21540559e+01,
  4.55961797e+00,-1.84354381e+00, 9.94188088e+00,-2.46900387e+01,
 -2.27265166e-01, 4.17830629e-01,-6.62410583e+00, 2.29758059e+01,
 -1.02063230e+00, 6.53199862e-01, 3.04273613e-01, 3.94461739e+00,
 -1.06345545e+02,-6.41058193e+01]

qfrc_actuator:
[-9.52284779e-06, 8.28196541e-05, 1.08106257e-04, 8.39857052e-05,
  9.01706460e-06, 2.56597167e-02, 8.52992918e-03, 2.25569691e-03,
 -3.67283741e-05, 3.66668245e-04, 3.65434325e-05, 3.29674774e-05,
  1.60450767e-04,-1.58551486e-03, 0.00000000e+00,-1.73109576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.28119315,  4.6444594 , -7.28119315,  8.53454099,
       -0.15962899,  4.6444594 , -0.15962899,  8.38611072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002248217608862707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23455912e-14,  2.46911825e-14,  1.00000000e+00, -3.04827246e-28,
        1.00000000e+00, -2.46911825e-14, -1.00000000e+00,  0.00000000e+00,
        1.23455912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0569642 , -0.05504773,  0.06172988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83449283e-05,-1.44332613e-05, 2.30603863e-05,-1.55707436e-05,
 -1.58070192e-05, 6.50112513e-05, 8.01785123e-07,-1.17233798e-04,
  2.69008269e-05,-2.43984613e-05,-9.99112496e-06,-4.54169931e-05,
 -1.59079252e-05, 1.32629213e-05, 1.23508946e-05, 1.15179846e-04,
 -5.44673791e-05,-1.19904127e-05,-1.21631685e+00, 6.12305395e-04,
 -2.46386685e-02,-1.33472108e-04]


--- Step 1853 ---
qpos:
[ 3.29615898e-03,-3.20875521e-03, 1.19310281e-02, 4.17470199e-02,
  6.14569375e-03, 7.64860322e-01,-2.98839990e-02, 8.70986657e-01,
  5.85605889e-03, 1.63955865e-02,-9.29853891e-03, 2.59972562e-02,
  1.35557244e+00,-1.71312212e-04, 1.11930370e+00, 6.31722874e-02,
  1.07611022e-02,-3.61180578e-02, 7.30733492e-02, 6.77410230e-01,
 -1.91466291e-01,-6.78960442e-01,-2.08491625e-01]

qacc:
[ 3.01964971e+00, 1.09305248e+00,-4.13540799e+00, 6.83653559e+00,
 -8.63178390e-03,-1.68433581e+00, 8.31169456e+00,-1.98240752e+01,
 -2.15259154e-01,-1.00583809e+00, 2.04234451e+00, 7.00708996e-01,
 -3.42254583e-01, 4.02243560e-01, 1.22915000e+01,-4.15830912e+01,
 -9.71426914e-01, 5.50864514e-01,-5.51538579e-01, 2.93329531e+00,
 -9.74751494e+01,-5.81432074e+01]

qfrc_actuator:
[ 7.44541942e-06, 1.08212101e-04, 1.03407126e-04, 9.23376470e-05,
  1.46778471e-05, 2.56616884e-02, 8.53284009e-03, 2.20581008e-03,
 -3.88717815e-05, 3.36847682e-04, 4.89736433e-05, 4.17358098e-05,
  1.47715249e-04,-1.59307852e-03, 0.00000000e+00,-1.93540968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.26984631,  4.66220029, -7.26984631,  8.80583757,
        0.26426352,  4.66220029,  0.26426352,  9.04843413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002226444499264915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49326454e-14,  2.49326454e-14,  1.00000000e+00, -6.21636807e-28,
        1.00000000e+00, -2.49326454e-14, -1.00000000e+00,  0.00000000e+00,
        2.49326454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05704071, -0.05509648,  0.06173214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77685466e-05, 2.14077302e-05,-5.38401567e-06, 8.22626992e-06,
 -1.42219740e-06, 3.44134571e-05, 1.23056559e-05,-5.04479526e-05,
 -1.38316194e-06,-4.74123790e-05, 4.60698133e-06, 6.49579037e-06,
 -1.80571852e-05,-8.00279719e-06, 1.44715553e-05,-1.97244201e-04,
 -3.30713227e-05, 1.43280756e-04,-1.21636058e+00, 5.69195632e-04,
 -2.46489636e-02,-1.31251183e-04]


--- Step 1854 ---
qpos:
[ 3.29617501e-03,-3.20774857e-03, 1.19307327e-02, 4.17474240e-02,
  6.14583350e-03, 7.64860464e-01,-2.98845783e-02, 8.70984358e-01,
  5.85598348e-03, 1.63940281e-02,-9.29879479e-03, 2.59981745e-02,
  1.35565067e+00,-1.70821705e-04, 1.11949047e+00, 6.31709546e-02,
  1.07505416e-02,-3.61172221e-02, 7.30914382e-02, 6.77122849e-01,
 -1.91447754e-01,-6.79207482e-01,-2.08637489e-01]

qacc:
[-1.24693531e+00,-2.85640150e-01, 9.79549885e-01,-1.41909354e-01,
 -9.18344208e-02,-4.59584041e+00, 1.84645221e+01,-3.57186857e+01,
 -2.32790521e-01, 2.31150402e+00,-1.09209353e+01, 2.38104480e+01,
  1.76869284e-01,-4.74886332e-01, 3.06942222e+00,-1.10181168e+01,
 -1.07797076e+00,-1.98754696e+00, 3.48517918e+00, 2.75010413e+00,
  1.94646567e+01,-1.73691981e+02]

qfrc_actuator:
[-3.96767369e-07, 1.22980369e-04, 1.18662430e-04, 9.71294464e-05,
  2.08674037e-07, 2.56270616e-02, 8.55273480e-03, 2.12350560e-03,
 -4.01220152e-05, 3.90946034e-04, 5.63007474e-05, 8.23311870e-05,
  1.42589398e-04,-1.61568302e-03, 0.00000000e+00,-1.98463297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.88156463,  5.21831823, -6.88156463, 39.58721377,
       40.81588473,  5.21831823, 40.81588473, 62.46158781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022450391721357613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47261393e-14,  2.47261393e-14,  1.00000000e+00, -6.11381963e-28,
        1.00000000e+00, -2.47261393e-14, -1.00000000e+00,  0.00000000e+00,
        2.47261393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0034536 , -0.00797589,  0.06173003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33098263e-06, 2.59596273e-05, 1.92930855e-05, 5.68037830e-06,
 -1.51018938e-05,-1.47424669e-05, 2.65869119e-05,-8.19801569e-05,
 -1.31258571e-06, 2.88796570e-05,-1.65293102e-06, 3.88531939e-05,
 -1.73581456e-05,-2.86561875e-05,-2.08985520e-05,-5.96575285e-05,
 -2.47701526e-04, 2.94276686e-04,-1.21638112e+00, 5.59670225e-04,
 -2.46578124e-02,-1.29490183e-04]


--- Step 1855 ---
qpos:
[ 3.29609726e-03,-3.20687534e-03, 1.19307804e-02, 4.17475648e-02,
  6.14580315e-03, 7.64861021e-01,-2.98851150e-02, 8.70980371e-01,
  5.85589334e-03, 1.63930367e-02,-9.29965693e-03, 2.59985213e-02,
  1.35572859e+00,-1.70033955e-04, 1.11967652e+00, 6.31736948e-02,
  1.07361558e-02,-3.61235490e-02, 7.31188461e-02, 6.76793869e-01,
 -1.91202171e-01,-6.79492343e-01,-2.09002260e-01]

qacc:
[-8.10226403e-01,-1.67702202e+00, 6.83698259e+00,-1.18473455e+01,
 -9.45810738e-02,-2.49658016e+00, 1.27076421e+01,-3.18955589e+01,
 -1.57558006e-01, 1.26771773e+00,-1.01926774e+00,-8.32034022e+00,
 -1.62268120e-01, 3.08755640e-01,-1.33351044e+01, 4.51550545e+01,
 -9.56275455e-01,-1.79063967e+00, 2.32969726e+00, 2.49099822e+00,
  1.77075152e+01,-1.59179812e+02]

qfrc_actuator:
[-5.02292952e-06, 9.58468032e-05, 1.27797485e-04, 8.20447644e-05,
 -8.42885435e-06, 2.56773498e-02, 8.56455656e-03, 2.04050284e-03,
 -4.08265932e-05, 4.23891527e-04, 2.53992095e-05, 5.26202012e-05,
  1.31372528e-04,-1.59372808e-03, 0.00000000e+00,-1.76445109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.60030042, -6.57445147,  5.60030042, 25.39434029,
       14.2749101 , -6.57445147, 14.2749101 , 20.79612866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002237485263975908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48096165e-14,  4.96192329e-14,  1.00000000e+00, -1.23103414e-27,
        1.00000000e+00, -4.96192329e-14, -1.00000000e+00,  0.00000000e+00,
        2.48096165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0034482 , -0.00796355,  0.06173089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82989874e-06,-8.42504235e-06, 1.70610393e-05,-1.31966986e-05,
 -1.54164229e-05, 4.47417303e-05, 9.51041161e-06,-8.45354455e-05,
 -7.38696407e-07, 5.04754373e-05,-2.37761350e-05,-2.77723764e-05,
 -2.81008296e-05, 1.08423256e-05,-1.91374539e-05, 2.13496392e-04,
 -3.47447000e-04, 2.74571542e-06,-1.21646875e+00, 6.35075490e-04,
 -2.46781431e-02,-1.30810391e-04]


--- Step 1856 ---
qpos:
[ 3.29596475e-03,-3.20634904e-03, 1.19310614e-02, 4.17479049e-02,
  6.14564074e-03, 7.64861472e-01,-2.98852816e-02, 8.70980632e-01,
  5.85545093e-03, 1.63919490e-02,-9.30033502e-03, 2.59981953e-02,
  1.35580621e+00,-1.68986323e-04, 1.11986308e+00, 6.31736432e-02,
  1.07183339e-02,-3.61364018e-02, 7.31516842e-02, 6.76425939e-01,
 -1.90746573e-01,-6.79812042e-01,-2.09569276e-01]

qacc:
[-4.67228864e-01,-6.99024070e-01, 9.87492023e-01, 2.34282932e+00,
 -7.40088597e-02, 6.23123654e+00,-3.02990105e+01, 7.81418076e+01,
 -3.06554511e+00,-2.02076433e+00, 9.87162742e+00,-2.17506301e+01,
 -6.19450086e-01, 9.16777916e-01, 9.22028736e+00,-3.10607391e+01,
 -8.59043381e-01,-1.63147689e+00, 1.35755996e+00, 2.27341437e+00,
  1.62597365e+01,-1.47190964e+02]

qfrc_actuator:
[-7.71125455e-06, 6.15447915e-05, 1.33053559e-04, 9.08483258e-05,
 -1.34971665e-05, 2.56715452e-02, 8.58959129e-03, 2.25959712e-03,
 -5.89570664e-05, 3.90457271e-04, 2.53195326e-05, 1.72451065e-05,
  1.16528530e-04,-1.58104856e-03, 0.00000000e+00,-1.91992391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.49758611, -6.66057984,  5.49758611, 29.5716026 ,
       17.27976869, -6.66057984, 17.27976869, 22.89893816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022068562731844335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25769747e-14,  2.51539495e-14,  1.00000000e+00, -3.16360588e-28,
        1.00000000e+00, -2.51539495e-14, -1.00000000e+00,  0.00000000e+00,
        1.25769747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00343927, -0.00792629,  0.06173433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83182156e-06,-3.60884936e-05, 5.14977317e-06, 8.77399253e-06,
 -1.19794643e-05, 1.81499492e-05, 3.24098856e-05, 2.18890275e-04,
 -1.81358760e-05,-1.12648725e-05, 6.47807821e-06,-3.45718070e-05,
 -2.75094019e-05, 8.81298399e-06, 1.29611599e-05,-1.46490949e-04,
 -4.14485524e-04,-2.13135371e-04,-1.21650720e+00, 7.08873801e-04,
 -2.46940314e-02,-1.32945775e-04]


--- Step 1857 ---
qpos:
[ 3.29545616e-03,-3.20625618e-03, 1.19311885e-02, 4.17487320e-02,
  6.14558314e-03, 7.64860741e-01,-2.98837361e-02, 8.70983545e-01,
  5.85445025e-03, 1.63901824e-02,-9.30126560e-03, 2.59975549e-02,
  1.35588374e+00,-1.68068814e-04, 1.12004964e+00, 6.31720900e-02,
  1.06973868e-02,-3.61552661e-02, 7.31866857e-02, 6.76021051e-01,
 -1.90094972e-01,-6.80163915e-01,-2.10324722e-01]

qacc:
[-3.29797982e+00, 8.67454202e-01,-5.96629224e+00, 1.49425921e+01,
  5.98837752e-02,-1.58017577e+00,-2.73533711e+00, 3.50267748e+01,
 -4.86582180e+00,-8.29453020e-01, 2.99990812e+00,-7.55710366e+00,
 -8.15361793e-02,-8.99819181e-03, 4.54384938e+00,-1.58785785e+01,
 -7.81306832e-01,-1.50289477e+00, 5.40864437e-01, 2.08854953e+00,
  1.50657258e+01,-1.37293685e+02]

qfrc_actuator:
[-2.69910202e-05, 2.32085890e-05, 1.18202168e-04, 1.13627385e-04,
  1.35866988e-06, 2.55614297e-02, 8.65771459e-03, 2.38840093e-03,
 -8.71996581e-05, 2.99879062e-04,-1.00727315e-05,-3.44586675e-06,
  1.10169029e-04,-1.59176846e-03, 0.00000000e+00,-1.99375932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.34260918, -6.78552165,  5.34260918, 35.19947567,
       20.91457866, -6.78552165, 20.91457866, 25.10354564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021580618130179613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57226882e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.57226882e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00342753, -0.00786954,  0.06173979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93756166e-05,-5.71010476e-05,-2.13776638e-05, 2.15797783e-05,
  9.47889013e-06,-8.66816834e-05, 8.20256888e-05, 1.35332233e-04,
 -2.87693863e-05,-9.69806939e-05,-3.80958295e-05,-2.16170603e-05,
 -1.96152374e-05,-1.47563089e-05,-1.58331276e-05,-8.15977079e-05,
 -4.55982559e-04,-3.69631990e-04,-1.21650758e+00, 7.83610424e-04,
 -2.47063028e-02,-1.35851816e-04]


--- Step 1858 ---
qpos:
[ 3.29472043e-03,-3.20660729e-03, 1.19311412e-02, 4.17501742e-02,
  6.14586597e-03, 7.64859532e-01,-2.98820932e-02, 8.70982821e-01,
  5.85311864e-03, 1.63876128e-02,-9.30250083e-03, 2.59963476e-02,
  1.35596115e+00,-1.67274112e-04, 1.12023613e+00, 6.31693028e-02,
  1.06827188e-02,-3.61744723e-02, 7.32174338e-02, 6.75794447e-01,
 -1.89601600e-01,-6.80336434e-01,-2.10939411e-01]

qacc:
[-1.99116458e+00, 1.17262292e+00,-7.61994906e+00, 1.88606523e+01,
  1.90631723e-01,-7.19887475e+00, 3.11495297e+01,-7.11749456e+01,
 -2.88262438e+00,-1.37110980e+00, 5.75173149e+00,-1.44940463e+01,
 -7.78332247e-02,-1.46342873e-02, 3.62089777e+00,-1.28172595e+01,
  1.56978437e+00,-8.54563047e-02,-1.06335099e+00,-7.52958974e+00,
  9.12358479e+01, 1.37184375e+02]

qfrc_actuator:
[-3.81297993e-05, 4.29789140e-07, 1.09332876e-04, 1.44424499e-04,
  2.79849593e-05, 2.55141156e-02, 8.64368526e-03, 2.19663815e-03,
 -1.03409981e-04, 2.46646075e-04,-3.07843734e-05,-3.31682253e-05,
  1.03567926e-04,-1.59848933e-03, 0.00000000e+00,-2.05429092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021439750195596102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.17833937e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.17833937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05276581, -0.01364903,  0.06174166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17112242e-05,-5.82128640e-05,-2.25531794e-05, 2.80300914e-05,
  3.08648758e-05,-7.48329148e-05,-1.76109085e-05,-1.88988754e-04,
 -1.70730323e-05,-1.16197720e-04,-4.61515169e-05,-3.56087986e-05,
 -2.13915938e-05,-1.48205173e-05,-1.97430635e-05,-6.78966762e-05,
 -4.77201716e-04,-4.78788377e-04,-1.21647779e+00, 8.61041660e-04,
 -2.47155499e-02,-1.39489550e-04]


--- Step 1859 ---
qpos:
[ 3.29454644e-03,-3.20717047e-03, 1.19308801e-02, 4.17519468e-02,
  6.14647385e-03, 7.64859189e-01,-2.98823960e-02, 8.70980483e-01,
  5.85229173e-03, 1.63848646e-02,-9.30346002e-03, 2.59946722e-02,
  1.35603834e+00,-1.66304570e-04, 1.12042270e+00, 6.31641057e-02,
  1.06737762e-02,-3.61938581e-02, 7.32409114e-02, 6.75730792e-01,
 -1.89252816e-01,-6.80345388e-01,-2.11427105e-01]

qacc:
[ 4.92753855e+00, 9.88734884e-01,-5.34227010e+00, 1.15752154e+01,
  1.79313096e-01, 3.59316976e+00,-6.74661951e+00,-1.38858622e+01,
  4.41349997e+00,-1.97984116e+00, 8.67866336e+00,-1.70748208e+01,
 -4.54808546e-01, 6.60326969e-01, 7.42243416e+00,-2.57212861e+01,
  1.43137326e+00,-4.49169805e-02,-1.81764171e+00,-7.45965104e+00,
  8.34095974e+01, 1.24787389e+02]

qfrc_actuator:
[-8.87722640e-06, 4.92196437e-06, 1.04134904e-04, 1.61956792e-04,
  4.36433481e-05, 2.56107655e-02, 8.56354156e-03, 2.11955634e-03,
 -7.68997107e-05, 3.04979148e-04, 1.07234319e-05,-5.01786625e-05,
  9.68269473e-05,-1.58501341e-03, 0.00000000e+00,-2.17751771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47329991, -1.670319  ,  8.47329991,  8.90090963,
        1.34200565, -1.670319  ,  1.34200565, 15.44417478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002149753855413168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29110482e-14,  2.58220964e-14,  1.00000000e+00,  3.33390331e-28,
        1.00000000e+00, -2.58220964e-14, -1.00000000e+00,  0.00000000e+00,
       -1.29110482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05276068, -0.01364186,  0.0617415 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88992970e-05,-3.15099852e-05,-1.90273122e-05, 1.48022653e-05,
  2.95020695e-05, 4.56923749e-05,-1.02627504e-04,-8.42970875e-05,
  2.59740550e-05,-1.76046198e-05, 1.06354411e-05,-2.42682604e-05,
 -2.25245454e-05, 4.94808592e-06,-1.97560128e-05,-1.30265090e-04,
 -7.34675464e-05,-8.32475879e-05,-1.21652946e+00, 7.84433318e-04,
 -2.47094566e-02,-1.42681644e-04]


--- Step 1860 ---
qpos:
[ 3.29472433e-03,-3.20799274e-03, 1.19305761e-02, 4.17535643e-02,
  6.14713086e-03, 7.64858997e-01,-2.98839168e-02, 8.70978993e-01,
  5.85213324e-03, 1.63822624e-02,-9.30415282e-03, 2.59931080e-02,
  1.35611512e+00,-1.64638317e-04, 1.12060893e+00, 6.31591199e-02,
  1.06701018e-02,-3.62132915e-02, 7.32545492e-02, 6.75817209e-01,
 -1.89037149e-01,-6.80203794e-01,-2.11799089e-01]

qacc:
[ 3.09151634e+00,-5.48373130e-01, 2.10247638e+00,-4.51673629e+00,
  2.60760886e-02, 4.96254755e+00,-1.79944741e+01, 2.62052047e+01,
  5.83600194e+00,-3.34187379e-01, 9.82505391e-01, 4.29056646e-01,
 -7.84745589e-01, 1.39026740e+00,-1.05285550e+00, 3.14105984e+00,
  1.31701488e+00,-1.18818532e-02,-2.45994582e+00,-7.32877945e+00,
  7.68938593e+01, 1.14488132e+02]

qfrc_actuator:
[ 8.40686969e-06,-9.78284781e-06, 1.01248790e-04, 1.53816186e-04,
  3.48475613e-05, 2.55973623e-02, 8.49899119e-03, 2.16397475e-03,
 -4.32129756e-05, 3.41185369e-04, 3.58461563e-05,-4.16812270e-05,
  8.46896255e-05,-1.54191532e-03, 0.00000000e+00,-2.15916586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.46666587, -1.70362729,  8.46666587,  8.97850846,
        1.70038712, -1.70362729,  1.70038712, 17.08692657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002129699073102169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30326279e-14,  2.60652559e-14,  1.00000000e+00,  3.39698781e-28,
        1.00000000e+00, -2.60652559e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30326279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05282749, -0.01361839,  0.06174404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80981255e-05,-3.55912011e-05,-1.12212895e-05,-9.86388942e-06,
  4.45339300e-06,-1.10066052e-05,-6.98916647e-05, 4.08728721e-05,
  3.44156613e-05, 2.76394152e-05, 2.20017216e-05, 7.64946822e-06,
 -2.39853360e-05, 3.94490579e-05,-2.71532156e-05, 7.74557977e-06,
  4.93155640e-05, 1.73494384e-04,-1.21653683e+00, 7.52874620e-04,
 -2.46998451e-02,-1.45307258e-04]


--- Step 1861 ---
qpos:
[ 3.29476347e-03,-3.20919383e-03, 1.19302917e-02, 4.17550830e-02,
  6.14735746e-03, 7.64857634e-01,-2.98851305e-02, 8.70978434e-01,
  5.85238001e-03, 1.63795180e-02,-9.30417630e-03, 2.59923568e-02,
  1.35619160e+00,-1.62443920e-04, 1.12079515e+00, 6.31530037e-02,
  1.06713143e-02,-3.62326641e-02, 7.32561620e-02, 6.76042867e-01,
 -1.88944938e-01,-6.79922386e-01,-2.12064616e-01]

qacc:
[-1.21081454e+00,-7.57048492e-01, 2.39403639e+00,-3.86215000e+00,
 -2.39152649e-01,-7.52234684e-01,-1.53306434e+00, 1.33406375e+01,
  3.55862879e+00,-3.91571701e-01,-2.32208231e+00, 1.54438070e+01,
 -6.96863924e-01, 1.18965944e+00, 3.44773771e+00,-1.19576497e+01,
  1.22173740e+00, 1.51907334e-02,-3.00623667e+00,-7.15604794e+00,
  7.14644121e+01, 1.05920610e+02]

qfrc_actuator:
[ 7.42408065e-07,-3.58740038e-05, 9.96644672e-05, 1.48377918e-04,
 -6.22744996e-06, 2.54827904e-02, 8.49710537e-03, 2.20846572e-03,
 -2.33385875e-05, 3.28357128e-04, 6.87897134e-05,-5.18462872e-07,
  6.93387597e-05,-1.51714100e-03, 0.00000000e+00,-2.21729775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47830248, -1.64473827,  8.47830248,  9.03241927,
        2.04158892, -1.64473827,  2.04158892, 19.16035323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002089019408758122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65728269e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.65728269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05295061, -0.01358213,  0.06174868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.15791165e-06,-4.86986368e-05,-1.06506077e-05,-7.54502077e-06,
 -3.90777073e-05,-1.33135183e-04,-1.08639081e-05, 4.29628763e-05,
  2.08600319e-05, 7.61778333e-06, 4.16679917e-05, 4.32667626e-05,
 -1.95705858e-05, 2.95160233e-05,-1.43467117e-05,-6.17866353e-05,
 -4.54772179e-05, 3.22776392e-04,-1.21650913e+00, 7.54429643e-04,
 -2.46871369e-02,-1.47410702e-04]


--- Step 1862 ---
qpos:
[ 3.29436546e-03,-3.21040328e-03, 1.19298432e-02, 4.17561442e-02,
  6.14712107e-03, 7.64855097e-01,-2.98862761e-02, 8.70978427e-01,
  5.85286258e-03, 1.63775073e-02,-9.30412313e-03, 2.59916872e-02,
  1.35626803e+00,-1.60238474e-04, 1.12098117e+00, 6.31468833e-02,
  1.06770930e-02,-3.62518863e-02, 7.32438934e-02, 6.76398647e-01,
 -1.88968030e-01,-6.79510003e-01,-2.12231265e-01]

qacc:
[-3.84218378e+00,-4.87623678e-01, 3.66504795e+00,-1.13247805e+01,
 -2.57437610e-01,-7.68253125e-01,-6.22232069e-01, 7.97805296e+00,
  2.04663917e+00, 9.19307508e-01,-2.22216659e+00, 2.97840702e+00,
 -3.02792248e-02, 3.42309656e-02,-2.74514723e-01, 5.44534623e-01,
  1.14154454e+00, 3.75992658e-02,-3.47035658e+00,-6.95475628e+00,
  6.69413090e+01, 9.87922401e+01]

qfrc_actuator:
[-2.15413026e-05,-1.53157114e-05, 9.88158542e-05, 1.26814201e-04,
 -3.07048534e-05, 2.54152955e-02, 8.49627511e-03, 2.23482505e-03,
 -1.17558173e-05, 4.10606432e-04, 8.81636498e-05, 6.23913068e-06,
  6.80436848e-05,-1.52122368e-03, 0.00000000e+00,-2.21354692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51729207, -1.42916503,  8.51729207,  9.00968672,
        2.22486671, -1.42916503,  2.22486671, 21.8957418 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020320901204574845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73172684e-14,  2.73172684e-14,  1.00000000e+00, -7.46233153e-28,
        1.00000000e+00, -2.73172684e-14, -1.00000000e+00,  0.00000000e+00,
        2.73172684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05311734, -0.01353591,  0.06175497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25000499e-05,-9.15633841e-06,-1.24661790e-05,-2.41649435e-05,
 -4.20348342e-05,-1.42001840e-04,-2.70306985e-05, 2.27537814e-05,
  1.21709955e-05, 9.70798627e-05, 2.76103193e-05, 9.37487698e-06,
 -5.48136523e-06,-8.54529807e-07,-1.70964916e-05,-2.34473452e-06,
 -3.11995717e-04, 3.87461844e-04,-1.21645272e+00, 7.80557187e-04,
 -2.46716978e-02,-1.49025362e-04]


--- Step 1863 ---
qpos:
[ 3.29404823e-03,-3.21146234e-03, 1.19295471e-02, 4.17568954e-02,
  6.14710596e-03, 7.64852207e-01,-2.98877772e-02, 8.70979026e-01,
  5.85313497e-03, 1.63768261e-02,-9.30446764e-03, 2.59917494e-02,
  1.35634450e+00,-1.58330461e-04, 1.12116686e+00, 6.31424951e-02,
  1.06871644e-02,-3.62708828e-02, 7.32161678e-02, 6.76876868e-01,
 -1.89099542e-01,-6.78973903e-01,-2.12305221e-01]

qacc:
[ 7.11062181e-01,-8.67415120e-01, 4.68582119e+00,-1.03995004e+01,
  1.22996698e-01, 1.54967771e+00,-7.03999605e+00, 1.38234458e+01,
 -1.86781036e+00, 4.37884071e+00,-1.61468219e+01, 2.84621898e+01,
  3.73751567e-01,-6.91408702e-01,-5.76684393e+00, 1.93641820e+01,
  1.07319756e+00, 5.64201297e-02,-3.86425816e+00,-6.73390118e+00,
  6.31785441e+01, 9.28667750e+01]

qfrc_actuator:
[-1.67374030e-05, 1.52606939e-05, 1.16337153e-04, 1.13725957e-04,
  8.23894971e-06, 2.54475284e-02, 8.49619429e-03, 2.26806508e-03,
 -2.28932898e-05, 5.13578012e-04, 8.19681241e-05, 4.60178598e-05,
  6.45173450e-05,-1.54231473e-03, 0.00000000e+00,-2.12008258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58290542, -0.95943285,  8.58290542,  8.8481491 ,
        1.8945928 , -0.95943285,  1.8945928 , 25.58503375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001962584106663147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82847247e-14, -2.82847247e-14,  1.00000000e+00,  8.00025653e-28,
        1.00000000e+00,  2.82847247e-14, -1.00000000e+00,  0.00000000e+00,
        2.82847247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0533174 , -0.01348208,  0.0617625 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16540513e-06, 2.18862014e-05, 1.32767315e-05,-1.43798907e-05,
  2.00583816e-05,-5.09938319e-05,-3.04929525e-05, 2.84052290e-05,
 -1.07626933e-05, 1.63443737e-04, 1.76072284e-05, 4.50822581e-05,
 -7.19451506e-06,-2.23727940e-05,-1.09180843e-05, 9.05026401e-05,
 -7.17058023e-04, 3.84285742e-04,-1.21637189e+00, 8.25149492e-04,
 -2.46538318e-02,-1.50176901e-04]


--- Step 1864 ---
qpos:
[ 3.29413566e-03,-3.21214965e-03, 1.19293178e-02, 4.17578057e-02,
  6.14783747e-03, 7.64849723e-01,-2.98891126e-02, 8.70980261e-01,
  5.85292723e-03, 1.63771017e-02,-9.30507814e-03, 2.59930169e-02,
  1.35642084e+00,-1.56608309e-04, 1.12135243e+00, 6.31392307e-02,
  1.06919045e-02,-3.62848046e-02, 7.32003254e-02, 6.77138717e-01,
 -1.89158132e-01,-6.78657116e-01,-2.12430877e-01]

qacc:
[ 3.54754691e+00, 6.25677715e-01,-2.20101813e+00, 4.58608249e+00,
  4.15757134e-01, 1.18845342e+00,-4.69772948e+00, 1.15582999e+01,
 -4.21174386e+00, 4.49717233e+00,-1.92747642e+01, 3.98390780e+01,
  1.06490100e-01,-3.13095876e-01,-3.56075357e+00, 1.22017415e+01,
 -1.33284854e+00, 1.26869024e+00, 2.97080965e+00, 9.95021999e+00,
 -1.35050695e+02,-8.59573617e+01]

qfrc_actuator:
[ 3.97599214e-06, 5.16925570e-05, 1.26876947e-04, 1.23511100e-04,
  6.69837725e-05, 2.55392462e-02, 8.53246483e-03, 2.30515842e-03,
 -4.73112578e-05, 5.39330399e-04, 6.08745776e-05, 1.04926379e-04,
  4.89949166e-05,-1.55555410e-03, 0.00000000e+00,-2.06328804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.08812993, -3.02802428,  8.08812993, 17.33368815,
       23.23134964, -3.02802428, 23.23134964, 70.68942435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020524359995851282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70464712e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.70464712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05771861, -0.05562501,  0.06175297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08432570e-05, 5.08396350e-05, 1.62124872e-05, 1.09033718e-05,
  6.77393221e-05, 5.84388801e-05, 2.35858048e-05, 3.51902636e-05,
 -2.46745179e-05, 1.22745772e-04, 1.64091814e-05, 6.74020304e-05,
 -2.49300679e-05,-2.06054863e-05, 2.51833718e-06, 5.98528173e-05,
 -1.23672199e-03, 3.25506898e-04,-1.21626948e+00, 8.83858551e-04,
 -2.46337831e-02,-1.50885255e-04]


--- Step 1865 ---
qpos:
[ 3.29412590e-03,-3.21266057e-03, 1.19295935e-02, 4.17584751e-02,
  6.14889320e-03, 7.64847191e-01,-2.98901338e-02, 8.70981965e-01,
  5.85277361e-03, 1.63777929e-02,-9.30559795e-03, 2.59939904e-02,
  1.35649691e+00,-1.54773171e-04, 1.12153843e+00, 6.31329826e-02,
  1.06827001e-02,-3.62874494e-02, 7.31920434e-02, 6.77212417e-01,
 -1.89138885e-01,-6.78535618e-01,-2.12601126e-01]

qacc:
[-8.40279438e-01,-1.67390886e+00, 7.32545829e+00,-1.24349838e+01,
  1.80811149e-01,-9.81172491e-02,-8.17674662e-01, 6.37947602e+00,
  4.67717731e-01,-3.10052689e-01, 3.14201563e+00,-8.67805964e+00,
 -5.01467283e-01, 6.66956916e-01, 9.67203765e+00,-3.28367878e+01,
 -3.48610898e+00, 2.81924083e+00, 1.89009283e+00, 1.41698001e+01,
 -1.17478208e+02,-7.99647001e+01]

qfrc_actuator:
[-1.62636890e-06, 5.58509263e-05, 1.51005131e-04, 1.11169986e-04,
  6.59848219e-05, 2.55062643e-02, 8.53690930e-03, 2.32653854e-03,
 -4.38382305e-05, 5.18592303e-04, 4.86222496e-05, 8.57834785e-05,
  3.69406142e-05,-1.54632244e-03, 0.00000000e+00,-2.22385872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 5.09023773, 6.97683715, 5.09023773, 8.29248773,
       0.25088877, 6.97683715, 0.25088877, 8.45331744, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0024219768920061596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.42628048e-01,  3.42628048e-01,  8.74763992e-01,  1.24957515e-01,
        9.39471139e-01, -3.19029150e-01, -9.31123859e-01,  1.38777878e-17,
       -3.64703111e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0574556 , -0.05552724,  0.06174602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98979146e-06, 3.64362774e-05, 3.70112289e-05,-9.39099758e-06,
  2.94092759e-05, 5.25846108e-06, 1.97740369e-05, 2.47563030e-05,
  2.80563924e-06, 5.41651662e-05, 1.74576961e-05,-1.20042890e-05,
 -3.05362293e-05,-1.94453573e-06, 4.18286940e-06,-1.57741576e-04,
 -4.22863332e-04, 1.97738272e-04,-1.21638865e+00, 8.09028608e-04,
 -2.46497105e-02,-1.48045250e-04]


--- Step 1866 ---
qpos:
[ 3.29404955e-03,-3.21323198e-03, 1.19300482e-02, 4.17586997e-02,
  6.14988537e-03, 7.64844575e-01,-2.98914900e-02, 8.70981880e-01,
  5.85266297e-03, 1.63784486e-02,-9.30568621e-03, 2.59940725e-02,
  1.35657292e+00,-1.53163362e-04, 1.12172405e+00, 6.31278831e-02,
  1.06617889e-02,-3.62810480e-02, 7.31869497e-02, 6.77114613e-01,
 -1.89053314e-01,-6.78590891e-01,-2.12812236e-01]

qacc:
[-5.78073921e-01,-1.49601724e+00, 7.09549811e+00,-1.50332510e+01,
 -3.53162827e-02,-2.30944001e+00, 1.15162005e+01,-3.17005123e+01,
  3.88323214e-01,-3.08906971e+00, 1.47087261e+01,-3.07995846e+01,
  2.13214287e-01,-4.57140866e-01,-4.04774205e+00, 1.32988614e+01,
 -2.92672636e+00, 2.26155286e+00, 7.97072108e-01, 1.11664464e+01,
 -1.07127034e+02,-7.12858682e+01]

qfrc_actuator:
[-4.92557122e-06, 2.29392059e-05, 1.47316115e-04, 8.58895545e-05,
  4.70159998e-05, 2.54697634e-02, 8.50429062e-03, 2.23188808e-03,
 -4.17254480e-05, 4.87870923e-04, 5.91769984e-05, 3.85794098e-05,
  3.76353552e-05,-1.55933792e-03, 0.00000000e+00,-2.15613805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.89160008, -3.50847901, -7.89160008,  7.65522047,
        2.20687925, -3.50847901,  2.20687925,  3.67244383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002443426357840052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33828919,  0.33828919,  0.87813487,  0.1216094 ,  0.9410422 ,
       -0.31567504, -0.93315142,  0.        , -0.35948355])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0573361 , -0.05548714,  0.06174318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42851129e-06,-5.28189961e-06, 8.07216836e-06,-2.26225338e-05,
 -5.77019130e-06,-2.88211434e-05,-2.85337993e-05,-9.33250742e-05,
  2.21374164e-06, 2.63917820e-06, 2.34737901e-05,-4.45151332e-05,
 -1.68745464e-05,-2.04816910e-05,-2.06455099e-05, 5.83325323e-05,
 -6.37047871e-05, 9.07366638e-05,-1.21645837e+00, 7.90699800e-04,
 -2.46609306e-02,-1.46204110e-04]


--- Step 1867 ---
qpos:
[ 3.29393419e-03,-3.21360645e-03, 1.19295245e-02, 4.17590134e-02,
  6.15091507e-03, 7.64842444e-01,-2.98928198e-02, 8.70978172e-01,
  5.85223382e-03, 1.63790426e-02,-9.30586734e-03, 2.59936291e-02,
  1.35664904e+00,-1.52258626e-04, 1.12190943e+00, 6.31242585e-02,
  1.06310488e-02,-3.62674445e-02, 7.31813160e-02, 6.76859169e-01,
 -1.88910717e-01,-6.78807357e-01,-2.13060973e-01]

qacc:
[-3.76465046e-01, 3.18066438e+00,-1.13369945e+01, 1.42975585e+01,
  2.14134756e-02,-5.72320315e+00, 2.78272170e+01,-6.87235127e+01,
 -2.78037495e+00,-8.98292391e-01, 5.31278105e+00,-1.42237250e+01,
  6.90456190e-01,-1.37014053e+00,-4.88109157e+00, 1.63962583e+01,
 -2.45719434e+00, 1.80051467e+00,-1.34992489e-01, 8.79073105e+00,
 -9.84344638e+01,-6.40980517e+01]

qfrc_actuator:
[-6.83459708e-06, 2.12096775e-05, 9.15554999e-05, 8.86509047e-05,
  5.30286079e-05, 2.55377233e-02, 8.52096818e-03, 2.05193632e-03,
 -5.81919350e-05, 4.69197174e-04, 4.75335876e-05, 1.07590346e-05,
  3.53185990e-05,-1.60316120e-03, 0.00000000e+00,-2.07864974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.77893387, -3.75166159, -7.77893387,  7.51410903,
        2.32695412, -3.75166159,  2.32695412,  3.81150889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024318523926930386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33550295,  0.33550295,  0.88027015,  0.11948785,  0.94203915,
       -0.3135042 , -0.93443053,  0.        , -0.35614544])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05733034, -0.05549286,  0.06174359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00660908e-06,-3.97095801e-06,-5.66391080e-05, 2.37395558e-06,
  3.42045993e-06, 4.34521247e-05, 4.92388126e-06,-1.83852098e-04,
 -1.63992045e-05,-1.42792009e-05,-9.75424774e-06,-2.77629599e-05,
 -1.67085313e-05,-5.29006649e-05,-5.31555712e-06, 7.75622051e-05,
 -3.43481298e-05,-9.21624468e-06,-1.21648598e+00, 8.16261183e-04,
 -2.46673191e-02,-1.45501678e-04]


--- Step 1868 ---
qpos:
[ 3.29414214e-03,-3.21433064e-03, 1.19288124e-02, 4.17593741e-02,
  6.15180071e-03, 7.64841248e-01,-2.98939910e-02, 8.70972974e-01,
  5.85161063e-03, 1.63795850e-02,-9.30591477e-03, 2.59928389e-02,
  1.35672520e+00,-1.52142979e-04, 1.12209481e+00, 6.31208999e-02,
  1.05920534e-02,-3.62481594e-02, 7.31719637e-02, 6.76457666e-01,
 -1.88718603e-01,-6.79171871e-01,-2.13344521e-01]

qacc:
[ 2.83777700e+00, 1.55184534e-01,-1.43115836e+00, 2.81100028e+00,
 -8.02393507e-02,-1.78356640e+00, 1.07521526e+01,-2.81255035e+01,
 -1.68755681e+00,-1.15225505e+00, 5.47920910e+00,-1.16618253e+01,
  6.26779528e-01,-1.35288537e+00,-8.58646652e-01, 2.86962475e+00,
 -2.06384516e+00, 1.42041256e+00,-9.29656045e-01, 6.91862020e+00,
 -9.11143071e+01,-5.81313205e+01]

qfrc_actuator:
[ 9.84216429e-06,-1.53016883e-05, 7.66483709e-05, 9.01287149e-05,
  3.84491408e-05, 2.56323182e-02, 8.54924339e-03, 1.98312861e-03,
 -6.77090560e-05, 4.75544967e-04, 5.84283425e-05,-5.44053495e-06,
  3.11833627e-05,-1.64714665e-03, 0.00000000e+00,-2.06709704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.66809653, -3.97329492, -7.66809653,  7.38586388,
        2.41335039, -3.97329492,  2.41335039,  3.97881765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023937313313842543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33993428e-01,  3.33993428e-01,  8.81417483e-01,  1.18347678e-01,
        9.42575403e-01, -3.12322649e-01, -9.35116152e-01,  1.38777878e-17,
       -3.54341337e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05741466, -0.05553499,  0.06174658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66220667e-05,-5.03106224e-05,-2.26113484e-05,-6.04558934e-07,
 -1.30356965e-05, 1.13831113e-04, 3.19013902e-05,-7.14474555e-05,
 -9.98899213e-06,-4.86733974e-06, 5.77950390e-06,-1.76886461e-05,
 -2.58922851e-05,-6.14760994e-05, 3.37547202e-06, 1.45386735e-05,
 -2.54687857e-04,-9.99416598e-05,-1.21648516e+00, 8.75341807e-04,
 -2.46708837e-02,-1.45617765e-04]


--- Step 1869 ---
qpos:
[ 3.29454842e-03,-3.21549917e-03, 1.19282684e-02, 4.17593921e-02,
  6.15213105e-03, 7.64840683e-01,-2.98956945e-02, 8.70969130e-01,
  5.85087820e-03, 1.63798792e-02,-9.30549104e-03, 2.59922076e-02,
  1.35680116e+00,-1.52072785e-04, 1.12228008e+00, 6.31183737e-02,
  1.05546195e-02,-3.62311524e-02, 7.31555655e-02, 6.75913691e-01,
 -1.88497456e-01,-6.79674715e-01,-2.13662522e-01]

qacc:
[ 1.75345327e+00,-1.76696873e+00, 6.88770921e+00,-1.27532336e+01,
 -3.10349326e-01, 4.61543862e+00,-1.72269487e+01, 3.12370083e+01,
 -9.33813475e-01,-1.31604262e+00, 3.54867130e+00,-1.37267348e+00,
 -7.02499957e-02,-4.96466043e-03,-2.66073014e+00, 9.09652805e+00,
  3.90389082e-01,-5.69521541e-01,-1.76146648e+00,-5.67191108e-01,
 -8.88202728e+01,-4.97628212e+01]

qfrc_actuator:
[ 1.95710587e-05,-3.67089949e-05, 8.58544919e-05, 7.30903529e-05,
 -6.07162880e-06, 2.56357345e-02, 8.51332403e-03, 2.05133177e-03,
 -7.30536363e-05, 4.61414973e-04, 8.26565836e-05, 3.11644810e-06,
  3.12832523e-05,-1.63760546e-03, 0.00000000e+00,-2.02347639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.32018358, -5.88575028, -6.32018358,  7.4665821 ,
        1.25612432, -5.88575028,  1.25612432,  7.28752348,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020584151393991112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.39358171e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.39358171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05757009, -0.05560598,  0.06175159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01886880e-05,-5.41985225e-05,-3.97655547e-06,-1.99859612e-05,
 -5.03538302e-05, 7.05382172e-05,-1.19263437e-05, 7.11785392e-05,
 -5.63057403e-06,-1.64388194e-05, 2.33183877e-05, 8.20507626e-06,
 -2.86945140e-05,-1.23095318e-05,-4.81267871e-07, 4.40178017e-05,
 -6.67168679e-04,-1.80428479e-04,-1.21646568e+00, 9.60502931e-04,
 -2.46728878e-02,-1.46334797e-04]


--- Step 1870 ---
qpos:
[ 3.29403323e-03,-3.21657241e-03, 1.19270158e-02, 4.17595422e-02,
  6.15192009e-03, 7.64840079e-01,-2.98972466e-02, 8.70966505e-01,
  5.85008731e-03, 1.63800443e-02,-9.30511279e-03, 2.59923949e-02,
  1.35687677e+00,-1.51436354e-04, 1.12246544e+00, 6.31153751e-02,
  1.05288204e-02,-3.62172158e-02, 7.31441403e-02, 6.75594014e-01,
 -1.88472103e-01,-6.79957412e-01,-2.13796426e-01]

qacc:
[ -8.11164198,  2.39551669, -8.88836315, 12.20964278, -0.30162398,
   1.6558293 , -8.27346071, 22.05391808, -0.50862869,  1.64261997,
  -9.55908684, 23.89263056, -0.71087943,  1.22143482,  1.6071506 ,
  -5.30515227,  2.90868916, -0.76760833,  1.24323133, -5.98610308,
 112.35693385,173.46598831]

qfrc_actuator:
[-2.81310079e-05,-1.33141032e-05, 5.59897098e-05, 8.08184416e-05,
 -3.25830373e-05, 2.56021267e-02, 8.51052577e-03, 2.11073190e-03,
 -7.59018667e-05, 4.52968254e-04, 7.89887138e-05, 4.39131043e-05,
  2.86199133e-05,-1.59637629e-03, 0.00000000e+00,-2.05005087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021080704749236387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63326828e-14, -5.26653657e-14,  1.00000000e+00,  1.38682037e-27,
        1.00000000e+00,  5.26653657e-14, -1.00000000e+00,  0.00000000e+00,
        2.63326828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05294257, -0.0134559 ,  0.06174574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.74255209e-05,-8.53954352e-06,-4.22219070e-05, 4.88309451e-06,
 -4.90997281e-05, 5.41978697e-06, 1.19018090e-05, 6.29125945e-05,
 -3.01539625e-06,-1.24895320e-05,-3.91498854e-06, 4.10586051e-05,
 -2.12807695e-05, 3.13575745e-05, 1.01673002e-06,-2.50169802e-05,
 -1.25286263e-03,-2.37583381e-04,-1.21645086e+00, 1.06624595e-03,
 -2.46780924e-02,-1.46996243e-04]


--- Step 1871 ---
qpos:
[ 3.29329528e-03,-3.21738307e-03, 1.19252665e-02, 4.17597470e-02,
  6.15149086e-03, 7.64840049e-01,-2.98987516e-02, 8.70964560e-01,
  5.84961323e-03, 1.63801805e-02,-9.30508630e-03, 2.59930782e-02,
  1.35695229e+00,-1.50851209e-04, 1.12265031e+00, 6.31157606e-02,
  1.05130192e-02,-3.62056102e-02, 7.31332488e-02, 6.75475308e-01,
 -1.88622503e-01,-6.80042607e-01,-2.13767893e-01]

qacc:
[-1.97536813e+00, 1.85227728e+00,-6.32403981e+00, 7.86259505e+00,
 -1.21937458e-01, 1.80482275e+00,-6.55160231e+00, 1.36274968e+01,
  2.75312161e+00, 1.96058414e+00,-9.14931766e+00, 1.83266203e+01,
  2.04145515e-01,-3.44613005e-01,-1.09587211e+01, 3.72447535e+01,
  2.49947017e+00,-5.82746874e-01, 1.33445832e-01,-6.31731843e+00,
  1.00946130e+02, 1.54718154e+02]

qfrc_actuator:
[-3.82406635e-05, 1.88475894e-05, 3.89970214e-05, 8.53158641e-05,
 -3.03280909e-05, 2.56709898e-02, 8.52712950e-03, 2.14669055e-03,
 -5.95067402e-05, 4.47911654e-04, 5.89113442e-05, 6.78250121e-05,
  1.89925937e-05,-1.60773836e-03, 0.00000000e+00,-1.86923366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.84054009, 3.62114733, 7.84054009, 8.51385501,
       0.26525676, 3.62114733, 0.26525676, 8.06202736, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021817914073474914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.54429232e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.54429232e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05273768, -0.01348624,  0.06173759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14573511e-05, 1.89126952e-05,-2.37586984e-05, 2.77260110e-06,
 -1.97801555e-05, 7.62432409e-05, 2.09536477e-05, 3.79198240e-05,
  1.63037308e-05,-1.11043599e-05,-2.17262599e-05, 2.40386248e-05,
 -1.40115404e-05,-8.16766401e-06,-6.59911397e-06, 1.78585442e-04,
 -4.32049052e-04, 1.61698070e-05,-1.21645917e+00, 9.37224155e-04,
 -2.46672883e-02,-1.48519013e-04]


--- Step 1872 ---
qpos:
[ 3.29347636e-03,-3.21810173e-03, 1.19238794e-02, 4.17603110e-02,
  6.15098214e-03, 7.64839883e-01,-2.98995972e-02, 8.70965857e-01,
  5.84968445e-03, 1.63799032e-02,-9.30481396e-03, 2.59933606e-02,
  1.35702769e+00,-1.50361641e-04, 1.12283512e+00, 6.31179444e-02,
  1.05058935e-02,-3.61957426e-02, 7.31190915e-02, 6.75538003e-01,
 -1.88931817e-01,-6.79948930e-01,-2.13594539e-01]

qacc:
[ 8.07655492e+00,-1.66543475e-01,-7.72157089e-01, 6.36862033e+00,
 -4.42736934e-02, 3.66607910e+00,-1.96325035e+01, 5.65496409e+01,
  4.77076629e+00,-2.06828386e+00, 8.25817618e+00,-1.52678728e+01,
  9.75870834e-02,-2.34418864e-01,-5.51630430e+00, 1.91626867e+01,
  2.16889101e+00,-4.34495821e-01,-8.16445383e-01,-6.43937622e+00,
  9.14489281e+01, 1.39203959e+02]

qfrc_actuator:
[ 9.38028193e-06, 3.83113142e-05, 6.53044162e-05, 1.05652270e-04,
 -2.86724670e-05, 2.56409656e-02, 8.55541805e-03, 2.31065696e-03,
 -3.19174845e-05, 4.09335253e-04, 6.48180054e-05, 4.60959866e-05,
  1.05028113e-05,-1.61475889e-03, 0.00000000e+00,-1.78068070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364e+00, 7.79973415e+00, 3.70822384e+00, 7.79973415e+00,
       8.63568604e+00, 1.42522784e-03, 3.70822384e+00, 1.42522784e-03,
       8.63336587e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00])
  dim: 3
  dist: -0.002214757346193773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25321068e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.25321068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.052648  , -0.01349188,  0.06173387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73063584e-05, 2.52987251e-05, 2.74142016e-05, 2.03842583e-05,
 -7.21091134e-06, 1.75775632e-05, 4.68939866e-05, 1.67895513e-04,
  2.80531583e-05,-4.82463110e-05, 1.76404370e-06,-2.24914728e-05,
 -1.79483145e-05,-1.24655817e-05, 1.43369934e-05, 9.70770530e-05,
 -6.40360749e-05, 8.00377785e-05,-1.21641525e+00, 8.79287112e-04,
 -2.46534718e-02,-1.49204216e-04]


--- Step 1873 ---
qpos:
[ 3.29422674e-03,-3.21869568e-03, 1.19227570e-02, 4.17621521e-02,
  6.15025594e-03, 7.64838939e-01,-2.98991774e-02, 8.70970173e-01,
  5.85008586e-03, 1.63792500e-02,-9.30388836e-03, 2.59930021e-02,
  1.35710301e+00,-1.49976929e-04, 1.12302025e+00, 6.31188379e-02,
  1.05063700e-02,-3.61871385e-02, 7.30984221e-02, 6.75765635e-01,
 -1.89385849e-01,-6.79691749e-01,-2.13290724e-01]

qacc:
[ 5.00362419e+00, 2.04717233e+00,-1.24639105e+01, 3.40635266e+01,
 -1.20287938e-01, 7.97408271e-01,-1.07315186e+01, 4.63273656e+01,
  2.90647617e+00,-3.64749439e+00, 1.49805849e+01,-2.68288549e+01,
 -8.78154603e-02, 2.28819067e-02, 4.36578535e+00,-1.45852295e+01,
  1.90054777e+00,-3.15896087e-01,-1.62804027e+00,-6.40928473e+00,
  8.35210418e+01, 1.26326538e+02]

qfrc_actuator:
[ 3.73289910e-05, 5.02218216e-05, 8.14264014e-05, 1.70670950e-04,
 -4.51805409e-05, 2.55698411e-02, 8.60783903e-03, 2.45983061e-03,
 -1.57195991e-05, 4.04301094e-04, 1.03610825e-04, 1.54335433e-05,
  8.02637709e-06,-1.61910969e-03, 0.00000000e+00,-1.85376976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.73694444,  3.83750799,  7.73694444,  8.80045428,
       -0.33082933,  3.83750799, -0.33082933,  9.30336111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022146208940268947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.75986369e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.75986369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05264993, -0.0134778 ,  0.06173366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93066420e-05, 3.26501770e-05, 2.54507351e-05, 6.74492223e-05,
 -1.97444334e-05,-4.67596084e-05, 6.63522096e-05, 1.54961463e-04,
  1.69854578e-05,-3.25970197e-05, 2.82642977e-05,-3.31084592e-05,
 -1.50064031e-05,-1.18775172e-05, 1.33473389e-05,-6.67808121e-05,
 -3.13123925e-05, 6.68024183e-06,-1.21633126e+00, 8.70988990e-04,
 -2.46367962e-02,-1.49166984e-04]


--- Step 1874 ---
qpos:
[ 3.29496161e-03,-3.21887390e-03, 1.19214836e-02, 4.17644038e-02,
  6.14932724e-03, 7.64838418e-01,-2.98988819e-02, 8.70972407e-01,
  5.84998867e-03, 1.63784678e-02,-9.30287594e-03, 2.59922860e-02,
  1.35717828e+00,-1.49900397e-04, 1.12320521e+00, 6.31205418e-02,
  1.05135725e-02,-3.61794190e-02, 7.30684711e-02, 6.76144315e-01,
 -1.89972604e-01,-6.79283755e-01,-2.12868161e-01]

qacc:
[-1.47645394e-01, 1.81873988e+00,-7.41895643e+00, 1.44590698e+01,
 -1.12696865e-01,-2.72083591e+00, 1.43548059e+01,-3.81125121e+01,
 -4.34426675e+00,-1.14077091e+00, 5.34461498e+00,-1.15929232e+01,
  2.44496275e-01,-5.51286101e-01,-2.72078944e+00, 9.09839626e+00,
  1.68149475e+00,-2.21138806e-01,-2.32039000e+00,-6.26867188e+00,
  7.68915139e+01, 1.15618036e+02]

qfrc_actuator:
[ 3.57038642e-05, 7.52835084e-05, 7.36370284e-05, 1.90426788e-04,
 -5.46644182e-05, 2.56167737e-02, 8.60285924e-03, 2.35051829e-03,
 -4.18648136e-05, 4.01767407e-04, 1.08371697e-04,-2.43598232e-06,
  0.00000000e+00,-1.63956378e-03, 0.00000000e+00,-1.80844330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.63430659,  4.0378385 ,  7.63430659,  9.03999086,
       -0.76313453,  4.0378385 , -0.76313453, 10.07921554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021878260506944455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53727444e-14,  2.53727444e-14,  1.00000000e+00, -6.43776160e-28,
        1.00000000e+00, -2.53727444e-14, -1.00000000e+00,  0.00000000e+00,
        2.53727444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05272451, -0.01344803,  0.06173625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.80130611e-07, 5.15042297e-05, 4.43734989e-06, 2.33464535e-05,
 -1.83544344e-05, 3.90803872e-05,-1.89087315e-06,-1.05288188e-04,
 -2.56706869e-05,-1.63217721e-05, 3.60606823e-07,-1.89332554e-05,
 -1.92215240e-05,-2.69287781e-05,-6.08775372e-06, 4.22021256e-05,
 -2.50017195e-04,-1.66966042e-04,-1.21621555e+00, 8.97347095e-04,
 -2.46175603e-02,-1.48486250e-04]


--- Step 1875 ---
qpos:
[ 3.29532694e-03,-3.21906554e-03, 1.19206218e-02, 4.17665461e-02,
  6.14844605e-03, 7.64838483e-01,-2.98989551e-02, 8.70971241e-01,
  5.84923381e-03, 1.63779916e-02,-9.30229611e-03, 2.59913411e-02,
  1.35725335e+00,-1.49569314e-04, 1.12339063e+00, 6.31184033e-02,
  1.05267809e-02,-3.61722813e-02, 7.30268795e-02, 6.76662314e-01,
 -1.90681925e-01,-6.78735423e-01,-2.12336389e-01]

qacc:
[-3.23044024e+00,-1.38798927e+00, 5.39538708e+00,-7.94912921e+00,
  2.65351607e-02,-4.13363905e+00, 2.22547065e+01,-6.11036222e+01,
 -5.75533544e+00, 1.15371314e+00,-2.54149828e+00,-9.72777016e-01,
 -6.13254309e-01, 9.31234807e-01, 1.23370101e+01,-4.20450946e+01,
  1.50146520e+00,-1.45432310e-01,-2.91017185e+00,-6.04772854e+00,
  7.13443278e+01, 1.06707488e+02]

qfrc_actuator:
[ 1.66915023e-05, 5.46371029e-05, 8.73160843e-05, 1.83380575e-04,
 -4.21091417e-05, 2.56448876e-02, 8.58207505e-03, 2.17877058e-03,
 -7.49665401e-05, 4.36142711e-04, 9.30185164e-05,-1.26567135e-05,
  0.00000000e+00,-1.61617667e-03, 0.00000000e+00,-2.01319945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.46399751,  4.34459642,  7.46399751,  9.40683423,
       -1.32366509,  4.34459642, -1.32366509, 10.91041443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021398004679281865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05285635, -0.0134059 ,  0.06174103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90163337e-05, 1.00851315e-05, 2.56830949e-05,-4.23388670e-06,
  4.32540099e-06, 4.60396910e-05,-1.64618024e-05,-1.72947055e-04,
 -3.38440251e-05, 2.45200019e-05,-1.93355207e-05,-1.12740490e-05,
 -1.70387198e-05, 1.20351261e-05,-1.27394121e-06,-2.03932246e-04,
 -6.60098095e-04,-4.14948751e-04,-1.21607378e+00, 9.47892204e-04,
 -2.45961039e-02,-1.47217186e-04]


--- Step 1876 ---
qpos:
[ 3.29546164e-03,-3.21930760e-03, 1.19200164e-02, 4.17682581e-02,
  6.14786852e-03, 7.64839051e-01,-2.98990235e-02, 8.70967668e-01,
  5.84843241e-03, 1.63780363e-02,-9.30180436e-03, 2.59905740e-02,
  1.35732830e+00,-1.49013089e-04, 1.12357583e+00, 6.31155089e-02,
  1.05351107e-02,-3.61616132e-02, 7.29998493e-02, 6.76953229e-01,
 -1.91323911e-01,-6.78414012e-01,-2.11858246e-01]

qacc:
[  -2.01557862,  -1.66663443,   7.66718353, -15.49198405,   0.16940288,
   -3.53030901,  17.88158798, -45.22773026,  -0.41745789,   1.30118705,
   -4.38934831,   7.2202303 ,  -0.29094109,   0.50245371,   1.96905981,
   -7.32151025,  -1.21962533,   0.88258807,   3.64037463,   7.02302767,
 -141.57766539, -86.73986626]

qfrc_actuator:
[ 5.35968114e-06, 4.23339747e-05, 9.56212528e-05, 1.60608977e-04,
 -1.64993677e-05, 2.56791308e-02, 8.58760775e-03, 2.06047561e-03,
 -7.63783945e-05, 4.92280080e-04, 1.01586872e-04,-5.21326517e-07,
  0.00000000e+00,-1.60242957e-03, 0.00000000e+00,-2.04412913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002231180612728305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24398605e-14, -2.48797210e-14,  1.00000000e+00,  3.09500259e-28,
        1.00000000e+00,  2.48797210e-14, -1.00000000e+00,  0.00000000e+00,
        1.24398605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05670569, -0.05528172,  0.0617311 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18697519e-05,-1.53548419e-06, 1.34130668e-05,-2.15350076e-05,
  2.75601884e-05, 5.09801392e-05, 7.51033461e-06,-1.21248032e-04,
 -2.37321922e-06, 6.53703176e-05, 1.08631199e-05, 1.23008727e-05,
 -7.12194641e-06, 1.32093095e-05,-2.81736607e-05,-4.35841387e-05,
 -1.21853478e-03,-7.19069703e-04,-1.21590972e+00, 1.01533847e-03,
 -2.45727542e-02,-1.45398990e-04]


--- Step 1877 ---
qpos:
[ 3.29511427e-03,-3.21937093e-03, 1.19191737e-02, 4.17693437e-02,
  6.14759724e-03, 7.64839996e-01,-2.98990757e-02, 8.70963752e-01,
  5.84796532e-03, 1.63780024e-02,-9.30097173e-03, 2.59900051e-02,
  1.35740319e+00,-1.48302325e-04, 1.12376059e+00, 6.31142266e-02,
  1.05388657e-02,-3.61479926e-02, 7.29819461e-02, 6.77040965e-01,
 -1.91908248e-01,-6.78295491e-01,-2.11428435e-01]

qacc:
[-4.24212922e+00,-3.82797943e-01, 4.36402963e+00,-1.49685547e+01,
  1.70519656e-01,-1.45003235e-01, 1.86506722e+00,-6.04811757e+00,
  2.92812636e+00,-6.53985098e-01, 1.33395707e+00, 1.62203768e+00,
 -3.13079575e-02, 1.23397718e-01,-5.50007794e+00, 1.83245711e+01,
 -1.14371895e+00, 7.38111354e-01, 2.28172955e+00, 5.17418692e+00,
 -1.26862747e+02,-7.68454306e+01]

qfrc_actuator:
[-1.91075460e-05, 5.28318026e-05, 8.29399880e-05, 1.28766767e-04,
 -1.08468395e-06, 2.56991481e-02, 8.59095185e-03, 2.04562986e-03,
 -5.91243898e-05, 4.54621574e-04, 1.06584032e-04, 6.96016369e-06,
  0.00000000e+00,-1.59453888e-03, 0.00000000e+00,-1.95455989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.02785294,  5.0195677 , -7.02785294,  8.62852275,
       -0.01097796,  5.0195677 , -0.01097796,  8.62099349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002299915030636805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20680874e-14,  2.41361748e-14,  1.00000000e+00, -2.91277467e-28,
        1.00000000e+00, -2.41361748e-14, -1.00000000e+00,  0.00000000e+00,
        1.20680874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05642294, -0.05516599,  0.06172365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48044529e-05, 1.14947027e-05,-1.20851070e-05,-3.18645215e-05,
  2.77920389e-05, 4.58635976e-05, 1.06100969e-05,-1.57450766e-05,
  1.72083319e-05, 1.65902608e-06, 2.02586633e-05, 1.08986128e-05,
 -1.45225603e-06, 9.99491089e-06,-2.03417067e-05, 8.29390420e-05,
 -3.54610531e-04,-2.83873551e-04,-1.21605610e+00, 7.93310315e-04,
 -2.45944562e-02,-1.40381971e-04]


--- Step 1878 ---
qpos:
[ 3.29413152e-03,-3.21956964e-03, 1.19185397e-02, 4.17707395e-02,
  6.14717337e-03, 7.64840550e-01,-2.98988402e-02, 8.70961473e-01,
  5.84770876e-03, 1.63778793e-02,-9.30027256e-03, 2.59892204e-02,
  1.35747789e+00,-1.46970711e-04, 1.12394537e+00, 6.31126445e-02,
  1.05383191e-02,-3.61318862e-02, 7.29685230e-02, 6.76945397e-01,
 -1.92442688e-01,-6.78359673e-01,-2.11042403e-01]

qacc:
[-5.56772388e+00,-1.12339711e-01,-1.14881024e+00, 6.26138106e+00,
 -8.48989459e-02, 1.55094436e+00,-9.44618239e+00, 2.83575521e+01,
  1.83349144e+00,-1.92739435e-01, 1.42116271e+00,-4.87050082e+00,
 -6.13790047e-01, 1.17658753e+00, 9.84715980e-01,-3.27896878e+00,
 -1.07540040e+00, 6.21454423e-01, 1.12003544e+00, 3.76825392e+00,
 -1.14540837e+02,-6.86517180e+01]

qfrc_actuator:
[-5.11123193e-05, 4.12959581e-05, 9.35633866e-05, 1.45108297e-04,
 -2.74163810e-05, 2.56395438e-02, 8.59296936e-03, 2.12725816e-03,
 -4.87857416e-05, 4.32087133e-04, 9.12921105e-05,-6.19500985e-06,
  0.00000000e+00,-1.55467623e-03, 0.00000000e+00,-1.97228312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.01132409,  5.04262941, -7.01132409,  8.93292386,
        0.41234041,  5.04262941,  0.41234041,  9.20968601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023257758046539775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19338999e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.19338999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05630471, -0.05512448,  0.06172063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27046232e-05,-8.96698081e-06, 1.04160868e-05, 1.57961342e-05,
 -1.38525257e-05,-3.26196117e-05, 1.18054337e-05, 8.30553748e-05,
  1.08318280e-05,-1.69576619e-05,-1.20860848e-05,-1.21723233e-05,
  1.24394151e-06, 4.22827883e-05,-2.33845508e-06,-1.62279833e-05,
  1.43247802e-05, 1.18682790e-04,-1.21614976e+00, 6.41814383e-04,
 -2.46111219e-02,-1.36203298e-04]


--- Step 1879 ---
qpos:
[ 3.29311741e-03,-3.21971029e-03, 1.19179889e-02, 4.17719584e-02,
  6.14651004e-03, 7.64839912e-01,-2.98988241e-02, 8.70962712e-01,
  5.84723295e-03, 1.63783692e-02,-9.30063563e-03, 2.59882587e-02,
  1.35755244e+00,-1.44917510e-04, 1.12413026e+00, 6.31095149e-02,
  1.05337176e-02,-3.61136713e-02, 7.29556076e-02, 6.76683095e-01,
 -1.92933459e-01,-6.78589542e-01,-2.10696232e-01]

qacc:
[  -0.27371978,  -0.52004272,   2.71263397,  -5.95033677,  -0.1337338 ,
    5.13343536, -26.78918335,  67.01482326,  -1.95611983,   3.41826968,
  -10.25815666,   8.43261322,  -0.73929262,   1.42701425,   4.91422874,
  -16.78012598,  -1.01371835,   0.52712884,   0.12693402,   2.7016822 ,
 -104.18948711, -61.83986382]

qfrc_actuator:
[-5.17882246e-05, 5.22878006e-05, 1.00065772e-04, 1.36416123e-04,
 -4.29542922e-05, 2.55150306e-02, 8.55840788e-03, 2.30043298e-03,
 -6.03588754e-05, 4.89679750e-04, 4.64121000e-05,-1.36447663e-05,
  0.00000000e+00,-1.51391117e-03, 0.00000000e+00,-2.05311496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.01871329,  5.03233947, -7.01871329,  9.28825215,
        0.90920309,  5.03233947,  0.90920309,  9.90444896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002316737062494953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.39609199e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.39609199e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05631697, -0.05514206,  0.06172115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61066008e-06, 8.80881072e-06, 6.48869870e-06,-8.40805310e-06,
 -2.17606173e-05,-1.37623076e-04,-3.71406495e-05, 1.74374617e-04,
 -1.12674137e-05, 4.50926017e-05,-5.02983673e-05,-8.83158401e-06,
  1.03636029e-05, 5.21412195e-05,-6.72562804e-06,-8.29185497e-05,
  2.04150545e-05, 4.94632082e-04,-1.21620528e+00, 5.43763455e-04,
 -2.46245751e-02,-1.32648257e-04]


--- Step 1880 ---
qpos:
[ 3.29210286e-03,-3.21983044e-03, 1.19172766e-02, 4.17727403e-02,
  6.14583687e-03, 7.64837332e-01,-2.98978075e-02, 8.70969476e-01,
  5.84662275e-03, 1.63787875e-02,-9.30165998e-03, 2.59883116e-02,
  1.35762714e+00,-1.42889047e-04, 1.12431471e+00, 6.31084420e-02,
  1.05243224e-02,-3.61044988e-02, 7.29634632e-02, 6.76369061e-01,
 -1.93146900e-01,-6.78866099e-01,-2.10618107e-01]

qacc:
[-9.54019213e-03,-4.21869269e-01, 3.38676786e+00,-1.07040998e+01,
 -4.81014810e-03, 4.33184708e+00,-2.99205709e+01, 9.43699604e+01,
 -1.19092036e+00, 3.84450538e+00,-1.81249905e+01, 3.67900589e+01,
  2.83495093e-01,-3.53338777e-01,-6.88766227e+00, 2.30904864e+01,
 -1.19843612e+00,-2.26058314e+00, 5.19274080e+00, 2.81292081e+00,
  2.17249712e+01,-1.94741601e+02]

qfrc_actuator:
[-5.17693083e-05, 4.11516922e-05, 8.63849492e-05, 1.13066785e-04,
 -3.41153983e-05, 2.54057878e-02, 8.60880668e-03, 2.57925728e-03,
 -6.69808796e-05, 4.52661047e-04, 2.51404076e-06, 3.56341862e-05,
  0.00000000e+00,-1.52621163e-03, 0.00000000e+00,-1.93966000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023453557555919158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00354136, -0.00800833,  0.06171762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30241561e-08,-5.21864387e-06,-1.13466019e-05,-2.29120676e-05,
 -9.48795604e-07,-1.87244083e-04, 2.42299233e-05, 2.77268977e-04,
 -6.92584040e-06,-2.25877232e-05,-4.10838160e-05, 4.93013503e-05,
  1.74182980e-05, 3.88204445e-06,-1.62154786e-05, 1.07077065e-04,
 -2.42131702e-04, 8.48680789e-04,-1.21623365e+00, 4.86798655e-04,
 -2.46359968e-02,-1.29575930e-04]


--- Step 1881 ---
qpos:
[ 3.29075159e-03,-3.22016711e-03, 1.19170438e-02, 4.17735679e-02,
  6.14522031e-03, 7.64834248e-01,-2.98962322e-02, 8.70976307e-01,
  5.84559322e-03, 1.63787266e-02,-9.30273618e-03, 2.59889656e-02,
  1.35770210e+00,-1.41471652e-04, 1.12449852e+00, 6.31127130e-02,
  1.05107194e-02,-3.61033553e-02, 7.29863370e-02, 6.76008077e-01,
 -1.93109142e-01,-6.79185273e-01,-2.10782601e-01]

qacc:
[-2.93659827e+00,-1.52717662e+00, 4.84677409e+00,-4.67433380e+00,
  3.22270178e-02,-2.05486873e+00, 5.79029369e+00,-4.04803480e+00,
 -3.65073896e+00, 7.55985303e-01,-6.13986802e+00, 1.69643842e+01,
  1.02033908e+00,-1.69690884e+00,-1.71636503e+01, 5.84715711e+01,
 -1.05191792e+00,-2.00726284e+00, 3.75454901e+00, 2.55301093e+00,
  1.95349908e+01,-1.76375015e+02]

qfrc_actuator:
[-6.91045069e-05, 3.45057901e-05, 1.14063593e-04, 1.16759253e-04,
 -2.85368953e-05, 2.54489556e-02, 8.65579165e-03, 2.58075791e-03,
 -8.83820078e-05, 4.12572841e-04,-5.26565682e-06, 6.45716202e-05,
  0.00000000e+00,-1.56989371e-03, 0.00000000e+00,-1.65936025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.32143895, -5.88440196,  6.32143895, 21.45508462,
       13.77077273, -5.88440196, 13.77077273, 23.4298974 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002366296434687498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.34590859e-14,  2.34590859e-14,  1.00000000e+00, -5.50328709e-28,
        1.00000000e+00, -2.34590859e-14, -1.00000000e+00,  0.00000000e+00,
        2.34590859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00354127, -0.00802667,  0.06171528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73353036e-05,-1.28751611e-05, 2.44193681e-05, 2.63059069e-06,
  5.12130725e-06,-4.68913355e-05, 2.12014814e-05, 2.54471674e-06,
 -2.16076350e-05,-5.91006925e-05,-1.57933444e-05, 2.75088027e-05,
  1.00945870e-05,-3.84328966e-05, 2.43467327e-06, 2.83700813e-04,
 -4.19890074e-04, 3.73172233e-04,-1.21638407e+00, 5.89527789e-04,
 -2.46618792e-02,-1.30256087e-04]


--- Step 1882 ---
qpos:
[ 3.28989266e-03,-3.22042946e-03, 1.19176295e-02, 4.17736807e-02,
  6.14447219e-03, 7.64832392e-01,-2.98961293e-02, 8.70979596e-01,
  5.84396955e-03, 1.63789462e-02,-9.30391491e-03, 2.59891758e-02,
  1.35777709e+00,-1.40277805e-04, 1.12468270e+00, 6.31169382e-02,
  1.04933766e-02,-3.61094223e-02, 7.30193816e-02, 6.75603858e-01,
 -1.92841681e-01,-6.79543458e-01,-2.11168656e-01]

qacc:
[ 4.34536668e+00,-3.67189611e+00, 1.62341323e+01,-2.99480731e+01,
 -7.44246484e-02,-5.54001752e-01, 1.18445656e+01,-5.38980850e+01,
 -5.19047257e+00,-2.46069106e-01, 3.30649609e+00,-1.10480842e+01,
  1.69578688e-01,-3.62993310e-01, 6.53334571e-01,-1.55111090e+00,
 -9.34980530e-01,-1.80262251e+00, 2.54270538e+00, 2.33709131e+00,
  1.77335450e+01,-1.61217467e+02]

qfrc_actuator:
[-4.32578239e-05, 6.62880909e-05, 1.65981391e-04, 8.31110085e-05,
 -4.27297608e-05, 2.55651549e-02, 8.59425417e-03, 2.40135947e-03,
 -1.18311896e-04, 4.77594964e-04, 8.28075064e-06, 4.58066182e-05,
  0.00000000e+00,-1.57855064e-03, 0.00000000e+00,-1.67362149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.30981332, -5.89686635,  6.30981332, 24.09285917,
       16.53888616, -5.89686635, 16.53888616, 26.3334383 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023569870975149385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35517417e-14,  2.35517417e-14,  1.00000000e+00, -5.54684536e-28,
        1.00000000e+00, -2.35517417e-14, -1.00000000e+00,  0.00000000e+00,
        2.35517417e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00353614, -0.00801215,  0.06171634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53484652e-05, 2.97503966e-05, 5.23639984e-05,-3.33031502e-05,
 -1.19016644e-05, 9.45454764e-05,-6.82576882e-05,-1.80200643e-04,
 -3.05715243e-05, 2.98917193e-05, 3.56545958e-07,-2.13070387e-05,
 -3.25626778e-06,-1.63862827e-05, 3.07510199e-05, 1.37715061e-06,
 -5.50471680e-04, 5.46501937e-06,-1.21646879e+00, 6.84907115e-04,
 -2.46822536e-02,-1.31812374e-04]


--- Step 1883 ---
qpos:
[ 3.28969495e-03,-3.22046174e-03, 1.19182255e-02, 4.17734250e-02,
  6.14377088e-03, 7.64832202e-01,-2.98974233e-02, 8.70980319e-01,
  5.84268901e-03, 1.63796807e-02,-9.30482606e-03, 2.59891020e-02,
  1.35785200e+00,-1.38948409e-04, 1.12486679e+00, 6.31226769e-02,
  1.04726674e-02,-3.61220390e-02, 7.30585187e-02, 6.75159267e-01,
 -1.92362213e-01,-6.79937458e-01,-2.11758816e-01]

qacc:
[ 5.79979673e+00,-4.95416757e-01, 3.74209900e+00,-1.02814951e+01,
  2.46154887e-02, 1.50829348e+00, 3.55891486e+00,-3.50891177e+01,
  2.99230585e+00,-6.57895609e-01, 4.52222567e+00,-1.02337149e+01,
 -6.74895805e-02, 1.49259414e-01,-4.67836828e+00, 1.62147781e+01,
 -8.41584787e-01,-1.63744204e+00, 1.52312943e+00, 2.15600780e+00,
  1.62485156e+01,-1.48696933e+02]

qfrc_actuator:
[-9.94901060e-06, 6.76651938e-05, 1.60901450e-04, 6.33058237e-05,
 -3.31146723e-05, 2.56881383e-02, 8.54042135e-03, 2.27677691e-03,
 -9.97586186e-05, 5.34104709e-04, 3.46942269e-05, 3.47297783e-05,
  0.00000000e+00,-1.56633558e-03, 0.00000000e+00,-1.59507766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.24741591, -5.96293311,  6.24741591, 28.01960672,
       20.30798919, -5.96293311, 20.30798919, 29.91321722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002323581966022968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.77806697e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.77806697e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00352696, -0.00797169,  0.06172009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40407077e-05, 2.74169584e-05, 6.35814135e-06,-1.73690141e-05,
  4.29095677e-06, 1.56194041e-04,-4.84585635e-05,-1.27709601e-04,
  1.76878378e-05, 7.23754870e-05, 3.19050157e-05,-1.01955587e-05,
 -5.53173326e-06, 7.15363413e-06, 9.10710201e-06, 8.13460255e-05,
 -6.44818676e-04,-2.78773658e-04,-1.21650407e+00, 7.77076412e-04,
 -2.46982144e-02,-1.34191386e-04]


--- Step 1884 ---
qpos:
[ 3.28920842e-03,-3.22030607e-03, 1.19184689e-02, 4.17736559e-02,
  6.14315708e-03, 7.64833203e-01,-2.98993796e-02, 8.70980582e-01,
  5.84233021e-03, 1.63811405e-02,-9.30606959e-03, 2.59885643e-02,
  1.35792695e+00,-1.37771314e-04, 1.12505133e+00, 6.31256292e-02,
  1.04584495e-02,-3.61351209e-02, 7.30953455e-02, 6.74900930e-01,
 -1.92047065e-01,-6.80144766e-01,-2.12202160e-01]

qacc:
[-2.54897572e+00, 2.24212092e+00,-9.67715021e+00, 1.85111569e+01,
  4.77336335e-02, 2.55822914e+00,-5.44261918e+00,-1.43976316e+00,
  8.01666369e+00, 9.17153609e-01, 5.20557466e-02,-8.05278003e+00,
 -5.98015294e-02,-3.80504842e-03, 9.08041829e+00,-3.07937527e+01,
  1.62279854e+00,-1.16276001e-01,-5.77591249e-01,-7.41128114e+00,
  9.48254437e+01, 1.43102316e+02]

qfrc_actuator:
[-2.57866344e-05, 6.83663137e-05, 1.39856284e-04, 8.72513354e-05,
 -2.70931781e-05, 2.57432526e-02, 8.50947733e-03, 2.25653635e-03,
 -5.28150507e-05, 5.67407851e-04, 1.52409667e-05, 1.05309989e-05,
  0.00000000e+00,-1.57737226e-03, 0.00000000e+00,-1.74643394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023371777442030076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75027211e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.75027211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05226147, -0.0134375 ,  0.0617191 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48584323e-05, 1.66092752e-05,-1.52071778e-05, 2.49997566e-05,
  7.97228057e-06, 1.28039760e-04,-9.55048150e-06,-1.96091812e-05,
  4.74763191e-05, 7.99157989e-05,-9.25893486e-07,-2.01920877e-05,
 -1.26172263e-06,-1.05187253e-05, 9.41097972e-06,-1.46560056e-04,
 -7.10950025e-04,-4.97522182e-04,-1.21650136e+00, 8.68926867e-04,
 -2.47105497e-02,-1.37345890e-04]


--- Step 1885 ---
qpos:
[ 3.28922612e-03,-3.22007097e-03, 1.19184821e-02, 4.17745229e-02,
  6.14242907e-03, 7.64834351e-01,-2.99005074e-02, 8.70981999e-01,
  5.84253735e-03, 1.63830585e-02,-9.30771925e-03, 2.59877811e-02,
  1.35800193e+00,-1.36729470e-04, 1.12523624e+00, 6.31240854e-02,
  1.04501213e-02,-3.61484831e-02, 7.31265060e-02, 6.74811904e-01,
 -1.91881320e-01,-6.80182625e-01,-2.12513648e-01]

qacc:
[ 4.41737878e+00, 2.05120083e+00,-9.85906446e+00, 2.11907884e+01,
 -6.31907767e-02,-4.55866674e-02,-2.23428361e+00, 1.57223519e+01,
  4.91572577e+00, 1.22544008e+00,-2.47001424e+00,-1.45171456e+00,
 -1.88081514e-01, 1.76473611e-01, 1.41159446e+01,-4.85848435e+01,
  1.47243888e+00,-7.00864526e-02,-1.41656987e+00,-7.29618372e+00,
  8.62450423e+01, 1.29538240e+02]

qfrc_actuator:
[ 5.83951089e-07, 6.86119589e-05, 1.27343398e-04, 1.18987001e-04,
 -4.10398996e-05, 2.57219474e-02, 8.54534873e-03, 2.31557288e-03,
 -2.50584293e-05, 5.68617988e-04,-1.34867811e-05,-3.49493894e-06,
  0.00000000e+00,-1.58437373e-03, 0.00000000e+00,-1.97877781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47625889, -1.65523779,  8.47625889,  8.91823003,
        1.44340137, -1.65523779,  1.44340137, 16.02783556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002345302046123633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36690840e-14,  2.36690840e-14,  1.00000000e+00, -5.60225539e-28,
        1.00000000e+00, -2.36690840e-14, -1.00000000e+00,  0.00000000e+00,
        2.36690840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05225178, -0.01343073,  0.06171877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59519426e-05, 7.45069386e-06,-1.00942314e-05, 3.24068805e-05,
 -1.03499006e-05, 4.71244919e-05, 5.94439547e-05, 6.23952939e-05,
  2.91494348e-05, 4.48212803e-05,-1.30363541e-05,-1.10275456e-05,
 -3.68113324e-06,-9.76094864e-06,-1.68080098e-05,-2.40444595e-04,
 -2.07801634e-04,-1.67305182e-04,-1.21653181e+00, 7.81338059e-04,
 -2.47018154e-02,-1.39948589e-04]


--- Step 1886 ---
qpos:
[ 3.29024947e-03,-3.21972383e-03, 1.19180520e-02, 4.17757742e-02,
  6.14195296e-03, 7.64835630e-01,-2.99008307e-02, 8.70984460e-01,
  5.84307640e-03, 1.63851264e-02,-9.30985020e-03, 2.59868818e-02,
  1.35807682e+00,-1.35517613e-04, 1.12542108e+00, 6.31194189e-02,
  1.04471872e-02,-3.61619759e-02, 7.31491405e-02, 6.74877959e-01,
 -1.91852439e-01,-6.80065247e-01,-2.12705531e-01]

qacc:
[ 8.81103943e+00, 2.16246133e+00,-9.14581235e+00, 1.64534220e+01,
  1.40761636e-01,-1.88900626e-01,-1.53653042e+00, 1.37937602e+01,
  2.87735495e+00, 1.29861345e+00,-3.86246835e+00, 2.52276975e+00,
 -3.82123352e-01, 6.02331720e-01, 9.37493083e+00,-3.28466094e+01,
  1.34855048e+00,-3.26473274e-02,-2.13149311e+00,-7.11832280e+00,
  7.91022721e+01, 1.18273230e+02]

qfrc_actuator:
[ 5.16019538e-05, 6.86176394e-05, 1.02215887e-04, 1.37299910e-04,
 -1.35429398e-05, 2.57263705e-02, 8.58457826e-03, 2.36748852e-03,
 -8.82688092e-06, 5.50549273e-04,-4.75725218e-05,-1.14498213e-05,
  0.00000000e+00,-1.57115757e-03, 0.00000000e+00,-2.13262160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.46342414, -1.71965946,  8.46342414,  9.01271204,
        1.85222494, -1.71965946,  1.85222494, 17.75221807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023248520898608988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.3877283e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.3877283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05232112, -0.01340565,  0.06172141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17579462e-05, 3.47367054e-06,-2.37163528e-05, 1.89100469e-05,
  2.28575416e-05, 4.42336232e-05, 5.72503354e-05, 5.66292107e-05,
  1.70879132e-05, 3.79262074e-06,-2.68169055e-05,-6.69981012e-06,
 -5.36160055e-06, 1.03610788e-05,-3.84276675e-05,-1.70327699e-04,
 -1.55100429e-05, 2.08729223e-05,-1.21651709e+00, 7.42549925e-04,
 -2.46896617e-02,-1.41938222e-04]


--- Step 1887 ---
qpos:
[ 3.29153148e-03,-3.21921028e-03, 1.19176155e-02, 4.17761620e-02,
  6.14177207e-03, 7.64837608e-01,-2.99013237e-02, 8.70985452e-01,
  5.84346149e-03, 1.63869914e-02,-9.31168997e-03, 2.59862318e-02,
  1.35815159e+00,-1.33903560e-04, 1.12560567e+00, 6.31132253e-02,
  1.04492360e-02,-3.61754776e-02, 7.31608158e-02, 6.75087126e-01,
 -1.91949855e-01,-6.79804351e-01,-2.12787850e-01]

qacc:
[ 2.26686221e+00,-1.54680768e+00, 9.46900307e+00,-2.45142060e+01,
  1.64286338e-01,-1.17409166e+00, 8.32160952e+00,-2.55461791e+01,
 -1.33017508e+00,-5.65954292e-01, 5.80212137e-01, 3.41558661e+00,
 -4.73781854e-01, 8.61834394e-01, 4.26679080e+00,-1.53893435e+01,
  1.24569236e+00,-2.23441926e-03,-2.73980000e+00,-6.89798891e+00,
  7.31491182e+01, 1.08904099e+02]

qfrc_actuator:
[ 6.34473983e-05, 8.61676014e-05, 1.05330041e-04, 9.42986370e-05,
  2.99454613e-06, 2.57639383e-02, 8.57225731e-03, 2.29051127e-03,
 -1.72553493e-05, 5.38790980e-04,-3.13775443e-05, 1.95925136e-06,
  0.00000000e+00,-1.54606199e-03, 0.00000000e+00,-2.20343500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.46612982, -1.70628918,  8.46612982,  9.09695883,
        2.28534454, -1.70628918,  2.28534454, 19.97560423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00228157419478954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43301977e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.43301977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05245233, -0.01336619,  0.06172637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33201883e-05, 1.54082430e-05, 1.55994049e-06,-4.33099870e-05,
  2.68003566e-05, 7.51554498e-05, 4.69641764e-06,-7.25534749e-05,
 -7.93179924e-06,-1.55042329e-05, 1.34461139e-05, 1.25148627e-05,
 -1.60270590e-06, 2.70926483e-05,-3.92098908e-05,-8.58352842e-05,
 -6.08766024e-05, 1.00913305e-04,-1.21646729e+00, 7.39099771e-04,
 -2.46745697e-02,-1.43365502e-04]


--- Step 1888 ---
qpos:
[ 3.29260127e-03,-3.21890962e-03, 1.19176644e-02, 4.17757007e-02,
  6.14144060e-03, 7.64839868e-01,-2.99017421e-02, 8.70984159e-01,
  5.84374284e-03, 1.63884610e-02,-9.31239895e-03, 2.59860589e-02,
  1.35822638e+00,-1.32260252e-04, 1.12578965e+00, 6.31091827e-02,
  1.04559228e-02,-3.61888889e-02, 7.31594644e-02, 6.75429328e-01,
 -1.92164657e-01,-6.79409593e-01,-2.12768824e-01]

qacc:
[-1.84432231e+00,-3.38438889e+00, 1.52453938e+01,-3.05593959e+01,
 -8.35005740e-02,-3.79431666e+00, 1.81151459e+01,-4.38127778e+01,
 -8.62529007e-01,-2.69931782e+00, 6.85489800e+00,-1.17951298e-01,
  1.71624155e-01,-2.04193862e-01,-7.40683769e+00, 2.45731511e+01,
  1.15950597e+00, 2.26181037e-02,-3.25667864e+00,-6.64928202e+00,
  6.81873150e+01, 1.01109584e+02]

qfrc_actuator:
[ 5.21340223e-05, 6.08870529e-05, 1.25129526e-04, 5.11083164e-05,
 -2.26930031e-05, 2.57497639e-02, 8.56516375e-03, 2.17379898e-03,
 -2.23740912e-05, 5.31111752e-04, 3.21585348e-05, 2.78676539e-05,
  0.00000000e+00,-1.54964421e-03, 0.00000000e+00,-2.08275573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.49619948, -1.54963586,  8.49619948,  9.11300692,
        2.61329552, -1.54963586,  2.61329552, 22.96429747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022202968372728032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50016801e-14, -2.50016801e-14,  1.00000000e+00,  6.25084007e-28,
        1.00000000e+00,  2.50016801e-14, -1.00000000e+00,  0.00000000e+00,
        2.50016801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05263152, -0.01331555,  0.06173313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09281066e-05,-1.82110006e-05, 2.16719757e-05,-4.33212626e-05,
 -1.36483749e-05, 2.60371986e-05, 6.07657372e-06,-1.15817408e-04,
 -5.34866329e-06,-1.30816059e-05, 6.24245343e-05, 2.59545888e-05,
  4.58739907e-06, 3.52866638e-06,-2.97485968e-05, 1.10372709e-04,
 -2.91104670e-04, 9.72893855e-05,-1.21638933e+00, 7.61416589e-04,
 -2.46569514e-02,-1.44268646e-04]


--- Step 1889 ---
qpos:
[ 3.29283756e-03,-3.21899558e-03, 1.19180436e-02, 4.17751043e-02,
  6.14087444e-03, 7.64841465e-01,-2.99019755e-02, 8.70984672e-01,
  5.84430551e-03, 1.63896671e-02,-9.31260027e-03, 2.59862237e-02,
  1.35830154e+00,-1.31691174e-04, 1.12597336e+00, 6.31068892e-02,
  1.04669554e-02,-3.62021276e-02, 7.31433318e-02, 6.75896074e-01,
 -1.92489319e-01,-6.78888904e-01,-2.12655156e-01]

qacc:
[-7.29880076e+00,-1.69909137e+00, 5.91110970e+00,-8.51955482e+00,
 -1.30636652e-01, 1.76037594e+00,-1.09546085e+01, 3.19040611e+01,
  2.47431335e+00,-1.07656261e+00, 1.89880928e+00, 3.33843773e+00,
  1.18203561e+00,-2.18178842e+00,-5.77130035e+00, 1.93831795e+01,
  1.08646978e+00, 4.31346596e-02,-3.69529772e+00,-6.38170186e+00,
  6.40565043e+01, 9.46309406e+01]

qfrc_actuator:
[ 9.54015412e-06, 2.79735599e-05, 1.36698535e-04, 4.36406319e-05,
 -3.78826035e-05, 2.56691754e-02, 8.56103024e-03, 2.26543255e-03,
 -7.74299710e-06, 5.08401015e-04, 5.21326671e-05, 4.31956662e-05,
  0.00000000e+00,-1.62347895e-03, 0.00000000e+00,-1.99226902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.56006686, -1.14543977,  8.56006686,  8.96848174,
        2.48197527, -1.14543977,  2.48197527, 27.18458842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021450747264609646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58784230e-14,  2.58784230e-14,  1.00000000e+00, -6.69692779e-28,
        1.00000000e+00, -2.58784230e-14, -1.00000000e+00,  0.00000000e+00,
        2.58784230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05284742, -0.01325636,  0.06174127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29114855e-05,-4.04939801e-05, 8.97399233e-06,-8.34065872e-06,
 -2.13093324e-05,-6.87184681e-05,-1.79808743e-06, 9.00179705e-05,
  1.44735203e-05,-1.60646451e-05, 2.58508961e-05, 1.74314466e-05,
  2.91494519e-06,-7.16347029e-05,-2.83207588e-06, 9.24862339e-05,
 -6.68079765e-04, 2.77110973e-05,-1.21628782e+00, 8.02702603e-04,
 -2.46371455e-02,-1.44677065e-04]


--- Step 1890 ---
qpos:
[ 3.29256131e-03,-3.21923139e-03, 1.19181687e-02, 4.17751241e-02,
  6.14010643e-03, 7.64842762e-01,-2.99025603e-02, 8.70984892e-01,
  5.84469405e-03, 1.63910522e-02,-9.31298217e-03, 2.59865621e-02,
  1.35837692e+00,-1.32221127e-04, 1.12615681e+00, 6.31073542e-02,
  1.04744100e-02,-3.62196422e-02, 7.31359783e-02, 6.76317848e-01,
 -1.92575511e-01,-6.78408098e-01,-2.12770516e-01]

qacc:
[-4.50372026e+00, 1.79125985e+00,-9.25740384e+00, 2.04175030e+01,
 -1.12558730e-01, 4.92757435e-02, 1.91915406e-02,-3.31429927e+00,
 -1.52735415e+00, 1.10154674e+00,-4.31209700e+00, 7.46746707e+00,
  1.15732758e+00,-2.21113114e+00,-8.83609883e+00, 3.00801708e+01,
 -8.94525156e-01,-1.06896587e+00, 2.19477517e+00, 2.76030624e+00,
  1.86541848e+01,-1.66966799e+02]

qfrc_actuator:
[-1.56105815e-05, 2.62444534e-05, 1.25537385e-04, 7.49849027e-05,
 -4.66290779e-05, 2.56560868e-02, 8.54077981e-03, 2.24811453e-03,
 -1.71108322e-05, 5.29955474e-04, 4.61404534e-05, 5.21239078e-05,
  0.00000000e+00,-1.68511551e-03, 0.00000000e+00,-1.84934594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59074559,  0.88649142,  8.59074559,  9.45446684,
       -7.92801405,  0.88649142, -7.92801405, 85.46457643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00210275374975339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63992639e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.63992639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00346749, -0.00775187,  0.06174584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63871712e-05,-2.28927531e-05,-1.87092529e-05, 2.97602806e-05,
 -1.83207935e-05,-4.86861532e-05,-3.13111704e-05,-1.75230902e-05,
 -8.95670489e-06, 1.86230304e-05,-5.53548472e-06, 9.47041197e-06,
 -1.55299981e-05,-7.93945982e-05, 6.51537819e-06, 1.47116010e-04,
 -1.16435244e-03,-9.50122621e-05,-1.21616581e+00, 8.58153890e-04,
 -2.46154215e-02,-1.44613670e-04]


--- Step 1891 ---
qpos:
[ 3.29233037e-03,-3.21965646e-03, 1.19178900e-02, 4.17755349e-02,
  6.13919464e-03, 7.64843885e-01,-2.99033366e-02, 8.70982120e-01,
  5.84427757e-03, 1.63928700e-02,-9.31382846e-03, 2.59866463e-02,
  1.35845217e+00,-1.32986218e-04, 1.12634020e+00, 6.31098565e-02,
  1.04771618e-02,-3.62324869e-02, 7.31373347e-02, 6.76537154e-01,
 -1.92594998e-01,-6.78132730e-01,-2.12933433e-01]

qacc:
[ 3.88545665e-01, 1.68384439e+00,-8.01675466e+00, 1.55673473e+01,
 -7.96043045e-02,-4.90322585e+00, 2.26305303e+01,-5.60273722e+01,
 -7.04361325e+00, 1.36036680e+00,-2.92353517e+00,-1.07772263e+00,
  1.92631626e-01,-4.62820720e-01,-6.25387257e+00, 2.17114209e+01,
 -1.17567415e+00, 1.16746840e+00, 2.17745781e+00, 8.78613649e+00,
 -1.26472900e+02,-8.00293488e+01]

qfrc_actuator:
[-1.25303648e-05, 7.63858654e-06, 1.01190519e-04, 9.34138532e-05,
 -5.14486496e-05, 2.56478943e-02, 8.52907437e-03, 2.09579023e-03,
 -5.82877381e-05, 5.59979350e-04, 2.50535949e-05, 3.94887126e-05,
  0.00000000e+00,-1.68572079e-03, 0.00000000e+00,-1.74768056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.16155924, -6.05160843,  6.16155924, 40.77207916,
       32.71958479, -6.05160843, 32.71958479, 41.95042592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002109471417949954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63151948e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.63151948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05710205, -0.05576013,  0.06174541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32074788e-06,-3.39984958e-05,-3.03474458e-05, 1.73816181e-05,
 -1.30480065e-05,-4.19377124e-05,-2.54476487e-05,-1.55220831e-04,
 -4.14232420e-05, 3.96520691e-05,-1.76058687e-05,-1.18468878e-05,
 -2.70779660e-05,-2.48620619e-05, 1.64851035e-05, 1.10010881e-04,
 -9.83917933e-04, 3.57957603e-04,-1.21631644e+00, 7.48962501e-04,
 -2.46467383e-02,-1.44183365e-04]


--- Step 1892 ---
qpos:
[ 3.29179299e-03,-3.22028472e-03, 1.19173359e-02, 4.17758113e-02,
  6.13858304e-03, 7.64844282e-01,-2.99041453e-02, 8.70979315e-01,
  5.84371647e-03, 1.63940010e-02,-9.31418846e-03, 2.59870027e-02,
  1.35852728e+00,-1.33842708e-04, 1.12652374e+00, 6.31125645e-02,
  1.04754804e-02,-3.62414842e-02, 7.31429109e-02, 6.76573354e-01,
 -1.92557093e-01,-6.78042602e-01,-2.13139610e-01]

qacc:
[-2.69500753e+00, 2.29521805e-01,-6.31651765e-01,-1.11438278e+00,
  1.67522787e-01,-9.22432535e-01, 1.93384541e+00,-1.62413703e+00,
 -1.23439620e+00,-1.70434823e+00, 3.61486757e+00, 8.18889786e-01,
 -3.20629068e-02,-6.08373224e-02,-3.84572669e-01, 1.68937331e+00,
 -1.10831955e+00, 9.61841896e-01, 1.05496278e+00, 6.83479275e+00,
 -1.14469525e+02,-7.14259259e+01]

qfrc_actuator:
[-2.83696854e-05,-3.24134168e-06, 8.69361385e-05, 8.63196780e-05,
 -1.83841513e-05, 2.55893762e-02, 8.52247645e-03, 2.09606264e-03,
 -6.45916475e-05, 4.70491103e-04, 3.07712658e-05, 4.97790320e-05,
  0.00000000e+00,-1.68563684e-03, 0.00000000e+00,-1.74216250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.79583092,  3.71642262, -7.79583092,  8.20312939,
       -0.90878279,  3.71642262, -0.90878279,  6.73003659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021520422332829206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28973192e-14,  2.57946384e-14,  1.00000000e+00, -3.32681685e-28,
        1.00000000e+00, -2.57946384e-14, -1.00000000e+00,  0.00000000e+00,
        1.28973192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05693888, -0.05570658,  0.06174119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57830295e-05,-3.53964782e-05,-2.44058366e-05,-9.26166796e-06,
  2.72051432e-05,-9.17613682e-05,-2.24776498e-05,-5.36001165e-06,
 -7.47128239e-06,-7.15308763e-05, 1.13195997e-05, 1.11491258e-05,
 -2.03212603e-05,-1.28387372e-05, 1.57103222e-05, 1.28095861e-05,
 -3.14587732e-04, 2.12139207e-04,-1.21641725e+00, 6.96521395e-04,
 -2.46603523e-02,-1.41821543e-04]


--- Step 1893 ---
qpos:
[ 3.29072484e-03,-3.22082322e-03, 1.19164153e-02, 4.17766595e-02,
  6.13832542e-03, 7.64844482e-01,-2.99055857e-02, 8.70977554e-01,
  5.84342872e-03, 1.63944656e-02,-9.31409526e-03, 2.59871349e-02,
  1.35860238e+00,-1.35009872e-04, 1.12670750e+00, 6.31139948e-02,
  1.04696040e-02,-3.62472950e-02, 7.31488783e-02, 6.76442558e-01,
 -1.92469218e-01,-6.78120760e-01,-2.13385336e-01]

qacc:
[-4.67136547e+00, 2.33118097e+00,-1.05356371e+01, 2.09325455e+01,
  1.96533779e-01, 3.25852375e+00,-1.33961799e+01, 2.46487367e+01,
  2.40957515e+00,-2.61327494e+00, 8.97781457e+00,-1.30806998e+01,
  1.24790040e-01,-3.74469103e-01, 4.14465924e+00,-1.40952334e+01,
 -1.04875365e+00, 7.96639863e-01, 9.78254416e-02, 5.35287420e+00,
 -1.04411162e+02,-6.43191604e+01]

qfrc_actuator:
[-5.52270866e-05, 2.61091828e-05, 7.87703618e-05, 1.17538546e-04,
  1.51907952e-06, 2.56078004e-02, 8.50110810e-03, 2.15062531e-03,
 -5.03101454e-05, 4.34510527e-04, 5.18067177e-05, 3.78947874e-05,
  0.00000000e+00,-1.70294166e-03, 0.00000000e+00,-1.81106881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.77988636,  3.749686  , -7.77988636,  8.31939896,
       -0.65764151,  3.749686  , -0.65764151,  7.2718824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021598889382476796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57009285e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.57009285e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05690791, -0.05571131,  0.06174054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73154424e-05, 4.14374108e-06,-1.87891758e-05, 2.86806196e-05,
  3.20992144e-05,-3.70285910e-05,-4.22164309e-05, 5.08310257e-05,
  1.40447554e-05,-7.32069936e-05, 8.02969411e-06,-1.43433102e-05,
 -1.40587523e-05,-2.53914243e-05, 4.08762595e-06,-6.72387134e-05,
 -4.10933443e-05, 8.72206027e-05,-1.21647712e+00, 6.93432830e-04,
 -2.46703934e-02,-1.40386581e-04]


--- Step 1894 ---
qpos:
[ 3.28968774e-03,-3.22112051e-03, 1.19155646e-02, 4.17778243e-02,
  6.13835680e-03, 7.64845399e-01,-2.99077297e-02, 8.70976375e-01,
  5.84296886e-03, 1.63950648e-02,-9.31405141e-03, 2.59863644e-02,
  1.35867738e+00,-1.36139851e-04, 1.12689149e+00, 6.31125840e-02,
  1.04597446e-02,-3.62504505e-02, 7.31519720e-02, 6.76158202e-01,
 -1.92337287e-01,-6.78352931e-01,-2.13667394e-01]

qacc:
[  0.27077487,  0.77546326, -3.63843406,  8.82679946,  0.15994587,
   3.85413546,-12.83774838, 18.01342652, -1.50555326, -1.53986814,
   9.56579892,-25.21736465, -0.30899265,  0.40505368,  8.95575566,
 -30.76037414, -0.99572375,  0.66383367, -0.71845916,  4.23552526,
 -95.95990434,-58.43066429]

qfrc_actuator:
[-5.28431744e-05, 6.16336639e-05, 9.22116428e-05, 1.35587445e-04,
  1.33516713e-05, 2.57076555e-02, 8.48924222e-03, 2.18344207e-03,
 -5.95427842e-05, 4.84146686e-04, 6.41187972e-05,-4.65947674e-06,
  0.00000000e+00,-1.69491865e-03, 0.00000000e+00,-1.95873389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.77503631,  3.75973233, -7.77503631,  8.47067397,
       -0.34264226,  3.75973233, -0.34264226,  7.92778766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002139566537820367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29725228e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.29725228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05698132, -0.05576214,  0.06174271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60935648e-06, 3.52114520e-05, 1.29927591e-05, 1.81372529e-05,
  2.62324077e-05, 7.26435175e-05,-2.24932585e-05, 3.15162577e-05,
 -8.85374749e-06, 9.72811231e-06,-2.32478357e-06,-4.56949844e-05,
 -1.39964477e-05,-1.64593554e-06,-9.79340030e-06,-1.51872187e-04,
 -6.48938036e-05,-1.86809074e-05,-1.21650759e+00, 7.27884171e-04,
 -2.46782514e-02,-1.39647018e-04]


--- Step 1895 ---
qpos:
[ 3.28903193e-03,-3.22118384e-03, 1.19151464e-02, 4.17791712e-02,
  6.13859396e-03, 7.64847135e-01,-2.99092183e-02, 8.70973786e-01,
  5.84240193e-03, 1.63959405e-02,-9.31399196e-03, 2.59850659e-02,
  1.35875221e+00,-1.36941275e-04, 1.12707529e+00, 6.31104084e-02,
  1.04460925e-02,-3.62513784e-02, 7.31494077e-02, 6.75731503e-01,
 -1.92166017e-01,-6.78727071e-01,-2.13982991e-01]

qacc:
[  3.35637474, -0.53120968,  1.5628832 ,  0.73656497,  0.11511223,
  -3.14331995, 14.85786189,-30.79635255, -0.9384232 , -0.76303053,
   5.4829834 ,-14.85130544, -0.40327332,  0.7048488 ,  2.05640907,
  -7.53005382, -0.94818923,  0.55687799, -1.4144889 ,  3.40266288,
 -88.84794467,-53.54186779]

qfrc_actuator:
[-3.32639851e-05, 8.29225497e-05, 1.18327429e-04, 1.45760960e-04,
  2.02652828e-05, 2.57845247e-02, 8.53666035e-03, 2.11449058e-03,
 -6.47951590e-05, 5.13607949e-04, 7.15181100e-05,-2.93420892e-05,
  0.00000000e+00,-1.67192254e-03, 0.00000000e+00,-1.99180602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.7911732 ,  3.72617727, -7.7911732 ,  8.66130668,
        0.05215414,  3.72617727,  0.05215414,  8.74541427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020966177481045456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32382623e-14,  2.64765245e-14,  1.00000000e+00,  3.50503176e-28,
        1.00000000e+00, -2.64765245e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32382623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0571369 , -0.0558493 ,  0.06174711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96376282e-05, 4.44617434e-05, 3.56285779e-05, 1.24845677e-05,
  1.86965506e-05, 1.13689240e-04, 6.01140340e-05,-6.65917816e-05,
 -5.49897001e-06, 3.24378083e-05, 7.53543672e-06,-2.52348976e-05,
 -8.70062197e-06, 1.96737130e-05,-2.54396469e-05,-4.37291317e-05,
 -3.15163048e-04,-1.07550152e-04,-1.21651713e+00, 7.91416453e-04,
 -2.46847861e-02,-1.39448339e-04]


--- Step 1896 ---
qpos:
[ 3.28861574e-03,-3.22073150e-03, 1.19146808e-02, 4.17802808e-02,
  6.13877121e-03, 7.64849209e-01,-2.99094437e-02, 8.70972129e-01,
  5.84177654e-03, 1.63969245e-02,-9.31381466e-03, 2.59838411e-02,
  1.35882712e+00,-1.38009874e-04, 1.12725875e+00, 6.31091481e-02,
  1.04387177e-02,-3.62533568e-02, 7.31467062e-02, 6.75509407e-01,
 -1.92173555e-01,-6.78898197e-01,-2.14134545e-01]

qacc:
[ 2.09262376e+00, 3.21062403e-01, 8.37457082e-01,-5.23699335e+00,
 -3.26046097e-02,-1.35312433e+00, 2.87558910e+00, 8.35251942e+00,
 -5.08002556e-01,-3.34624327e-02, 1.73565785e-02, 9.88919606e-01,
  3.33198996e-01,-5.97829510e-01,-3.29280837e+00, 1.07232573e+01,
  1.56930799e+00,-2.62615685e-01,-3.43099439e-02,-6.80489405e+00,
  1.03133544e+02, 1.57502381e+02]

qfrc_actuator:
[-2.14829254e-05, 1.13333473e-04, 1.16152050e-04, 1.33464431e-04,
  6.44248406e-06, 2.57939550e-02, 8.60081869e-03, 2.16376478e-03,
 -6.76555715e-05, 5.13015895e-04, 7.59245620e-05,-2.55628919e-05,
  0.00000000e+00,-1.69350670e-03, 0.00000000e+00,-1.93930972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020434270649323377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43314241e-14, -2.71657120e-14,  1.00000000e+00,  1.47595182e-27,
        1.00000000e+00,  2.71657120e-14, -1.00000000e+00,  0.00000000e+00,
        5.43314241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05312259, -0.01310622,  0.06175242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23543445e-05, 6.31810842e-05, 1.18311981e-05,-8.91872253e-06,
 -5.41546719e-06, 8.21280708e-05, 9.15002960e-05, 5.32046899e-05,
 -3.00338654e-06, 1.79892737e-05, 1.11535291e-05, 4.93984497e-06,
 -7.28441550e-07,-1.81632838e-05,-1.92928647e-05, 4.61659316e-05,
 -7.40843254e-04,-1.81301044e-04,-1.21651206e+00, 8.77953146e-04,
 -2.46905147e-02,-1.39687016e-04]


--- Step 1897 ---
qpos:
[ 3.28868914e-03,-3.21997475e-03, 1.19148556e-02, 4.17808685e-02,
  6.13843846e-03, 7.64851408e-01,-2.99091575e-02, 8.70974935e-01,
  5.84112176e-03, 1.63980497e-02,-9.31386392e-03, 2.59826910e-02,
  1.35890206e+00,-1.39304974e-04, 1.12744199e+00, 6.31091562e-02,
  1.04370916e-02,-3.62560693e-02, 7.31402397e-02, 6.75471992e-01,
 -1.92342686e-01,-6.78885837e-01,-2.14139908e-01]

qacc:
[  4.31194381, -2.47200917, 11.58399833,-21.84590237, -0.28457597,
   6.5271754 ,-31.38833795, 81.54475953, -0.26578477,  0.97412704,
  -3.51663421,  5.06565348,  0.28111772, -0.5178115 , -4.1893771 ,
  14.11062841,  1.4371808 , -0.18352428, -0.94123218, -6.85465124,
  93.31474034,141.63316069]

qfrc_actuator:
[ 3.36105480e-06, 1.31089679e-04, 1.50566716e-04, 1.08032343e-04,
 -3.73914165e-05, 2.57808288e-02, 8.62089330e-03, 2.38871160e-03,
 -6.90865892e-05, 5.12202084e-04, 6.06741673e-05,-2.28497136e-05,
  0.00000000e+00,-1.70586945e-03, 0.00000000e+00,-1.87235170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.06548818, -3.08782727,  8.06548818,  9.03491407,
        1.0410245 , -3.08782727,  1.0410245 , 11.35554772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002086437220583423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.32114273e-14,  2.66057136e-14,  1.00000000e+00, -1.41572800e-27,
        1.00000000e+00, -2.66057136e-14, -1.00000000e+00,  0.00000000e+00,
        5.32114273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05299163, -0.01312497,  0.06174768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52166533e-05, 5.51410872e-05, 4.86111901e-05,-2.24928060e-05,
 -4.62540840e-05, 5.20814933e-05, 4.84022938e-05, 2.31535460e-04,
 -1.50842603e-06, 1.17235119e-05,-1.00011114e-05, 3.96630031e-06,
 -5.12202061e-06,-1.69800144e-05,-5.97769171e-06, 6.65217826e-05,
 -2.05706277e-04, 3.69347166e-06,-1.21647999e+00, 7.91270535e-04,
 -2.46732424e-02,-1.41422958e-04]


--- Step 1898 ---
qpos:
[ 3.28837021e-03,-3.21923159e-03, 1.19156231e-02, 4.17811912e-02,
  6.13759179e-03, 7.64853777e-01,-2.99095121e-02, 8.70977367e-01,
  5.84079977e-03, 1.63994510e-02,-9.31446120e-03, 2.59819330e-02,
  1.35897673e+00,-1.39954600e-04, 1.12762486e+00, 6.31122914e-02,
  1.04407692e-02,-3.62592608e-02, 7.31269030e-02, 6.75602532e-01,
 -1.92658935e-01,-6.78706063e-01,-2.14013628e-01]

qacc:
[-3.42492783e+00,-2.21513890e+00, 9.00091385e+00,-1.45362874e+01,
 -2.86847997e-01, 1.30601130e+00,-3.16895229e+00,-1.75468180e+00,
  2.88100564e+00, 2.69791574e+00,-1.07555252e+01, 1.82246415e+01,
 -4.52267530e-01, 9.42913702e-01,-9.92351920e+00, 3.40533971e+01,
  1.32593709e+00,-1.19749034e-01,-1.71754690e+00,-6.77358515e+00,
  8.51407359e+01, 1.28482236e+02]

qfrc_actuator:
[-1.75609454e-05, 1.05752801e-04, 1.70761468e-04, 9.28511850e-05,
 -6.32526563e-05, 2.57364927e-02, 8.56150608e-03, 2.36010567e-03,
 -5.19130228e-05, 5.28931550e-04, 3.39269420e-05,-3.05392785e-06,
  0.00000000e+00,-1.65937526e-03, 0.00000000e+00,-1.70867279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.07870857, -3.05307135,  8.07870857,  9.20692309,
        1.50975297, -3.05307135,  1.50975297, 12.63130935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020960895205541785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.29663936e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.29663936e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05295721, -0.0131219 ,  0.06174653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01882021e-05, 1.45532251e-05, 3.67801074e-05,-1.15793804e-05,
 -4.66151560e-05, 1.40775616e-06,-3.65839267e-05,-2.02236500e-05,
  1.71379460e-05, 2.13492277e-05,-2.54308083e-05, 2.00294306e-05,
 -6.99189884e-06, 4.10310330e-05, 1.74535238e-06, 1.65934223e-04,
 -3.52043613e-05, 3.69614438e-05,-1.21640333e+00, 7.60272749e-04,
 -2.46532273e-02,-1.42412002e-04]


--- Step 1899 ---
qpos:
[ 3.28814817e-03,-3.21847288e-03, 1.19164237e-02, 4.17810201e-02,
  6.13674225e-03, 7.64855392e-01,-2.99097398e-02, 8.70976724e-01,
  5.84068657e-03, 1.64005914e-02,-9.31514127e-03, 2.59811101e-02,
  1.35905129e+00,-1.40089911e-04, 1.12780819e+00, 6.31133296e-02,
  1.04449850e-02,-3.62654528e-02, 7.31251585e-02, 6.75795372e-01,
 -1.92888549e-01,-6.78462656e-01,-2.13969734e-01]

qacc:
[ 8.51037847e-01,-1.09118478e+00, 6.00018506e+00,-1.46043695e+01,
 -5.59308033e-04,-6.66865824e+00, 2.76870856e+01,-6.11604130e+01,
  1.82300975e+00,-2.50687907e-01, 6.61802014e-01,-1.45536834e+00,
 -6.19323847e-01, 1.13444199e+00, 7.04772360e+00,-2.35643052e+01,
  1.34550030e-01,-7.50134087e-01, 2.89802560e+00, 4.98935572e-01,
  5.98435733e+01,-4.44336700e+01]

qfrc_actuator:
[-1.19985316e-05, 9.02615547e-05, 1.64462925e-04, 6.60197967e-05,
 -4.26171148e-05, 2.56378310e-02, 8.54415268e-03, 2.20017274e-03,
 -4.16797535e-05, 4.84985236e-04, 1.84463274e-05,-8.86115623e-06,
  0.00000000e+00,-1.63160618e-03, 0.00000000e+00,-1.82662729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63366804,  0.21576134,  8.63366804,  8.67205883,
       -1.42833941,  0.21576134, -1.42833941, 65.79121893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00207848853010335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.96183493e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.96183493e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02270005, -0.0098221 ,  0.06174827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98825083e-06,-2.94640939e-07, 8.19703402e-07,-2.51638846e-05,
 -2.83426794e-07,-1.05807229e-04,-2.19117319e-05,-1.61448153e-04,
  1.07358192e-05,-3.64395368e-05,-1.35186711e-05,-5.38332831e-06,
  6.10477436e-06, 3.67000606e-05, 1.60413708e-05,-1.09228221e-04,
 -1.38648669e-04,-4.16500352e-05,-1.21629220e+00, 7.68611054e-04,
 -2.46307706e-02,-1.42734685e-04]


--- Step 1900 ---
qpos:
[ 3.28902918e-03,-3.21771649e-03, 1.19168692e-02, 4.17809042e-02,
  6.13583598e-03, 7.64856160e-01,-2.99093170e-02, 8.70975187e-01,
  5.84069746e-03, 1.64011308e-02,-9.31609717e-03, 2.59802825e-02,
  1.35912592e+00,-1.40139009e-04, 1.12799161e+00, 6.31126382e-02,
  1.04448298e-02,-3.62677813e-02, 7.31264998e-02, 6.75809239e-01,
 -1.93061407e-01,-6.78400276e-01,-2.13967828e-01]

qacc:
[ 9.67038238e+00, 1.08486185e+00,-4.13762718e+00, 5.69699665e+00,
 -3.04931587e-02,-4.42252167e+00, 1.52007970e+01,-2.37695625e+01,
  1.08393625e+00,-3.51018011e-02,-1.01164168e+00, 1.81913493e+00,
 -1.24925000e-01, 2.48501035e-01, 5.37525724e+00,-1.85718373e+01,
 -1.09275198e+00, 9.65897247e-01, 7.71470907e-01, 7.04064504e+00,
 -1.11760020e+02,-7.00473133e+01]

qfrc_actuator:
[ 4.46274822e-05, 8.06540009e-05, 1.42591121e-04, 6.80383141e-05,
 -4.76468880e-05, 2.56139455e-02, 8.58701347e-03, 2.15957284e-03,
 -3.56197943e-05, 4.22812536e-04,-8.27296662e-06,-1.19773216e-05,
  0.00000000e+00,-1.63295183e-03, 0.00000000e+00,-1.91430973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.33436754, -4.56002518,  7.33436754, 23.28013885,
       23.55312206, -4.56002518, 23.55312206, 46.5193242 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002081734383346634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.33316370e-14,  2.66658185e-14,  1.00000000e+00, -1.42213175e-27,
        1.00000000e+00, -2.66658185e-14, -1.00000000e+00,  0.00000000e+00,
        5.33316370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05713737, -0.05594602,  0.06174804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67658225e-05,-1.07149167e-05,-2.27202789e-05, 1.54114574e-06,
 -5.16997266e-06,-9.20363641e-05, 1.45948191e-05,-4.83085159e-05,
  6.35849547e-06,-8.56011954e-05,-3.61018592e-05,-5.24994201e-06,
  1.16749742e-05, 9.80143231e-06,-9.95787745e-06,-9.29137020e-05,
 -2.54659211e-04,-2.70837310e-05,-1.21632767e+00, 7.66734589e-04,
 -2.46383013e-02,-1.42954551e-04]


--- Step 1901 ---
qpos:
[ 3.29023721e-03,-3.21705787e-03, 1.19165052e-02, 4.17812031e-02,
  6.13507078e-03, 7.64857075e-01,-2.99094497e-02, 8.70974527e-01,
  5.84078089e-03, 1.64012085e-02,-9.31720038e-03, 2.59804338e-02,
  1.35920060e+00,-1.40159863e-04, 1.12817507e+00, 6.31098800e-02,
  1.04405372e-02,-3.62669080e-02, 7.31272851e-02, 6.75659487e-01,
 -1.93184918e-01,-6.78502732e-01,-2.14004412e-01]

qacc:
[ 2.84682225e+00, 2.98313948e+00,-1.25824352e+01, 2.11354342e+01,
  7.78719147e-02, 3.21588520e+00,-1.23237541e+01, 2.14577286e+01,
  6.36488592e-01, 1.81534670e+00,-1.14929643e+01, 2.90110845e+01,
 -1.07558502e-01, 1.84673865e-01, 6.30810501e+00,-2.19608239e+01,
 -1.03435411e+00, 8.00431454e-01,-1.39010665e-01, 5.45914238e+00,
 -1.02203863e+02,-6.31611632e+01]

qfrc_actuator:
[ 5.98362360e-05, 5.68356740e-05, 9.39977286e-05, 8.70153265e-05,
 -3.25155682e-05, 2.56708262e-02, 8.57666529e-03, 2.20737471e-03,
 -3.20626294e-05, 4.21159065e-04,-6.00405934e-06, 3.97446605e-05,
  0.00000000e+00,-1.63379131e-03, 0.00000000e+00,-2.01886275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.86502962,  3.56764431, -7.86502962,  8.27042264,
       -0.80673311,  3.56764431, -0.80673311,  6.85788483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020854030634521736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0571173 , -0.05595609,  0.06174769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68199486e-05,-3.44523843e-05,-5.35686798e-05, 1.77568841e-05,
  1.27981760e-05, 7.19311844e-06,-2.82848584e-05, 4.42027046e-05,
  3.71179854e-06,-5.72087566e-05,-2.00350921e-05, 4.67047886e-05,
  7.99647402e-06, 4.81531375e-06,-1.83887254e-05,-1.11827755e-04,
 -3.92021740e-05, 1.85179745e-05,-1.21639483e+00, 7.26274136e-04,
 -2.46511685e-02,-1.40674032e-04]


--- Step 1902 ---
qpos:
[ 3.29161872e-03,-3.21676953e-03, 1.19162104e-02, 4.17817015e-02,
  6.13447151e-03, 7.64857879e-01,-2.99099587e-02, 8.70974803e-01,
  5.84090619e-03, 1.64008677e-02,-9.31773293e-03, 2.59808017e-02,
  1.35927542e+00,-1.40427251e-04, 1.12835857e+00, 6.31045230e-02,
  1.04318211e-02,-3.62730144e-02, 7.31386614e-02, 6.75465192e-01,
 -1.93071271e-01,-6.78645119e-01,-2.14268665e-01]

qacc:
[ 1.53131988e+00,-2.74560291e-01,-5.77787010e-01, 4.19685340e+00,
  9.19710568e-02, 2.49699226e+00,-1.05158233e+01, 2.07403206e+01,
  3.90381543e-01,-1.70268963e+00, 4.35214811e+00,-1.20405033e+00,
  1.06117214e-01,-2.61767814e-01, 7.89166214e+00,-2.75529504e+01,
 -1.10586775e+00,-1.74491745e+00, 2.64775780e+00, 2.85231284e+00,
  1.87665508e+01,-1.65992618e+02]

qfrc_actuator:
[ 6.82820581e-05, 4.23398883e-05, 1.00978158e-04, 9.80330812e-05,
 -2.32153429e-05, 2.56512421e-02, 8.55309017e-03, 2.25354682e-03,
 -3.00052179e-05, 4.20412870e-04, 3.13922264e-05, 5.23774270e-05,
  0.00000000e+00,-1.65205623e-03, 0.00000000e+00,-2.15026181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.00794857,  5.04731946, -7.00794857, 31.7735605 ,
       32.12483119,  5.04731946, 32.12483119, 53.24007189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002089185319571696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.65707167e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.65707167e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0034053 , -0.00775033,  0.06174719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.91254176e-06,-4.40840070e-05,-6.12539941e-06, 8.03173424e-06,
  1.50445874e-05,-1.97847378e-05,-2.40885472e-05, 4.65541918e-05,
  2.14185454e-06,-3.48634013e-05, 2.47389034e-05, 1.03986592e-05,
  4.67736911e-06,-1.46991739e-05,-2.40271305e-05,-1.40724984e-04,
 -1.03986673e-04, 6.84890751e-05,-1.21643163e+00, 7.23962742e-04,
 -2.46613381e-02,-1.39074668e-04]


--- Step 1903 ---
qpos:
[ 3.29309095e-03,-3.21700929e-03, 1.19163328e-02, 4.17826691e-02,
  6.13361824e-03, 7.64858765e-01,-2.99105317e-02, 8.70975250e-01,
  5.84140025e-03, 1.63998821e-02,-9.31764302e-03, 2.59806529e-02,
  1.35935027e+00,-1.40876079e-04, 1.12854125e+00, 6.31029560e-02,
  1.04236642e-02,-3.62829903e-02, 7.31604825e-02, 6.75332510e-01,
 -1.92875465e-01,-6.78725294e-01,-2.14609019e-01]

qacc:
[  0.81864356, -0.89908949,  0.21086062,  7.63172218, -0.141611  ,
   0.57570636, -2.14704342,  3.91029944,  3.24643317, -3.66210842,
  13.99163516,-23.44333934,  0.45053702, -0.71344925,-12.67716202,
  42.5215848 ,  0.13979779, -0.96739812,  2.61119039,  1.20778105,
  58.06553496,-40.97381854]

qfrc_actuator:
[ 7.26928555e-05, 1.59966188e-05, 1.22995486e-04, 1.22077288e-04,
 -5.30003137e-05, 2.56747421e-02, 8.55712710e-03, 2.26282456e-03,
 -1.10933897e-05, 3.67094648e-04, 5.37006122e-05, 2.41746340e-05,
  0.00000000e+00,-1.66276031e-03, 0.00000000e+00,-1.94135695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.70300817,  -3.90518142,  -7.70300817,
        21.14002861, -24.66360024,  -3.90518142, -24.66360024,
        57.28555394,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00207446339015253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.12176407e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.12176407e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02269022, -0.00980123,  0.06174882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64847515e-06,-5.19256394e-05, 1.24322605e-05, 2.20985086e-05,
 -2.30364725e-05, 9.25882692e-06,-1.24044969e-06, 8.97741824e-06,
  1.89580748e-05,-6.72393706e-05, 1.85232250e-05,-2.86374088e-05,
 -1.88452046e-06,-1.29082524e-05,-2.95874564e-05, 1.97305074e-04,
 -1.39934837e-04,-5.88260261e-05,-1.21651333e+00, 7.67833851e-04,
 -2.46832930e-02,-1.40590002e-04]


--- Step 1904 ---
qpos:
[ 3.29391457e-03,-3.21739358e-03, 1.19163218e-02, 4.17835607e-02,
  6.13285079e-03, 7.64859828e-01,-2.99109096e-02, 8.70977508e-01,
  5.84177235e-03, 1.63981135e-02,-9.31686262e-03, 2.59798358e-02,
  1.35942504e+00,-1.41183047e-04, 1.12872377e+00, 6.31035018e-02,
  1.04207776e-02,-3.62935558e-02, 7.31737599e-02, 6.75359170e-01,
 -1.92819061e-01,-6.78646726e-01,-2.14824165e-01]

qacc:
[-5.69468085e+00, 3.61600428e-02,-6.55861730e-02,-9.52896233e-01,
  4.75451948e-02, 2.84781202e+00,-1.31860229e+01, 3.33978908e+01,
 -1.02924276e+00,-4.33810521e+00, 1.67910467e+01,-2.88863542e+01,
 -2.26159461e-02, 9.44997874e-02,-6.62977158e+00, 2.28320470e+01,
  1.31757360e+00,-1.47369295e-01,-2.13591209e+00,-6.24759563e+00,
  8.06443706e+01, 1.21993401e+02]

qfrc_actuator:
[ 3.91907520e-05, 1.83560518e-05, 1.18153937e-04, 1.18082564e-04,
 -3.48723353e-05, 2.57061913e-02, 8.57756939e-03, 2.35687344e-03,
 -1.79178002e-05, 3.18132271e-04, 8.44288415e-05,-1.01300754e-05,
  0.00000000e+00,-1.65114173e-03, 0.00000000e+00,-1.83541392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.21856853, -2.65365941, -8.21856853,  8.46114978,
        0.54264955, -2.65365941,  0.54264955,  6.95574009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002072261660550745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.03631399e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.03631399e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0530125 , -0.01303618,  0.06174937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33888004e-05,-2.31608502e-05,-1.32735348e-05,-5.36097508e-06,
  7.79085826e-06, 3.66007738e-05, 2.23941900e-05, 9.45116977e-05,
 -6.30707776e-06,-8.39209018e-05, 1.81402001e-05,-3.71009727e-05,
 -4.27325962e-06, 7.95757060e-06, 7.38154139e-06, 1.12908218e-04,
 -4.22938380e-05,-1.65022558e-05,-1.21652545e+00, 7.69527020e-04,
 -2.46874911e-02,-1.42668284e-04]


--- Step 1905 ---
qpos:
[ 3.29432974e-03,-3.21720449e-03, 1.19159387e-02, 4.17836302e-02,
  6.13224499e-03, 7.64859845e-01,-2.99107147e-02, 8.70979934e-01,
  5.84205977e-03, 1.63957749e-02,-9.31606481e-03, 2.59789791e-02,
  1.35950002e+00,-1.42154458e-04, 1.12890623e+00, 6.31056446e-02,
  1.04227920e-02,-3.63044916e-02, 7.31761261e-02, 6.75532881e-01,
 -1.92891359e-01,-6.78421306e-01,-2.14925060e-01]

qacc:
[-3.60703809e+00, 1.11184212e-01, 4.18239327e+00,-1.82434245e+01,
  9.09767838e-02,-2.62760843e+00, 6.56442856e+00,-3.13978184e+00,
 -7.28423537e-01,-8.82319634e-01, 2.22280570e+00,-2.52028573e+00,
  7.41854857e-01,-1.36722482e+00,-4.97602743e+00, 1.71240555e+01,
  1.22524937e+00,-9.25787948e-02,-2.72780574e+00,-6.28871515e+00,
  7.46476505e+01, 1.12204424e+02]

qfrc_actuator:
[ 1.91492076e-05, 9.10226685e-05, 1.15333447e-04, 7.98695320e-05,
 -2.37400563e-05, 2.55647553e-02, 8.57211631e-03, 2.35805571e-03,
 -2.20881132e-05, 2.89932037e-04, 8.43866972e-05,-1.22325256e-05,
  0.00000000e+00,-1.69739081e-03, 0.00000000e+00,-1.75558152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.30590237, -2.36617048,  8.30590237,  8.942205  ,
        1.07358643, -2.36617048,  1.07358643, 12.40494421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020462181424667977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.42573151e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.42573151e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.053091  , -0.01300616,  0.0617524 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09988624e-05, 5.67415014e-05,-9.42170441e-06,-3.97686775e-05,
  1.46324791e-05,-1.13739248e-04, 7.18696601e-06, 5.17322377e-06,
 -4.38452364e-06,-7.29164284e-05,-1.64125337e-05,-5.78883014e-06,
 -3.30639523e-07,-4.52143440e-05, 1.24361685e-05, 8.62549398e-05,
 -3.02782227e-05, 8.50781312e-05,-1.21648077e+00, 7.58016053e-04,
 -2.46724538e-02,-1.44206204e-04]


--- Step 1906 ---
qpos:
[ 3.29484605e-03,-3.21649026e-03, 1.19157130e-02, 4.17835547e-02,
  6.13139549e-03, 7.64859143e-01,-2.99107566e-02, 8.70979610e-01,
  5.84263915e-03, 1.63935423e-02,-9.31584396e-03, 2.59777124e-02,
  1.35957515e+00,-1.43904868e-04, 1.12908833e+00, 6.31117467e-02,
  1.04205443e-02,-3.63116462e-02, 7.31804863e-02, 6.75531566e-01,
 -1.92908073e-01,-6.78372888e-01,-2.15066975e-01]

qacc:
[ 8.83626010e-01,-4.63635616e-02, 1.78075358e+00,-4.92393548e+00,
 -1.35113384e-01,-5.07981761e+00, 2.17841703e+01,-5.20101499e+01,
  2.52654437e+00, 9.03734069e-01,-1.29647405e+00,-4.94582993e+00,
  9.53623891e-01,-1.74460666e+00,-1.25661502e+01, 4.29957444e+01,
 -1.06553742e+00, 9.45272179e-01, 4.98478824e-01, 7.00052705e+00,
 -1.09226389e+02,-6.85889946e+01]

qfrc_actuator:
[ 2.49559168e-05, 1.34202982e-04, 1.31770302e-04, 7.51597301e-05,
 -5.24206204e-05, 2.55160196e-02, 8.55067021e-03, 2.21567161e-03,
 -6.90182373e-06, 3.27547249e-04, 6.62792001e-05,-3.08801363e-05,
  0.00000000e+00,-1.74210566e-03, 0.00000000e+00,-1.54972362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.06220045, -3.09640127,  8.06220045, 16.3617778 ,
       20.1149115 , -3.09640127, 20.1149115 , 61.01021135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002022664945968533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74445609e-14,  2.74445609e-14,  1.00000000e+00, -7.53203921e-28,
        1.00000000e+00, -2.74445609e-14, -1.00000000e+00,  0.00000000e+00,
        2.74445609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05735176, -0.05616229,  0.0617551 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.23019583e-06, 7.12494502e-05, 2.56229933e-05,-3.37837105e-06,
 -2.21305131e-05,-1.10178146e-04,-4.28996961e-05,-1.45685204e-04,
  1.50293186e-05,-6.72177405e-06,-3.53708420e-05,-2.24473503e-05,
 -1.08286202e-05,-5.65168508e-05, 1.17880707e-05, 2.11417691e-04,
 -2.16350638e-04, 9.74304874e-05,-1.21640788e+00, 7.74584346e-04,
 -2.46552400e-02,-1.45183487e-04]


--- Step 1907 ---
qpos:
[ 3.29508292e-03,-3.21544315e-03, 1.19157413e-02, 4.17837861e-02,
  6.13064343e-03, 7.64858502e-01,-2.99115056e-02, 8.70978915e-01,
  5.84305093e-03, 1.63913454e-02,-9.31533917e-03, 2.59761804e-02,
  1.35965013e+00,-1.45669853e-04, 1.12927039e+00, 6.31206000e-02,
  1.04142425e-02,-3.63156657e-02, 7.31833871e-02, 6.75369789e-01,
 -1.92876270e-01,-6.78486038e-01,-2.15246577e-01]

qacc:
[-2.45024164e+00, 3.66898344e-01,-1.95596451e+00, 6.60479231e+00,
  5.37172722e-02, 1.34903950e+00,-3.49361595e+00,-1.34472474e+00,
 -1.45386641e+00,-1.28973779e+00, 5.79207707e+00,-1.08689447e+01,
  7.00585012e-02,-1.55891359e-01,-8.36233023e+00, 2.91673575e+01,
 -1.01350841e+00, 7.83809962e-01,-3.64813995e-01, 5.50111874e+00,
 -1.00147060e+02,-6.20250965e+01]

qfrc_actuator:
[ 1.04200986e-05, 1.41757763e-04, 1.41628312e-04, 9.02036876e-05,
 -3.36376716e-05, 2.55762544e-02, 8.53796139e-03, 2.20303223e-03,
 -1.59496184e-05, 3.50945813e-04, 9.11778070e-05,-4.13160569e-05,
  0.00000000e+00,-1.73226174e-03, 0.00000000e+00,-1.41327272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.82982281,  3.64426284, -7.82982281,  8.24681521,
       -0.83695807,  3.64426284, -0.83695807,  6.83813072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002023803726674357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74291180e-14,  2.74291180e-14,  1.00000000e+00, -7.52356514e-28,
        1.00000000e+00, -2.74291180e-14, -1.00000000e+00,  0.00000000e+00,
        2.74291180e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05734393, -0.05617787,  0.06175508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43648867e-05, 5.25224878e-05, 2.76076245e-05, 1.89155817e-05,
  8.83752276e-06,-1.39212257e-05,-4.37642955e-05,-2.07614030e-05,
 -8.62407994e-06, 1.14595694e-05, 1.84031039e-05,-1.23779028e-05,
 -1.88831394e-05,-7.51565783e-06, 2.60160780e-05, 1.49033253e-04,
 -2.80898302e-05, 3.30251433e-05,-1.21646060e+00, 7.67300175e-04,
 -2.46650415e-02,-1.43714864e-04]


--- Step 1908 ---
qpos:
[ 3.29548886e-03,-3.21435611e-03, 1.19163558e-02, 4.17838655e-02,
  6.13006200e-03, 7.64857860e-01,-2.99122227e-02, 8.70978382e-01,
  5.84300667e-03, 1.63885320e-02,-9.31404789e-03, 2.59759653e-02,
  1.35972491e+00,-1.47115511e-04, 1.12945296e+00, 6.31276958e-02,
  1.04134297e-02,-3.63203046e-02, 7.31801659e-02, 6.75381229e-01,
 -1.92995645e-01,-6.78426845e-01,-2.15290250e-01]

qacc:
[ 1.50162614e+00,-1.90225027e+00, 7.49432727e+00,-1.10839097e+01,
  9.50437909e-02, 1.94654748e-01,-1.00972108e+00, 2.85154553e+00,
 -3.94177126e+00,-2.94200950e-01,-5.68029970e+00, 2.76547998e+01,
 -5.19852736e-01, 8.45218949e-01, 6.09025576e+00,-2.01264142e+01,
  1.37224111e+00,-1.54867817e-01,-1.53053812e+00,-6.78075679e+00,
  8.75814918e+01, 1.32450164e+02]

qfrc_actuator:
[ 1.95241577e-05, 1.27919426e-04, 1.65131986e-04, 8.12007922e-05,
 -2.21255529e-05, 2.55948620e-02, 8.54881255e-03, 2.21370156e-03,
 -3.91950681e-05, 2.94831797e-04, 1.23497320e-04, 2.42048931e-05,
  0.00000000e+00,-1.70788802e-03, 0.00000000e+00,-1.51412049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00201581227223141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05317478, -0.01295261,  0.06175589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.70792695e-06, 2.20004751e-05, 3.83945749e-05,-5.43190853e-06,
  1.54770154e-05, 1.61972652e-06, 2.44910292e-06, 8.43477291e-06,
 -2.34956132e-05,-4.63594248e-05, 3.65490665e-05, 6.64155471e-05,
 -1.15526344e-05, 1.77871941e-05, 2.41103184e-05,-9.02515660e-05,
 -1.06655485e-04,-1.81223839e-05,-1.21648645e+00, 7.94970554e-04,
 -2.46726592e-02,-1.42907220e-04]


--- Step 1909 ---
qpos:
[ 3.29669087e-03,-3.21380403e-03, 1.19178534e-02, 4.17838907e-02,
  6.12963467e-03, 7.64857416e-01,-2.99131317e-02, 8.70976593e-01,
  5.84268337e-03, 1.63858267e-02,-9.31260598e-03, 2.59764878e-02,
  1.35979935e+00,-1.47513564e-04, 1.12963576e+00, 6.31325633e-02,
  1.04177073e-02,-3.63253335e-02, 7.31680909e-02, 6.75551241e-01,
 -1.93253536e-01,-6.78209366e-01,-2.15210703e-01]

qacc:
[ 7.02418068e+00,-3.30180176e+00, 1.09510960e+01,-1.28822614e+01,
  8.58308293e-02,-1.40252053e+00, 7.78297207e+00,-2.21742144e+01,
 -2.43051276e+00, 1.24487624e+00,-7.33738881e+00, 1.97730706e+01,
 -1.17765726e+00, 2.15653902e+00, 7.17742823e+00,-2.43622068e+01,
  1.27260970e+00,-9.74934216e-02,-2.21341517e+00,-6.71465019e+00,
  8.04406876e+01, 1.20940547e+02]

qfrc_actuator:
[ 6.02280383e-05, 6.58997471e-05, 1.96389308e-04, 7.58584520e-05,
 -1.50880827e-05, 2.56062836e-02, 8.53783832e-03, 2.14920828e-03,
 -5.28510122e-05, 3.33669141e-04, 1.41900623e-04, 6.28133740e-05,
  0.00000000e+00,-1.63961922e-03, 0.00000000e+00,-1.62967095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.12082776, -2.93920624,  8.12082776,  9.17435993,
        1.48644731, -2.93920624,  1.48644731, 12.74331688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020117307592486533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51874559e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.51874559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05318231, -0.01294004,  0.0617563 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09541832e-05,-4.20640925e-05, 4.03218042e-05,-3.18152351e-06,
  1.39833959e-05, 1.30949645e-05,-1.01093193e-05,-6.41764481e-05,
 -1.43574507e-05, 2.33876833e-05, 1.56461396e-05, 3.91838199e-05,
 -2.18286876e-06, 7.02782006e-05,-4.58207421e-06,-1.18805428e-04,
 -3.63811856e-05, 1.77910806e-05,-1.21641934e+00, 7.77126629e-04,
 -2.46550677e-02,-1.43874037e-04]


--- Step 1910 ---
qpos:
[ 3.29802626e-03,-3.21338195e-03, 1.19193537e-02, 4.17838614e-02,
  6.12951953e-03, 7.64857427e-01,-2.99141559e-02, 8.70976778e-01,
  5.84219820e-03, 1.63836728e-02,-9.31137968e-03, 2.59764005e-02,
  1.35987374e+00,-1.47380642e-04, 1.12981830e+00, 6.31376765e-02,
  1.04173961e-02,-3.63265022e-02, 7.31596755e-02, 6.75539517e-01,
 -1.93454691e-01,-6.78175444e-01,-2.15173674e-01]

qacc:
[ 1.17289842e+00,-2.93913037e-01, 1.02433661e+00,-1.87071299e+00,
  1.73226127e-01, 4.33593514e+00,-1.80032101e+01, 3.94990811e+01,
 -1.42837417e+00, 7.90967118e-02, 3.35483091e+00,-1.39740967e+01,
 -3.90932782e-01, 8.56843134e-01,-1.08326097e+00, 3.32743690e+00,
 -1.14721406e+00, 9.65045032e-01, 9.14887563e-01, 6.93732609e+00,
 -1.13415452e+02,-7.08935431e+01]

qfrc_actuator:
[ 6.59392826e-05, 6.42933536e-05, 1.96262156e-04, 7.26755100e-05,
  6.96550348e-06, 2.56664535e-02, 8.54948516e-03, 2.25400309e-03,
 -6.07478374e-05, 3.75741473e-04, 1.34522829e-04, 3.20690667e-05,
  0.00000000e+00,-1.61687992e-03, 0.00000000e+00,-1.61084800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.04766021, -3.13399776,  8.04766021, 16.54778758,
       20.31541072, -3.13399776, 20.31541072, 60.80344703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002050531393070848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.7071593e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.7071593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05721503, -0.05617503,  0.06175212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85831721e-06,-1.69633976e-05,-3.98628028e-06,-3.65800896e-06,
  2.83320024e-05, 6.34004095e-05, 1.11423347e-05, 1.03450759e-04,
 -8.30945053e-06, 6.01358819e-05, 7.50065478e-07,-2.84359036e-05,
  1.48916597e-05, 4.07981499e-05,-1.98060994e-05, 1.05716820e-05,
 -2.01981707e-04,-4.46096495e-05,-1.21632044e+00, 7.92576509e-04,
 -2.46349871e-02,-1.44232888e-04]


--- Step 1911 ---
qpos:
[ 3.29907480e-03,-3.21271108e-03, 1.19206847e-02, 4.17834118e-02,
  6.12968859e-03, 7.64858371e-01,-2.99144601e-02, 8.70979160e-01,
  5.84196702e-03, 1.63817951e-02,-9.31041748e-03, 2.59756394e-02,
  1.35994824e+00,-1.47185836e-04, 1.13000090e+00, 6.31412624e-02,
  1.04127731e-02,-3.63244703e-02, 7.31511886e-02, 6.75361837e-01,
 -1.93606500e-01,-6.78308477e-01,-2.15175561e-01]

qacc:
[-2.52752301e+00,-5.92208670e-02, 2.46980523e+00,-9.66383775e+00,
  1.58104537e-01, 3.08953790e+00,-1.36390072e+01, 3.79062427e+01,
  2.20196899e+00,-2.88345645e-01, 4.39513670e+00,-1.58298564e+01,
 -5.35570110e-02, 1.52783588e-01, 4.71001289e+00,-1.63285391e+01,
 -1.07792833e+00, 8.00154644e-01,-1.78788182e-02, 5.38097991e+00,
 -1.03592712e+02,-6.38810407e+01]

qfrc_actuator:
[ 5.09992193e-05, 9.87439453e-05, 1.95584112e-04, 5.30574781e-05,
  2.00563993e-05, 2.57732883e-02, 8.61021000e-03, 2.36887880e-03,
 -4.74421130e-05, 3.66010256e-04, 1.11982369e-04,-3.72940843e-06,
  0.00000000e+00,-1.62136072e-03, 0.00000000e+00,-1.69051015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.95274915,  3.36757447, -7.95274915,  8.35341381,
       -0.66820468,  3.36757447, -0.66820468,  7.05835424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002058687191095185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34821724e-14, -2.69643448e-14,  1.00000000e+00,  3.63537945e-28,
        1.00000000e+00,  2.69643448e-14, -1.00000000e+00,  0.00000000e+00,
        1.34821724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05717174, -0.05617319,  0.06175111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47531890e-05, 2.39499713e-05,-4.82352134e-06,-2.05585800e-05,
  2.58135149e-05, 1.47481654e-04, 7.76360733e-05, 1.19586962e-04,
  1.30840995e-05, 2.28928805e-05,-1.09992053e-05,-3.37463380e-05,
  1.71971728e-05, 9.92615529e-06,-1.05331763e-05,-8.22441498e-05,
 -2.85440540e-05, 3.34150977e-05,-1.21638491e+00, 7.49606452e-04,
 -2.46479589e-02,-1.41903766e-04]


--- Step 1912 ---
qpos:
[ 3.30028101e-03,-3.21174757e-03, 1.19219533e-02, 4.17823715e-02,
  6.13006928e-03, 7.64859775e-01,-2.99134336e-02, 8.70981184e-01,
  5.84189723e-03, 1.63798454e-02,-9.30959813e-03, 2.59748380e-02,
  1.36002275e+00,-1.46723398e-04, 1.13018355e+00, 6.31428457e-02,
  1.04026346e-02,-3.63282706e-02, 7.31578087e-02, 6.75099965e-01,
 -1.93540648e-01,-6.78518578e-01,-2.15394046e-01]

qacc:
[ 1.37655096e+00,-6.58652987e-01, 5.39616277e+00,-1.57253332e+01,
  1.18913846e-01,-3.61364724e+00, 1.34352296e+01,-1.66677028e+01,
  1.40444238e+00, 2.18303939e-01,-7.50711176e-01, 3.38600650e-01,
 -3.17457814e-01, 6.05517626e-01, 6.14366553e+00,-2.13256394e+01,
 -1.37889213e+00,-1.45805828e+00, 3.77674042e+00, 1.81768223e-01,
 -1.01931311e+01,-1.63479666e+02]

qfrc_actuator:
[ 5.95405055e-05, 1.18996683e-04, 1.94746469e-04, 2.39660887e-05,
  2.76727952e-05, 2.57654418e-02, 8.66408718e-03, 2.34677049e-03,
 -3.95185964e-05, 3.43004337e-04, 9.82316744e-05,-6.74716082e-06,
  0.00000000e+00,-1.60641162e-03, 0.00000000e+00,-1.79208331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.0577969 ,  4.97737679, -7.0577969 , 31.56344838,
       32.51003781,  4.97737679, 32.51003781, 54.73479136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020400184587023498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60123192e-07,  8.60123274e-07,  1.00000000e+00,  7.39811976e-13,
        1.00000000e+00, -8.60123274e-07, -1.00000000e+00, -1.00974196e-28,
       -8.60123192e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0056696 , -0.01493089,  0.06175282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.12706288e-06, 3.17213064e-05, 2.78093600e-06,-2.86356517e-05,
  1.92199766e-05, 9.29953955e-05, 9.55065759e-05,-1.23409329e-05,
  8.30326829e-06,-1.38600217e-05,-1.15326534e-05,-3.07088685e-06,
  1.10095355e-05, 2.19405406e-05,-1.73183717e-05,-1.08310787e-04,
 -1.38811221e-04, 1.14153363e-04,-1.21641879e+00, 7.45667301e-04,
 -2.46582161e-02,-1.40246304e-04]


--- Step 1913 ---
qpos:
[ 3.30123518e-03,-3.21054815e-03, 1.19226512e-02, 4.17810334e-02,
  6.13059253e-03, 7.64860958e-01,-2.99116271e-02, 8.70983024e-01,
  5.84123355e-03, 1.63773605e-02,-9.30844896e-03, 2.59740342e-02,
  1.36009738e+00,-1.46328457e-04, 1.13036679e+00, 6.31374813e-02,
  1.03983778e-02,-3.63327964e-02, 7.31603209e-02, 6.75021005e-01,
 -1.93634308e-01,-6.78546716e-01,-2.15468680e-01]

qacc:
[-2.23431959e+00, 1.29782553e+00,-2.91100830e+00,-1.51061963e+00,
  8.02236529e-02,-2.71623079e+00, 8.98893341e+00,-1.01119994e+01,
 -5.16070167e+00,-1.62402201e+00, 4.79185582e+00,-4.98557403e+00,
 -3.35420588e-01, 4.49857543e-01, 2.18628543e+01,-7.51733735e+01,
  1.47041812e+00,-1.81388201e-01,-1.02695327e+00,-6.93680556e+00,
  9.23763745e+01, 1.39979978e+02]

qfrc_actuator:
[ 4.63355608e-05, 1.12834705e-04, 1.58268666e-04, 7.28175872e-06,
  3.19633743e-05, 2.56888856e-02, 8.67745184e-03, 2.33291092e-03,
 -7.03386675e-05, 2.94518592e-04, 1.07491863e-04,-8.21303004e-06,
  0.00000000e+00,-1.61554035e-03, 0.00000000e+00,-2.15425373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63356387, -0.21989018, -8.63356387,  8.68466825,
       -1.89658765, -0.21989018, -1.89658765, 83.10221967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002074537457014372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.35166536e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.35166536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05297587, -0.01294556,  0.0617491 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29654532e-05, 1.08760122e-05,-3.05993451e-05,-1.57899787e-05,
  1.29287209e-05,-6.61949058e-06, 4.23194152e-05,-8.29207428e-06,
 -3.05918133e-05,-5.86847050e-05, 4.88506476e-06,-2.51468426e-06,
  1.03815354e-05,-4.18719982e-07,-2.32639537e-05,-3.71201612e-04,
 -2.74721220e-04,-5.13812532e-05,-1.21650127e+00, 8.06019104e-04,
 -2.46802335e-02,-1.41159277e-04]


--- Step 1914 ---
qpos:
[ 3.30167899e-03,-3.20945938e-03, 1.19230197e-02, 4.17798798e-02,
  6.13120503e-03, 7.64861586e-01,-2.99093905e-02, 8.70984392e-01,
  5.84020505e-03, 1.63749481e-02,-9.30713853e-03, 2.59728070e-02,
  1.36017218e+00,-1.46267090e-04, 1.13055007e+00, 6.31264632e-02,
  1.03995326e-02,-3.63378000e-02, 7.31556802e-02, 6.75108657e-01,
 -1.93873405e-01,-6.78408701e-01,-2.15413647e-01]

qacc:
[-4.48786391e+00, 1.16357884e+00,-5.12329532e+00, 8.90544217e+00,
  5.04282915e-02,-2.71197145e+00, 9.09170949e+00,-1.34383138e+01,
 -3.17852904e+00,-1.22009046e+00, 6.28754106e+00,-1.39368759e+01,
 -3.12039632e-04,-1.62046273e-01, 1.71270937e+01,-5.98375292e+01,
  1.35291299e+00,-1.19412650e-01,-1.78823180e+00,-6.86374498e+00,
  8.43831021e+01, 1.27143070e+02]

qfrc_actuator:
[ 2.04295153e-05, 9.07635735e-05, 1.36445183e-04, 1.57377051e-05,
  3.42428875e-05, 2.56248584e-02, 8.68428001e-03, 2.30621639e-03,
 -8.82089055e-05, 3.37752729e-04, 1.30143044e-04,-2.65221913e-05,
  0.00000000e+00,-1.63888770e-03, 0.00000000e+00,-2.43625206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.20414678, -2.69791631,  8.20414678,  9.10667397,
        1.43017595, -2.69791631,  1.43017595, 12.98541383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020830944242321223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05294851, -0.01294135,  0.06174819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62739218e-05,-2.30421971e-05,-2.39119123e-05, 7.55471854e-06,
  8.08033947e-06,-5.96526116e-05, 1.01257500e-05,-2.58200898e-05,
 -1.87745077e-05, 1.13841575e-05, 1.10617011e-05,-2.06980423e-05,
  4.04066356e-06,-2.02407167e-05,-5.61120945e-05,-3.06632775e-04,
 -4.63206675e-05, 2.67513319e-05,-1.21644172e+00, 7.65773487e-04,
 -2.46620989e-02,-1.42399356e-04]


--- Step 1915 ---
qpos:
[ 3.30180851e-03,-3.20839743e-03, 1.19236309e-02, 4.17787857e-02,
  6.13167362e-03, 7.64861931e-01,-2.99077136e-02, 8.70985459e-01,
  5.83931414e-03, 1.63735414e-02,-9.30661265e-03, 2.59716593e-02,
  1.36024711e+00,-1.46705823e-04, 1.13073210e+00, 6.31197788e-02,
  1.04057026e-02,-3.63430815e-02, 7.31412862e-02, 6.75349208e-01,
 -1.94246075e-01,-6.78117562e-01,-2.15240521e-01]

qacc:
[-2.75040035e+00,-5.85537919e-01, 1.79417511e+00,-1.14171364e+00,
 -8.04639914e-02, 6.19145927e-01,-1.80836158e+00,-1.78605628e+00,
  1.15845991e+00, 3.68319517e+00,-1.15437160e+01, 1.34373398e+01,
  8.07787887e-01,-1.37134881e+00,-1.50059206e+01, 4.96401099e+01,
  1.25378795e+00,-6.95106184e-02,-2.43831907e+00,-6.70148945e+00,
  7.77174213e+01, 1.16483134e+02]

qfrc_actuator:
[ 5.01458200e-06, 1.12657038e-04, 1.58906578e-04, 2.11620832e-05,
  1.75594143e-05, 2.56042769e-02, 8.65171897e-03, 2.28993616e-03,
 -8.05481292e-05, 4.35625161e-04, 1.07607559e-04,-1.90101858e-05,
  0.00000000e+00,-1.67047314e-03, 0.00000000e+00,-2.18934109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.23152186, -2.613202  ,  8.23152186,  9.25357061,
        1.94418675, -2.613202  ,  1.94418675, 14.76050396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002065300059251908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37560157e-14,  2.68780079e-14,  1.00000000e+00, -1.44485461e-27,
        1.00000000e+00, -2.68780079e-14, -1.00000000e+00,  0.00000000e+00,
        5.37560157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05299569, -0.01291985,  0.06175006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61743155e-05, 4.34101869e-06, 1.50042997e-05, 3.75732477e-06,
 -1.30655942e-05,-5.24944850e-05,-4.39592376e-05,-1.84681816e-05,
  7.12049173e-06, 1.05701426e-04,-1.95222901e-05, 7.98557160e-06,
 -4.34854637e-06,-3.49904031e-05,-6.18970352e-05, 2.22164493e-04,
 -9.22823271e-05,-7.68062587e-06,-1.21634687e+00, 7.65290433e-04,
 -2.46413911e-02,-1.42990810e-04]


--- Step 1916 ---
qpos:
[ 3.30140692e-03,-3.20724304e-03, 1.19244426e-02, 4.17777518e-02,
  6.13177049e-03, 7.64862048e-01,-2.99073143e-02, 8.70985667e-01,
  5.83852190e-03, 1.63729832e-02,-9.30726316e-03, 2.59713481e-02,
  1.36032214e+00,-1.47766922e-04, 1.13091348e+00, 6.31179930e-02,
  1.04078195e-02,-3.63537229e-02, 7.31380484e-02, 6.75542608e-01,
 -1.94371624e-01,-6.77868481e-01,-2.15304852e-01]

qacc:
[  -4.65687302,  -0.30573396,   1.0291463 ,  -0.39391702,  -0.20791921,
    1.66368567,  -3.88479234,  -6.64656773,   0.81000144,   6.12952386,
  -23.76213225,  39.49622951,   0.87640813,  -1.55282515, -15.8097049 ,
   53.75652145,  -1.01324569,  -1.33995627,   2.78901995,   2.88136239,
   19.468901  ,-173.13078253]

qfrc_actuator:
[-2.18502464e-05, 1.25384427e-04, 1.71993419e-04, 2.48186051e-05,
 -1.03043994e-05, 2.55742070e-02, 8.57858952e-03, 2.24441661e-03,
 -7.56778466e-05, 4.58802689e-04, 4.10887554e-05, 2.14136284e-05,
  0.00000000e+00,-1.70670148e-03, 0.00000000e+00,-1.93460522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61623299,  0.58932668,  8.61623299,  8.97163464,
       -4.90181954,  0.58932668, -4.90181954, 80.30326822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020652108521779233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.68791689e-14,  5.37583377e-14,  1.00000000e+00,  1.44497944e-27,
        1.00000000e+00, -5.37583377e-14, -1.00000000e+00,  0.00000000e+00,
       -2.68791689e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00333903, -0.00774832,  0.06175   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73285618e-05, 1.83658193e-05, 1.59449638e-05, 4.43416641e-06,
 -3.37343003e-05,-6.84419498e-05,-8.91173002e-05,-4.89401059e-05,
  5.10756449e-06, 7.86430405e-05,-4.68013214e-05, 4.44375465e-05,
 -1.11962136e-05,-4.60394315e-05,-2.73202796e-06, 2.59403079e-04,
 -3.48772624e-04,-1.27047963e-04,-1.21622370e+00, 7.93259522e-04,
 -2.46184347e-02,-1.42989318e-04]


--- Step 1917 ---
qpos:
[ 3.30103140e-03,-3.20621840e-03, 1.19252219e-02, 4.17771600e-02,
  6.13171415e-03, 7.64861302e-01,-2.99076122e-02, 8.70985702e-01,
  5.83813986e-03, 1.63721345e-02,-9.30773080e-03, 2.59726131e-02,
  1.36039716e+00,-1.49268180e-04, 1.13109467e+00, 6.31202501e-02,
  1.04057149e-02,-3.63602876e-02, 7.31384979e-02, 6.75554549e-01,
 -1.94438765e-01,-6.77803485e-01,-2.15411360e-01]

qacc:
[ 2.30311391e-01, 8.30175354e-01,-5.07442049e+00, 1.28723283e+01,
 -8.55321170e-02, 4.51275041e-01,-2.48727062e+00, 7.68663173e-01,
  3.58959674e+00, 2.34288581e+00,-1.55781157e+01, 4.27929441e+01,
  5.85063038e-01,-1.07645152e+00,-1.25567422e+01, 4.33730129e+01,
 -1.05541364e+00, 1.01916772e+00, 9.21848079e-01, 7.61550281e+00,
 -1.13294534e+02,-7.14675343e+01]

qfrc_actuator:
[-1.97372061e-05, 9.69983816e-05, 1.61647785e-04, 4.51426203e-05,
 -9.08576292e-06, 2.55029966e-02, 8.53531868e-03, 2.23528996e-03,
 -5.47453536e-05, 4.01412844e-04, 3.76487653e-05, 9.85484317e-05,
  0.00000000e+00,-1.72764063e-03, 0.00000000e+00,-1.73073057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.21285305, -5.99893606,  6.21285305, 27.44257461,
       19.47682458, -5.99893606, 19.47682458, 28.80771534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00210032753022682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32148797e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.32148797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05695245, -0.0561997 ,  0.06174642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33590897e-06,-1.46896825e-05,-4.45392118e-06, 2.17479223e-05,
 -1.39290431e-05,-1.28289283e-04,-6.85121992e-05,-1.51086810e-05,
  2.11038674e-05,-2.11475120e-05, 8.59164294e-06, 7.97534708e-05,
 -1.66572117e-05,-3.56700008e-05, 2.56603584e-05, 2.17523518e-04,
 -2.66057205e-04, 6.87553184e-05,-1.21637886e+00, 7.43072588e-04,
 -2.46494791e-02,-1.42917843e-04]


--- Step 1918 ---
qpos:
[ 3.30102880e-03,-3.20539116e-03, 1.19259349e-02, 4.17768281e-02,
  6.13179393e-03, 7.64860080e-01,-2.99083326e-02, 8.70985230e-01,
  5.83801178e-03, 1.63707988e-02,-9.30744753e-03, 2.59737432e-02,
  1.36047198e+00,-1.50532179e-04, 1.13127626e+00, 6.31222731e-02,
  1.03995869e-02,-3.63634804e-02, 7.31388970e-02, 6.75400800e-01,
 -1.94455231e-01,-6.77905839e-01,-2.15556478e-01]

qacc:
[ 3.27458182e+00, 4.53738253e-01,-3.10346562e+00, 7.86290370e+00,
  7.57695546e-02,-3.63175083e-01, 1.57861667e+00,-7.16632598e+00,
  2.24682794e+00,-3.02450500e+00, 1.04118004e+01,-1.35794182e+01,
 -3.73389382e-01, 5.86011008e-01, 1.34033483e+00,-3.74018677e+00,
 -1.00580965e+00, 8.42985073e-01,-1.26004215e-02, 5.94826753e+00,
 -1.03468463e+02,-6.43309368e+01]

qfrc_actuator:
[-5.82187433e-07, 7.96347450e-05, 1.55148164e-04, 5.73084392e-05,
  9.51250896e-06, 2.55143453e-02, 8.52764631e-03, 2.21215034e-03,
 -4.22791623e-05, 3.67492652e-04, 7.11673756e-05, 9.01196788e-05,
  0.00000000e+00,-1.70383426e-03, 0.00000000e+00,-1.75375552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.75929634,  3.79210986, -7.75929634,  8.16791493,
       -0.95852505,  3.79210986, -0.95852505,  6.67505973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021070826433215867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3172514e-14,  2.6345028e-14,  1.0000000e+00, -3.4703025e-28,
        1.0000000e+00, -2.6345028e-14, -1.0000000e+00,  0.0000000e+00,
        1.3172514e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05692002, -0.05620532,  0.06174576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91832913e-05,-2.56097559e-05,-9.34931142e-06, 1.18031328e-05,
  1.23294475e-05,-7.37182850e-05,-4.13162117e-05,-2.96456432e-05,
  1.30571140e-05,-4.05139861e-05, 3.29794200e-05,-7.48643903e-06,
 -1.68682789e-05, 1.03422628e-05, 3.21920892e-05,-8.49935790e-06,
 -4.03798690e-05, 3.01800809e-05,-1.21644284e+00, 7.23412700e-04,
 -2.46613728e-02,-1.41011388e-04]


--- Step 1919 ---
qpos:
[ 3.30160058e-03,-3.20467685e-03, 1.19268120e-02, 4.17766178e-02,
  6.13205643e-03, 7.64858673e-01,-2.99089017e-02, 8.70987187e-01,
  5.83803430e-03, 1.63690242e-02,-9.30697554e-03, 2.59744519e-02,
  1.36054659e+00,-1.51305636e-04, 1.13145806e+00, 6.31233797e-02,
  1.03896169e-02,-3.63638674e-02, 7.31360569e-02, 6.75094518e-01,
 -1.94427185e-01,-6.78161456e-01,-2.15737111e-01]

qacc:
[  5.04849043, -0.36753915,  0.56433672,  1.37656219,  0.10153002,
   3.56185489,-17.52108824, 44.93912357,  1.32667471, -1.97766935,
   7.98486934,-15.2526521 , -0.58377293,  1.0364317 ,  3.1358008 ,
 -10.38794333, -0.96054256,  0.70145136, -0.80980057,  4.68149326,
 -95.2076406 ,-58.42226841]

qfrc_actuator:
[ 2.84407443e-05, 8.67567364e-05, 1.68755614e-04, 6.45847423e-05,
  2.05578871e-05, 2.55574338e-02, 8.55908980e-03, 2.34078084e-03,
 -3.49005921e-05, 3.30214451e-04, 7.29620549e-05, 6.69386928e-05,
  0.00000000e+00,-1.67143456e-03, 0.00000000e+00,-1.80374445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.76267379,  3.78519122, -7.76267379,  8.30621864,
       -0.67706168,  3.78519122, -0.67706168,  7.24784488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002086321484721744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.32143791e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.32143791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05699006, -0.0562565 ,  0.06174786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95570126e-05,-8.65540160e-06, 7.55649715e-06, 6.08205792e-06,
  1.65688106e-05,-6.82073330e-06, 1.12645033e-05, 1.24356764e-04,
  7.73394503e-06,-5.33956605e-05,-2.76184170e-06,-2.39225018e-05,
 -6.50516417e-06, 3.10638422e-05, 8.23877237e-06,-4.76269383e-05,
 -1.03446983e-04, 3.80037226e-06,-1.21647597e+00, 7.41850973e-04,
 -2.46705840e-02,-1.39834272e-04]


--- Step 1920 ---
qpos:
[ 3.30251591e-03,-3.20412795e-03, 1.19278911e-02, 4.17761546e-02,
  6.13266731e-03, 7.64857206e-01,-2.99095596e-02, 8.70993431e-01,
  5.83814516e-03, 1.63667267e-02,-9.30619946e-03, 2.59759166e-02,
  1.36062111e+00,-1.51712722e-04, 1.13164008e+00, 6.31222130e-02,
  1.03751004e-02,-3.63716168e-02, 7.31441853e-02, 6.74742755e-01,
 -1.94160995e-01,-6.78457524e-01,-2.16146040e-01]

qacc:
[ 3.02445081e+00,-1.31036444e+00, 5.41054407e+00,-9.97347398e+00,
  1.93191995e-01, 7.60247186e+00,-3.48256718e+01, 8.26621833e+01,
  7.89485195e-01, 1.39696567e-02,-4.24761034e+00, 1.72350931e+01,
 -4.85462837e-01, 8.64721771e-01, 7.22045327e+00,-2.47029130e+01,
 -1.13658030e+00,-1.84061231e+00, 2.74213202e+00, 2.91620511e+00,
  1.88060508e+01,-1.66648732e+02]

qfrc_actuator:
[ 4.52811694e-05, 7.30593414e-05, 1.76470800e-04, 5.12091571e-05,
  4.47231170e-05, 2.55662079e-02, 8.56034005e-03, 2.55774071e-03,
 -3.05728142e-05, 3.08820692e-04, 9.14894663e-05, 1.06257409e-04,
  0.00000000e+00,-1.65197968e-03, 0.00000000e+00,-1.92239373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.92724558,  5.1575232 , -6.92724558, 34.65127308,
       34.94151344,  5.1575232 , 34.94151344, 55.56750382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020676635633490453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68472842e-14, -4.02709262e-14,  1.00000000e+00,  1.08116500e-27,
        1.00000000e+00,  4.02709262e-14, -1.00000000e+00,  0.00000000e+00,
        2.68472842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00332111, -0.0077559 ,  0.06174958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76756301e-05,-1.67433000e-05, 7.04864164e-06,-1.33708895e-05,
  3.15982584e-05, 1.12320520e-05, 4.96064125e-06, 2.19905727e-04,
  4.52692954e-06,-5.27886919e-05, 6.34324057e-06, 3.64703596e-05,
  3.59148952e-06, 2.61639849e-05,-6.06912980e-06,-1.21299228e-04,
 -3.86756761e-04,-1.11399995e-05,-1.21648732e+00, 7.89902554e-04,
 -2.46781410e-02,-1.39217499e-04]


--- Step 1921 ---
qpos:
[ 3.30328122e-03,-3.20359296e-03, 1.19284284e-02, 4.17759127e-02,
  6.13358915e-03, 7.64856410e-01,-2.99108089e-02, 8.70997350e-01,
  5.83796172e-03, 1.63643526e-02,-9.30504770e-03, 2.59767418e-02,
  1.36069571e+00,-1.52135263e-04, 1.13182233e+00, 6.31172813e-02,
  1.03667737e-02,-3.63801382e-02, 7.31499186e-02, 6.74582155e-01,
 -1.94061175e-01,-6.78563275e-01,-2.16404848e-01]

qacc:
[ -1.33334442,  1.95528   , -7.92633406, 12.6252124 ,  0.17286311,
  -1.55715239, 11.48127811,-38.62222616, -2.55445321, -2.46287413,
  11.34340846,-22.96530478, -0.18496044,  0.26463507, 11.71623366,
 -40.46732771,  1.54741903, -0.19299374, -0.59879326, -7.21337206,
  96.50098674,146.21929969]

qfrc_actuator:
[ 3.70605284e-05, 6.47205784e-05, 1.45041770e-04, 6.12733238e-05,
  5.87688780e-05, 2.56076003e-02, 8.52590151e-03, 2.43430921e-03,
 -4.58261334e-05, 3.32722415e-04, 1.19865660e-04, 7.55512115e-05,
  0.00000000e+00,-1.65811637e-03, 0.00000000e+00,-2.11602104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021162075256641877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62314308e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.62314308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05282602, -0.01289241,  0.06174439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72549293e-06,-1.68466452e-05,-3.45015839e-05, 9.32706959e-06,
  2.82251741e-05, 5.56686389e-05,-2.50149332e-05,-1.17928119e-04,
 -1.51499565e-05,-2.67206842e-06, 1.95296288e-05,-3.20392013e-05,
  7.50368323e-06, 1.87392092e-06,-2.02975499e-05,-2.02097080e-04,
 -4.57690732e-04,-2.38923080e-04,-1.21653811e+00, 8.68941759e-04,
 -2.46977377e-02,-1.41616999e-04]


--- Step 1922 ---
qpos:
[ 3.30394225e-03,-3.20317247e-03, 1.19285675e-02, 4.17764872e-02,
  6.13454169e-03, 7.64855969e-01,-2.99120297e-02, 8.70998031e-01,
  5.83794141e-03, 1.63622261e-02,-9.30372514e-03, 2.59771643e-02,
  1.36077035e+00,-1.52586228e-04, 1.13200387e+00, 6.31147311e-02,
  1.03641102e-02,-3.63891784e-02, 7.31499500e-02, 6.74595088e-01,
 -1.94112484e-01,-6.78496129e-01,-2.16529013e-01]

qacc:
[-9.25445046e-01, 2.64604839e+00,-1.30938404e+01, 2.79352149e+01,
  1.75921387e-02,-5.22938107e+00, 2.51175217e+01,-6.15782003e+01,
  1.42380960e+00,-9.81757820e-01, 5.67087680e+00,-1.30902218e+01,
  2.42224425e-01,-3.31748931e-01,-8.24629848e+00, 2.72960216e+01,
  1.41580556e+00,-1.29687047e-01,-1.42544544e+00,-7.16214773e+00,
  8.77763317e+01, 1.32242259e+02]

qfrc_actuator:
[ 3.19120236e-05, 5.95116848e-05, 1.26294609e-04, 1.02781121e-04,
  4.88883885e-05, 2.56145995e-02, 8.52384548e-03, 2.27131488e-03,
 -3.69755319e-05, 3.65811744e-04, 1.36205264e-04, 5.71811541e-05,
  0.00000000e+00,-1.66162010e-03, 0.00000000e+00,-1.97942896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.22728558, -2.62650888,  8.22728558,  9.07261071,
        1.36650185, -2.62650888,  1.36650185, 12.9167988 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002136204732891389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89788140e-14,  2.59858760e-14,  1.00000000e+00, -1.01289862e-27,
        1.00000000e+00, -2.59858760e-14, -1.00000000e+00,  0.00000000e+00,
        3.89788140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05276769, -0.01289603,  0.06174231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37563465e-06,-2.13866983e-05,-2.61661313e-05, 3.97721874e-05,
  2.79648898e-06, 2.91762538e-05, 2.50689289e-06,-1.64647652e-04,
  8.40980067e-06, 3.43209791e-05, 1.70974263e-05,-1.84308763e-05,
  3.46839354e-06,-6.90177942e-07,-3.52672244e-05, 1.21921635e-04,
 -9.46278445e-05,-3.51712113e-05,-1.21651439e+00, 8.04602693e-04,
 -2.46821783e-02,-1.43635056e-04]


--- Step 1923 ---
qpos:
[ 3.30384628e-03,-3.20273779e-03, 1.19287396e-02, 4.17764716e-02,
  6.13543854e-03, 7.64854829e-01,-2.99120774e-02, 8.70998517e-01,
  5.83802706e-03, 1.63603941e-02,-9.30227319e-03, 2.59777049e-02,
  1.36084492e+00,-1.52796420e-04, 1.13218543e+00, 6.31117570e-02,
  1.03666687e-02,-3.63985329e-02, 7.31414553e-02, 6.74766742e-01,
 -1.94302093e-01,-6.78270442e-01,-2.16531172e-01]

qacc:
[-6.64380261e+00,-1.27634381e+00, 7.08910787e+00,-1.73848744e+01,
 -2.96518387e-02,-4.42590190e+00, 1.38614138e+01,-1.42849610e+01,
  9.23321868e-01, 2.68989115e-01,-8.96050646e-01, 2.51977350e+00,
 -2.51550790e-01, 4.73422024e-01, 1.32016408e+00,-4.53968780e+00,
  1.30550986e+00,-7.85965614e-02,-2.13154567e+00,-7.01703029e+00,
  8.05075580e+01, 1.20641887e+02]

qfrc_actuator:
[-6.88418098e-06, 7.40394741e-05, 1.32982103e-04, 7.37082805e-05,
  4.25606586e-05, 2.55477515e-02, 8.57634104e-03, 2.26395218e-03,
 -3.17549281e-05, 3.86367327e-04, 1.45377519e-04, 6.39843666e-05,
  0.00000000e+00,-1.64577226e-03, 0.00000000e+00,-2.00439834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.24289784, -2.57709371,  8.24289784,  9.20518796,
        1.81939863, -2.57709371,  1.81939863, 14.45575505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021270489042195806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60977315e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.60977315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05279196, -0.01288016,  0.06174332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89589787e-05,-1.15484042e-06, 4.15103820e-07,-3.01225858e-05,
 -5.06628365e-06,-5.54280841e-05, 5.35932016e-05,-1.00949667e-05,
  5.46840005e-06, 4.25534117e-05, 1.77380106e-05, 8.50740171e-06,
  1.25929159e-06, 1.67496910e-05,-3.69360220e-06,-2.29502636e-05,
 -4.07852994e-05, 3.57488873e-05,-1.21644971e+00, 7.87286884e-04,
 -2.46637221e-02,-1.44992594e-04]


--- Step 1924 ---
qpos:
[ 3.30328593e-03,-3.20222503e-03, 1.19289558e-02, 4.17757531e-02,
  6.13606926e-03, 7.64853022e-01,-2.99110847e-02, 8.70997879e-01,
  5.83782986e-03, 1.63587083e-02,-9.30062583e-03, 2.59779919e-02,
  1.36091947e+00,-1.52815635e-04, 1.13236685e+00, 6.31091670e-02,
  1.03740759e-02,-3.64080367e-02, 7.31220254e-02, 6.75084650e-01,
 -1.94619177e-01,-6.77898048e-01,-2.16421643e-01]

qacc:
[-4.07617450e+00,-1.46117098e+00, 8.33799175e+00,-2.06421452e+01,
 -1.46844690e-01,-5.63828283e+00, 2.00122328e+01,-3.09713944e+01,
 -2.46373243e+00,-8.70238730e-01, 4.46205961e+00,-9.27954920e+00,
 -1.25676639e-01, 2.84412557e-01,-1.34917705e+00, 4.45545238e+00,
  1.21216300e+00,-3.73250515e-02,-2.73381177e+00,-6.80554799e+00,
  7.44436978e+01, 1.10999676e+02]

qfrc_actuator:
[-2.96693131e-05, 8.25737675e-05, 1.36906064e-04, 3.88722063e-05,
  2.06860541e-05, 2.55085183e-02, 8.62490618e-03, 2.20619859e-03,
 -4.64730320e-05, 3.81504100e-04, 1.50222467e-04, 5.00265724e-05,
  0.00000000e+00,-1.63632395e-03, 0.00000000e+00,-1.98243071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.28613633, -2.43448589,  8.28613633,  9.31653179,
        2.31505389, -2.43448589,  2.31505389, 16.51599532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002094499602667256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.30065999e-14,  5.30065999e-14,  1.00000000e+00, -2.80969963e-27,
        1.00000000e+00, -5.30065999e-14, -1.00000000e+00,  0.00000000e+00,
        5.30065999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05288139, -0.01284884,  0.06174676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38955604e-05, 6.65292660e-06, 2.68882405e-06,-3.54572383e-05,
 -2.41568075e-05,-5.96705916e-05, 4.35086948e-05,-5.81404334e-05,
 -1.45518020e-05, 2.30118371e-05, 1.61172239e-05,-1.13554485e-05,
  4.27708719e-06, 1.43224437e-05,-7.83900774e-06, 1.93887745e-05,
 -2.22091298e-04, 6.75090332e-06,-1.21635285e+00, 8.03595571e-04,
 -2.46427310e-02,-1.45749511e-04]


--- Step 1925 ---
qpos:
[ 3.30280155e-03,-3.20175253e-03, 1.19289399e-02, 4.17753480e-02,
  6.13623885e-03, 7.64851640e-01,-2.99110680e-02, 8.70996561e-01,
  5.83745730e-03, 1.63577531e-02,-9.29916147e-03, 2.59777149e-02,
  1.36099410e+00,-1.52967564e-04, 1.13254813e+00, 6.31071737e-02,
  1.03767461e-02,-3.64127688e-02, 7.31102484e-02, 6.75204275e-01,
 -1.94870731e-01,-6.77726994e-01,-2.16357822e-01]

qacc:
[   0.66026525,   1.24032585,  -5.82304957,  11.64660338,  -0.25777944,
    2.01562002,  -4.39670205,  -4.49027427,  -1.54800237,   0.31911356,
    2.64953858, -12.66081938,   0.20583486,  -0.33524262,  -2.00897778,
    6.71092664,  -1.18425181,   1.19293254,   1.91323201,   9.11831984,
 -123.62940468, -78.6885402 ]

qfrc_actuator:
[-2.50849991e-05, 6.96897533e-05, 1.21394804e-04, 5.41849753e-05,
 -1.02839385e-05, 2.55571114e-02, 8.58201344e-03, 2.17247633e-03,
 -5.50553026e-05, 4.50183348e-04, 1.52353238e-04, 2.39366085e-05,
  0.00000000e+00,-1.64851449e-03, 0.00000000e+00,-1.95069194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.04128458, -3.15032049,  8.04128458, 16.68487064,
       20.54404795, -3.15032049, 20.54404795, 61.07564287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020853791523537876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66192127e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.66192127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05693485, -0.05635943,  0.06174767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90565584e-06,-1.01531843e-05,-1.50382110e-05, 1.50016422e-05,
 -4.18195341e-05, 2.22866375e-05,-5.13967067e-05,-3.56395207e-05,
 -8.99510419e-06, 8.44256492e-05, 8.47664663e-06,-2.47671199e-05,
  5.37027369e-06,-7.25654290e-06,-4.54487305e-06, 3.10966643e-05,
 -5.85339861e-04,-9.86668302e-05,-1.21622971e+00, 8.44081070e-04,
 -2.46195436e-02,-1.45949571e-04]


--- Step 1926 ---
qpos:
[ 3.30168552e-03,-3.20104832e-03, 1.19286291e-02, 4.17747533e-02,
  6.13619466e-03, 7.64850795e-01,-2.99126569e-02, 8.70996945e-01,
  5.83698422e-03, 1.63580447e-02,-9.29827746e-03, 2.59774328e-02,
  1.36106877e+00,-1.53234243e-04, 1.13272915e+00, 6.31072339e-02,
  1.03749702e-02,-3.64135703e-02, 7.31017843e-02, 6.75144240e-01,
 -1.95066003e-01,-6.77737713e-01,-2.16335623e-01]

qacc:
[  -5.55732828,   0.75110754,  -1.41568746,  -1.58134665,  -0.12105055,
    7.99828553, -29.28939186,  46.30312595,  -0.91631624,   3.26088842,
   -9.21045928,   9.12562287,   0.26046216,  -0.4118723 ,  -6.62597639,
   22.54165127,  -1.11152522,   0.98266019,   0.82823363,   7.0562932 ,
 -112.10291769, -70.269926  ]

qfrc_actuator:
[-5.76914954e-05, 9.72997681e-05, 1.12233713e-04, 4.55941013e-05,
 -1.09044661e-05, 2.55865656e-02, 8.50359883e-03, 2.25969388e-03,
 -5.99504355e-05, 5.44592563e-04, 1.35403127e-04, 2.64843955e-05,
  0.00000000e+00,-1.65568842e-03, 0.00000000e+00,-1.84244620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.93461458,  3.41008333, -7.93461458,  8.21858879,
       -0.97208253,  3.41008333, -0.97208253,  6.37451269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00211903975426507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61963708e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.61963708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05679363, -0.05631515,  0.06174402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25002085e-05, 1.94556215e-05,-1.25954975e-05,-9.25431141e-06,
 -1.93840424e-05, 3.05545784e-05,-8.10011529e-05, 8.55730005e-05,
 -5.12438849e-06, 1.42323913e-04, 6.70932073e-07, 5.97685918e-06,
  9.04348916e-07,-7.62873007e-06,-1.68530104e-06, 1.08679876e-04,
 -1.31264278e-04,-2.09701364e-05,-1.21633224e+00, 7.62681664e-04,
 -2.46371494e-02,-1.42752667e-04]


--- Step 1927 ---
qpos:
[ 3.30053243e-03,-3.20034585e-03, 1.19285535e-02, 4.17740532e-02,
  6.13605236e-03, 7.64849092e-01,-2.99133106e-02, 8.71000090e-01,
  5.83680163e-03, 1.63586630e-02,-9.29725102e-03, 2.59772514e-02,
  1.36114345e+00,-1.53582032e-04, 1.13291048e+00, 6.31055596e-02,
  1.03690055e-02,-3.64111163e-02, 7.30929281e-02, 6.74920069e-01,
 -1.95212362e-01,-6.77913755e-01,-2.16351506e-01]

qacc:
[-3.17945024e-01,-8.76601408e-01, 3.56768900e+00,-5.76737891e+00,
 -5.39913437e-02, 1.13747904e+00,-1.13956569e+01, 4.38989044e+01,
  2.53286756e+00, 2.36338598e-01,-6.50395085e-01, 1.93643113e+00,
 -5.73220813e-02, 3.01527786e-02, 5.69900137e+00,-1.92625309e+01,
 -1.04720189e+00, 8.13857692e-01,-9.80241558e-02, 5.48051603e+00,
 -1.02424093e+02,-6.33091064e+01]

qfrc_actuator:
[-5.86773639e-05, 9.56924370e-05, 1.24790938e-04, 4.07911152e-05,
 -1.11308372e-05, 2.55154904e-02, 8.54691208e-03, 2.39961291e-03,
 -4.48853252e-05, 5.11610187e-04, 1.25227670e-04, 2.81290812e-05,
  0.00000000e+00,-1.65981725e-03, 0.00000000e+00,-1.93852866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.93797851,  3.40224545, -7.93797851,  8.31884226,
       -0.74082776,  3.40224545, -0.74082776,  6.9078949 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021194768095067693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.61909689e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.61909689e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0567783 , -0.05632735,  0.06174379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90571913e-06, 6.24586199e-06, 1.47034429e-05,-4.58357223e-06,
 -8.92132571e-06,-6.73578584e-05, 4.26052005e-05, 1.40400412e-04,
  1.49693879e-05, 4.69772017e-05, 1.94995668e-05, 7.88153046e-06,
 -1.36640786e-06,-5.85101827e-06, 8.44649301e-06,-9.09171520e-05,
 -3.81894450e-05, 5.91945221e-05,-1.21639271e+00, 7.30291373e-04,
 -2.46504447e-02,-1.40456262e-04]


--- Step 1928 ---
qpos:
[ 3.29972121e-03,-3.19973841e-03, 1.19283897e-02, 4.17736810e-02,
  6.13586571e-03, 7.64846820e-01,-2.99130651e-02, 8.71002790e-01,
  5.83680192e-03, 1.63585049e-02,-9.29547880e-03, 2.59768481e-02,
  1.36121823e+00,-1.54242970e-04, 1.13309198e+00, 6.31014206e-02,
  1.03582899e-02,-3.64160167e-02, 7.30974764e-02, 6.74648078e-01,
 -1.95108708e-01,-6.78132617e-01,-2.16607286e-01]

qacc:
[ 2.99971185e+00, 7.90867038e-01,-4.39484607e+00, 1.02885872e+01,
 -2.35876934e-02,-3.95087382e+00, 1.30809912e+01,-1.66860554e+01,
  1.63153129e+00,-3.57050402e+00, 1.21736777e+01,-1.66295732e+01,
  1.24489998e-01,-3.41452798e-01, 7.68828429e+00,-2.65499595e+01,
 -1.18771691e+00,-1.83857651e+00, 3.35112808e+00, 3.01879525e+00,
  1.98015352e+01,-1.75052028e+02]

qfrc_actuator:
[-4.10327772e-05, 7.66954610e-05, 1.14461745e-04, 5.60052321e-05,
 -1.11508757e-05, 2.54917943e-02, 8.59035305e-03, 2.37413336e-03,
 -3.59475247e-05, 4.02614240e-04, 1.36378987e-04, 1.13753117e-05,
  0.00000000e+00,-1.67985940e-03, 0.00000000e+00,-2.06547820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.99356793,  5.0672265 , -6.99356793, 33.79693534,
       34.7255382 ,  5.0672265 , 34.7255382 , 56.56305692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002114022128677666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62585479e-14, -2.62585479e-14,  1.00000000e+00,  6.89511335e-28,
        1.00000000e+00,  2.62585479e-14, -1.00000000e+00,  0.00000000e+00,
        2.62585479e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00329517, -0.00783228,  0.06174404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75900740e-05,-1.26835726e-05,-7.39120330e-06, 1.59016877e-05,
 -4.03597677e-06,-4.80841675e-05, 3.93059073e-05,-2.31597893e-05,
  9.38510277e-06,-7.83896886e-05, 2.35099807e-05,-1.39164301e-05,
 -2.50533251e-06,-2.16700836e-05,-1.06916876e-05,-1.31968888e-04,
 -2.15871033e-04, 1.42831265e-04,-1.21642330e+00, 7.35440397e-04,
 -2.46610160e-02,-1.38832259e-04]


--- Step 1929 ---
qpos:
[ 3.29878257e-03,-3.19890190e-03, 1.19276714e-02, 4.17738302e-02,
  6.13565967e-03, 7.64845692e-01,-2.99139708e-02, 8.71001661e-01,
  5.83656414e-03, 1.63584736e-02,-9.29471192e-03, 2.59762541e-02,
  1.36129294e+00,-1.54864503e-04, 1.13327291e+00, 6.30997961e-02,
  1.03535341e-02,-3.64216356e-02, 7.30987547e-02, 6.74562657e-01,
 -1.95167201e-01,-6.78165709e-01,-2.16716998e-01]

qacc:
[-1.13942712e+00, 2.93014993e+00,-1.22033745e+01, 2.19393230e+01,
 -1.15748132e-02,-2.03111687e+00, 1.72196895e+01,-6.21148925e+01,
 -2.11025992e+00, 2.58877794e+00,-8.17519195e+00, 6.38081643e+00,
  1.11795915e-01,-1.47893424e-01,-8.45018159e+00, 2.83061720e+01,
  1.48995776e+00,-1.79653789e-01,-8.17521327e-01,-7.08769017e+00,
  9.41141292e+01, 1.42579882e+02]

qfrc_actuator:
[-4.80792961e-05, 1.00616581e-04, 9.06300437e-05, 8.28385230e-05,
 -1.10616281e-05, 2.56030955e-02, 8.54476937e-03, 2.18050672e-03,
 -4.84473177e-05, 4.26508842e-04, 8.86555320e-05, 1.61757834e-06,
  0.00000000e+00,-1.67367979e-03, 0.00000000e+00,-1.92548195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002139027425702697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19031692e-14, -7.78547538e-14,  1.00000000e+00,  4.04090846e-27,
        1.00000000e+00,  7.78547538e-14, -1.00000000e+00,  0.00000000e+00,
        5.19031692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0527184 , -0.01283385,  0.06174131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.55195240e-06, 1.59723858e-05,-2.68158949e-05, 2.63430443e-05,
 -1.72917100e-06, 9.17237052e-05,-5.12244621e-05,-1.94505746e-04,
 -1.22572810e-05,-1.56922876e-05,-6.15200580e-05,-1.25775246e-05,
 -7.21673437e-06, 3.40751168e-07,-2.31613229e-05, 1.30439911e-04,
 -2.89438518e-04,-8.10627504e-05,-1.21651239e+00, 8.01951773e-04,
 -2.46844781e-02,-1.40540687e-04]


--- Step 1930 ---
qpos:
[ 3.29811184e-03,-3.19787960e-03, 1.19266299e-02, 4.17746344e-02,
  6.13525090e-03, 7.64845309e-01,-2.99148704e-02, 8.70998539e-01,
  5.83583317e-03, 1.63590878e-02,-9.29513284e-03, 2.59754931e-02,
  1.36136760e+00,-1.55433279e-04, 1.13345420e+00, 6.30954555e-02,
  1.03542494e-02,-3.64277296e-02, 7.30935754e-02, 6.74646825e-01,
 -1.95373208e-01,-6.78029582e-01,-2.16695308e-01]

qacc:
[ 2.33842641e+00, 2.49473862e+00,-1.13087672e+01, 2.30287263e+01,
 -1.12873619e-01,-2.49445029e+00, 1.39252996e+01,-3.68716283e+01,
 -4.35003317e+00, 3.83765821e+00,-1.17254823e+01, 1.02421931e+01,
 -2.66200421e-01, 3.77834009e-01, 8.75327164e+00,-2.97998873e+01,
  1.36776545e+00,-1.18746844e-01,-1.61436414e+00,-6.98492647e+00,
  8.57716540e+01, 1.29228470e+02]

qfrc_actuator:
[-3.41026711e-05, 1.14497209e-04, 7.69510219e-05, 1.16318548e-04,
 -2.86666563e-05, 2.56518881e-02, 8.55397743e-03, 2.08483293e-03,
 -7.34618711e-05, 4.94040028e-04, 4.25652687e-05,-3.88508302e-06,
  0.00000000e+00,-1.66974706e-03, 0.00000000e+00,-2.07312735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.18273148, -2.76218796,  8.18273148,  9.18203516,
        1.61650244, -2.76218796,  1.61650244, 13.42510561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021496304187874488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.052685  , -0.01283147,  0.06174017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37936161e-05, 1.83803458e-05,-1.27716719e-05, 3.37489586e-05,
 -1.83644331e-05, 8.33329026e-05, 1.55585456e-05,-9.87034123e-05,
 -2.53677752e-05, 4.54976037e-05,-5.73514385e-05,-8.54842904e-06,
 -4.06515554e-06, 2.47581815e-06, 2.08704612e-06,-1.43761009e-04,
 -4.81458182e-05, 1.82638922e-05,-1.21645718e+00, 7.58753528e-04,
 -2.46663479e-02,-1.41945937e-04]


--- Step 1931 ---
qpos:
[ 3.29761383e-03,-3.19683477e-03, 1.19255287e-02, 4.17751455e-02,
  6.13483372e-03, 7.64845044e-01,-2.99149339e-02, 8.70995689e-01,
  5.83411832e-03, 1.63601035e-02,-9.29614370e-03, 2.59750064e-02,
  1.36144215e+00,-1.55691441e-04, 1.13363502e+00, 6.30930713e-02,
  1.03600238e-02,-3.64341020e-02, 7.30792161e-02, 6.74886300e-01,
 -1.95714399e-01,-6.77737884e-01,-2.16554189e-01]

qacc:
[ 1.51352623e+00,-4.10394344e-01, 2.73749971e+00,-7.72359571e+00,
 -4.06093721e-03,-1.63282436e+00, 4.94210157e+00,-1.26412503e+00,
 -8.60710200e+00, 2.76069428e+00,-1.02020881e+01, 1.55635009e+01,
 -1.61353510e-01, 3.79891962e-01,-6.57330358e+00, 2.20412769e+01,
  1.26478263e+00,-6.96329801e-02,-2.29503274e+00,-6.79698863e+00,
  7.88159521e+01, 1.18140041e+02]

qfrc_actuator:
[-2.56091461e-05, 1.04552559e-04, 6.93541680e-05, 1.00186658e-04,
 -2.11918996e-05, 2.56453647e-02, 8.59536379e-03, 2.10088290e-03,
 -1.23387570e-04, 5.16173104e-04, 1.57921713e-05, 1.09705146e-05,
  0.00000000e+00,-1.64943893e-03, 0.00000000e+00,-1.96306971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.20990944, -2.68032904,  8.20990944,  9.33341233,
        2.13507617, -2.68032904,  2.13507617, 15.17615101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021326329089100676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30146991e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.30146991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05272954, -0.01281054,  0.06174195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88962166e-06,-8.78431743e-07,-4.20700531e-06,-1.51317214e-05,
 -7.53481850e-07, 3.95811849e-05, 5.66529928e-05, 1.69395715e-05,
 -5.06328867e-05, 3.53357614e-05,-2.47350498e-05, 1.46567598e-05,
 -2.18465671e-06, 2.03149980e-05,-1.95071024e-05, 1.01285663e-04,
 -9.19964978e-05, 4.68666113e-07,-1.21636500e+00, 7.57342902e-04,
 -2.46455492e-02,-1.42694673e-04]


--- Step 1932 ---
qpos:
[ 3.29722164e-03,-3.19590696e-03, 1.19246876e-02, 4.17754555e-02,
  6.13446409e-03, 7.64845169e-01,-2.99151386e-02, 8.70993427e-01,
  5.83216307e-03, 1.63615467e-02,-9.29808409e-03, 2.59747216e-02,
  1.36151639e+00,-1.54924424e-04, 1.13381570e+00, 6.30919795e-02,
  1.03617286e-02,-3.64457859e-02, 7.30763191e-02, 6.75078026e-01,
 -1.95808033e-01,-6.77488907e-01,-2.16650995e-01]

qacc:
[ 9.38880576e-01,-1.29853020e+00, 5.25056433e+00,-9.05728320e+00,
  2.60721173e-02, 1.91157716e+00,-6.98964107e+00, 1.30396235e+01,
 -2.13305327e+00, 3.58270339e+00,-1.27996902e+01, 1.74569368e+01,
 -8.79665821e-01, 1.74673574e+00,-4.03728827e+00, 1.40006037e+01,
 -1.01740736e+00,-1.32784349e+00, 2.86560068e+00, 2.86448287e+00,
  1.94903507e+01,-1.73526852e+02]

qfrc_actuator:
[-2.04174570e-05, 9.81543117e-05, 8.30249665e-05, 9.04789210e-05,
 -1.65351339e-05, 2.56592380e-02, 8.58421401e-03, 2.12924243e-03,
 -1.34314084e-04, 5.28805777e-04,-3.50186462e-05, 1.99140345e-05,
  0.00000000e+00,-1.58407926e-03, 0.00000000e+00,-1.89725526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61873235,  0.55156999,  8.61873235,  8.92632658,
       -4.53090819,  0.55156999, -4.53090819, 79.43551049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021339747556215066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20260618e-14,  6.50325772e-15,  1.00000000e+00, -3.38338888e-28,
        1.00000000e+00, -6.50325772e-15, -1.00000000e+00,  0.00000000e+00,
        5.20260618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00328252, -0.00786778,  0.06174175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44311451e-06,-8.42802987e-06, 1.24472484e-05,-1.01867905e-05,
  4.32350250e-06, 4.75292735e-05, 3.69494741e-06, 3.17150899e-05,
 -1.23629627e-05, 2.78644200e-05,-4.60499142e-05, 9.89004404e-06,
  3.36163422e-06, 7.03071450e-05, 1.19541094e-07, 6.84557550e-05,
 -3.53169392e-04,-1.05249520e-04,-1.21624349e+00, 7.85666025e-04,
 -2.46224503e-02,-1.42842694e-04]


--- Step 1933 ---
qpos:
[ 3.29689504e-03,-3.19554070e-03, 1.19247728e-02, 4.17760030e-02,
  6.13375651e-03, 7.64845645e-01,-2.99157477e-02, 8.70991886e-01,
  5.83078185e-03, 1.63626926e-02,-9.30004261e-03, 2.59742317e-02,
  1.36159044e+00,-1.53135683e-04, 1.13399678e+00, 6.30879911e-02,
  1.03481007e-02,-3.64444744e-02, 7.30784018e-02, 6.75094632e-01,
 -1.95825246e-01,-6.77423765e-01,-2.16787346e-01]

qacc:
[   0.61460971,  -2.84342076,   8.05691866,  -5.0132696 ,  -0.18890479,
    2.80651733, -10.29636239,  17.63938586,   5.01136716,  -0.77423236,
    3.03971141,  -6.32368987,  -1.07995787,   2.05568666,   9.44965122,
  -31.9467548 ,  -3.83316325,   3.24881813,   1.24490396,  15.16835694,
 -109.22222813, -76.20273638]

qfrc_actuator:
[-1.72090603e-05, 5.85091978e-05, 1.26913033e-04, 1.02403624e-04,
 -4.91270044e-05, 2.56672787e-02, 8.55993811e-03, 2.16456341e-03,
 -1.04438393e-04, 4.82293704e-04,-4.64186328e-05, 7.52028152e-06,
  0.00000000e+00,-1.52803274e-03, 0.00000000e+00,-2.05338427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54718593,  1.23789721,  8.54718593,  9.38035902,
       -5.13699105,  1.23789721, -5.13699105, 44.10523577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025983202185519976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39399814,  0.39399814,  0.83037999,  0.16889635,  0.91911124,
       -0.35596145, -0.90345973,  0.        , -0.42867297])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05657014, -0.05635906,  0.06173941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35828198e-06,-4.22447123e-05, 4.33263121e-05, 1.17950634e-05,
 -3.06451261e-05, 3.61191788e-05,-1.35195779e-05, 3.76714756e-05,
  2.95350340e-05,-4.00579700e-05,-1.09690709e-05,-1.25986626e-05,
  1.83882576e-05, 7.52331815e-05, 4.02639884e-06,-1.53125620e-04,
 -2.63416211e-04, 1.03533982e-04,-1.21639394e+00, 7.34523231e-04,
 -2.46534134e-02,-1.42889492e-04]


--- Step 1934 ---
qpos:
[ 3.29660953e-03,-3.19576377e-03, 1.19254817e-02, 4.17767139e-02,
  6.13288311e-03, 7.64845389e-01,-2.99163913e-02, 8.70995698e-01,
  5.82976976e-03, 1.63629826e-02,-9.30128694e-03, 2.59736191e-02,
  1.36166467e+00,-1.51169744e-04, 1.13417786e+00, 6.30821725e-02,
  1.03217161e-02,-3.64327763e-02, 7.30814712e-02, 6.74950495e-01,
 -1.95777649e-01,-6.77525804e-01,-2.16960197e-01]

qacc:
[ 3.90489448e-01,-2.18713665e+00, 5.97717493e+00,-3.71258483e+00,
 -9.31063467e-02, 8.42283711e+00,-4.10246307e+01, 1.01450574e+02,
  3.25652035e+00,-3.38627554e+00, 1.09391714e+01,-1.35611564e+01,
 -1.17898342e-01, 3.28222080e-01, 5.52346155e+00,-1.93149357e+01,
 -3.18919882e+00, 2.59668705e+00, 2.46673243e-01, 1.18958656e+01,
 -1.00277993e+02,-6.80652952e+01]

qfrc_actuator:
[-1.51927382e-05, 1.71599174e-05, 1.52656136e-04, 1.09196944e-04,
 -5.04436954e-05, 2.55829387e-02, 8.54585888e-03, 2.43447650e-03,
 -8.63049087e-05, 4.18601156e-04,-1.69590786e-05, 4.03073255e-07,
  0.00000000e+00,-1.53123863e-03, 0.00000000e+00,-2.14372836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.64185984, -4.02352521, -7.64185984,  7.23427749,
        2.66297469, -4.02352521,  2.66297469,  3.57859011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025991162358353684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39168901,  0.39168901,  0.83256198,  0.16674347,  0.92009767,
       -0.35442474, -0.90486261,  0.        , -0.42570373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05653024, -0.05635556,  0.06173883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09364404e-06,-5.55313657e-05, 2.27555709e-05, 6.71028920e-06,
 -1.50645845e-05,-6.58003271e-05,-7.37606885e-06, 2.71516368e-04,
  1.89685388e-05,-8.89104997e-05, 1.94060174e-05,-9.45718699e-06,
  2.71609462e-05, 2.10580273e-05,-1.99985166e-05,-9.94594281e-05,
 -3.14448476e-05, 3.83582069e-05,-1.21645637e+00, 7.21272949e-04,
 -2.46649909e-02,-1.41116854e-04]


--- Step 1935 ---
qpos:
[ 3.29635013e-03,-3.19613136e-03, 1.19263743e-02, 4.17771288e-02,
  6.13232292e-03, 7.64844596e-01,-2.99174584e-02, 8.71003064e-01,
  5.82898302e-03, 1.63626007e-02,-9.30192833e-03, 2.59732554e-02,
  1.36173927e+00,-1.49941142e-04, 1.13435846e+00, 6.30779613e-02,
  1.02847336e-02,-3.64128465e-02, 7.30821238e-02, 6.74657610e-01,
 -1.95674622e-01,-6.77781006e-01,-2.17166895e-01]

qacc:
[  0.23715867, -1.31520754,  5.65979266,-10.96760944,  0.17366649,
   6.60316381,-30.6444505 , 70.43820345,  1.99610166, -2.06431085,
   5.01406289, -1.16649136,  0.95627022, -1.63512771, -5.6404297 ,
  18.51339834, -2.64946224,  2.05789181, -0.60419372,  9.29477842,
 -92.75283749,-61.32924687]

qfrc_actuator:
[-1.38933972e-05, 2.82984396e-05, 1.67444134e-04, 9.51378943e-05,
 -1.52795982e-05, 2.55506282e-02, 8.51993683e-03, 2.60943997e-03,
 -7.52414564e-05, 3.98535898e-04, 1.85385032e-05, 1.42040235e-05,
  0.00000000e+00,-1.58731275e-03, 0.00000000e+00,-2.05248821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.52948511, -4.23008638, -7.52948511,  7.08350576,
        2.76406182, -4.23008638,  2.76406182,  3.71637845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002569660578188043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39050169,  0.39050169,  0.83367671,  0.16564328,  0.92060221,
       -0.35362957, -0.90557757,  0.        , -0.4241807 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05658633, -0.05639071,  0.06174108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33824199e-06,-1.49271377e-05, 6.34568096e-06,-1.55224126e-05,
  2.83902351e-05,-6.15411094e-05,-3.15683626e-05, 1.78806519e-04,
  1.15752444e-05,-6.61724228e-05, 1.92056474e-05, 1.04806828e-05,
  1.88279952e-05,-4.37552655e-05,-2.30543010e-05, 8.24789135e-05,
 -8.16141446e-05,-2.05828528e-05,-1.21647901e+00, 7.47099633e-04,
 -2.46715898e-02,-1.40445759e-04]


--- Step 1936 ---
qpos:
[ 3.29645314e-03,-3.19643256e-03, 1.19270750e-02, 4.17770252e-02,
  6.13213596e-03, 7.64844165e-01,-2.99189426e-02, 8.71007203e-01,
  5.82798974e-03, 1.63622524e-02,-9.30243215e-03, 2.59730006e-02,
  1.36181423e+00,-1.49832262e-04, 1.13453901e+00, 6.30738209e-02,
  1.02485954e-02,-3.64046557e-02, 7.30934949e-02, 6.74311816e-01,
 -1.95346959e-01,-6.78080076e-01,-2.17601818e-01]

qacc:
[ 3.17352597e+00,-4.50239310e-01, 3.90858905e+00,-1.26080293e+01,
  2.08016547e-01,-3.99433759e+00, 2.10410240e+01,-5.77753067e+01,
 -1.79783159e+00,-1.12832442e-01, 1.32429702e-02, 1.61834774e+00,
  1.08401759e+00,-2.06507387e+00,-3.91555044e-01, 1.02275590e+00,
  2.11078550e-01,-2.93472462e+00, 2.67964084e+00,-1.98044390e+00,
  1.39922232e+01,-1.63150764e+02]

qfrc_actuator:
[ 4.72694314e-06, 3.52153038e-05, 1.58097038e-04, 6.89614815e-05,
  5.85501125e-06, 2.56028931e-02, 8.50506458e-03, 2.44305040e-03,
 -8.61765353e-05, 4.40310440e-04, 3.97318487e-05, 2.24806651e-05,
  0.00000000e+00,-1.65651152e-03, 0.00000000e+00,-2.05028196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.59778088, -5.57279681, -6.59778088, 15.41606208,
       -8.02666351, -5.57279681, -8.02666351, 18.13934193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021151118531964053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96837644e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96837644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0033225 , -0.00780608,  0.06174375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86538111e-05,-7.81349800e-07,-1.21927464e-05,-2.69005100e-05,
  3.38644403e-05, 1.76824363e-05,-2.52500061e-05,-1.65245341e-04,
 -1.06295450e-05, 9.21053488e-06, 1.02642448e-05, 6.31183786e-06,
 -6.49675567e-07,-7.59430285e-05,-2.80567973e-06, 3.50018631e-06,
 -3.48348891e-04,-7.11009296e-05,-1.21647509e+00, 8.03152996e-04,
 -2.46752895e-02,-1.40559622e-04]


--- Step 1937 ---
qpos:
[ 3.29643360e-03,-3.19662583e-03, 1.19273160e-02, 4.17769675e-02,
  6.13205909e-03, 7.64843520e-01,-2.99198577e-02, 8.71008973e-01,
  5.82687279e-03, 1.63623450e-02,-9.30263831e-03, 2.59731271e-02,
  1.36188922e+00,-1.50270384e-04, 1.13471959e+00, 6.30690587e-02,
  1.02234482e-02,-3.63995408e-02, 7.31030224e-02, 6.74154128e-01,
 -1.95181611e-01,-6.78193899e-01,-2.17883881e-01]

qacc:
[-1.09192651e+00, 1.52440226e+00,-5.41738106e+00, 6.86105597e+00,
  6.23674074e-02,-5.92981959e+00, 2.45296732e+01,-5.02526245e+01,
 -1.07664640e+00, 5.38256975e-01,-2.68028689e+00, 8.47720112e+00,
  3.74469654e-01,-8.47599184e-01, 1.88522675e+00,-6.61676949e+00,
  2.74773857e+00,-7.69001641e-01,-4.60908155e-01,-4.68188140e+00,
  9.36420170e+01, 1.45128625e+02]

qfrc_actuator:
[-2.11214392e-06, 3.94460627e-05, 1.34571060e-04, 7.13607243e-05,
  6.33985314e-07, 2.55809488e-02, 8.53249041e-03, 2.32574373e-03,
 -9.22163394e-05, 5.00999706e-04, 7.03194728e-05, 4.52359605e-05,
  0.00000000e+00,-1.67964987e-03, 0.00000000e+00,-2.08284975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002166424616566673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56233939e-14, -2.56233939e-14,  1.00000000e+00,  6.56558313e-28,
        1.00000000e+00,  2.56233939e-14, -1.00000000e+00,  0.00000000e+00,
        2.56233939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05269878, -0.01271779,  0.06173835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30615127e-06, 1.32203937e-07,-2.61252726e-05, 1.41874820e-06,
  9.98166938e-06,-2.23814173e-05, 2.30429595e-05,-1.21255962e-04,
 -6.34360543e-06, 6.82427850e-05, 3.39827898e-05, 2.36307171e-05,
 -1.86827290e-05,-4.29282691e-05,-3.78904940e-06,-3.34209458e-05,
 -4.29598980e-04,-2.68583182e-04,-1.21650286e+00, 8.80618354e-04,
 -2.46908396e-02,-1.42770319e-04]


--- Step 1938 ---
qpos:
[ 3.29598741e-03,-3.19668960e-03, 1.19275062e-02, 4.17769074e-02,
  6.13199651e-03, 7.64843341e-01,-2.99210522e-02, 8.71009996e-01,
  5.82603678e-03, 1.63630667e-02,-9.30285310e-03, 2.59735213e-02,
  1.36196391e+00,-1.50247920e-04, 1.13489987e+00, 6.30659429e-02,
  1.02077508e-02,-3.63967688e-02, 7.31072712e-02, 6.74167495e-01,
 -1.95164055e-01,-6.78138933e-01,-2.18029282e-01]

qacc:
[-3.74860384e+00, 3.15602214e-01,-8.54549595e-01, 7.87005965e-01,
  7.65669515e-03, 6.79128335e-02, 2.22487471e+00,-1.12742123e+01,
  2.43969774e+00, 1.40163834e+00,-4.92941411e+00, 9.12049800e+00,
 -4.47610912e-01, 7.96531890e-01,-5.36859954e+00, 1.82383156e+01,
  2.36246514e+00,-5.85695223e-01,-1.31968832e+00,-5.17041972e+00,
  8.54620174e+01, 1.31288841e+02]

qfrc_actuator:
[-2.38868825e-05, 5.97497086e-05, 1.38387522e-04, 7.27958958e-05,
 -2.53392915e-06, 2.56391783e-02, 8.53121786e-03, 2.29157873e-03,
 -7.75666111e-05, 5.37111600e-04, 7.08232897e-05, 5.86096762e-05,
  0.00000000e+00,-1.63977154e-03, 0.00000000e+00,-1.99359675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.33896832, 4.55261692, 7.33896832, 8.00182202,
       1.02290198, 4.55261692, 1.02290198, 6.98741198, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021826521548467467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05267077, -0.01270725,  0.06173674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19529461e-05, 1.50442392e-05, 6.74899075e-07, 5.64723619e-07,
  1.30973842e-06, 4.65214298e-05,-6.67378519e-06,-3.69409521e-05,
  1.44894671e-05, 8.22989935e-05, 1.96038130e-05, 1.79339567e-05,
 -2.06308207e-05, 2.44706500e-05,-8.93416256e-06, 8.61039134e-05,
 -7.69349511e-05,-4.97807032e-05,-1.21649922e+00, 8.17649258e-04,
 -2.46791997e-02,-1.44659646e-04]


--- Step 1939 ---
qpos:
[ 3.29528373e-03,-3.19673595e-03, 1.19277911e-02, 4.17765237e-02,
  6.13191944e-03, 7.64843992e-01,-2.99224658e-02, 8.71010216e-01,
  5.82572760e-03, 1.63646601e-02,-9.30368635e-03, 2.59733932e-02,
  1.36203858e+00,-1.50347875e-04, 1.13507988e+00, 6.30652318e-02,
  1.02002622e-02,-3.63957544e-02, 7.31033168e-02, 6.74337575e-01,
 -1.95282047e-01,-6.77928772e-01,-2.18051224e-01]

qacc:
[-2.25751072e+00,-9.04515425e-01, 4.63143469e+00,-1.04048277e+01,
 -8.47818655e-03, 2.89671250e-01, 2.20890019e+00,-1.21649037e+01,
  4.56086613e+00, 1.79667824e+00,-2.54481607e+00,-6.13033013e+00,
  2.50671464e-01,-4.19036755e-01,-7.67763744e+00, 2.62331296e+01,
  2.05220256e+00,-4.39413412e-01,-2.05079619e+00,-5.45573580e+00,
  7.86256510e+01, 1.19804655e+02]

qfrc_actuator:
[-3.65172543e-05, 5.41270637e-05, 1.40631730e-04, 5.59297627e-05,
 -4.41822055e-06, 2.57094140e-02, 8.53109975e-03, 2.25336683e-03,
 -5.08583020e-05, 5.75865235e-04, 3.57113980e-05, 3.08104158e-05,
  0.00000000e+00,-1.65163514e-03, 0.00000000e+00,-1.86877595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.31215968, 4.59555194, 7.31215968, 8.15672284,
       0.76317495, 4.59555194, 0.76317495, 7.42204659, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021700599314197003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55804692e-14, -5.11609384e-14,  1.00000000e+00,  1.30872081e-27,
        1.00000000e+00,  5.11609384e-14, -1.00000000e+00,  0.00000000e+00,
        2.55804692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05272044, -0.01267949,  0.06173818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32504637e-05, 2.94766969e-06, 5.45431925e-06,-1.61865085e-05,
 -1.28915574e-06, 9.35305288e-05, 7.18710098e-06,-3.77653043e-05,
  2.71529270e-05, 8.95716300e-05,-1.50849859e-05,-2.32478412e-05,
 -5.45729353e-06,-1.02678113e-05, 2.40420090e-06, 1.27784968e-04,
 -1.94134349e-05, 3.79293592e-05,-1.21646022e+00, 7.99985763e-04,
 -2.46659101e-02,-1.45829568e-04]


--- Step 1940 ---
qpos:
[ 3.29408902e-03,-3.19679293e-03, 1.19281214e-02, 4.17759480e-02,
  6.13182395e-03, 7.64844829e-01,-2.99224961e-02, 8.71009603e-01,
  5.82539662e-03, 1.63666537e-02,-9.30448618e-03, 2.59729491e-02,
  1.36211334e+00,-1.50840749e-04, 1.13525956e+00, 6.30683531e-02,
  1.01999787e-02,-3.63960307e-02, 7.30886725e-02, 6.74652279e-01,
 -1.95525242e-01,-6.77574656e-01,-2.17960471e-01]

qacc:
[-4.30820147e+00,-5.27718429e-01, 2.68487417e+00,-6.08434672e+00,
 -8.97741571e-03,-4.93840810e+00, 1.84254537e+01,-2.66404361e+01,
 -1.96244568e-01,-2.14840335e-01, 2.86861441e+00,-8.68768492e+00,
  6.04111999e-01,-1.04141245e+00,-1.21145240e+01, 4.15441193e+01,
  1.80125522e+00,-3.22669358e-01,-2.67247088e+00,-5.58886127e+00,
  7.29056956e+01, 1.10259985e+02]

qfrc_actuator:
[-6.14121415e-05, 5.07615688e-05, 1.41807487e-04, 4.61578383e-05,
 -5.50926956e-06, 2.57152920e-02, 8.60273627e-03, 2.21308040e-03,
 -5.27783810e-05, 5.80204391e-04, 3.31012818e-05, 1.44954146e-05,
  0.00000000e+00,-1.67639250e-03, 0.00000000e+00,-1.67077337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.26033372, 4.67700022, 7.26033372, 8.34841675,
       0.44699388, 4.67700022, 0.44699388, 7.94247342, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021343700167891708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60082136e-14, -5.20164271e-14,  1.00000000e+00,  1.35285435e-27,
        1.00000000e+00,  5.20164271e-14, -1.00000000e+00,  0.00000000e+00,
        2.60082136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0528313 , -0.01263813,  0.06174202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52709006e-05,-1.28709074e-06, 1.89562566e-06,-9.77100552e-06,
 -1.65553608e-06, 5.79100791e-05, 8.97817222e-05,-3.79388432e-05,
 -1.10482001e-06, 5.02767080e-05, 1.32196955e-05,-1.34534759e-05,
 -5.31060412e-06,-2.87400097e-05, 1.22886585e-05, 2.04726677e-04,
 -1.88095165e-04, 2.67033827e-05,-1.21639202e+00, 8.14904400e-04,
 -2.46507431e-02,-1.46372447e-04]


--- Step 1941 ---
qpos:
[ 3.29295009e-03,-3.19695850e-03, 1.19287690e-02, 4.17755988e-02,
  6.13171360e-03, 7.64845733e-01,-2.99215373e-02, 8.71008545e-01,
  5.82504582e-03, 1.63686612e-02,-9.30484763e-03, 2.59723348e-02,
  1.36218794e+00,-1.51107896e-04, 1.13543970e+00, 6.30701379e-02,
  1.01862978e-02,-3.63856481e-02, 7.30818673e-02, 6.74776509e-01,
 -1.95695880e-01,-6.77416959e-01,-2.17912939e-01]

qacc:
[ 5.01508252e-01,-5.65323983e-01, 8.50649580e-01, 2.64038747e+00,
 -7.36773596e-03,-3.35771860e+00, 1.21570738e+01,-1.62911608e+01,
 -1.59390691e-01,-1.55669168e+00, 6.29585985e+00,-9.95129955e+00,
 -3.87803205e-01, 6.17585622e-01, 4.75102038e+00,-1.55506320e+01,
 -3.34932863e+00, 2.66470153e+00, 1.95977833e+00, 1.26172637e+01,
 -1.18654996e+02,-7.91214512e+01]

qfrc_actuator:
[-5.78239493e-05, 4.87714430e-05, 1.60106302e-04, 5.83926737e-05,
 -6.11465971e-06, 2.57006195e-02, 8.64490038e-03, 2.18965315e-03,
 -5.37849444e-05, 5.64017725e-04, 4.95877160e-05, 5.07371243e-06,
  0.00000000e+00,-1.65530875e-03, 0.00000000e+00,-1.75079874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.36401465, 7.95425561, 3.36401465, 3.13400691,
       2.32705731, 7.95425561, 2.32705731, 7.6522043 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0025000552615424645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37506866,  0.37506866,  0.8477305 ,  0.15175507,  0.92699703,
       -0.34299694, -0.91449106,  0.        , -0.40460611])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0565454 , -0.05643363,  0.06174362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86821096e-06,-2.74241191e-06, 1.79286656e-05, 1.20570496e-05,
 -1.34045216e-06, 3.38934474e-05, 6.27794396e-05,-1.97348441e-05,
 -1.01525184e-06, 1.40192767e-05, 2.80213023e-05,-7.07323568e-06,
 -9.30899578e-06, 1.21656219e-05, 2.53776117e-05,-6.77643163e-05,
 -5.33202850e-04,-6.04496999e-05,-1.21629894e+00, 8.53397321e-04,
 -2.46336638e-02,-1.46352607e-04]


--- Step 1942 ---
qpos:
[ 3.29220780e-03,-3.19731009e-03, 1.19297106e-02, 4.17750651e-02,
  6.13139750e-03, 7.64846747e-01,-2.99206932e-02, 8.71009690e-01,
  5.82468609e-03, 1.63704061e-02,-9.30509195e-03, 2.59713258e-02,
  1.36226246e+00,-1.51163986e-04, 1.13561995e+00, 6.30709886e-02,
  1.01614368e-02,-3.63667624e-02, 7.30784834e-02, 6.74727284e-01,
 -1.95804835e-01,-6.77437050e-01,-2.17905031e-01]

qacc:
[ 3.49358481e+00,-1.45510307e+00, 5.59773889e+00,-9.11074577e+00,
 -1.15187355e-01, 4.27473329e+00,-1.88763423e+01, 4.32438329e+01,
 -7.00884074e-02,-1.48680995e+00, 6.46470972e+00,-1.32905158e+01,
 -2.81105589e-01, 4.86561201e-01, 2.99607692e+00,-1.02039069e+01,
 -2.79503905e+00, 2.12581007e+00, 8.55311438e-01, 9.78928064e+00,
 -1.08135547e+02,-7.05564490e+01]

qfrc_actuator:
[-3.74962949e-05, 2.99561196e-05, 1.70636106e-04, 4.79848027e-05,
 -2.41774649e-05, 2.56914140e-02, 8.63371656e-03, 2.30055547e-03,
 -5.42366831e-05, 5.17989132e-04, 4.16085007e-05,-1.79841669e-05,
  0.00000000e+00,-1.64268707e-03, 0.00000000e+00,-1.79872602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.76540281, -3.7795894 , -7.76540281,  7.5018396 ,
        2.33095058, -3.7795894 ,  2.33095058,  3.84727988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002516178758413564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68179406e-01,  3.68179406e-01,  8.53749290e-01,  1.45797666e-01,
        9.29754766e-01, -3.38081522e-01, -9.18252125e-01,  1.38777878e-17,
       -3.95996256e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0564124 , -0.05637869,  0.06174057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04071047e-05,-1.61253677e-05, 1.25849979e-05,-9.67043826e-06,
 -1.86598948e-05, 2.12990835e-05, 2.12491140e-06, 1.13427641e-04,
 -4.70913466e-07,-3.27724143e-05,-1.89486177e-06,-2.16275143e-05,
 -2.21833317e-06, 1.36636734e-05,-1.32443308e-06,-4.97102336e-05,
 -1.05522030e-04,-1.89779230e-05,-1.21638436e+00, 7.84847635e-04,
 -2.46475700e-02,-1.43987278e-04]


--- Step 1943 ---
qpos:
[ 3.29136985e-03,-3.19752547e-03, 1.19300984e-02, 4.17744286e-02,
  6.13087220e-03, 7.64848427e-01,-2.99207412e-02, 8.71011798e-01,
  5.82363417e-03, 1.63719836e-02,-9.30630635e-03, 2.59708038e-02,
  1.36233686e+00,-1.50809485e-04, 1.13580019e+00, 6.30709177e-02,
  1.01272503e-02,-3.63411530e-02, 7.30747541e-02, 6.74518786e-01,
 -1.95860889e-01,-6.77619254e-01,-2.17933629e-01]

qacc:
[-8.59369493e-01, 1.51877435e+00,-4.71761869e+00, 3.72335306e+00,
 -1.17798695e-01, 4.96039565e+00,-1.74190411e+01, 2.67245039e+01,
 -6.06472759e+00, 3.50414123e+00,-1.48505935e+01, 2.49291429e+01,
 -4.42290957e-01, 8.21563292e-01, 2.82522907e+00,-9.78641975e+00,
 -2.33137411e+00, 1.68089327e+00,-8.63199800e-02, 7.55110069e+00,
 -9.93026343e+01,-6.34584568e+01]

qfrc_actuator:
[-4.29933935e-05, 3.66717949e-05, 1.40895654e-04, 4.20642958e-05,
 -3.47652610e-05, 2.57386778e-02, 8.59123221e-03, 2.34756522e-03,
 -8.98637338e-05, 4.89831534e-04,-1.64094721e-05, 4.32680386e-06,
  0.00000000e+00,-1.61746564e-03, 0.00000000e+00,-1.84501485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.65810122, -3.99252583, -7.65810122,  7.37049856,
        2.42806768, -3.99252583,  2.42806768,  3.97906426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024999089562725454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36336429,  0.36336429,  0.85786525,  0.14172062,  0.93164714,
       -0.33458762, -0.9208049 ,  0.        , -0.39002352])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05639523, -0.05637392,  0.06174085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.92129413e-06,-1.04015244e-07,-3.18615370e-05,-6.36484154e-06,
 -1.89603485e-05, 6.30765046e-05,-3.46355458e-05, 5.03313918e-05,
 -3.56459261e-05,-4.78617511e-05,-6.57849415e-05, 2.04189149e-05,
  1.64270828e-06, 2.84905396e-05,-1.00102340e-05,-5.01321985e-05,
 -1.67838711e-05, 2.38710732e-05,-1.21642614e+00, 7.63192332e-04,
 -2.46564293e-02,-1.42638534e-04]


--- Step 1944 ---
qpos:
[ 3.29081770e-03,-3.19768748e-03, 1.19301059e-02, 4.17740703e-02,
  6.13038227e-03, 7.64851052e-01,-2.99213616e-02, 8.71011993e-01,
  5.82285332e-03, 1.63731579e-02,-9.30790001e-03, 2.59712338e-02,
  1.36241123e+00,-1.50152502e-04, 1.13598023e+00, 6.30712783e-02,
  1.00852864e-02,-3.63102850e-02, 7.30674689e-02, 6.74162859e-01,
 -1.95871138e-01,-6.77950347e-01,-2.17996018e-01]

qacc:
[ 2.49583247e+00, 1.70197655e+00,-7.14733461e+00, 1.25372779e+01,
  1.91564693e-02,-5.33736701e-01, 7.62570562e+00,-3.04235219e+01,
  2.35996537e+00, 2.48217833e+00,-1.36511594e+01, 3.10389375e+01,
 -2.07461159e-01, 4.61473461e-01,-1.59121013e+00, 5.16550651e+00,
 -1.94435020e+00, 1.31467160e+00,-8.89012283e-01, 5.78551795e+00,
 -9.18640317e+01,-5.75613203e+01]

qfrc_actuator:
[-2.81464492e-05, 4.07056398e-05, 1.23228640e-04, 5.65808099e-05,
 -2.30296618e-05, 2.58014689e-02, 8.56629605e-03, 2.25008062e-03,
 -7.48986214e-05, 4.72406423e-04,-3.23998234e-05, 5.31352982e-05,
  0.00000000e+00,-1.60272093e-03, 0.00000000e+00,-1.81894888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.55500357, -4.1843396 , -7.55500357,  7.25630069,
        2.49176251, -4.1843396 ,  2.49176251,  4.13738017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024575711063797023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.60218988e-01,  3.60218988e-01,  8.60514126e-01,  1.39095511e-01,
        9.32867772e-01, -3.32280241e-01, -9.22439548e-01,  1.38777878e-17,
       -3.86141529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05646983, -0.05640909,  0.06174377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47086920e-05,-2.87246453e-06,-2.18326190e-05, 1.32870498e-05,
  3.23558544e-06, 9.24759834e-05,-1.49787515e-05,-9.53680233e-05,
  1.39321675e-05,-5.69609703e-05,-3.32758705e-05, 4.48802103e-05,
  7.12331861e-06, 2.28540947e-05,-1.36397680e-05, 2.11832498e-05,
 -1.84873230e-04, 7.04616634e-05,-1.21643777e+00, 7.77569834e-04,
 -2.46622574e-02,-1.42013842e-04]


--- Step 1945 ---
qpos:
[ 3.29113804e-03,-3.19844555e-03, 1.19307319e-02, 4.17739031e-02,
  6.12979225e-03, 7.64853907e-01,-2.99217463e-02, 8.71010696e-01,
  5.82225767e-03, 1.63737135e-02,-9.30899873e-03, 2.59715211e-02,
  1.36248560e+00,-1.49298525e-04, 1.13616024e+00, 6.30712490e-02,
  1.00570136e-02,-3.62837128e-02, 7.30617416e-02, 6.74010171e-01,
 -1.96056208e-01,-6.78082439e-01,-2.17890931e-01]

qacc:
[ 7.68761228e+00,-2.13826067e+00, 5.64875090e+00,-2.86571746e+00,
 -5.53643502e-02,-2.92172729e+00, 1.33614207e+01,-3.00086858e+01,
  1.64133327e+00,-2.49757347e+00, 8.31529776e+00,-1.11122115e+01,
 -1.58089242e-01, 3.42588110e-01, 1.14888337e+00,-4.04647340e+00,
  3.42277778e+00,-1.07395503e+00, 3.89500578e-01,-3.94563340e+00,
  1.00515293e+02, 1.57355069e+02]

qfrc_actuator:
[ 1.63163532e-05,-1.00991761e-05, 1.48358791e-04, 6.52671439e-05,
 -3.35661844e-05, 2.57842689e-02, 8.56967865e-03, 2.17490790e-03,
 -6.57698515e-05, 4.43970973e-04,-5.62374264e-06, 4.61719526e-05,
  0.00000000e+00,-1.59431839e-03, 0.00000000e+00,-1.83921768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.90473423,  5.18762201,  6.90473423, 10.5314098 ,
       -2.52230985,  5.18762201, -2.52230985, 11.99356259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021936202752868422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53057249e-14,  5.06114498e-14,  1.00000000e+00, -1.28075943e-27,
        1.00000000e+00, -5.06114498e-14, -1.00000000e+00,  0.00000000e+00,
        2.53057249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05274341, -0.01256358,  0.06173507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48816702e-05,-5.63380996e-05, 2.23100937e-05, 8.06710460e-06,
 -9.06950481e-06, 2.79805912e-05, 1.70128180e-05,-7.48347612e-05,
  9.50986855e-06,-6.52611127e-05, 1.24668611e-05,-9.68305650e-06,
  8.84901694e-06, 1.62772395e-05,-6.70983571e-06,-2.14954228e-05,
 -5.50686821e-04, 1.22181133e-04,-1.21642904e+00, 8.20133037e-04,
 -2.46663496e-02,-1.41915536e-04]


--- Step 1946 ---
qpos:
[ 3.29129906e-03,-3.19971233e-03, 1.19317028e-02, 4.17735041e-02,
  6.12928683e-03, 7.64856271e-01,-2.99214602e-02, 8.71008209e-01,
  5.82143098e-03, 1.63741352e-02,-9.30994647e-03, 2.59713385e-02,
  1.36256000e+00,-1.48321187e-04, 1.13634026e+00, 6.30702921e-02,
  1.00403344e-02,-3.62604473e-02, 7.30535906e-02, 6.74040868e-01,
 -1.96399438e-01,-6.78034151e-01,-2.17636989e-01]

qacc:
[-1.37899419e+00,-2.11211867e+00, 7.53737963e+00,-1.17303373e+01,
  4.81540611e-02,-4.52456887e+00, 1.67842347e+01,-2.89885580e+01,
 -2.00856239e+00,-1.56259439e+00, 7.30568331e+00,-1.55894244e+01,
 -1.26823858e-01, 2.59568220e-01, 2.83027404e+00,-9.84762958e+00,
  2.89841152e+00,-8.26686942e-01,-6.05938933e-01,-4.50700306e+00,
  9.11410141e+01, 1.41448583e+02]

qfrc_actuator:
[ 6.83714502e-06,-3.99211985e-05, 1.62815431e-04, 5.26785646e-05,
 -2.18394094e-05, 2.57194107e-02, 8.58947328e-03, 2.11346465e-03,
 -7.79180833e-05, 4.62563869e-04, 1.05844252e-05, 2.42119091e-05,
  0.00000000e+00,-1.58973665e-03, 0.00000000e+00,-1.88663861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.77035428, 5.36181684, 6.77035428, 7.41959028,
       1.53641703, 5.36181684, 1.53641703, 6.69633325, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002230804835939293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48839120e-14, -2.48839120e-14,  1.00000000e+00,  6.19209077e-28,
        1.00000000e+00,  2.48839120e-14, -1.00000000e+00,  0.00000000e+00,
        2.48839120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05265597, -0.01256484,  0.06173092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21989500e-06,-5.63373887e-05, 5.84660928e-06,-1.40740641e-05,
  7.66150201e-06,-4.84586284e-05, 2.50025794e-05,-6.17365252e-05,
 -1.18978347e-05,-1.57477574e-05, 3.93281231e-06,-2.45137831e-05,
  8.20226874e-06, 1.11507781e-05,-8.78651157e-06,-5.02569374e-05,
 -9.36393979e-05, 1.64788855e-04,-1.21640520e+00, 7.51701032e-04,
 -2.46575877e-02,-1.42184457e-04]


--- Step 1947 ---
qpos:
[ 3.29100014e-03,-3.20059168e-03, 1.19319167e-02, 4.17725731e-02,
  6.12929011e-03, 7.64857932e-01,-2.99206121e-02, 8.71007449e-01,
  5.82081002e-03, 1.63743676e-02,-9.31019487e-03, 2.59718984e-02,
  1.36263451e+00,-1.47527269e-04, 1.13651991e+00, 6.30711010e-02,
  1.00335649e-02,-3.62396991e-02, 7.30396195e-02, 6.74238234e-01,
 -1.96886766e-01,-6.77820866e-01,-2.17249347e-01]

qacc:
[ -4.06753908,  1.54046082, -2.49146273, -5.80198971,  0.28385149,
   0.5541672 , -6.87858473, 27.3454614 ,  1.82006057, -0.67989681,
  -1.07965334, 12.95720358,  0.35019887, -0.55201762, -5.90788071,
  19.80332949,  2.47739711, -0.62930558, -1.45501933, -4.82527789,
  83.30162504,128.25097231]

qfrc_actuator:
[-1.65718190e-05, 1.40080511e-05, 1.35388764e-04, 2.76714658e-05,
  2.08533318e-05, 2.56798450e-02, 8.61858576e-03, 2.20257643e-03,
 -6.69850869e-05, 4.73631330e-04, 5.61030959e-05, 6.46487962e-05,
  0.00000000e+00,-1.60520519e-03, 0.00000000e+00,-1.78988343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.72422787, 5.41955131, 6.72422787, 7.56919649,
       1.3240718 , 5.41955131, 1.3240718 , 6.9935412 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0022339591720488827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.72731641e-14,  2.48487761e-14,  1.00000000e+00, -9.26192509e-28,
        1.00000000e+00, -2.48487761e-14, -1.00000000e+00,  0.00000000e+00,
        3.72731641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05266024, -0.01254591,  0.06173042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36593160e-05, 2.30621348e-05,-3.88257516e-05,-2.74901294e-05,
  4.61245268e-05,-6.35185859e-05, 2.05556345e-05, 8.69135176e-05,
  1.05876705e-05, 2.01252905e-06, 4.19081548e-05, 3.94229451e-05,
  6.54284887e-06,-1.03468595e-05,-1.29488260e-05, 9.20490155e-05,
  1.72719906e-05, 7.26574862e-05,-1.21634298e+00, 7.34301242e-04,
 -2.46467443e-02,-1.41635413e-04]


--- Step 1948 ---
qpos:
[ 3.29145772e-03,-3.20106873e-03, 1.19316926e-02, 4.17713248e-02,
  6.12960483e-03, 7.64859428e-01,-2.99195127e-02, 8.71006001e-01,
  5.82032458e-03, 1.63747539e-02,-9.31001438e-03, 2.59729117e-02,
  1.36270909e+00,-1.46896477e-04, 1.13669997e+00, 6.30686760e-02,
  1.00256263e-02,-3.62285480e-02, 7.30410491e-02, 6.74380298e-01,
 -1.97120340e-01,-6.77655130e-01,-2.17113588e-01]

qacc:
[ 6.61885729e+00, 1.08941736e+00,-1.79691799e+00,-3.26310031e+00,
  1.73910386e-01,-2.08889013e+00, 8.16340552e+00,-1.54537981e+01,
  1.19310119e+00,-6.38125666e-02,-1.39664866e+00, 8.45282581e+00,
 -6.49868172e-02, 3.00701075e-03, 1.03863151e+01,-3.54274839e+01,
 -2.92258487e-01,-2.39928405e+00, 3.85018097e+00,-9.95103648e-02,
  1.75881161e+01,-1.81602523e+02]

qfrc_actuator:
[ 2.30362165e-05, 4.64848884e-05, 1.19301513e-04, 1.33588202e-05,
  2.84098053e-05, 2.56913684e-02, 8.63537679e-03, 2.16654815e-03,
 -6.03003482e-05, 4.98045026e-04, 8.30940549e-05, 8.82415683e-05,
  0.00000000e+00,-1.61469383e-03, 0.00000000e+00,-1.96399755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022124310201144942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.01811362e-14,  2.50905681e-14,  1.00000000e+00, -1.25907322e-27,
        1.00000000e+00, -2.50905681e-14, -1.00000000e+00,  0.00000000e+00,
        5.01811362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00353866, -0.00773814,  0.06173251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89476287e-05, 3.62001509e-05,-1.70459103e-05,-1.51988001e-05,
  2.82454978e-05,-1.68819877e-05, 9.22813795e-06,-3.54654690e-05,
  6.98616784e-06, 3.58802315e-05, 3.39304990e-05, 2.58945414e-05,
  8.30117061e-07,-1.05177121e-05, 2.03424486e-06,-1.71187821e-04,
 -1.32373257e-04,-1.17503382e-04,-1.21624943e+00, 7.52621110e-04,
 -2.46336708e-02,-1.40384235e-04]


--- Step 1949 ---
qpos:
[ 3.29238670e-03,-3.20178136e-03, 1.19317556e-02, 4.17706370e-02,
  6.12990994e-03, 7.64861486e-01,-2.99191425e-02, 8.71004808e-01,
  5.81992308e-03, 1.63754726e-02,-9.30982332e-03, 2.59738605e-02,
  1.36278376e+00,-1.46635917e-04, 1.13687966e+00, 6.30672064e-02,
  1.00163139e-02,-3.62258591e-02, 7.30530472e-02, 6.74472553e-01,
 -1.97122078e-01,-6.77532745e-01,-2.17207370e-01]

qacc:
[ 4.15094993e+00, 3.29389757e-02,-2.94731923e+00, 1.23733824e+01,
 -6.28241009e-03, 3.15091412e+00,-1.00307842e+01, 1.16713020e+01,
  7.26772375e-01, 2.75218564e-01,-7.33635490e-02,-1.30451805e+00,
  4.25386400e-01,-7.76556819e-01,-3.48719529e+00, 1.12893827e+01,
 -3.43440380e-01,-2.11557251e+00, 2.64213006e+00, 1.95170909e-01,
  1.62965064e+01,-1.65631491e+02]

qfrc_actuator:
[ 4.61641169e-05, 1.26625301e-05, 1.27754184e-04, 4.09661481e-05,
  1.48783125e-05, 2.57510404e-02, 8.60935562e-03, 2.18142843e-03,
 -5.61766392e-05, 5.12446382e-04, 8.12064782e-05, 8.39670931e-05,
  0.00000000e+00,-1.63829409e-03, 0.00000000e+00,-1.90578200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.25787342,  6.85138993,  5.25787342, 12.42561819,
       -2.90793854,  6.85138993, -2.90793854, 10.86796524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022151037150049263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50602944e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.50602944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00354947, -0.007731  ,  0.06173234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42532298e-05,-1.77163254e-05, 1.33134538e-05, 2.82748982e-05,
 -8.57567952e-07, 5.09633852e-05,-2.93749417e-05, 1.38126792e-05,
  4.33562701e-06, 4.25668460e-05, 1.05895491e-05,-1.06278750e-06,
 -2.70507314e-06,-2.58156932e-05,-2.25604801e-05, 4.78993314e-05,
 -1.08364873e-04,-5.29912961e-05,-1.21636743e+00, 7.23191894e-04,
 -2.46500117e-02,-1.39675105e-04]


--- Step 1950 ---
qpos:
[ 3.29324118e-03,-3.20276667e-03, 1.19319686e-02, 4.17706454e-02,
  6.13012017e-03, 7.64863393e-01,-2.99189247e-02, 8.71005565e-01,
  5.81991981e-03, 1.63755998e-02,-9.30893957e-03, 2.59748232e-02,
  1.36285838e+00,-1.46388044e-04, 1.13705919e+00, 6.30663994e-02,
  1.00054714e-02,-3.62307202e-02, 7.30715503e-02, 6.74519282e-01,
 -1.96910036e-01,-6.77450066e-01,-2.17512261e-01]

qacc:
[-6.44090535e-01, 6.56445697e-01,-5.79766794e+00, 1.78007320e+01,
 -5.32956531e-02, 3.59689151e+00,-1.64963676e+01, 3.82687964e+01,
  3.50528028e+00,-2.69572763e+00, 8.40637892e+00,-8.82262876e+00,
  1.53720085e-02,-4.83361182e-02,-2.24017589e+00, 7.48666797e+00,
 -3.82535698e-01,-1.88746882e+00, 1.62622192e+00, 4.02202526e-01,
  1.52118522e+01,-1.52472248e+02]

qfrc_actuator:
[ 4.16337897e-05,-7.20448759e-06, 1.32628310e-04, 7.52220091e-05,
  6.64313583e-06, 2.57146730e-02, 8.59403238e-03, 2.27944387e-03,
 -3.58395437e-05, 4.31837116e-04, 9.77437837e-05, 8.10617021e-05,
  0.00000000e+00,-1.63458370e-03, 0.00000000e+00,-1.87083812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.12875301,  6.9485732 ,  5.12875301, 13.43273869,
       -3.54021211,  6.9485732 , -3.54021211, 11.24939987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021931111016518026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.06232002e-14, -3.79674002e-14,  1.00000000e+00,  1.92203130e-27,
        1.00000000e+00,  3.79674002e-14, -1.00000000e+00,  0.00000000e+00,
        5.06232002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0035528 , -0.00769811,  0.06173494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84506729e-06,-2.57807683e-05, 3.84015000e-06, 3.45098713e-05,
 -8.61246478e-06,-1.35339963e-05,-8.25491688e-06, 9.90734189e-05,
  2.04784906e-05,-5.46938861e-05, 2.65842878e-05,-7.39902140e-07,
 -8.03418603e-06,-3.43749997e-06,-7.02296023e-06, 3.42454603e-05,
 -6.13355247e-05, 5.24446556e-05,-1.21643874e+00, 7.00208456e-04,
 -2.46641073e-02,-1.39894795e-04]


--- Step 1951 ---
qpos:
[ 3.29368987e-03,-3.20371183e-03, 1.19318889e-02, 4.17703643e-02,
  6.13062454e-03, 7.64864922e-01,-2.99187020e-02, 8.71006468e-01,
  5.81981573e-03, 1.63750276e-02,-9.30794525e-03, 2.59751089e-02,
  1.36293295e+00,-1.46123587e-04, 1.13723880e+00, 6.30646587e-02,
  9.99297912e-03,-3.62423976e-02, 7.30931456e-02, 6.74523801e-01,
 -1.96499094e-01,-6.77403911e-01,-2.18013049e-01]

qacc:
[-3.57173112e+00, 2.81485964e-01, 3.06749808e-01,-4.89044865e+00,
  1.63996542e-01,-2.55819938e-01,-9.95862296e-02, 2.09768022e+00,
 -8.64388419e-01,-2.62544252e+00, 1.08813766e+01,-2.22636067e+01,
 -1.12009676e-01, 1.45751684e-01, 2.95691071e+00,-1.01366190e+01,
 -4.12447118e-01,-1.70409645e+00, 7.73086678e-01, 5.42580250e-01,
  1.43025709e+01,-1.41628068e+02]

qfrc_actuator:
[ 2.08658687e-05,-8.14331332e-07, 1.17624985e-04, 5.98491914e-05,
  3.71801314e-05, 2.56744282e-02, 8.58484271e-03, 2.28352234e-03,
 -4.16275504e-05, 3.66022952e-04, 8.91444261e-05, 4.34197205e-05,
  0.00000000e+00,-1.63244900e-03, 0.00000000e+00,-1.92095706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.97591904,  7.05882473,  4.97591904, 14.72282688,
       -4.29048029,  7.05882473, -4.29048029, 11.66081648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021516099800232696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57998205e-14,  2.57998205e-14,  1.00000000e+00, -6.65630737e-28,
        1.00000000e+00, -2.57998205e-14, -1.00000000e+00,  0.00000000e+00,
        2.57998205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00355025, -0.00764505,  0.06173972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08851355e-05,-5.72591205e-06,-1.86530139e-05,-1.56707780e-05,
  2.66686654e-05,-4.62564745e-05,-9.84153388e-06, 5.64814518e-06,
 -5.21967012e-06,-9.09496309e-05,-1.66631212e-05,-3.90856613e-05,
 -5.41099094e-06,-5.14899856e-07,-2.50414460e-06,-4.98288394e-05,
  3.59333479e-06, 1.89890176e-04,-1.21647234e+00, 6.84553197e-04,
 -2.46760231e-02,-1.40971411e-04]


--- Step 1952 ---
qpos:
[ 3.29354125e-03,-3.20469949e-03, 1.19319176e-02, 4.17698841e-02,
  6.13184988e-03, 7.64866956e-01,-2.99191739e-02, 8.71005987e-01,
  5.81895315e-03, 1.63743012e-02,-9.30755945e-03, 2.59749219e-02,
  1.36300750e+00,-1.45848286e-04, 1.13741866e+00, 6.30599802e-02,
  9.96927563e-03,-3.62459883e-02, 7.31131441e-02, 6.74375659e-01,
 -1.96034875e-01,-6.77513358e-01,-2.18548501e-01]

qacc:
[ -5.23853476, -0.75902607,  3.48214181, -7.08759908,  0.40106628,
   0.1383544 ,  3.50377957,-20.07537582, -6.63260165,  0.53665684,
  -0.19047393, -6.93015734, -0.22811655,  0.30520534,  9.24431848,
 -31.77959301, -2.8028011 ,  2.02169193, -0.3992401 ,  8.1900722 ,
 -94.97169668,-61.66377602]

qfrc_actuator:
[-9.28351515e-06, 3.37373806e-06, 1.26583058e-04, 5.09116599e-05,
  9.06293631e-05, 2.57386592e-02, 8.56148422e-03, 2.21451013e-03,
 -8.05034977e-05, 3.80440896e-04, 6.57681117e-05, 2.11264621e-05,
  0.00000000e+00,-1.63128391e-03, 0.00000000e+00,-2.07404028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.99684123,   3.2614885 ,   7.99684123,
        13.58978867, -12.14529917,   3.2614885 , -12.14529917,
        38.41541367,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002385117903716088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32945582,  0.32945582,  0.88482638,  0.1149592 ,  0.94417099,
       -0.30874831, -0.93714633,  0.        , -0.3489366 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0563362 , -0.05638054,  0.06174454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07417437e-05,-3.51090884e-06, 4.94863505e-06,-1.01296174e-05,
  6.54109765e-05, 3.68028003e-05,-3.34587454e-05,-7.06587626e-05,
 -3.90557290e-05,-4.15523299e-05,-4.55735081e-05,-2.75294503e-05,
 -3.44976090e-06,-2.69327153e-08,-1.04301374e-05,-1.57047028e-04,
  8.27893011e-05, 3.52991627e-04,-1.21647482e+00, 6.76689273e-04,
 -2.46858776e-02,-1.42846397e-04]


--- Step 1953 ---
qpos:
[ 3.29337699e-03,-3.20544905e-03, 1.19321929e-02, 4.17692540e-02,
  6.13354637e-03, 7.64869613e-01,-2.99197631e-02, 8.71003948e-01,
  5.81832051e-03, 1.63738713e-02,-9.30748835e-03, 2.59747347e-02,
  1.36308196e+00,-1.45302627e-04, 1.13759852e+00, 6.30528225e-02,
  9.93616617e-03,-3.62431490e-02, 7.31285852e-02, 6.74085361e-01,
 -1.95524148e-01,-6.77766416e-01,-2.19116222e-01]

qacc:
[ -0.13373308, -0.68355698,  3.52599762, -6.68816538,  0.26237646,
  -1.56955686,  9.69914171,-27.788663  ,  1.99075965,  1.26731003,
  -3.95649789,  4.24699385, -0.42865643,  0.71713392,  7.53207313,
 -26.24963372, -2.35148893,  1.60750521, -1.13932141,  6.510019  ,
 -88.33505634,-56.24673249]

qfrc_actuator:
[-9.20268706e-06, 4.18124107e-05, 1.49634120e-04, 4.58606808e-05,
  1.04023547e-04, 2.57938336e-02, 8.56582739e-03, 2.13862076e-03,
 -6.75236742e-05, 4.42732625e-04, 6.97057473e-05, 2.58616111e-05,
  0.00000000e+00,-1.61294885e-03, 0.00000000e+00,-2.19776146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.21907968, -4.74042882, -7.21907968,  6.77146012,
        2.84001461, -4.74042882,  2.84001461,  4.3113769 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023496714759000392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29540601e-01,  3.29540601e-01,  8.84763236e-01,  1.15021974e-01,
        9.44141405e-01, -3.08815404e-01, -9.37108818e-01,  1.38777878e-17,
       -3.49037337e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05645134, -0.05644116,  0.0617482 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.92634072e-07, 3.70898666e-05, 2.25985465e-05,-5.22280026e-06,
  4.27562350e-05, 6.66722118e-05, 5.60966185e-06,-7.73266597e-05,
  1.18469257e-05, 2.84676681e-05,-1.12063678e-05, 8.44433736e-07,
 -2.63755753e-06, 1.79157472e-05,-2.61011579e-05,-1.34694625e-04,
  2.73882548e-05, 4.75812163e-05,-1.21645826e+00, 7.73176795e-04,
 -2.46828127e-02,-1.44329240e-04]


--- Step 1954 ---
qpos:
[ 3.29321478e-03,-3.20596817e-03, 1.19324363e-02, 4.17689334e-02,
  6.13514111e-03, 7.64872278e-01,-2.99207494e-02, 8.71003161e-01,
  5.81853764e-03, 1.63736814e-02,-9.30690883e-03, 2.59752446e-02,
  1.36315653e+00,-1.45069342e-04, 1.13777793e+00, 6.30465422e-02,
  9.91332394e-03,-3.62428348e-02, 7.31400483e-02, 6.73972797e-01,
 -1.95166575e-01,-6.77843478e-01,-2.19542471e-01]

qacc:
[ 1.32065055e-02, 1.03169022e+00,-4.54190041e+00, 9.77771194e+00,
 -5.72661630e-02, 3.25758543e+00,-1.35367960e+01, 2.71392930e+01,
  7.42424491e+00, 3.16612325e-01,-3.63659216e+00, 1.47373975e+01,
  3.98099059e-01,-6.95411726e-01,-3.36173639e+00, 1.06932261e+01,
  2.56680542e+00,-6.31281781e-01,-9.94510801e-01,-5.58307491e+00,
  8.89389450e+01, 1.36262146e+02]

qfrc_actuator:
[-9.07909854e-06, 4.72799412e-05, 1.45453980e-04, 6.09246484e-05,
  7.55935138e-05, 2.57544922e-02, 8.53323398e-03, 2.20135287e-03,
 -2.41154257e-05, 4.80101766e-04, 1.07733977e-04, 6.42828579e-05,
  0.00000000e+00,-1.63783356e-03, 0.00000000e+00,-2.14337510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.65306354,  -5.5066798 ,  -6.65306354,
        24.22361611, -18.83221561,  -5.5066798 , -18.83221561,
        31.38908065,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021113751130444475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -5.2582936e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  5.2582936e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05312083, -0.01233009,  0.06174491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15477950e-07, 3.06778862e-05, 6.09077209e-06, 1.73355639e-05,
 -9.23109548e-06,-3.81676718e-06,-2.11395377e-05, 6.32746043e-05,
  4.37568333e-05, 5.10270766e-05, 4.25610267e-05, 3.92704911e-05,
  1.90939160e-06,-2.03452611e-05,-2.99775556e-05, 4.28532926e-05,
 -2.19900517e-04,-2.30807316e-04,-1.21642838e+00, 8.93211217e-04,
 -2.46792006e-02,-1.46399336e-04]


--- Step 1955 ---
qpos:
[ 3.29340046e-03,-3.20649094e-03, 1.19327297e-02, 4.17691660e-02,
  6.13669192e-03, 7.64873561e-01,-2.99211975e-02, 8.71003214e-01,
  5.81892902e-03, 1.63732359e-02,-9.30560461e-03, 2.59759138e-02,
  1.36323107e+00,-1.44839081e-04, 1.13795701e+00, 6.30419098e-02,
  9.89935214e-03,-3.62444300e-02, 7.31444401e-02, 6.74022819e-01,
 -1.94949220e-01,-6.77759389e-01,-2.19841422e-01]

qacc:
[ 3.05543598e+00, 9.89539901e-01,-5.87885476e+00, 1.53837680e+01,
 -2.35520827e-02,-1.81109157e+00, 1.81702738e+00, 9.38256267e+00,
  1.54701464e+00,-2.03809420e+00, 6.09830635e+00,-4.30338769e+00,
  1.00056748e-01,-1.47276010e-01,-5.46231592e+00, 1.83938857e+01,
  2.21760555e+00,-4.77373978e-01,-1.76780770e+00,-5.93182612e+00,
  8.15959581e+01, 1.23992762e+02]

qfrc_actuator:
[ 8.81134138e-06, 3.28772086e-05, 1.42867686e-04, 8.76582162e-05,
  7.57112738e-05, 2.56055476e-02, 8.53206338e-03, 2.23855572e-03,
 -1.64198176e-05, 4.31444649e-04, 1.30014050e-04, 6.89608502e-05,
  0.00000000e+00,-1.63491764e-03, 0.00000000e+00,-2.05549975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.17114697, 4.81263213, 7.17114697, 8.01532357,
       0.92539165, 4.81263213, 0.92539165, 7.25746757, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002115079647054832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62454188e-14, -2.62454188e-14,  1.00000000e+00,  6.88822010e-28,
        1.00000000e+00,  2.62454188e-14, -1.00000000e+00,  0.00000000e+00,
        2.62454188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05312933, -0.01231312,  0.06174472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79049270e-05, 4.77023560e-06, 5.10450219e-06, 2.85972453e-05,
 -4.02616634e-06,-1.53267781e-04,-2.46458533e-06, 3.78818253e-05,
  8.96433361e-06,-9.63307141e-06, 3.94142739e-05, 9.09785418e-06,
 -4.36600307e-06,-1.65559149e-06,-1.05807999e-05, 8.60534386e-05,
  2.13631857e-05, 4.09077681e-05,-1.21646511e+00, 8.44365509e-04,
 -2.46751694e-02,-1.48473368e-04]


--- Step 1956 ---
qpos:
[ 3.29414389e-03,-3.20680748e-03, 1.19332189e-02, 4.17693348e-02,
  6.13821720e-03, 7.64873654e-01,-2.99213334e-02, 8.71003709e-01,
  5.81906503e-03, 1.63729185e-02,-9.30489387e-03, 2.59756415e-02,
  1.36330557e+00,-1.44584391e-04, 1.13813557e+00, 6.30416856e-02,
  9.89312512e-03,-3.62474424e-02, 7.31391310e-02, 6.74222679e-01,
 -1.94861169e-01,-6.77526422e-01,-2.20024659e-01]

qacc:
[ 4.89791857e+00,-4.15743877e-01, 2.13050473e+00,-3.68225665e+00,
 -1.35097200e-02,-1.64161704e+00, 2.47258585e+00, 3.88795601e+00,
 -2.24880290e+00,-1.05908172e-01, 4.60672001e+00,-2.00571810e+01,
  2.64892673e-01,-3.52122002e-01,-1.40929635e+01, 4.81446451e+01,
  1.93619842e+00,-3.54276339e-01,-2.42525733e+00,-6.12293594e+00,
  7.54580971e+01, 1.13798110e+02]

qfrc_actuator:
[ 3.70152285e-05, 5.99521361e-05, 1.58921147e-04, 8.55207527e-05,
  7.51879618e-05, 2.55520014e-02, 8.54896995e-03, 2.26035231e-03,
 -2.98161898e-05, 4.20334583e-04, 8.91676896e-05, 1.81464057e-05,
  0.00000000e+00,-1.63325838e-03, 0.00000000e+00,-1.82438400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.15689331, 4.83380337, 7.15689331, 8.21006092,
       0.63118063, 4.83380337, 0.63118063, 7.7018423 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020933843298324498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32587099e-14, -5.30348397e-14,  1.00000000e+00, -7.03173557e-28,
        1.00000000e+00,  5.30348397e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32587099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05320564, -0.01228062,  0.06174719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87154713e-05, 3.20424148e-05, 1.86582930e-05,-1.20059647e-06,
 -2.35286799e-06,-1.37780564e-04,-1.24750684e-05, 1.76848469e-05,
 -1.31447058e-05,-7.96173997e-06,-3.76782051e-05,-4.96901366e-05,
 -2.94014088e-06, 3.08312534e-07, 2.13485413e-06, 2.33966383e-04,
  3.93304084e-06, 1.91640481e-04,-1.21646489e+00, 8.35528708e-04,
 -2.46685266e-02,-1.49953453e-04]


--- Step 1957 ---
qpos:
[ 3.29452992e-03,-3.20712232e-03, 1.19346024e-02, 4.17684179e-02,
  6.13932921e-03, 7.64873882e-01,-2.99226112e-02, 8.71003032e-01,
  5.81903932e-03, 1.63729644e-02,-9.30510098e-03, 2.59747556e-02,
  1.36338023e+00,-1.44846306e-04, 1.13831473e+00, 6.30388535e-02,
  9.87600299e-03,-3.62429050e-02, 7.31382303e-02, 6.74242982e-01,
 -1.94714197e-01,-6.77475537e-01,-2.20249129e-01]

qacc:
[  -3.10933436,  -4.72997472,  21.4564055 , -41.68037358,  -0.23104095,
    1.23236518,  -1.17489097, -13.05955285,  -1.44572712,   1.78494115,
   -3.07166366,  -6.35487147,   0.28838396,  -0.66856169,   8.72909479,
  -29.31967615,  -2.72377921,   1.88744278,   1.10212384,   8.43166083,
 -111.70977523, -71.3543122 ]

qfrc_actuator:
[ 1.78002831e-05, 5.84473352e-05, 2.03745426e-04, 3.09512152e-05,
  3.87739208e-05, 2.56093140e-02, 8.50572308e-03, 2.20195728e-03,
 -3.77551905e-05, 4.49223861e-04, 4.69790318e-05,-1.16683881e-05,
  0.00000000e+00,-1.66788462e-03, 0.00000000e+00,-1.97231184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.63673881, 7.83332035, 3.63673881, 2.77702531,
       2.72028745, 7.83332035, 2.72028745, 7.37342857, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0023098868727311327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15851007e-01,  3.15851007e-01,  8.94693401e-01,  1.05144323e-01,
        9.48808801e-01, -2.97836415e-01, -9.42964905e-01, -1.38777878e-17,
       -3.32892156e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05645174, -0.05645932,  0.06175015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83860629e-05, 2.02288942e-05, 5.36950212e-05,-5.25768281e-05,
 -3.74900158e-05,-2.09323029e-05,-7.13285320e-05,-6.27720960e-05,
 -8.31528127e-06, 1.45242678e-05,-5.01967852e-05,-3.24264399e-05,
 -1.19444349e-06,-3.53835610e-05, 2.45158545e-05,-1.35194208e-04,
 -2.14615251e-04, 2.49115684e-04,-1.21643392e+00, 8.55936818e-04,
 -2.46592745e-02,-1.50903735e-04]


--- Step 1958 ---
qpos:
[ 3.29502789e-03,-3.20739963e-03, 1.19365242e-02, 4.17672198e-02,
  6.14001284e-03, 7.64873851e-01,-2.99247711e-02, 8.71004447e-01,
  5.81891889e-03, 1.63727596e-02,-9.30512636e-03, 2.59745576e-02,
  1.36345487e+00,-1.45244815e-04, 1.13849404e+00, 6.30339786e-02,
  9.84970141e-03,-3.62323443e-02, 7.31378658e-02, 6.74098812e-01,
 -1.94516116e-01,-6.77590552e-01,-2.20511487e-01]

qacc:
[ 9.98579746e-01,-2.03680960e+00, 8.51670498e+00,-1.42670988e+01,
 -2.39684380e-01, 5.67293192e+00,-2.38147270e+01, 4.66021914e+01,
 -8.15951943e-01, 5.78620796e-01,-5.44602224e+00, 1.72442945e+01,
 -6.05174537e-02,-1.51402873e-02, 6.38738268e+00,-2.20240914e+01,
 -2.29486357e+00, 1.50584151e+00, 1.34038794e-01, 6.65257907e+00,
 -1.02324552e+02,-6.43497765e+01]

qfrc_actuator:
[ 2.40839672e-05, 5.76693794e-05, 2.29549909e-04, 1.69802025e-05,
  1.67286563e-05, 2.55902716e-02, 8.46321860e-03, 2.30991422e-03,
 -4.24112857e-05, 4.30815837e-04, 5.78046543e-05, 2.44231848e-05,
  0.00000000e+00,-1.67049301e-03, 0.00000000e+00,-2.07612366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.5341366 , -4.22179613, -7.5341366 ,  7.35547087,
        2.28585673, -4.22179613,  2.28585673,  4.55706745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023120556231172734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31027375,  0.31027375,  0.898588  ,  0.10126764,  0.95064725,
       -0.29328257, -0.9452381 ,  0.        , -0.32638158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0563933 , -0.05643436,  0.06174906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.76681604e-06, 1.93624608e-05, 3.47669428e-05,-1.22696200e-05,
 -3.88716804e-05,-4.67196829e-05,-5.67310090e-05, 1.03714657e-04,
 -4.88622981e-06,-2.20446619e-05, 6.52519953e-06, 3.43487465e-05,
 -9.31807149e-06,-1.19955029e-05,-9.06601575e-06,-1.09432836e-04,
  4.48521073e-06, 8.78845027e-05,-1.21646215e+00, 8.69958127e-04,
 -2.46625509e-02,-1.50660249e-04]


--- Step 1959 ---
qpos:
[ 3.29628708e-03,-3.20760786e-03, 1.19382323e-02, 4.17655669e-02,
  6.14035843e-03, 7.64872599e-01,-2.99259146e-02, 8.71007476e-01,
  5.81839851e-03, 1.63723945e-02,-9.30480183e-03, 2.59754603e-02,
  1.36352945e+00,-1.45696741e-04, 1.13867290e+00, 6.30308964e-02,
  9.83356240e-03,-3.62243121e-02, 7.31324113e-02, 6.74127503e-01,
 -1.94466396e-01,-6.77535289e-01,-2.20637402e-01]

qacc:
[  6.67313788, -0.26198373,  2.96276482,-10.51773849, -0.187191  ,
  -1.54877373, -0.54509657, 20.66919169, -3.47412175,  1.08286831,
  -8.80418527, 27.40025788,  0.14128664, -0.23971317, -6.0900255 ,
  20.3088135 ,  2.54064493, -0.63214495, -1.27248663, -5.74063357,
  86.32854162,131.87230135]

qfrc_actuator:
[ 6.30930937e-05, 3.95383678e-05, 2.08435710e-04,-8.50704282e-06,
  3.48507440e-06, 2.55080034e-02, 8.51011966e-03, 2.39062036e-03,
 -6.28525581e-05, 4.37755996e-04, 8.19537744e-05, 8.12497907e-05,
  0.00000000e+00,-1.67181668e-03, 0.00000000e+00,-1.97546143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.87688992,  -5.22447719,  -6.87688992,
        22.88475888, -18.7549188 ,  -5.22447719, -18.7549188 ,
        33.32314228,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002067195522481205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.71334069e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.71334069e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05332254, -0.01220718,  0.0617501 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.91783998e-05,-6.57153761e-07,-1.32744837e-05,-2.36949812e-05,
 -3.06962559e-05,-1.16022350e-04, 3.42904824e-05, 7.98612370e-05,
 -2.05914230e-05,-2.56142457e-06, 2.15909147e-05, 5.67772958e-05,
 -8.49410907e-06,-6.32598698e-06,-1.99930900e-05, 9.25615433e-05,
 -5.84023630e-05,-5.10602940e-05,-1.21646456e+00, 9.19855618e-04,
 -2.46639265e-02,-1.51108111e-04]


--- Step 1960 ---
qpos:
[ 3.29731400e-03,-3.20752595e-03, 1.19396131e-02, 4.17629107e-02,
  6.14066082e-03, 7.64871053e-01,-2.99263135e-02, 8.71007232e-01,
  5.81763634e-03, 1.63728242e-02,-9.30456437e-03, 2.59762524e-02,
  1.36360400e+00,-1.46174958e-04, 1.13885140e+00, 6.30306728e-02,
  9.80853202e-03,-3.62106007e-02, 7.31279611e-02, 6.73989306e-01,
 -1.94365963e-01,-6.77648019e-01,-2.20801835e-01]

qacc:
[-2.05448557e+00,-7.64845730e-01, 7.52156884e+00,-2.45744784e+01,
 -2.26568565e-02,-8.07970280e+00, 3.35197793e+01,-6.90978349e+01,
 -2.12533809e+00, 1.07009021e+00,-1.81669355e+00,-5.52902078e-01,
  1.87264511e-01,-2.83105986e-01,-9.18080666e+00, 3.13050377e+01,
 -2.22284457e+00, 1.41980608e+00, 2.51063727e-01, 6.35088594e+00,
 -1.03820822e+02,-6.49086732e+01]

qfrc_actuator:
[ 5.00328958e-05, 6.42068747e-05, 1.95212130e-04,-5.83705234e-05,
  1.33561415e-05, 2.55308862e-02, 8.55586047e-03, 2.22383209e-03,
 -7.46692048e-05, 5.30925466e-04, 9.61034932e-05, 7.88189939e-05,
  0.00000000e+00,-1.67239806e-03, 0.00000000e+00,-1.82614359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.43889886, 7.92216836, 3.43889886, 2.67802669,
       2.58642801, 7.92216836, 2.58642801, 7.51363259, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0022921601738733898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30026529,  0.30026529,  0.90536264,  0.09452084,  0.95385573,
       -0.28500009, -0.94916098,  0.        , -0.31479109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05635826, -0.05641982,  0.06174923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19437113e-05, 2.05450851e-05,-1.58309574e-05,-5.08137649e-05,
 -3.92341714e-06,-3.20572046e-05, 2.92263805e-05,-1.67649033e-04,
 -1.24116279e-05, 9.86287336e-05, 1.82433079e-05,-6.89685600e-07,
 -6.36857365e-06,-4.07042529e-06,-9.66007197e-07, 1.51433521e-04,
 -1.01986893e-05, 3.66804059e-05,-1.21645104e+00, 9.03538968e-04,
 -2.46567530e-02,-1.51912784e-04]


--- Step 1961 ---
qpos:
[ 3.29783151e-03,-3.20678137e-03, 1.19405356e-02, 4.17606742e-02,
  6.14120351e-03, 7.64870234e-01,-2.99272199e-02, 8.71005307e-01,
  5.81673830e-03, 1.63740308e-02,-9.30450659e-03, 2.59773622e-02,
  1.36367833e+00,-1.46144087e-04, 1.13902975e+00, 6.30328921e-02,
  9.79373380e-03,-3.61994133e-02, 7.31190858e-02, 6.74027210e-01,
 -1.94416567e-01,-6.77587392e-01,-2.20827636e-01]

qacc:
[-4.49668728e+00, 3.03084231e+00,-1.12900071e+01, 1.87785302e+01,
  1.33414434e-01,-5.88887360e-01, 6.92259275e+00,-2.68341488e+01,
 -1.20368135e+00, 2.18540191e+00,-7.64014278e+00, 1.28508905e+01,
 -3.56649697e-01, 7.38269429e-01,-7.54232784e+00, 2.61737537e+01,
  2.55804150e+00,-6.31000988e-01,-1.10626610e+00,-5.95220098e+00,
  8.79407190e+01, 1.34182293e+02]

qfrc_actuator:
[ 2.41727374e-05, 1.32059027e-04, 1.86922075e-04,-3.33663742e-05,
  3.69363749e-05, 2.56164212e-02, 8.54751245e-03, 2.14357396e-03,
 -8.13092495e-05, 5.68425745e-04, 8.67979526e-05, 9.48627543e-05,
  0.00000000e+00,-1.63703456e-03, 0.00000000e+00,-1.70267344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.96300058,  -5.10914863,  -6.96300058,
        23.04542382, -19.63738024,  -5.10914863, -19.63738024,
        35.39915717,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002091713591903084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65386004e-14, -5.30772009e-14,  1.00000000e+00,  1.40859463e-27,
        1.00000000e+00,  5.30772009e-14, -1.00000000e+00,  0.00000000e+00,
        2.65386004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05328108, -0.01218599,  0.06174735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61915965e-05, 7.38738023e-05,-7.76632883e-06, 2.43501930e-05,
  2.18167153e-05, 6.82191271e-05,-1.63398471e-05,-8.42108670e-05,
 -6.96033118e-06, 9.63660761e-05, 1.32809261e-05, 2.08853459e-05,
 -4.30728919e-06, 3.27760803e-05, 1.36352936e-05, 1.31141927e-04,
 -6.92189232e-05,-3.50949681e-05,-1.21645875e+00, 9.34454180e-04,
 -2.46595062e-02,-1.51948454e-04]


--- Step 1962 ---
qpos:
[ 3.29803510e-03,-3.20557965e-03, 1.19407874e-02, 4.17594857e-02,
  6.14200603e-03, 7.64869962e-01,-2.99279373e-02, 8.71001723e-01,
  5.81576822e-03, 1.63753002e-02,-9.30450922e-03, 2.59787400e-02,
  1.36375266e+00,-1.45981441e-04, 1.13920834e+00, 6.30349045e-02,
  9.78777010e-03,-3.61901239e-02, 7.31027429e-02, 6.74226124e-01,
 -1.94605468e-01,-6.77367601e-01,-2.20728291e-01]

qacc:
[-2.78364436e+00, 4.64522699e+00,-2.00966311e+01, 3.89556726e+01,
  1.44990557e-01,-2.67373596e+00, 1.34414755e+01,-3.23272209e+01,
 -6.31241232e-01, 8.04915109e-01,-3.87895513e+00, 8.56562635e+00,
 -1.20500053e-01, 2.46013393e-01, 9.64137100e-01,-2.86871970e+00,
  2.20863033e+00,-4.74488435e-01,-1.86689538e+00,-6.13080544e+00,
  8.07539595e+01, 1.22279921e+02]

qfrc_actuator:
[ 8.75528599e-06, 1.36569616e-04, 1.46348714e-04, 1.77842445e-05,
  5.07232693e-05, 2.56498814e-02, 8.56092337e-03, 2.06169140e-03,
 -8.48525469e-05, 5.18966666e-04, 6.35466860e-05, 1.03854414e-04,
  0.00000000e+00,-1.63388690e-03, 0.00000000e+00,-1.71970788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.9369046 , 5.14452442, 6.9369046 , 7.92320972,
       0.9616206 , 5.14452442, 0.9616206 , 7.33970921, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020902290142510507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65574494e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.65574494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05329647, -0.01216732,  0.06174741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61412831e-05, 4.52162228e-05,-2.54423865e-05, 5.45225602e-05,
  2.35892147e-05, 6.53776095e-05, 2.24615718e-05,-8.21077930e-05,
 -3.70648512e-06, 8.01569475e-06,-1.00493925e-06, 1.39821675e-05,
  5.68757117e-06, 1.06242629e-05, 1.69915011e-05,-8.86911635e-06,
 -1.77741177e-05, 5.56421151e-06,-1.21643399e+00, 9.19271568e-04,
 -2.46517491e-02,-1.52358279e-04]


--- Step 1963 ---
qpos:
[ 3.29805227e-03,-3.20422434e-03, 1.19403862e-02, 4.17593035e-02,
  6.14281548e-03, 7.64870063e-01,-2.99287239e-02, 8.70997215e-01,
  5.81545330e-03, 1.63762060e-02,-9.30419799e-03, 2.59792095e-02,
  1.36382711e+00,-1.46022635e-04, 1.13938729e+00, 6.30340385e-02,
  9.77212317e-03,-3.61746052e-02, 7.30919613e-02, 6.74239644e-01,
 -1.94737944e-01,-6.77334519e-01,-2.20671669e-01]

qacc:
[-1.65881035e+00, 4.10627518e+00,-1.85844630e+01, 3.69190494e+01,
  3.80698593e-03,-9.24018277e-01, 5.73627187e+00,-1.64615478e+01,
  5.72998258e+00,-3.23889138e+00, 1.46669631e+01,-3.06005830e+01,
  2.64555485e-02,-1.29489590e-01, 9.24392075e+00,-3.15378053e+01,
 -2.42081054e+00, 1.55731213e+00, 1.39031607e+00, 7.11807650e+00,
 -1.15347056e+02,-7.21407718e+01]

qfrc_actuator:
[-3.88267825e-07, 1.20768372e-04, 1.04553764e-04, 6.60737849e-05,
  4.07658546e-05, 2.56519858e-02, 8.55139084e-03, 2.01499176e-03,
 -5.10419990e-05, 4.70993109e-04, 6.73858615e-05, 5.52795665e-05,
  0.00000000e+00,-1.64989506e-03, 0.00000000e+00,-1.87263046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.66500997, 7.82013291, 3.66500997, 2.63904978,
       2.81072142, 7.82013291, 2.81072142, 7.31908142, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00231793533142214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28065368,  0.28065368,  0.91786002,  0.08206474,  0.9598091 ,
       -0.26838753, -0.95629435,  0.        , -0.29240573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05608906, -0.05629505,  0.06174337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.59262162e-06, 6.51388374e-06,-3.37163076e-05, 5.04074105e-05,
  6.39447960e-07, 4.01535284e-05, 3.48456080e-06,-4.57995728e-05,
  3.37108501e-05,-4.31528944e-05, 5.83621339e-06,-4.79999334e-05,
  5.49577387e-06,-1.18179722e-05, 2.34016027e-06,-1.52286733e-04,
 -2.04068959e-04,-5.26100160e-05,-1.21637603e+00, 9.37831898e-04,
 -2.46410935e-02,-1.52181635e-04]


--- Step 1964 ---
qpos:
[ 3.29795963e-03,-3.20296087e-03, 1.19398744e-02, 4.17596960e-02,
  6.14336310e-03, 7.64869809e-01,-2.99294312e-02, 8.70995008e-01,
  5.81554569e-03, 1.63774530e-02,-9.30470871e-03, 2.59794273e-02,
  1.36390153e+00,-1.45966911e-04, 1.13956633e+00, 6.30306851e-02,
  9.74827261e-03,-3.61541138e-02, 7.30826641e-02, 6.74084034e-01,
 -1.94821430e-01,-6.77471086e-01,-2.20654148e-01]

qacc:
[  -0.96542721,   1.37415026,  -7.4962769 ,  17.6802131 ,  -0.14607272,
    3.31028475, -16.6773955 ,  42.7609644 ,   3.52114923,   2.22318341,
   -6.22126895,   2.93936211,  -0.25388482,   0.39363913,   7.64083189,
  -26.52230438,  -2.05090352,   1.24317942,   0.37108422,   5.52343517,
 -105.25879703, -64.95265039]

qfrc_actuator:
[-5.76941731e-06, 1.10653345e-04, 9.77817718e-05, 9.45166267e-05,
  1.67108416e-05, 2.55997259e-02, 8.54602744e-03, 2.13134979e-03,
 -3.10227955e-05, 5.13075376e-04, 3.38712887e-05, 4.42444967e-05,
  0.00000000e+00,-1.64160854e-03, 0.00000000e+00,-1.99781590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.6959463 , -3.91907992, -7.6959463 ,  7.6913857 ,
        1.855665  , -3.91907992,  1.855665  ,  4.99237105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023224619867415236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27439033,  0.27439033,  0.92163979,  0.07829515,  0.9616184 ,
       -0.26298274, -0.9584257 ,  0.        , -0.28534222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05601414, -0.05625974,  0.06174184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.65670067e-06,-1.13248578e-05,-7.84543283e-06, 2.85351065e-05,
 -2.37616301e-05,-3.07831354e-05, 1.58389677e-06, 1.16705600e-04,
  2.09754300e-05, 1.70727317e-05,-4.33873555e-05,-1.36218024e-05,
 -4.66139040e-07, 6.81882148e-06,-2.01585843e-05,-1.34380508e-04,
 -6.33863539e-06, 6.65052940e-06,-1.21641776e+00, 8.96825247e-04,
 -2.46484406e-02,-1.50845003e-04]


--- Step 1965 ---
qpos:
[ 3.29814800e-03,-3.20186154e-03, 1.19396224e-02, 4.17600646e-02,
  6.14382912e-03, 7.64869227e-01,-2.99302365e-02, 8.70996291e-01,
  5.81553296e-03, 1.63788255e-02,-9.30564740e-03, 2.59802016e-02,
  1.36397585e+00,-1.45550865e-04, 1.13974495e+00, 6.30281726e-02,
  9.71745175e-03,-3.61296852e-02, 7.30713736e-02, 6.73772865e-01,
 -1.94861944e-01,-6.77762907e-01,-2.20672590e-01]

qacc:
[ 2.47744034e+00,-9.97848049e-01, 3.33552522e+00,-4.03572253e+00,
 -4.60628026e-02, 5.89197380e+00,-2.78217672e+01, 6.70044682e+01,
 -9.32145411e-01, 2.50942899e+00,-1.10537488e+01, 2.12743758e+01,
 -2.62724611e-01, 5.48631303e-01,-3.12955201e+00, 1.01119985e+01,
 -1.74257794e+00, 9.84296052e-01,-4.98307957e-01, 4.27751089e+00,
 -9.67759809e+01,-5.89632058e+01]

qfrc_actuator:
[ 8.85747162e-06, 1.04134041e-04, 1.11742261e-04, 9.33278593e-05,
  1.99685191e-05, 2.55864375e-02, 8.54304484e-03, 2.30718357e-03,
 -3.70452545e-05, 5.19868511e-04, 1.44600056e-05, 7.31926455e-05,
  0.00000000e+00,-1.61896443e-03, 0.00000000e+00,-1.94582484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.59389446, -4.1133373 , -7.59389446,  7.61545752,
        1.88475993, -4.1133373 ,  1.88475993,  5.15678806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022981456513064325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70100931e-01,  2.70100931e-01,  9.24170425e-01,  7.57707593e-02,
        9.62832014e-01, -2.59255289e-01, -9.59845966e-01, -1.38777878e-17,
       -2.80527576e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0560452, -0.0562734,  0.0617433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44573827e-05,-1.32926917e-05, 1.16330488e-05,-1.39216693e-06,
 -7.41227391e-06,-2.62963519e-05,-5.35112384e-06, 1.77548949e-04,
 -5.40950349e-06, 6.76224407e-06,-2.17099204e-05, 2.79104544e-05,
  5.15250293e-07, 2.47693553e-05,-2.74251091e-05, 4.11717979e-05,
 -1.02949206e-04, 7.26612451e-05,-1.21643092e+00, 8.95959002e-04,
 -2.46535504e-02,-1.50119340e-04]


--- Step 1966 ---
qpos:
[ 3.29816502e-03,-3.20086280e-03, 1.19400811e-02, 4.17603761e-02,
  6.14408262e-03, 7.64869102e-01,-2.99318544e-02, 8.70997908e-01,
  5.81579409e-03, 1.63791638e-02,-9.30576217e-03, 2.59817249e-02,
  1.36405030e+00,-1.45394935e-04, 1.13992391e+00, 6.30218958e-02,
  9.69821048e-03,-3.61083037e-02, 7.30609755e-02, 6.73663743e-01,
 -1.95075667e-01,-6.77856093e-01,-2.20530637e-01]

qacc:
[-1.47982786e+00,-2.23442569e+00, 8.01897342e+00,-1.00731329e+01,
 -1.19362042e-01, 3.37611274e+00,-1.11236096e+01, 1.36831058e+01,
  2.43255340e+00,-2.13260221e+00, 2.45003840e+00, 9.96573902e+00,
  2.93076482e-02,-1.61804141e-01, 1.18659484e+01,-4.07883577e+01,
  2.89489989e+00,-7.61773220e-01, 2.23113155e-01,-6.22766001e+00,
  1.00648595e+02, 1.54378711e+02]

qfrc_actuator:
[-3.62981600e-07, 1.17633854e-04, 1.55568647e-04, 9.24815419e-05,
  4.03303880e-06, 2.56321509e-02, 8.50613085e-03, 2.32131340e-03,
 -2.28379256e-05, 4.16804358e-04, 3.89507608e-05, 1.07670490e-04,
  0.00000000e+00,-1.64126585e-03, 0.00000000e+00,-2.14491398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.31606562,   4.58933119,   7.31606562,
        20.60537459, -19.08035527,   4.58933119, -19.08035527,
        39.0532426 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002186111571957361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53926432e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.53926432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0530653 , -0.0121621 ,  0.06173632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.81699469e-06, 8.37651261e-06, 4.24538722e-05,-1.04362517e-06,
 -1.92681679e-05, 3.57795385e-05,-3.73611440e-05, 1.71615554e-05,
  1.40578887e-05,-1.02613442e-04, 2.41726884e-05, 3.45571608e-05,
  5.62597367e-06,-1.54029952e-05,-1.00601627e-05,-2.00781731e-04,
 -4.23428896e-04, 1.45192666e-04,-1.21642423e+00, 9.26313719e-04,
 -2.46573776e-02,-1.49856788e-04]


--- Step 1967 ---
qpos:
[ 3.29772645e-03,-3.19988668e-03, 1.19413346e-02, 4.17606584e-02,
  6.14413560e-03, 7.64869305e-01,-2.99332785e-02, 8.70998259e-01,
  5.81587851e-03, 1.63785927e-02,-9.30523554e-03, 2.59836470e-02,
  1.36412500e+00,-1.45992608e-04, 1.14010288e+00, 6.30126046e-02,
  9.68889225e-03,-3.60892404e-02, 7.30476022e-02, 6.73736995e-01,
 -1.95446089e-01,-6.77769254e-01,-2.20245602e-01]

qacc:
[-3.97345357e+00,-2.30462383e+00, 8.31019501e+00,-1.00856921e+01,
 -1.11435347e-01,-2.29086053e+00, 1.09392094e+01,-2.52249446e+01,
 -1.50547577e+00,-2.17048577e+00, 4.31605798e+00, 2.22590355e+00,
  5.29986199e-01,-1.11471254e+00, 9.05978397e+00,-3.18009354e+01,
  2.48075819e+00,-5.79532017e-01,-7.43830624e-01,-6.34988890e+00,
  9.12153214e+01, 1.38972991e+02]

qfrc_actuator:
[-2.35518905e-05, 1.25394592e-04, 1.99007266e-04, 9.18833538e-05,
 -5.50213285e-06, 2.56593558e-02, 8.52062248e-03, 2.25793264e-03,
 -3.23349292e-05, 3.73203716e-04, 7.09493953e-05, 1.27298537e-04,
  0.00000000e+00,-1.69005826e-03, 0.00000000e+00,-2.29510346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.03453937, 5.01019288, 7.03453937, 8.15480527,
       0.67612991, 5.01019288, 0.67612991, 7.6870464 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002219753930854773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00155900e-14, -2.50077950e-14,  1.00000000e+00,  1.25077962e-27,
        1.00000000e+00,  2.50077950e-14, -1.00000000e+00,  0.00000000e+00,
        5.00155900e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05297946, -0.01216807,  0.06173251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34424938e-05, 2.11238468e-05, 5.03442875e-05, 1.20576458e-06,
 -1.81770362e-05, 4.02218042e-05, 1.77755968e-05,-6.29722305e-05,
 -9.13102898e-06,-9.45171586e-05, 1.49691845e-05, 1.67351319e-05,
 -1.52284322e-06,-5.10368354e-05,-3.07996889e-05,-1.63559158e-04,
 -4.13517027e-05, 1.51569388e-04,-1.21639869e+00, 8.69960803e-04,
 -2.46499848e-02,-1.49760347e-04]


--- Step 1968 ---
qpos:
[ 3.29735818e-03,-3.19883615e-03, 1.19425532e-02, 4.17609764e-02,
  6.14442817e-03, 7.64869317e-01,-2.99338067e-02, 8.70999239e-01,
  5.81550327e-03, 1.63776230e-02,-9.30419119e-03, 2.59850410e-02,
  1.36419952e+00,-1.46358327e-04, 1.14028138e+00, 6.30038866e-02,
  9.68816015e-03,-3.60719119e-02, 7.30279510e-02, 6.73976054e-01,
 -1.95959280e-01,-6.77517753e-01,-2.19831604e-01]

qacc:
[  0.61469437,  0.268189  , -0.96653844,  1.58880981,  0.13420824,
  -1.57980742,  3.45393969,  4.5764202 , -3.98681073, -3.05289322,
  12.36397387,-22.05133033, -0.24017013,  0.4118344 , -2.39942478,
   7.44030706,  2.14653269, -0.43373563, -1.56946115, -6.32003934,
  83.33449213,126.1764262 ]

qfrc_actuator:
[-1.92638135e-05, 1.11921523e-04, 1.88586944e-04, 9.14291370e-05,
  2.43811478e-05, 2.56398948e-02, 8.56527608e-03, 2.29153486e-03,
 -5.57135137e-05, 3.83322660e-04, 1.07305718e-04, 1.02561965e-04,
  0.00000000e+00,-1.66538458e-03, 0.00000000e+00,-2.25542356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.96658098, 5.1042655 , 6.96658098, 8.35816336,
       0.37970296, 5.1042655 , 0.37970296, 8.11812424, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0022200804471393734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50041170e-14, -2.50041170e-14,  1.00000000e+00,  6.25205867e-28,
        1.00000000e+00,  2.50041170e-14, -1.00000000e+00,  0.00000000e+00,
        2.50041170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05298445, -0.01215271,  0.06173224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62119925e-06, 8.73244115e-06, 1.60137039e-07, 2.21163450e-06,
  2.17321988e-05, 4.32310488e-06, 5.27473832e-05, 3.39926600e-05,
 -2.36754773e-05,-3.89190553e-05, 1.92520040e-05,-2.79471842e-05,
 -1.39940358e-05, 1.14867498e-05,-3.47540379e-05, 2.60558705e-05,
  3.38702938e-06, 3.22089106e-05,-1.21633110e+00, 8.62324527e-04,
 -2.46390679e-02,-1.48975350e-04]


--- Step 1969 ---
qpos:
[ 3.29635391e-03,-3.19745090e-03, 1.19426698e-02, 4.17620186e-02,
  6.14502311e-03, 7.64869042e-01,-2.99336781e-02, 8.71000637e-01,
  5.81519525e-03, 1.63765302e-02,-9.30280669e-03, 2.59854131e-02,
  1.36427382e+00,-1.46213977e-04, 1.14045920e+00, 6.29993318e-02,
  9.69493019e-03,-3.60558524e-02, 7.29992062e-02, 6.74366939e-01,
 -1.96603451e-01,-6.77114286e-01,-2.19300156e-01]

qacc:
[ -5.62210083,  5.0274801 ,-20.31848397, 34.3439496 ,  0.16905334,
  -1.42918856,  3.28713043,  2.24256718,  0.59848025, -3.21837986,
  15.55163505,-33.6883454 , -0.22036561,  0.55400485,-13.54678763,
  45.99192907,  1.87553467, -0.31722108, -2.27338213, -6.17907257,
  76.73854845,115.5275293 ]

qfrc_actuator:
[-5.20911031e-05, 1.21125461e-04, 1.28610270e-04, 1.26513197e-04,
  4.20503331e-05, 2.56105755e-02, 8.59174195e-03, 2.31092611e-03,
 -5.15621299e-05, 3.90020991e-04, 1.28391138e-04, 5.19739720e-05,
  0.00000000e+00,-1.63282063e-03, 0.00000000e+00,-2.03319343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.85725047, 5.25022788, 6.85725047, 8.62089707,
       0.02020067, 5.25022788, 0.02020067, 8.60997981, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002193566264919164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26531740e-14, -2.53063480e-14,  1.00000000e+00,  3.20205624e-28,
        1.00000000e+00,  2.53063480e-14, -1.00000000e+00,  0.00000000e+00,
        1.26531740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05306148, -0.01212041,  0.06173479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27258291e-05, 1.41643692e-05,-5.81037144e-05, 3.55008608e-05,
  2.74218115e-05,-1.54260710e-05, 3.44207127e-05, 2.18896293e-05,
  3.45785511e-06,-1.22759950e-05, 1.44470277e-05,-5.21359643e-05,
 -5.42877623e-06, 3.26113724e-05,-1.48728470e-05, 2.18834266e-04,
 -2.05210260e-04,-1.78611821e-04,-1.21623002e+00, 8.88657166e-04,
 -2.46250485e-02,-1.47575488e-04]


--- Step 1970 ---
qpos:
[ 3.29496415e-03,-3.19598787e-03, 1.19418528e-02, 4.17634952e-02,
  6.14567017e-03, 7.64868996e-01,-2.99339407e-02, 8.71001919e-01,
  5.81493878e-03, 1.63759874e-02,-9.30264727e-03, 2.59858886e-02,
  1.36434812e+00,-1.45955939e-04, 1.14063655e+00, 6.30001078e-02,
  9.69172022e-03,-3.60332350e-02, 7.29811252e-02, 6.74551659e-01,
 -1.97185717e-01,-6.76917764e-01,-2.18815433e-01]

qacc:
[-3.41398898e+00, 3.61485884e+00,-1.45589659e+01, 2.34950654e+01,
  2.86159013e-02, 1.15974954e+00,-3.18096030e+00, 1.32071149e+00,
  4.02070034e-01, 4.36281000e+00,-1.49381196e+01, 1.82795622e+01,
  2.81074336e-01,-3.05744074e-01,-1.68168606e+01, 5.77640707e+01,
 -2.49500235e+00, 1.63945854e+00, 2.66591640e+00, 7.47940984e+00,
 -1.28196357e+02,-7.96625763e+01]

qfrc_actuator:
[-7.10041784e-05, 1.08140261e-04, 7.54862242e-05, 1.46712183e-04,
  3.44798187e-05, 2.56287719e-02, 8.57167068e-03, 2.30399909e-03,
 -4.89884297e-05, 4.30056352e-04, 6.92739736e-05, 5.75907221e-05,
  0.00000000e+00,-1.63139867e-03, 0.00000000e+00,-1.75851030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 3.34156091, 7.96371443, 3.34156091, 2.25013373,
       2.67965111, 7.96371443, 2.67965111, 7.51198663, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002369336802217777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38907720e-01,  2.38907720e-01,  9.41194031e-01,  5.87790046e-02,
        9.71042276e-01, -2.31564088e-01, -9.69261642e-01, -6.93889390e-18,
       -2.46032254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05549926, -0.05602064,  0.06173071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98441440e-05,-1.56074227e-05,-5.61439803e-05, 1.94821103e-05,
  4.73302705e-06, 1.71475392e-05,-1.84898740e-05,-5.88662161e-06,
  2.66814376e-06, 3.39433163e-05,-6.16821362e-05, 4.57421594e-06,
  4.89111377e-06, 8.68063145e-06, 1.56143629e-05, 2.84553398e-04,
 -6.06887872e-04,-4.56881958e-04,-1.21610136e+00, 9.38651454e-04,
 -2.46083660e-02,-1.45611534e-04]


--- Step 1971 ---
qpos:
[ 3.29404824e-03,-3.19490008e-03, 1.19411438e-02, 4.17648433e-02,
  6.14609162e-03, 7.64869294e-01,-2.99350712e-02, 8.71002779e-01,
  5.81471494e-03, 1.63762420e-02,-9.30369074e-03, 2.59863938e-02,
  1.36442243e+00,-1.45658722e-04, 1.14081403e+00, 6.30031620e-02,
  9.68001317e-03,-3.60053300e-02, 7.29688312e-02, 6.74550255e-01,
 -1.97714945e-01,-6.76907609e-01,-2.18373172e-01]

qacc:
[   4.16875147,  -1.07079057,   3.62575797,  -5.72879371,  -0.12649823,
    2.06323465,  -5.26890781,  -0.56754801,   0.23341389,   4.47645499,
  -14.55817348,  16.40882606,   0.12498482,  -0.13609427,  -6.68853134,
   23.66780666,  -2.12426862,   1.32191119,   1.44678247,   5.55630204,
 -115.86312612, -71.0106348 ]

qfrc_actuator:
[-4.60595569e-05, 8.19646228e-05, 8.00040194e-05, 1.40227774e-04,
  1.18947813e-05, 2.56395703e-02, 8.52446251e-03, 2.28164619e-03,
 -4.73725532e-05, 4.89469855e-04, 1.67223291e-05, 6.07086158e-05,
  0.00000000e+00,-1.63071692e-03, 0.00000000e+00,-1.65046715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.13725164, -2.89342576, -8.13725164,  8.20544977,
        1.21186956, -2.89342576,  1.21186956,  5.22819339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024025454432350427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23195408,  0.23195408,  0.9446664 ,  0.05531121,  0.97272674,
       -0.22526288, -0.97115291,  0.        , -0.23845759])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05532343, -0.05593897,  0.06172631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43712998e-05,-4.57148020e-05,-4.95562981e-06,-8.72010685e-06,
 -2.04581388e-05, 1.64686469e-05,-4.61303780e-05,-2.24954091e-05,
  1.70502819e-06, 6.58663849e-05,-5.29763173e-05, 2.52690028e-06,
  5.28702325e-06, 3.83341245e-06, 3.59487216e-05, 1.25233164e-04,
 -6.58952347e-05,-5.54855630e-05,-1.21620181e+00, 7.63378395e-04,
 -2.46244840e-02,-1.41823611e-04]


--- Step 1972 ---
qpos:
[ 3.29343807e-03,-3.19421770e-03, 1.19413470e-02, 4.17660507e-02,
  6.14626224e-03, 7.64869289e-01,-2.99359997e-02, 8.71004058e-01,
  5.81520178e-03, 1.63773251e-02,-9.30489493e-03, 2.59861642e-02,
  1.36449676e+00,-1.45346458e-04, 1.14099201e+00, 6.30045143e-02,
  9.66104841e-03,-3.59731837e-02, 7.29581602e-02, 6.74379427e-01,
 -1.98198304e-01,-6.77066490e-01,-2.17969699e-01]

qacc:
[ 2.71907337e+00,-3.38146252e+00, 1.18628309e+01,-1.54474835e+01,
 -1.39506554e-01,-2.15596328e-01,-7.31065595e-01, 5.88534899e+00,
  6.17928936e+00, 1.94892921e-02, 4.60085924e+00,-1.76483494e+01,
 -1.28738664e-01, 1.90108015e-01, 5.89667054e+00,-1.95169970e+01,
 -1.81442887e+00, 1.06031114e+00, 4.05729930e-01, 4.05027700e+00,
 -1.05510857e+02,-6.38157805e+01]

qfrc_actuator:
[-3.10107298e-05, 8.38019058e-05, 1.36191390e-04, 1.35874912e-04,
 -1.68946267e-06, 2.56102191e-02, 8.53261572e-03, 2.30364915e-03,
 -1.08277996e-05, 5.60042968e-04, 2.18357232e-05, 2.68541479e-05,
  0.00000000e+00,-1.63045027e-03, 0.00000000e+00,-1.74800361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.0375357 , -3.15987289, -8.0375357 ,  8.13305107,
        1.28023908, -3.15987289,  1.28023908,  5.37991387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023998269612442572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.22721787,  0.22721787,  0.94696572,  0.05301461,  0.97384395,
       -0.22094663, -0.97239986,  0.        , -0.23332062])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05528143, -0.05591991,  0.06172567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57246530e-05,-2.51463057e-05, 4.58251941e-05,-6.65698851e-06,
 -2.27622940e-05,-3.00462155e-05, 5.41748218e-06, 2.06294801e-05,
  3.66184728e-05, 9.65730389e-05, 1.22890881e-05,-3.28151515e-05,
  4.23270745e-06, 2.29547789e-06, 2.57136980e-05,-8.70540994e-05,
  8.58594722e-05, 3.22836784e-04,-1.21625912e+00, 6.45414668e-04,
 -2.46363160e-02,-1.38742186e-04]


--- Step 1973 ---
qpos:
[ 3.29301303e-03,-3.19376255e-03, 1.19424752e-02, 4.17668263e-02,
  6.14623125e-03, 7.64869128e-01,-2.99363434e-02, 8.71006591e-01,
  5.81646803e-03, 1.63788247e-02,-9.30540741e-03, 2.59865595e-02,
  1.36457112e+00,-1.45022099e-04, 1.14116998e+00, 6.30057310e-02,
  9.64091147e-03,-3.59525998e-02, 7.29670606e-02, 6.74149545e-01,
 -1.98415205e-01,-6.77276093e-01,-2.17832254e-01]

qacc:
[ 1.65757689e+00,-3.78023010e+00, 1.48579139e+01,-2.36356725e+01,
 -1.11968110e-01, 3.91435635e-01,-4.38505552e+00, 1.90627869e+01,
  6.81320188e+00,-1.09732732e-01,-1.47142467e+00, 1.08987602e+01,
 -2.34349078e-03, 1.69258848e-02, 3.79750665e-01,-1.37102612e+00,
 -2.93044705e-01,-2.89059202e+00, 4.89285627e+00,-5.36943940e-01,
  1.83081648e+01,-1.91369346e+02]

qfrc_actuator:
[-2.19208112e-05, 8.48745644e-05, 1.87027923e-04, 1.15112018e-04,
 -9.75774740e-06, 2.56282970e-02, 8.57326312e-03, 2.36934565e-03,
  2.82305355e-05, 5.83703886e-04, 6.09871339e-05, 6.03320557e-05,
  0.00000000e+00,-1.63042421e-03, 0.00000000e+00,-1.75278734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.32762911,  -4.57084548,  -7.32762911,
        19.17283596, -16.89126478,  -4.57084548, -16.89126478,
        35.71514459,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002287159351790198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42707843e-14,  2.42707843e-14,  1.00000000e+00,  5.89070969e-28,
        1.00000000e+00, -2.42707843e-14, -1.00000000e+00,  0.00000000e+00,
       -2.42707843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00385986, -0.00752334,  0.0617237 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.52487298e-06,-3.83131320e-06, 5.10432714e-05,-2.03891388e-05,
 -1.82883612e-05, 3.15988923e-06, 3.59726795e-05, 6.53683422e-05,
  4.01446411e-05, 7.87870643e-05, 5.94790835e-05, 3.74024022e-05,
  2.66511781e-06, 1.71996711e-06,-3.15793345e-06,-7.57210055e-06,
 -5.23979875e-05, 6.82450107e-04,-1.21628565e+00, 5.71509953e-04,
 -2.46454658e-02,-1.36174702e-04]


--- Step 1974 ---
qpos:
[ 3.29270003e-03,-3.19296098e-03, 1.19431959e-02, 4.17666747e-02,
  6.14625330e-03, 7.64869846e-01,-2.99371059e-02, 8.71008121e-01,
  5.81784869e-03, 1.63801207e-02,-9.30508181e-03, 2.59870773e-02,
  1.36464539e+00,-1.44422445e-04, 1.14134744e+00, 6.30105522e-02,
  9.61940802e-03,-3.59420293e-02, 7.29899827e-02, 6.73866679e-01,
 -1.98389612e-01,-6.77531737e-01,-2.17935785e-01]

qacc:
[ 9.64185796e-01,-3.15511453e-01, 5.69634308e+00,-2.13351420e+01,
  2.89837359e-02, 5.43575198e-01, 1.90884078e+00,-1.43388046e+01,
  1.02759122e+00,-2.36107530e+00, 7.50702592e+00,-6.57143261e+00,
  1.52494450e-03, 1.48590738e-01,-1.16271993e+01, 3.95968195e+01,
 -3.41626833e-01,-2.50332878e+00, 3.50542296e+00,-1.06698477e-01,
  1.68571093e+01,-1.73683103e+02]

qfrc_actuator:
[-1.64079149e-05, 1.03225078e-04, 1.63265624e-04, 6.70979274e-05,
  3.28726837e-06, 2.57103118e-02, 8.56193293e-03, 2.31823473e-03,
  3.29387589e-05, 5.26040162e-04, 8.42679395e-05, 6.21331610e-05,
  0.00000000e+00,-1.61279294e-03, 0.00000000e+00,-1.56078398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.76984875,  5.36245511,  6.76984875, 10.057416  ,
       -1.79401213,  5.36245511, -1.79401213, 10.90122004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002304660353855001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20432391e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20432391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00387513, -0.0075276 ,  0.06172178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77891227e-06, 2.58511212e-05,-1.89924735e-05,-4.68144268e-05,
  4.83663650e-06, 9.29543967e-05,-4.59157380e-06,-4.84415056e-05,
  5.88671641e-06, 2.52397511e-07, 4.81628828e-05, 7.95890362e-06,
  1.50242841e-06, 1.88965872e-05,-5.67866903e-06, 1.90378117e-04,
 -2.18074549e-04, 3.10164324e-04,-1.21639079e+00, 6.50157044e-04,
 -2.46594410e-02,-1.36155976e-04]


--- Step 1975 ---
qpos:
[ 3.29211066e-03,-3.19176735e-03, 1.19430086e-02, 4.17659785e-02,
  6.14658073e-03, 7.64871357e-01,-2.99382686e-02, 8.71007998e-01,
  5.81927549e-03, 1.63815083e-02,-9.30530809e-03, 2.59873277e-02,
  1.36471980e+00,-1.44141184e-04, 1.14152501e+00, 6.30159321e-02,
  9.59638958e-03,-3.59402313e-02, 7.30222558e-02, 6.73535568e-01,
 -1.98141274e-01,-6.77829350e-01,-2.18259584e-01]

qacc:
[  -2.46134951,   1.93936088,  -3.85660052,  -4.41277004,   0.16973388,
   -0.74531372,   7.48374828, -27.06409303,   0.38355928,   1.11220499,
   -2.66187786,  -1.15100401,   0.36516215,  -0.64641947,  -1.55127563,
    5.59559543,  -0.37874883,  -2.19315261,   2.337736  ,   0.21846116,
   15.63643192,-159.09444465]

qfrc_actuator:
[-3.07948417e-05, 1.13706900e-04, 1.13459157e-04, 3.89063158e-05,
  2.88262689e-05, 2.57409542e-02, 8.53793847e-03, 2.23430049e-03,
  3.51427889e-05, 5.08798333e-04, 4.43454506e-05, 4.51805470e-05,
  0.00000000e+00,-1.63812449e-03, 0.00000000e+00,-1.53843623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.67299371,  5.48251146,  6.67299371, 10.5622944 ,
       -2.34413078,  5.48251146, -2.34413078, 11.48950312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022933826054191628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.42049238e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.42049238e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00388169, -0.00750268,  0.06172311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42138265e-05, 1.89754026e-05,-4.84433960e-05,-2.86560241e-05,
  2.77238539e-05, 7.96853127e-05,-7.64600985e-06,-8.22022381e-05,
  2.37511777e-06,-6.85636593e-06,-3.36816335e-05,-1.51251704e-05,
  5.39552420e-06,-2.00544666e-05, 1.61907929e-05, 3.16602265e-05,
 -3.39531768e-04, 2.24406976e-05,-1.21644718e+00, 7.25844887e-04,
 -2.46716590e-02,-1.37120274e-04]


--- Step 1976 ---
qpos:
[ 3.29204360e-03,-3.19064220e-03, 1.19426066e-02, 4.17656520e-02,
  6.14701509e-03, 7.64873304e-01,-2.99399170e-02, 8.71007599e-01,
  5.82106255e-03, 1.63829817e-02,-9.30548942e-03, 2.59876782e-02,
  1.36479445e+00,-1.44654374e-04, 1.14170258e+00, 6.30218897e-02,
  9.58151911e-03,-3.59397833e-02, 7.30510182e-02, 6.73384412e-01,
 -1.98048532e-01,-6.77947461e-01,-2.18443249e-01]

qacc:
[ 4.57890615e+00, 1.26233415e+00,-6.20660484e+00, 1.30122247e+01,
  5.90083907e-02, 1.40861429e+00,-3.30155109e+00,-6.31944563e-01,
  3.14227528e+00, 1.87811788e-01,-9.38699679e-01, 2.54868025e+00,
  7.87580910e-01,-1.48473802e+00,-1.81522150e+00, 6.18307682e+00,
  2.03699453e+00,-3.37503989e-01,-8.77655346e-01,-6.66694925e+00,
  9.05762068e+01, 1.37348865e+02]

qfrc_actuator:
[-3.52016167e-06, 1.01530673e-04, 1.01947714e-04, 5.81019250e-05,
  2.60828378e-05, 2.57405067e-02, 8.50649433e-03, 2.22048634e-03,
  5.36194279e-05, 5.33348455e-04, 5.63188503e-05, 5.28219178e-05,
  0.00000000e+00,-1.68875014e-03, 0.00000000e+00,-1.50976216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022995670265872903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41398274e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.41398274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05282037, -0.01208002,  0.0617228 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68761276e-05,-1.28414020e-05,-1.45593259e-05, 1.77743111e-05,
  9.71137968e-06, 3.95477220e-05,-1.90845529e-05,-1.33654413e-05,
  1.85485306e-05, 1.30676067e-05, 5.87239476e-06, 5.88479683e-06,
 -1.86248293e-06,-5.46048010e-05, 6.93075643e-06, 3.15491572e-05,
 -4.26365022e-04,-1.98156810e-04,-1.21646503e+00, 8.01326591e-04,
 -2.46819543e-02,-1.38982224e-04]


--- Step 1977 ---
qpos:
[ 3.29299365e-03,-3.18961953e-03, 1.19420972e-02, 4.17652094e-02,
  6.14747664e-03, 7.64875792e-01,-2.99419692e-02, 8.71006334e-01,
  5.82305739e-03, 1.63843619e-02,-9.30520618e-03, 2.59884559e-02,
  1.36486892e+00,-1.44968887e-04, 1.14188012e+00, 6.30284826e-02,
  9.57383954e-03,-3.59403209e-02, 7.30730808e-02, 6.73397364e-01,
 -1.98097828e-01,-6.77901724e-01,-2.18500558e-01]

qacc:
[ 8.92552797e+00,-9.13126394e-02, 5.88241683e-01,-2.31533577e+00,
  1.47173227e-02, 2.95457419e-01, 1.87105960e+00,-1.24444294e+01,
  1.82870135e+00,-5.45889649e-01,-4.21730628e-02, 6.76782171e+00,
 -2.34937003e-01, 3.83130581e-01,-1.94940553e+00, 6.79221291e+00,
  1.79772492e+00,-2.46380009e-01,-1.67495944e+00,-6.63684774e+00,
  8.27695136e+01, 1.24838568e+02]

qfrc_actuator:
[ 4.80633535e-05, 9.38159633e-05, 9.53303437e-05, 5.17754817e-05,
  2.41988697e-05, 2.57747028e-02, 8.48857862e-03, 2.17701692e-03,
  6.37744340e-05, 5.29685075e-04, 8.13010932e-05, 7.49590649e-05,
  0.00000000e+00,-1.66518570e-03, 0.00000000e+00,-1.47753475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.93572466,  3.40749923,  7.93572466,  9.06583188,
       -1.00018856,  3.40749923, -1.00018856, 10.96570268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022973001403777185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.41636477e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.41636477e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05284316, -0.01206322,  0.06172343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.23413393e-05,-1.71672730e-05,-1.04567587e-05,-7.03629457e-06,
  2.48049729e-06, 5.18834941e-05,-1.27174853e-05,-4.30839497e-05,
  1.06952930e-05, 5.06943988e-06, 2.85936557e-05, 2.30107789e-05,
 -1.40724368e-05, 8.85602841e-06, 3.28100656e-06, 3.40408386e-05,
 -8.37939334e-05,-3.68514703e-05,-1.21647126e+00, 7.43878369e-04,
 -2.46751105e-02,-1.40244022e-04]


--- Step 1978 ---
qpos:
[ 3.29351981e-03,-3.18855014e-03, 1.19414340e-02, 4.17646785e-02,
  6.14793571e-03, 7.64878610e-01,-2.99433789e-02, 8.71005554e-01,
  5.82481430e-03, 1.63851564e-02,-9.30462999e-03, 2.59895686e-02,
  1.36494320e+00,-1.44802590e-04, 1.14205793e+00, 6.30330637e-02,
  9.57257406e-03,-3.59415515e-02, 7.30857288e-02, 6.73561092e-01,
 -1.98277730e-01,-6.77705057e-01,-2.18442790e-01]

qacc:
[-3.72617211e+00, 3.16602830e-01,-6.53725096e-01,-6.77777027e-01,
 -1.06113383e-03,-4.56495653e-01, 9.29795172e-01, 4.76749614e+00,
 -2.05595064e+00,-8.99120286e-01, 6.74974114e-01, 5.07916929e+00,
 -6.38617398e-01, 1.09733966e+00, 6.53094765e+00,-2.21336019e+01,
  1.60352104e+00,-1.73254192e-01,-2.35362779e+00,-6.52398769e+00,
  7.62561135e+01, 1.14437397e+02]

qfrc_actuator:
[ 2.47652791e-05, 1.06592194e-04, 9.16282315e-05, 4.82262371e-05,
  2.28675623e-05, 2.58116537e-02, 8.53215023e-03, 2.20522011e-03,
  5.11922004e-05, 4.55980391e-04, 7.81457650e-05, 8.76740046e-05,
  0.00000000e+00,-1.63328780e-03, 0.00000000e+00,-1.58548507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.91480232,  3.45581844,  7.91480232,  9.27613107,
       -1.46524848,  3.45581844, -1.46524848, 11.99219736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022688547244038293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66998935e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.66998935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05293656, -0.01202918,  0.06172677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18150787e-05, 7.00161618e-07,-8.78759903e-06,-4.78594262e-06,
 -2.09823317e-07, 6.17685380e-05, 5.10406465e-05, 2.84995929e-05,
 -1.22711984e-05,-6.40222675e-05, 2.19036542e-06, 1.43638800e-05,
 -5.58058609e-06, 3.09806893e-05, 1.50247822e-06,-1.06528260e-04,
 -1.67224609e-05, 1.10244465e-05,-1.21643840e+00, 7.27103400e-04,
 -2.46650177e-02,-1.40913458e-04]


--- Step 1979 ---
qpos:
[ 3.29341813e-03,-3.18749081e-03, 1.19410087e-02, 4.17640888e-02,
  6.14799157e-03, 7.64881301e-01,-2.99435571e-02, 8.71007202e-01,
  5.82606210e-03, 1.63853425e-02,-9.30396529e-03, 2.59901529e-02,
  1.36501740e+00,-1.44277558e-04, 1.14223577e+00, 6.30359853e-02,
  9.57708850e-03,-3.59432401e-02, 7.30866547e-02, 6.73864361e-01,
 -1.98578584e-01,-6.77368124e-01,-2.18279166e-01]

qacc:
[ -5.50291285, -0.78866089,  3.05883251, -4.46806598, -0.2239568 ,
   0.7131024 , -8.06010443, 36.38289475, -4.42785677, -2.13052616,
   8.67582436,-17.53057317, -0.42510839,  0.77239697,  5.08808001,
 -17.65339813,  1.44498042, -0.11450451, -2.93056235, -6.35148454,
  70.81756072,105.78181948]

qfrc_actuator:
[-6.92232714e-06, 1.13802139e-04, 1.07517082e-04, 4.63621043e-05,
 -1.36186310e-05, 2.57969927e-02, 8.59397693e-03, 2.32867736e-03,
  2.53302208e-05, 4.11791200e-04, 7.58463167e-05, 5.91516042e-05,
  0.00000000e+00,-1.61450406e-03, 0.00000000e+00,-1.66863329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.85596445,  3.58756176,  7.85596445,  9.58340873,
       -2.07381868,  3.58756176, -2.07381868, 13.17756653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022195736415452083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50098263e-14,  1.00039305e-13,  1.00000000e+00, -2.50196565e-27,
        1.00000000e+00, -1.00039305e-13, -1.00000000e+00,  0.00000000e+00,
        2.50098263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05308516, -0.01198164,  0.06173225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23108036e-05, 5.54228980e-06, 1.47822827e-05,-2.23030195e-06,
 -3.65723673e-05, 3.04852779e-05, 8.07375266e-05, 1.27615611e-04,
 -2.62334016e-05,-7.89595384e-05,-1.47735606e-05,-3.09153801e-05,
  3.86065897e-06, 2.58713258e-05,-1.56102050e-05,-8.99340854e-05,
 -1.62159136e-04,-2.75316475e-05,-1.21637427e+00, 7.39748644e-04,
 -2.46520753e-02,-1.41040128e-04]


--- Step 1980 ---
qpos:
[ 3.29328217e-03,-3.18637470e-03, 1.19402360e-02, 4.17628227e-02,
  6.14782335e-03, 7.64883778e-01,-2.99435632e-02, 8.71007965e-01,
  5.82629998e-03, 1.63854288e-02,-9.30357577e-03, 2.59906960e-02,
  1.36509159e+00,-1.43514782e-04, 1.14241362e+00, 6.30368589e-02,
  9.57872206e-03,-3.59507373e-02, 7.30964985e-02, 6.74120431e-01,
 -1.98647433e-01,-6.77073233e-01,-2.18340741e-01]

qacc:
[-3.13116859e-01,-3.47122291e-01, 4.20063010e+00,-1.53901115e+01,
 -1.24404098e-01,-2.27879157e+00, 9.15337330e+00,-1.86544528e+01,
 -8.81563781e+00, 5.69691294e-01,-2.01875867e+00, 1.78682822e+00,
 -3.09781171e-01, 5.63464782e-01, 6.23489986e+00,-2.17128229e+01,
 -7.20220826e-01,-1.45215434e+00, 2.22949884e+00, 1.80115132e+00,
  1.75303634e+01,-1.63778994e+02]

qfrc_actuator:
[-7.76488509e-06, 9.99577861e-05, 8.15725385e-05, 1.00094828e-05,
 -1.75381261e-05, 2.57339388e-02, 8.57714732e-03, 2.27636872e-03,
 -2.58858793e-05, 4.38826172e-04, 7.41476704e-05, 5.98741129e-05,
  0.00000000e+00,-1.60365907e-03, 0.00000000e+00,-1.77195305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021858259497043384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07919226e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.07919226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00387849, -0.0073619 ,  0.06173602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76428438e-06,-7.83032130e-06,-2.30609168e-05,-3.56458510e-05,
 -2.03308741e-05,-2.62276942e-05, 2.30809573e-06,-4.60036882e-05,
 -5.19923052e-05,-2.15172431e-05,-2.09071314e-05,-3.77595306e-06,
  7.51698516e-06, 1.89209566e-05,-2.04824046e-05,-1.11116156e-04,
 -4.74547485e-04,-1.33136258e-04,-1.21628426e+00, 7.73831571e-04,
 -2.46366451e-02,-1.40660229e-04]


--- Step 1981 ---
qpos:
[ 3.29313693e-03,-3.18526709e-03, 1.19388722e-02, 4.17615025e-02,
  6.14792243e-03, 7.64885853e-01,-2.99443335e-02, 8.71005060e-01,
  5.82592176e-03, 1.63854745e-02,-9.30301591e-03, 2.59912037e-02,
  1.36516596e+00,-1.43119767e-04, 1.14259113e+00, 6.30381309e-02,
  9.57762709e-03,-3.59636868e-02, 7.31114978e-02, 6.74333076e-01,
 -1.98502636e-01,-6.76817060e-01,-2.18609863e-01]

qacc:
[-1.00083102e-01, 1.53005643e+00,-5.24242552e+00, 5.25609600e+00,
  1.49114184e-01,-4.82787775e+00, 2.35496326e+01,-6.47925735e+01,
 -5.36786265e+00,-5.92266513e-01, 2.20125913e+00,-3.07565795e+00,
  4.48609044e-01,-7.74312357e-01,-1.74763644e+00, 5.28657912e+00,
 -6.82132629e-01,-1.36307841e+00, 1.28886522e+00, 1.66296878e+00,
  1.61865597e+01,-1.50868813e+02]

qfrc_actuator:
[-8.19547422e-06, 9.11706600e-05, 4.87706987e-05, 6.86279040e-06,
  1.58171666e-05, 2.56597385e-02, 8.51369089e-03, 2.08543481e-03,
 -5.61047471e-05, 4.55072437e-04, 9.08904112e-05, 6.01150789e-05,
  0.00000000e+00,-1.63310510e-03, 0.00000000e+00,-1.74430234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.9809378 ,  5.08461251, -6.9809378 , 20.16319535,
       15.82580681,  5.08461251, 15.82580681, 30.36446441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002159374897169053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.14140933e-14,  2.57070467e-14,  1.00000000e+00, -1.32170450e-27,
        1.00000000e+00, -2.57070467e-14, -1.00000000e+00,  0.00000000e+00,
        5.14140933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00387403, -0.00733293,  0.06173919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.83659268e-07,-1.94848133e-05,-3.84940433e-05,-4.97183185e-06,
  2.42278539e-05,-8.98130511e-05,-6.97664752e-05,-1.92747205e-04,
 -3.17148549e-05,-2.93065779e-07, 9.58781114e-06,-1.47809526e-06,
  7.70965089e-06,-2.22749886e-05,-2.48278787e-05, 1.81078063e-05,
 -3.67089790e-04, 1.20706740e-04,-1.21638839e+00, 7.10719382e-04,
 -2.46565614e-02,-1.40405072e-04]


--- Step 1982 ---
qpos:
[ 3.29298785e-03,-3.18468262e-03, 1.19380977e-02, 4.17611751e-02,
  6.14835989e-03, 7.64887325e-01,-2.99450266e-02, 8.71000900e-01,
  5.82518369e-03, 1.63855920e-02,-9.30230233e-03, 2.59913509e-02,
  1.36524042e+00,-1.43029256e-04, 1.14276819e+00, 6.30420215e-02,
  9.57211687e-03,-3.59772526e-02, 7.31367065e-02, 6.74397602e-01,
 -1.98234718e-01,-6.76703225e-01,-2.19005972e-01]

qacc:
[-5.49374059e-03,-2.92958534e-01,-4.14651622e+00, 2.07659848e+01,
  1.89080403e-01,-3.17844368e+00, 1.23250171e+01,-2.56792048e+01,
 -3.13535534e+00,-1.07069770e+00, 5.48820472e+00,-1.20377637e+01,
  4.75086997e-01,-8.02318315e-01,-8.62077348e+00, 2.90832652e+01,
 -1.10381091e+00,-1.54050258e-01, 2.55237386e+00,-6.04110041e-01,
 -7.20546914e+01,-1.14798697e+02]

qfrc_actuator:
[-8.39014976e-06, 6.77078020e-05, 8.32476930e-05, 5.87932637e-05,
  3.56303415e-05, 2.56501351e-02, 8.52964160e-03, 2.02749499e-03,
 -7.37151143e-05, 4.64826350e-04, 1.00609902e-04, 4.23251750e-05,
  0.00000000e+00,-1.65071007e-03, 0.00000000e+00,-1.60419132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.62733985, -5.5376117 ,  6.62733985, 35.96448431,
       32.70593049, -5.5376117 , 32.70593049, 47.77838522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002114680778082411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14841711e-07, -2.62503692e-14,  1.00000000e+00, -5.63967423e-21,
        1.00000000e+00,  2.62503692e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14841711e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02826637, -0.03366745,  0.06174438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15348082e-07,-4.25437721e-05, 2.55451447e-05, 4.96705986e-05,
  3.06766907e-05,-7.93352260e-05,-1.56140086e-05,-6.72896777e-05,
 -1.85190248e-05, 1.14855839e-05, 1.07814295e-05,-1.75007188e-05,
 -1.71813522e-06,-2.13410702e-05,-1.12806463e-05, 1.37468805e-04,
 -2.45580237e-04, 3.97608134e-04,-1.21644850e+00, 6.56773259e-04,
 -2.46727780e-02,-1.40985719e-04]


--- Step 1983 ---
qpos:
[ 3.29283763e-03,-3.18470657e-03, 1.19380932e-02, 4.17618157e-02,
  6.14888036e-03, 7.64888273e-01,-2.99453583e-02, 8.70996744e-01,
  5.82458488e-03, 1.63857145e-02,-9.30118940e-03, 2.59916204e-02,
  1.36531499e+00,-1.43416838e-04, 1.14294583e+00, 6.30418348e-02,
  9.55766712e-03,-3.59839771e-02, 7.31606258e-02, 6.74306261e-01,
 -1.97914222e-01,-6.76748339e-01,-2.19437262e-01]

qacc:
[ 2.51235252e-02,-9.61790663e-01,-1.82090583e+00, 1.77852288e+01,
  4.67807935e-02,-1.65821396e+00, 4.59826208e+00,-3.72366265e+00,
  1.22716634e+00,-8.60232565e-01, 2.55610716e+00,-1.07682779e+00,
  1.29818718e-01,-4.44556124e-01, 1.31655989e+01,-4.48297811e+01,
 -2.23488409e+00, 1.71029343e+00,-3.22368984e-01, 7.78226680e+00,
 -9.70910358e+01,-6.24752492e+01]

qfrc_actuator:
[-8.44502992e-06, 3.59575549e-05, 1.21642699e-04, 1.07239430e-04,
  2.93875905e-05, 2.56441462e-02, 8.55719559e-03, 2.03065332e-03,
 -6.60175636e-05, 4.70588586e-04, 1.23816567e-04, 4.95612976e-05,
  0.00000000e+00,-1.67887918e-03, 0.00000000e+00,-1.82504692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.79183705, 5.33457837, 6.79183705, 6.91008942,
       2.1978444 , 5.33457837, 2.1978444 , 5.83812917, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00222788388575392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.22525423,  0.22525423,  0.94790351,  0.05207787,  0.97430002,
       -0.21915146, -0.9729072 ,  0.        , -0.23119596])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05584596, -0.05632252,  0.06174523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.99565362e-08,-4.81476353e-05, 3.44756530e-05, 4.84758414e-05,
  7.51416337e-06,-5.52082345e-05, 8.07429427e-06,-1.37634977e-06,
  7.17216828e-06, 1.36403907e-05, 2.62915339e-05, 7.75922795e-06,
 -6.07992724e-06,-3.41272067e-05, 7.98976589e-06,-2.15160146e-04,
 -8.87078803e-08, 3.27962155e-04,-1.21649878e+00, 6.60366137e-04,
 -2.46849510e-02,-1.41612996e-04]


--- Step 1984 ---
qpos:
[ 3.29303268e-03,-3.18503350e-03, 1.19382704e-02, 4.17619977e-02,
  6.14939377e-03, 7.64889290e-01,-2.99459022e-02, 8.70992632e-01,
  5.82442794e-03, 1.63855278e-02,-9.29933670e-03, 2.59916458e-02,
  1.36538966e+00,-1.44402852e-04, 1.14312318e+00, 6.30417045e-02,
  9.53552790e-03,-3.59851864e-02, 7.31802708e-02, 6.74070237e-01,
 -1.97547799e-01,-6.76939903e-01,-2.19901230e-01]

qacc:
[ 3.04114251e+00,-1.86005022e+00, 7.97543908e+00,-1.59686720e+01,
 -4.15567963e-03, 7.40066403e-01,-2.42308689e+00, 2.65700792e+00,
  3.88231466e+00,-2.98612792e+00, 1.10718457e+01,-1.62367086e+01,
  5.26034375e-01,-1.05255238e+00,-6.65900361e-01, 1.56460300e+00,
 -1.92236454e+00, 1.37881121e+00,-1.06858346e+00, 6.17744515e+00,
 -9.00603519e+01,-5.69245844e+01]

qfrc_actuator:
[ 9.33545308e-06, 1.72820380e-05, 1.26466919e-04, 8.22121568e-05,
  2.53839530e-05, 2.56759928e-02, 8.55589108e-03, 2.03420869e-03,
 -4.34904367e-05, 4.38488723e-04, 1.54808418e-04, 3.59691735e-05,
  0.00000000e+00,-1.71309139e-03, 0.00000000e+00,-1.81301812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.08146381, -3.04577077, -8.08146381,  7.96852337,
        1.77200695, -3.04577077,  1.77200695,  3.93462767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002199899836874226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26145922e-01,  2.26145922e-01,  9.47478783e-01,  5.25021278e-02,
        9.74093436e-01, -2.19967054e-01, -9.72677515e-01,  6.93889390e-18,
       -2.32160400e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05595292, -0.05638605,  0.06174853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77579477e-05,-3.64022163e-05, 8.01929501e-07,-2.49543996e-05,
 -6.39458638e-07, 2.78271541e-06,-1.13106467e-05, 2.00262031e-06,
  2.27376569e-05,-1.87261214e-05, 3.73003470e-05,-1.19506287e-05,
 -1.20368606e-05,-4.42711194e-05,-2.51590470e-05,-8.66995168e-08,
  3.08642255e-05, 8.25815681e-05,-1.21650654e+00, 7.26228820e-04,
 -2.46863959e-02,-1.42141527e-04]


--- Step 1985 ---
qpos:
[ 3.29378424e-03,-3.18566465e-03, 1.19388180e-02, 4.17615205e-02,
  6.14987517e-03, 7.64890774e-01,-2.99466902e-02, 8.70988903e-01,
  5.82419705e-03, 1.63857830e-02,-9.29821782e-03, 2.59911687e-02,
  1.36546400e+00,-1.44761542e-04, 1.14330041e+00, 6.30413389e-02,
  9.50674816e-03,-3.59819714e-02, 7.31931000e-02, 6.73698861e-01,
 -1.97140792e-01,-6.77267372e-01,-2.20395689e-01]

qacc:
[ 4.90096934e+00,-2.80580626e+00, 1.21838498e+01,-2.39377229e+01,
 -1.83233742e-02, 1.93849024e+00,-6.48588758e+00, 1.00828624e+01,
 -6.75818823e-01, 1.60185537e+00,-2.74037090e+00,-5.11062769e+00,
 -7.15364196e-01, 1.24602769e+00, 5.99421394e-01,-2.20224490e+00,
 -1.66013395e+00, 1.10609322e+00,-1.70393071e+00, 4.93167908e+00,
 -8.41433061e+01,-5.23192619e+01]

qfrc_actuator:
[ 3.74711880e-05, 6.38928707e-06, 1.46934168e-04, 4.96456303e-05,
  2.27806432e-05, 2.57301584e-02, 8.55545337e-03, 2.05571286e-03,
 -4.79291383e-05, 4.72746823e-04, 1.18960691e-04, 1.01975774e-05,
  0.00000000e+00,-1.66185473e-03, 0.00000000e+00,-1.82353520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.98833806, -3.28226018, -7.98833806,  7.881595  ,
        1.83694975, -3.28226018,  1.83694975,  4.16561032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021514336187706613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27424883e-01,  2.27424883e-01,  9.46866329e-01,  5.31138935e-02,
        9.73795627e-01, -2.21135686e-01, -9.72346048e-01, -6.93889390e-18,
       -2.33544777e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05612673, -0.05647852,  0.06175375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86306790e-05,-3.21372491e-05, 1.21839265e-05,-3.45847030e-05,
 -2.88978195e-06, 5.35189403e-05,-1.13467108e-06, 2.12978706e-05,
 -3.79320028e-06, 3.09715758e-05,-3.55556631e-05,-2.55207919e-05,
 -1.75509279e-05, 3.70640293e-05,-1.36339931e-05,-1.42468620e-05,
 -1.43826879e-04,-1.37595235e-04,-1.21649692e+00, 8.17833878e-04,
 -2.46867891e-02,-1.43277389e-04]


--- Step 1986 ---
qpos:
[ 3.29486720e-03,-3.18636260e-03, 1.19394858e-02, 4.17609885e-02,
  6.15032349e-03, 7.64891431e-01,-2.99470254e-02, 8.70987272e-01,
  5.82391470e-03, 1.63868156e-02,-9.29782285e-03, 2.59913782e-02,
  1.36553800e+00,-1.44060672e-04, 1.14347778e+00, 6.30388162e-02,
  9.48715504e-03,-3.59810958e-02, 7.32031535e-02, 6.73515183e-01,
 -1.96894721e-01,-6.77409235e-01,-2.20740788e-01]

qacc:
[ 2.91357548e+00,-5.43065872e-01, 2.02930272e+00,-3.10945001e+00,
 -1.80704248e-02, 1.33045491e+00,-1.04751250e+01, 3.51100062e+01,
 -4.84253917e-01, 4.46487561e+00,-1.73259554e+01, 2.97904176e+01,
 -1.16696741e+00, 2.12384004e+00, 6.83636863e+00,-2.33525316e+01,
  2.29665656e+00,-5.84863257e-01,-6.93938664e-01,-5.58443469e+00,
  9.36251225e+01, 1.43789670e+02]

qfrc_actuator:
[ 5.37180996e-05, 1.80412650e-05, 1.58773254e-04, 4.84446846e-05,
  2.10453019e-05, 2.56197620e-02, 8.55565237e-03, 2.15864059e-03,
 -5.04556282e-05, 5.46192407e-04, 9.74447931e-05, 4.84847878e-05,
  0.00000000e+00,-1.59584038e-03, 0.00000000e+00,-1.93607385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.69258817,  -3.92566735,  -7.69258817,
        20.36471858, -22.98243747,  -3.92566735, -22.98243747,
        53.6718724 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002031738724327367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36609965e-14, -1.09287972e-13,  1.00000000e+00, -1.49298260e-27,
        1.00000000e+00,  1.09287972e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36609965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05370056, -0.01173417,  0.06175433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70537005e-05,-5.25888044e-06, 5.50506222e-06,-2.82928503e-06,
 -3.02474451e-06,-8.03152075e-05, 1.12614513e-05, 1.05087670e-04,
 -2.62005318e-06, 8.23035759e-05,-2.03958539e-05, 3.78856468e-05,
 -1.07017315e-06, 7.18665734e-05,-1.11998384e-05,-1.15843828e-04,
 -4.82278462e-04,-3.35148924e-04,-1.21647559e+00, 9.30156050e-04,
 -2.46867052e-02,-1.44882933e-04]


--- Step 1987 ---
qpos:
[ 3.29579176e-03,-3.18699528e-03, 1.19399055e-02, 4.17611451e-02,
  6.15093971e-03, 7.64890608e-01,-2.99475868e-02, 8.70988715e-01,
  5.82360476e-03, 1.63878919e-02,-9.29713138e-03, 2.59917223e-02,
  1.36561204e+00,-1.43107761e-04, 1.14365461e+00, 6.30386317e-02,
  9.47559696e-03,-3.59819876e-02, 7.32071850e-02, 6.73502458e-01,
 -1.96795390e-01,-6.77381868e-01,-2.20952073e-01]

qacc:
[-1.39876909e+00, 2.20184950e+00,-1.06246401e+01, 2.28804707e+01,
  9.33997970e-02, 4.00207253e+00,-2.25252423e+01, 5.80601768e+01,
 -2.31989103e-01,-4.93311759e-01, 1.27555598e+00, 5.46338191e-01,
  3.63242660e-02, 1.28849436e-01,-7.86105994e+00, 2.63366892e+01,
  2.00876037e+00,-4.41856272e-01,-1.50551490e+00,-5.94052355e+00,
  8.55222434e+01, 1.30292854e+02]

qfrc_actuator:
[ 4.50815930e-05, 2.53517126e-05, 1.47784805e-04, 8.34750305e-05,
  3.75972492e-05, 2.54827476e-02, 8.52012885e-03, 2.30855353e-03,
 -5.18277060e-05, 5.18369772e-04, 1.02564246e-04, 5.32087621e-05,
  0.00000000e+00,-1.59265312e-03, 0.00000000e+00,-1.80601471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.06600264, 3.08648317, 8.06600264, 8.53964777,
       0.2527506 , 3.08648317, 0.2527506 , 7.97584262, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020520831053806865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.11533672e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.11533672e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05365394, -0.01173099,  0.06175227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.15105476e-06, 5.40674818e-06,-1.14948009e-05, 3.49408287e-05,
  1.51812364e-05,-1.75953768e-04,-4.69069379e-05, 1.50072390e-04,
 -1.41550137e-06, 1.55682619e-05, 2.09017519e-05, 8.27903249e-06,
  1.57977721e-05, 2.22059520e-05,-2.20406253e-05, 1.21259491e-04,
 -9.28938608e-05,-7.75364047e-05,-1.21649497e+00, 8.61044474e-04,
 -2.46786694e-02,-1.46907308e-04]


--- Step 1988 ---
qpos:
[ 3.29626087e-03,-3.18757792e-03, 1.19401704e-02, 4.17620609e-02,
  6.15173655e-03, 7.64889511e-01,-2.99488931e-02, 8.70989441e-01,
  5.82362608e-03, 1.63885973e-02,-9.29611595e-03, 2.59918275e-02,
  1.36568606e+00,-1.41790880e-04, 1.14383123e+00, 6.30402915e-02,
  9.47114096e-03,-3.59841889e-02, 7.32024287e-02, 6.73646610e-01,
 -1.96830842e-01,-6.77198790e-01,-2.21042220e-01]

qacc:
[-4.00276182e+00, 2.07151644e+00,-1.04785474e+01, 2.38097763e+01,
  1.00224501e-01, 4.07677018e-01,-1.53565436e-01,-8.26652582e+00,
  2.90559094e+00,-1.89300406e+00, 7.03649301e+00,-1.14030511e+01,
 -1.39405556e-01, 4.15371945e-01,-5.85707768e+00, 2.00852905e+01,
  1.77552229e+00,-3.27369131e-01,-2.19692142e+00,-6.12626039e+00,
  7.87590138e+01, 1.19095632e+02]

qfrc_actuator:
[ 2.18722694e-05, 2.99518878e-05, 1.41172712e-04, 1.21770125e-04,
  4.71811870e-05, 2.55260246e-02, 8.49917512e-03, 2.27181118e-03,
 -3.47577963e-05, 4.65714089e-04, 1.05181432e-04, 3.80721679e-05,
  0.00000000e+00,-1.57352053e-03, 0.00000000e+00,-1.71155572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.04700984,  3.13566731,  8.04700984,  8.64120931,
       -0.01243537,  3.13566731, -0.01243537,  8.66827632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002044397559783341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43056324e-14, -2.71528162e-14,  1.00000000e+00,  1.47455086e-27,
        1.00000000e+00,  2.71528162e-14, -1.00000000e+00,  0.00000000e+00,
        5.43056324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05368452, -0.01170971,  0.06175319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34390644e-05, 6.75791687e-06,-5.70051615e-06, 3.88093999e-05,
  1.63701124e-05,-5.86533584e-05,-5.65352494e-05,-4.03693281e-05,
  1.70377645e-05,-3.93267811e-05, 8.67227938e-06,-1.35897975e-05,
  1.34490726e-05, 2.88725981e-05, 1.68252128e-06, 9.79874991e-05,
 -1.41008120e-06, 4.92773088e-05,-1.21647543e+00, 8.37858013e-04,
 -2.46682068e-02,-1.48268527e-04]


--- Step 1989 ---
qpos:
[ 3.29644824e-03,-3.18832300e-03, 1.19407525e-02, 4.17630776e-02,
  6.15228133e-03, 7.64889086e-01,-2.99503367e-02, 8.70988215e-01,
  5.82385204e-03, 1.63887574e-02,-9.29471725e-03, 2.59928059e-02,
  1.36576002e+00,-1.39959380e-04, 1.14400782e+00, 6.30430605e-02,
  9.47302702e-03,-3.59873328e-02, 7.31865312e-02, 6.73935786e-01,
 -1.96990981e-01,-6.76871166e-01,-2.21021572e-01]

qacc:
[-2.46011160e+00,-8.88290200e-01, 2.43774537e+00,-1.08665737e+00,
 -1.40447512e-01,-2.13259743e+00, 1.25275120e+01,-3.50864193e+01,
  1.80671420e+00, 1.98979379e-03,-4.74555505e+00, 1.96523581e+01,
 -3.37722622e-01, 7.61761656e-01,-3.36672135e+00, 1.17824777e+01,
  1.58551144e+00,-2.35657271e-01,-2.78531836e+00,-6.18497935e+00,
  7.31070962e+01, 1.09791328e+02]

qfrc_actuator:
[ 8.03229792e-06, 1.51623902e-05, 1.54944965e-04, 1.26172710e-04,
  1.69991837e-05, 2.56413574e-02, 8.52307750e-03, 2.17889545e-03,
 -2.47231342e-05, 4.34061128e-04, 1.23903819e-04, 8.23492768e-05,
  0.00000000e+00,-1.54503347e-03, 0.00000000e+00,-1.65665086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.00546575,  3.24026157,  8.00546575,  8.77613287,
       -0.34531714,  3.24026157, -0.34531714,  9.4895122 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020142072233101244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75598015e-14, -8.26794045e-14,  1.00000000e+00,  2.27862797e-27,
        1.00000000e+00,  8.26794045e-14, -1.00000000e+00,  0.00000000e+00,
        2.75598015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05377595, -0.01167412,  0.06175646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45052512e-05,-1.05192259e-05, 1.58110712e-05, 5.24984096e-06,
 -2.28425170e-05, 7.04283092e-05, 4.62253320e-06,-9.74099323e-05,
  1.05128091e-05,-5.24673795e-05, 1.11758247e-05, 4.26225987e-05,
  1.40291486e-05, 3.92900139e-05, 8.55259500e-06, 5.98476751e-05,
 -1.39245616e-04, 7.66519953e-05,-1.21642408e+00, 8.47960589e-04,
 -2.46552939e-02,-1.49044498e-04]


--- Step 1990 ---
qpos:
[ 3.29681313e-03,-3.18933941e-03, 1.19416001e-02, 4.17638119e-02,
  6.15231712e-03, 7.64888674e-01,-2.99514102e-02, 8.70987991e-01,
  5.82385163e-03, 1.63887439e-02,-9.29348366e-03, 2.59939518e-02,
  1.36583407e+00,-1.38029654e-04, 1.14418440e+00, 6.30464681e-02,
  9.46597059e-03,-3.59837885e-02, 7.31773231e-02, 6.74033646e-01,
 -1.97089503e-01,-6.76737616e-01,-2.21044272e-01]

qacc:
[ 1.57099523e+00,-1.68653951e+00, 6.67915337e+00,-1.17863057e+01,
 -2.83417439e-01, 7.55684942e-01,-4.73519644e+00, 1.62339585e+01,
 -1.97662402e+00, 5.80932462e-01,-3.10492802e+00, 6.38950421e+00,
  4.75971435e-02, 3.24637943e-02,-1.93245315e+00, 6.75253018e+00,
 -2.23562084e+00, 1.67206652e+00, 1.67237502e+00, 8.69557489e+00,
 -1.19065901e+02,-7.57181037e+01]

qfrc_actuator:
[ 1.75750519e-05,-1.10684352e-05, 1.62785253e-04, 1.10594305e-04,
 -1.89293340e-05, 2.56215607e-02, 8.53807880e-03, 2.23132324e-03,
 -3.66681377e-05, 4.33085152e-04, 1.16595189e-04, 9.02477020e-05,
  0.00000000e+00,-1.54673524e-03, 0.00000000e+00,-1.62548107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 1.96934525, 8.40883203, 1.96934525, 1.56622538,
       1.65582368, 8.40883203, 1.65582368, 8.24857036, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021458128127247794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.21542784,  0.21542784,  0.95246086,  0.04752505,  0.97651976,
       -0.21012026, -0.97536261,  0.        , -0.22060776])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0560403 , -0.05648647,  0.06175332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.12661965e-06,-2.86102178e-05, 7.79661891e-06,-1.53810254e-05,
 -4.61685660e-05, 1.70454935e-05, 2.65061655e-05, 5.26052688e-05,
 -1.16620733e-05,-2.62009286e-05,-1.53157760e-05, 6.86012103e-06,
  1.68105984e-05, 1.19748584e-05, 6.84558043e-06, 3.47246941e-05,
 -4.56828290e-04, 2.71224679e-05,-1.21634587e+00, 8.82380178e-04,
 -2.46400307e-02,-1.49289568e-04]


--- Step 1991 ---
qpos:
[ 3.29694438e-03,-3.19036237e-03, 1.19421851e-02, 4.17640115e-02,
  6.15228161e-03, 7.64887833e-01,-2.99523001e-02, 8.70987758e-01,
  5.82336304e-03, 1.63888940e-02,-9.29273323e-03, 2.59941261e-02,
  1.36590821e+00,-1.36075391e-04, 1.14436090e+00, 6.30508937e-02,
  9.45119022e-03,-3.59748278e-02, 7.31706037e-02, 6.73957401e-01,
 -1.97134856e-01,-6.76779978e-01,-2.21106607e-01]

qacc:
[-2.05911286e+00,-3.72471017e-01, 3.57793117e+00,-1.24119072e+01,
 -3.93597712e-02,-1.07490059e+00, 2.85774178e+00,-2.36521237e+00,
 -4.27635607e+00,-4.25401397e-01, 5.94752613e+00,-2.21280792e+01,
  1.16797305e-01,-1.12459639e-01,-3.21172701e+00, 1.10281159e+01,
 -1.93098602e+00, 1.35407326e+00, 6.22152576e-01, 6.79273705e+00,
 -1.08414968e+02,-6.79262570e+01]

qfrc_actuator:
[ 5.29560072e-06,-8.48494161e-06, 1.49238411e-04, 8.33704240e-05,
 -4.69009509e-06, 2.55565810e-02, 8.52953427e-03, 2.22676372e-03,
 -6.14517767e-05, 4.50361685e-04, 9.40630017e-05, 4.11699392e-05,
  0.00000000e+00,-1.54858713e-03, 0.00000000e+00,-1.57302006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.44142591, -1.82458363, -8.44142591,  8.45299067,
        0.84837402, -1.82458363,  0.84837402,  4.71136601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021707490385651953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.21068397,  0.21068397,  0.95458081,  0.04540693,  0.97755423,
       -0.2057327 , -0.97649909,  0.        , -0.21552151])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05591563, -0.05643568,  0.06175027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20269363e-05,-1.24365085e-05,-1.90287368e-05,-2.84807490e-05,
 -6.47936298e-06,-4.86137707e-05,-5.34430927e-07,-2.02109212e-06,
 -2.51252794e-05,-2.65455311e-07,-2.96098031e-05,-5.06018099e-05,
  1.17287127e-05, 5.33058965e-06, 3.44272428e-06, 5.44240218e-05,
 -7.78883135e-05, 1.22842242e-05,-1.21641339e+00, 8.34432478e-04,
 -2.46504722e-02,-1.47456541e-04]


--- Step 1992 ---
qpos:
[ 3.29623758e-03,-3.19131752e-03, 1.19428149e-02, 4.17638521e-02,
  6.15250445e-03, 7.64887158e-01,-2.99534139e-02, 8.70985712e-01,
  5.82292625e-03, 1.63888363e-02,-9.29216727e-03, 2.59940836e-02,
  1.36598240e+00,-1.34123601e-04, 1.14453761e+00, 6.30538993e-02,
  9.42971163e-03,-3.59614982e-02, 7.31627899e-02, 6.73721388e-01,
 -1.97133838e-01,-6.76982961e-01,-2.21205360e-01]

qacc:
[-7.35551583e+00,-7.61217982e-01, 4.38277832e+00,-1.07408734e+01,
  1.43991560e-01,-2.32239055e+00, 1.20191490e+01,-3.26163691e+01,
  4.49353166e-01,-2.06370122e-01, 1.25137962e+00,-4.55495485e+00,
 -5.55105487e-02, 9.23791892e-02, 4.62171053e+00,-1.56782796e+01,
 -1.67455308e+00, 1.09225119e+00,-2.73605449e-01, 5.31219933e+00,
 -9.94738220e+01,-6.14585789e+01]

qfrc_actuator:
[-3.74896503e-05, 1.12308972e-05, 1.58786518e-04, 6.72770955e-05,
  2.16630547e-05, 2.55891982e-02, 8.52465340e-03, 2.13536283e-03,
 -5.80809950e-05, 4.25064190e-04, 8.05334129e-05, 2.99891806e-05,
  0.00000000e+00,-1.55049469e-03, 0.00000000e+00,-1.65044034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.36365239, -2.15315946, -8.36365239,  8.3899038 ,
        0.9573394 , -2.15315946,  0.9573394 ,  4.91771013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021644213202591826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07541613e-01,  2.07541613e-01,  9.55956567e-01,  4.40322713e-02,
        9.78226190e-01, -2.02816863e-01, -9.77234689e-01, -6.93889390e-18,
       -2.12161170e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05590577, -0.05643776,  0.06175045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31276139e-05, 7.63603323e-06, 3.65505921e-06,-1.78379202e-05,
  2.34382233e-05, 5.53527083e-06,-1.45803250e-05,-9.30165437e-05,
  2.65509065e-06,-3.37556693e-05,-1.89927750e-05,-1.32029054e-05,
  7.43632999e-06, 2.31504264e-06, 4.32477793e-06,-7.47399521e-05,
 -2.95460841e-05, 1.05992002e-05,-1.21644611e+00, 8.30379446e-04,
 -2.46577891e-02,-1.46406789e-04]


--- Step 1993 ---
qpos:
[ 3.29536804e-03,-3.19174649e-03, 1.19430579e-02, 4.17631259e-02,
  6.15262356e-03, 7.64886285e-01,-2.99546081e-02, 8.70985377e-01,
  5.82287812e-03, 1.63882464e-02,-9.29140448e-03, 2.59949588e-02,
  1.36605672e+00,-1.32444451e-04, 1.14471416e+00, 6.30572988e-02,
  9.40239746e-03,-3.59446600e-02, 7.31508258e-02, 6.73337579e-01,
 -1.97091918e-01,-6.77333660e-01,-2.21337735e-01]

qacc:
[-1.44996598e+00, 6.11559118e-01, 1.22447268e+00,-1.08053879e+01,
 -5.80955219e-02, 2.92494784e+00,-1.38178963e+01, 3.30226440e+01,
  3.40580536e+00, 6.29253146e-01,-7.15068872e+00, 2.31242588e+01,
  3.23139093e-01,-5.65103842e-01,-1.47278109e+00, 4.71471510e+00,
 -1.45889637e+00, 8.77132903e-01,-1.03756518e+00, 4.16733490e+00,
 -9.19492166e+01,-5.60771912e+01]

qfrc_actuator:
[-4.46226211e-05, 5.89070440e-05, 1.46483896e-04, 4.01475599e-05,
  1.72553941e-06, 2.55734336e-02, 8.52230469e-03, 2.22444927e-03,
 -3.81622496e-05, 3.92280853e-04, 9.00525940e-05, 7.66857444e-05,
  0.00000000e+00,-1.57017109e-03, 0.00000000e+00,-1.62623217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.27796165, -2.46213885, -8.27796165,  8.33083639,
        1.02721374, -2.46213885,  1.02721374,  5.18276639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002132846792866266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2056772 ,  0.2056772 ,  0.95676213,  0.04322731,  0.97861989,
       -0.20108334, -0.97766471,  0.        , -0.21017067])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05598686, -0.05648181,  0.06175317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35575653e-06, 5.19518618e-05,-1.08858082e-05,-2.70201944e-05,
 -9.41641769e-06,-1.85182180e-05,-5.72477708e-06, 8.67109080e-05,
  1.99847739e-05,-5.61536264e-05,-2.56117600e-07, 4.43346360e-05,
  4.12937982e-06,-1.71208764e-05,-1.03780561e-05, 1.96371838e-05,
 -2.31954627e-04, 2.10451291e-05,-1.21645428e+00, 8.60219920e-04,
 -2.46632354e-02,-1.45943332e-04]


--- Step 1994 ---
qpos:
[ 3.29476421e-03,-3.19154987e-03, 1.19430230e-02, 4.17624046e-02,
  6.15256431e-03, 7.64885362e-01,-2.99553654e-02, 8.70987449e-01,
  5.82272418e-03, 1.63871675e-02,-9.29021920e-03, 2.59960199e-02,
  1.36613126e+00,-1.31506244e-04, 1.14489036e+00, 6.30629455e-02,
  9.38529354e-03,-3.59304345e-02, 7.31402546e-02, 6.73161999e-01,
 -1.97228101e-01,-6.77479079e-01,-2.21305436e-01]

qacc:
[ 2.31277587e+00, 1.60978965e+00,-4.56836308e+00, 4.64589859e+00,
 -9.94166894e-02, 2.93112645e+00,-1.51828282e+01, 4.24989714e+01,
 -9.01231670e-01,-1.44270229e+00, 3.42436506e+00,-5.25561406e-01,
  8.60129905e-01,-1.54896280e+00,-7.37234367e+00, 2.48683928e+01,
  2.55256175e+00,-6.53153234e-01, 3.48225544e-01,-6.39002944e+00,
  1.03692936e+02, 1.59031829e+02]

qfrc_actuator:
[-3.07043039e-05, 1.05121242e-04, 1.39237209e-04, 4.22530761e-05,
 -1.02223731e-05, 2.55999480e-02, 8.55692672e-03, 2.34801980e-03,
 -4.41775836e-05, 3.73166071e-04, 1.13093521e-04, 8.60503106e-05,
  0.00000000e+00,-1.61799027e-03, 0.00000000e+00,-1.50678762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.01006905,  -3.22886522,  -8.01006905,
        18.02542029, -23.29208157,  -3.22886522, -23.29208157,
        66.41863974,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021111647889508547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62940873e-14, -5.25881746e-14,  1.00000000e+00,  1.38275805e-27,
        1.00000000e+00,  5.25881746e-14, -1.00000000e+00,  0.00000000e+00,
        2.62940873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05352139, -0.0116662 ,  0.06174526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37012604e-05, 7.18739486e-05, 1.21342336e-06, 3.43076882e-06,
 -1.61777141e-05, 1.79236187e-05, 3.29355222e-05, 1.24776038e-04,
 -5.46484752e-06,-4.86519074e-05, 1.29392637e-05, 7.80892788e-06,
 -2.21991500e-06,-5.11835250e-05,-5.29468970e-06, 1.18550139e-04,
 -6.27582318e-04, 4.25733575e-05,-1.21644552e+00, 9.16728036e-04,
 -2.46676001e-02,-1.45933495e-04]


--- Step 1995 ---
qpos:
[ 3.29398718e-03,-3.19120572e-03, 1.19433420e-02, 4.17620767e-02,
  6.15254299e-03, 7.64884690e-01,-2.99551157e-02, 8.70988507e-01,
  5.82249937e-03, 1.63858308e-02,-9.28911739e-03, 2.59971903e-02,
  1.36620596e+00,-1.31393713e-04, 1.14506682e+00, 6.30672775e-02,
  9.37704529e-03,-3.59181907e-02, 7.31271679e-02, 6.73174082e-01,
 -1.97525116e-01,-6.77438944e-01,-2.21126574e-01]

qacc:
[-1.51140935e+00, 1.90684535e-02,-1.43975737e+00, 7.56696395e+00,
  2.20864919e-02,-4.15108013e+00, 1.63521543e+01,-2.69918708e+01,
 -6.16351949e-01, 1.18735564e-01,-1.37733659e+00, 3.59030825e+00,
  6.11562198e-01,-1.29198014e+00, 4.28356945e+00,-1.45811690e+01,
  2.21391875e+00,-4.95438357e-01,-6.28858216e-01,-6.51224610e+00,
  9.37731693e+01, 1.42874896e+02]

qfrc_actuator:
[-4.00238487e-05, 9.68904928e-05, 1.52822622e-04, 6.15546279e-05,
  4.92225685e-07, 2.56340084e-02, 8.61324591e-03, 2.29562035e-03,
 -4.76617253e-05, 3.62422169e-04, 1.08437835e-04, 9.11330860e-05,
  0.00000000e+00,-1.66436512e-03, 0.00000000e+00,-1.58074896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.8758291 ,  3.54373995,  7.8758291 ,  8.65324988,
       -0.03752904,  3.54373995, -0.03752904,  8.71977051,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021562963500178917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57437486e-14, -7.72312459e-14,  1.00000000e+00,  1.98822178e-27,
        1.00000000e+00,  7.72312459e-14, -1.00000000e+00,  0.00000000e+00,
        2.57437486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05339666, -0.01168341,  0.06174019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.90482514e-06, 3.23604127e-05, 2.86992158e-05, 2.24898637e-05,
  3.45473450e-06, 5.45025909e-05, 6.74173176e-05,-4.80002736e-05,
 -3.66060288e-06,-3.49224766e-05,-1.28450212e-05, 3.59511325e-06,
 -1.33987770e-05,-6.03672918e-05, 8.42339388e-06,-6.86159749e-05,
 -1.29504902e-04, 1.20438291e-04,-1.21641969e+00, 8.41040592e-04,
 -2.46564906e-02,-1.46560953e-04]


--- Step 1996 ---
qpos:
[ 3.29345006e-03,-3.19124111e-03, 1.19435821e-02, 4.17617364e-02,
  6.15241381e-03, 7.64884037e-01,-2.99542692e-02, 8.70987594e-01,
  5.82223413e-03, 1.63846689e-02,-9.28857956e-03, 2.59987353e-02,
  1.36628068e+00,-1.31860518e-04, 1.14524321e+00, 6.30713725e-02,
  9.37655404e-03,-3.59074229e-02, 7.31082246e-02, 6.73356538e-01,
 -1.97968413e-01,-6.77229516e-01,-2.20815900e-01]

qacc:
[ 2.10974112e+00,-3.10607493e-01, 4.25037857e-01,-2.26949205e-01,
 -5.91960227e-02,-5.01033211e+00, 2.09781253e+01,-4.24613394e+01,
 -3.72953389e-01, 2.57922883e+00,-1.04412434e+01, 1.76952881e+01,
  4.12508379e-01,-9.16024342e-01, 5.81773417e-01,-2.26727291e+00,
  1.93924807e+00,-3.69015755e-01,-1.46417264e+00,-6.48054159e+00,
  8.54990393e+01, 1.29470733e+02]

qfrc_actuator:
[-2.74482065e-05, 2.07153423e-05, 1.25128567e-04, 5.52780145e-05,
 -1.08458766e-05, 2.56013051e-02, 8.62858076e-03, 2.19335497e-03,
 -4.96197590e-05, 3.92170508e-04, 8.75011513e-05, 1.11401626e-04,
  0.00000000e+00,-1.69173964e-03, 0.00000000e+00,-1.59056457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.81875071,  3.66795776,  7.81875071,  8.80380062,
       -0.3569147 ,  3.66795776, -0.3569147 ,  9.39717586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021666282698030934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05336877, -0.01167725,  0.06173887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23298440e-05,-5.12039910e-05,-1.67026944e-05,-3.45978570e-06,
 -9.77985515e-06, 9.27777198e-06, 3.24080014e-05,-9.95838375e-05,
 -2.07765487e-06, 7.75113944e-06,-2.96080925e-05, 1.83955011e-05,
 -2.18196466e-05,-4.63005243e-05,-7.85277615e-06,-1.35395200e-05,
  1.14477353e-06, 5.98061325e-05,-1.21634946e+00, 8.19742995e-04,
 -2.46421301e-02,-1.46456631e-04]


--- Step 1997 ---
qpos:
[ 3.29341275e-03,-3.19167801e-03, 1.19435583e-02, 4.17613411e-02,
  6.15235807e-03, 7.64883913e-01,-2.99534269e-02, 8.70985447e-01,
  5.82229221e-03, 1.63837068e-02,-9.28836335e-03, 2.60004905e-02,
  1.36635509e+00,-1.31921713e-04, 1.14541954e+00, 6.30753014e-02,
  9.38292366e-03,-3.58977264e-02, 7.30805725e-02, 6.73694797e-01,
 -1.98545695e-01,-6.76864227e-01,-2.20385447e-01]

qacc:
[ 4.38536062e+00, 8.50073128e-02,-8.55676408e-01, 6.37304303e-01,
  4.09119990e-02,-1.43246553e+00, 8.36550414e+00,-2.26482580e+01,
  2.80667053e+00, 1.58999967e+00,-6.18310899e+00, 1.01977571e+01,
 -5.35231244e-01, 8.70046346e-01, 4.50196433e-01,-1.60823781e+00,
  1.71522035e+00,-2.67808441e-01,-2.17718862e+00,-6.33698703e+00,
  7.85827977e+01, 1.18326332e+02]

qfrc_actuator:
[-2.07929026e-06,-6.99523956e-06, 1.08463490e-04, 5.16556154e-05,
  2.20283996e-07, 2.56529439e-02, 8.63708492e-03, 2.13354427e-03,
 -3.29115977e-05, 4.10379310e-04, 7.50623959e-05, 1.22719991e-04,
  0.00000000e+00,-1.65437214e-03, 0.00000000e+00,-1.59794959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.72550469,  3.86048626,  7.72550469,  9.02300007,
       -0.77372678,  3.86048626, -0.77372678, 10.18472554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002148840586871141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16661418e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.16661418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05341779, -0.01165247,  0.06174051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57030054e-05,-5.99368679e-05,-2.94200108e-05,-6.46116083e-06,
  6.67939913e-06, 5.99986816e-05, 1.10668470e-05,-6.08003403e-05,
  1.66489112e-05, 1.72464171e-05,-1.38443472e-05, 1.09820508e-05,
 -2.30591776e-05, 2.01996232e-05,-8.27174975e-06,-9.90315401e-06,
 -1.43285797e-04,-1.01632245e-04,-1.21624447e+00, 8.36495915e-04,
 -2.46248847e-02,-1.45702315e-04]


--- Step 1998 ---
qpos:
[ 3.29333460e-03,-3.19204226e-03, 1.19430809e-02, 4.17612028e-02,
  6.15240817e-03, 7.64884580e-01,-2.99527273e-02, 8.70984308e-01,
  5.82289489e-03, 1.63829382e-02,-9.28830533e-03, 2.60020114e-02,
  1.36642925e+00,-1.31362538e-04, 1.14559629e+00, 6.30750759e-02,
  9.38090257e-03,-3.58818316e-02, 7.30615873e-02, 6.73833101e-01,
 -1.99061107e-01,-6.76700624e-01,-2.19999757e-01]

qacc:
[-3.73788008e-01, 1.89479514e+00,-7.69861688e+00, 1.28142478e+01,
  5.82879062e-02, 3.17354319e+00,-1.14463908e+01, 2.18062117e+01,
  4.74177697e+00, 2.06457087e-01, 6.08120807e-01,-4.53475690e+00,
 -9.29217366e-01, 1.55057019e+00, 1.32466652e+01,-4.52474808e+01,
 -2.09767923e+00, 1.54956888e+00, 2.16670069e+00, 8.06582867e+00,
 -1.24346731e+02,-7.80725443e+01]

qfrc_actuator:
[-4.89553176e-06, 3.00519723e-05, 9.86322455e-05, 6.74259069e-05,
  6.83820664e-06, 2.57191637e-02, 8.64185303e-03, 2.18801979e-03,
 -5.35128584e-06, 4.21569623e-04, 6.77056288e-05, 1.10930196e-04,
  0.00000000e+00,-1.61441789e-03, 0.00000000e+00,-1.81688418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 1.22339835, 8.54927326, 1.22339835, 1.42128652,
       1.03247529, 8.54927326, 1.03247529, 8.48861674, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002185821794721843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.18715252,  0.18715252,  0.96433805,  0.03565608,  0.98233087,
       -0.18372455, -0.98168354,  0.        , -0.19051882])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05559915, -0.05633519,  0.06174456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10208553e-06,-2.79705236e-06,-2.60533659e-05, 1.20599200e-05,
  9.62499353e-06, 9.97044562e-05, 1.60417000e-05, 5.53450022e-05,
  2.80411601e-05, 1.84798857e-05,-5.11532002e-06,-1.13189465e-05,
 -7.92746152e-06, 4.00229180e-05,-8.47682350e-06,-2.21377221e-04,
 -4.96648134e-04,-3.37430870e-04,-1.21611127e+00, 8.79870472e-04,
 -2.46051539e-02,-1.44354925e-04]


--- Step 1999 ---
qpos:
[ 3.29287855e-03,-3.19226745e-03, 1.19423529e-02, 4.17619214e-02,
  6.15235303e-03, 7.64885666e-01,-2.99518656e-02, 8.70984540e-01,
  5.82382335e-03, 1.63824674e-02,-9.28895704e-03, 2.60034043e-02,
  1.36650339e+00,-1.30614193e-04, 1.14577294e+00, 6.30725604e-02,
  9.37615376e-03,-3.58745523e-02, 7.30587732e-02, 6.73916128e-01,
 -1.99315420e-01,-6.76585289e-01,-2.19869873e-01]

qacc:
[-3.32668726e+00, 2.65704500e+00,-1.28100358e+01, 2.79224177e+01,
 -5.89364785e-02, 2.48902903e+00,-1.06166586e+01, 2.56488154e+01,
  2.81419795e+00, 2.10799445e+00,-6.41384154e+00, 5.12258529e+00,
 -2.89117068e-01, 5.00970930e-01, 6.79176422e+00,-2.39155776e+01,
 -6.81930787e-01,-2.15386151e+00, 4.04279997e+00, 1.22386763e+00,
  1.92157265e+01,-1.85413009e+02]

qfrc_actuator:
[-2.42821482e-05, 5.23824062e-05, 9.31966834e-05, 1.12294530e-04,
 -7.02721395e-06, 2.57226491e-02, 8.64451977e-03, 2.25606074e-03,
  1.06170658e-05, 4.28475111e-04, 2.78580151e-05, 1.03388493e-04,
  0.00000000e+00,-1.60879386e-03, 0.00000000e+00,-1.92790945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.75977947,  -3.79112112,  -7.75977947,
        15.24937928, -13.5357171 ,  -3.79112112, -13.5357171 ,
        36.34167199,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021447191150715944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29413569e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.29413569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00397737, -0.00719117,  0.06174039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94452507e-05, 1.59200799e-05,-8.79462998e-06, 4.40843342e-05,
 -9.53226316e-06, 6.36472698e-05, 2.58382305e-05, 7.29675406e-05,
  1.67771536e-05, 1.57332993e-05,-3.70476420e-05,-7.14990019e-06,
  4.35653383e-06, 1.47621915e-05,-3.30900283e-05,-1.25501540e-04,
 -4.54460258e-05,-1.02437424e-05,-1.21621236e+00, 7.34459200e-04,
 -2.46226321e-02,-1.40626908e-04]


--- Step 2000 ---
qpos:
[ 3.29219364e-03,-3.19238056e-03, 1.19418533e-02, 4.17627962e-02,
  6.15235578e-03, 7.64886661e-01,-2.99509532e-02, 8.70984950e-01,
  5.82493656e-03, 1.63818932e-02,-9.29023685e-03, 2.60050881e-02,
  1.36657755e+00,-1.29767770e-04, 1.14594906e+00, 6.30713628e-02,
  9.36852681e-03,-3.58656393e-02, 7.30573875e-02, 6.73825667e-01,
 -1.99525640e-01,-6.76642829e-01,-2.19779372e-01]

qacc:
[-2.00329571e+00,-1.64312937e-01, 1.48435316e-01, 2.09980483e+00,
  3.22990800e-02, 5.20131315e-02,-7.25306412e-01, 2.85459538e+00,
  1.59376040e+00, 2.21445723e+00,-9.32748682e+00, 1.54471801e+01,
  5.38365175e-02,-4.51607311e-03,-4.76154119e+00, 1.55173479e+01,
 -7.19534049e-01, 4.08400909e-01, 3.57110102e-01, 3.25062453e+00,
 -1.08168869e+02,-6.44874082e+01]

qfrc_actuator:
[-3.55049504e-05, 6.57873140e-05, 1.08129474e-04, 1.20661458e-04,
  2.49137054e-06, 2.56707967e-02, 8.62792515e-03, 2.26046550e-03,
  1.96312251e-05, 3.97122807e-04,-1.31166659e-05, 1.16135777e-04,
  0.00000000e+00,-1.60583229e-03, 0.00000000e+00,-1.85012336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.33875231, -4.55296512,  7.33875231, 14.35589822,
        9.21910151, -4.55296512,  9.21910151, 23.49628474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021589809559948436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57117373e-14, -1.92838030e-14,  1.00000000e+00,  4.95820077e-28,
        1.00000000e+00,  1.92838030e-14, -1.00000000e+00,  0.00000000e+00,
        2.57117373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0553661 , -0.05624223,  0.06173888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17712924e-05, 2.23889529e-05, 1.86741778e-05, 9.60413952e-06,
  5.24859943e-06,-9.18953092e-06, 1.11959739e-06, 8.87461981e-06,
  9.50044570e-06,-3.04828980e-05,-4.25250503e-05, 1.19993673e-05,
  4.82822614e-06, 8.39960499e-06,-3.16140679e-05, 6.59745167e-05,
 -5.03798935e-05,-1.64560622e-05,-1.21635709e+00, 7.21843602e-04,
 -2.46448952e-02,-1.40092895e-04]


--- Step 2001 ---
qpos:
[ 3.29137931e-03,-3.19230195e-03, 1.19415692e-02, 4.17627190e-02,
  6.15225141e-03, 7.64887410e-01,-2.99499176e-02, 8.70987148e-01,
  5.82580404e-03, 1.63815953e-02,-9.29195552e-03, 2.60075401e-02,
  1.36665172e+00,-1.28866448e-04, 1.14612493e+00, 6.30713808e-02,
  9.35769148e-03,-3.58647773e-02, 7.30684958e-02, 6.73685075e-01,
 -1.99493538e-01,-6.76744939e-01,-2.19925068e-01]

qacc:
[-1.13294937e+00,-2.30929098e+00, 1.26205651e+01,-2.95818274e+01,
 -5.97955353e-02, 2.44851254e+00,-1.25053160e+01, 3.28131668e+01,
 -2.16122841e+00, 3.17737102e+00,-1.40354059e+01, 2.78208145e+01,
  6.46653833e-02,-4.58370558e-02,-4.04385931e+00, 1.35995768e+01,
 -8.02093978e-01,-2.01271557e+00, 3.12348095e+00, 1.62691748e+00,
  1.82154966e+01,-1.71515715e+02]

qfrc_actuator:
[-4.18273562e-05, 7.38082463e-05, 1.17151996e-04, 7.19800499e-05,
 -9.58594396e-06, 2.56570954e-02, 8.63532560e-03, 2.35160026e-03,
  6.73095390e-06, 4.49613680e-04,-1.90600525e-05, 1.58441376e-04,
  0.00000000e+00,-1.60445276e-03, 0.00000000e+00,-1.78601079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.18366281,  6.02902074, -6.18366281, 47.07723818,
       39.42686822,  6.02902074, 39.42686822, 49.07451589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021724945105394133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91638521e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91638521e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00398957, -0.00721077,  0.06173734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.65034125e-06, 2.48155236e-05, 1.62858422e-05,-4.68891854e-05,
 -9.72327853e-06,-1.83192047e-05, 5.97050410e-06, 9.10764074e-05,
 -1.26401731e-05, 2.72135768e-05,-1.70440386e-05, 3.97615978e-05,
  4.04599849e-06, 5.01109701e-06,-8.68266419e-06, 6.33779054e-05,
 -3.45791859e-05, 1.05272230e-04,-1.21639186e+00, 6.89467740e-04,
 -2.46533724e-02,-1.38297343e-04]


--- Step 2002 ---
qpos:
[ 3.29084057e-03,-3.19225611e-03, 1.19414623e-02, 4.17627816e-02,
  6.15182437e-03, 7.64888455e-01,-2.99490014e-02, 8.70990383e-01,
  5.82685509e-03, 1.63814319e-02,-9.29345202e-03, 2.60104509e-02,
  1.36672581e+00,-1.27673796e-04, 1.14630051e+00, 6.30738178e-02,
  9.34387250e-03,-3.58711456e-02, 7.30877331e-02, 6.73498391e-01,
 -1.99238776e-01,-6.76887919e-01,-2.20287476e-01]

qacc:
[ 2.42501790e+00,-2.55119769e-01, 2.48295187e-01, 1.92220146e+00,
 -1.80180645e-01, 2.50973455e+00,-1.01242020e+01, 2.12920894e+01,
  1.60603197e+00, 4.98380878e-01,-3.46207055e+00, 1.09558419e+01,
 -9.04900884e-02, 2.83465426e-01,-7.72224179e+00, 2.64163529e+01,
 -7.45912016e-01,-1.80761566e+00, 2.03223763e+00, 1.56884704e+00,
  1.67375873e+01,-1.57485122e+02]

qfrc_actuator:
[-2.74647869e-05, 6.07217040e-05, 1.22549830e-04, 7.88786006e-05,
 -3.44789512e-05, 2.57019800e-02, 8.63927781e-03, 2.40432882e-03,
  1.65438665e-05, 4.63308925e-04,-3.92267957e-06, 1.82383012e-04,
  0.00000000e+00,-1.58626588e-03, 0.00000000e+00,-1.65951659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.16253063,  2.82132425,  8.16253063, 11.97271984,
       -9.65259832,  2.82132425, -9.65259832, 36.56283448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002162161893701678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.13478213e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.13478213e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00398856, -0.00719428,  0.06173852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41831552e-05, 2.14661874e-06, 1.09106413e-05, 7.61336959e-06,
 -2.92606791e-05, 3.87947745e-05, 3.75646578e-06, 5.43920209e-05,
  9.45690905e-06, 2.71202660e-05, 2.00546798e-05, 2.52916635e-05,
  3.11704831e-06, 2.05890888e-05, 3.61345304e-07, 1.28277550e-04,
 -7.83282942e-05,-1.42855679e-05,-1.21646993e+00, 7.24898992e-04,
 -2.46710551e-02,-1.39218865e-04]


--- Step 2003 ---
qpos:
[ 3.29082296e-03,-3.19207244e-03, 1.19410515e-02, 4.17636287e-02,
  6.15128750e-03, 7.64890065e-01,-2.99483017e-02, 8.70990750e-01,
  5.82801575e-03, 1.63809492e-02,-9.29417226e-03, 2.60122647e-02,
  1.36679988e+00,-1.26266210e-04, 1.14647592e+00, 6.30787410e-02,
  9.32725226e-03,-3.58840821e-02, 7.31114276e-02, 6.73268734e-01,
 -1.98777544e-01,-6.77068514e-01,-2.20850466e-01]

qacc:
[ 4.56250451e+00, 2.63992748e+00,-1.24718643e+01, 2.64438365e+01,
 -6.10688349e-02,-3.64789728e+00, 1.94133186e+01,-5.21538662e+01,
  9.85066408e-01,-4.85187166e+00, 2.13159702e+01,-4.13046753e+01,
 -1.84744180e-04, 1.30659186e-01,-7.75791029e+00, 2.67775608e+01,
 -7.00317076e-01,-1.64201776e+00, 1.11431369e+00, 1.50505703e+00,
  1.55124556e+01,-1.45904702e+02]

qfrc_actuator:
[-1.04446618e-06, 7.06237371e-05, 1.07972326e-04, 1.18413963e-04,
 -3.12977047e-05, 2.57283148e-02, 8.62360163e-03, 2.25652422e-03,
  2.19010559e-05, 4.18252835e-04, 2.33776865e-05, 1.24297800e-04,
  0.00000000e+00,-1.57600561e-03, 0.00000000e+00,-1.53278838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.02391917,   3.19429148,   8.02391917,
        13.66143816, -12.62276534,   3.19429148, -12.62276534,
        40.34419283,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002130146160050979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90896777e-14,  6.51494628e-15,  1.00000000e+00, -2.54667150e-28,
        1.00000000e+00, -6.51494628e-15, -1.00000000e+00,  0.00000000e+00,
        3.90896777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00398244, -0.00715459,  0.06174213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68242637e-05, 1.36882882e-05,-1.25262646e-05, 4.01525732e-05,
 -9.94575478e-06, 5.02747691e-05,-5.96654826e-06,-1.45215489e-04,
  5.63437767e-06,-2.46402915e-05, 3.62613172e-05,-5.57398455e-05,
  6.59247339e-06, 1.64126736e-05, 1.14725237e-05, 1.33227551e-04,
 -9.36355064e-05,-7.76814008e-05,-1.21650335e+00, 7.62587365e-04,
 -2.46852261e-02,-1.40989229e-04]


--- Step 2004 ---
qpos:
[ 3.29077708e-03,-3.19153496e-03, 1.19406364e-02, 4.17648939e-02,
  6.15052999e-03, 7.64891593e-01,-2.99475776e-02, 8.70989739e-01,
  5.82854146e-03, 1.63808444e-02,-9.29507474e-03, 2.60130004e-02,
  1.36687395e+00,-1.24725849e-04, 1.14665141e+00, 6.30844770e-02,
  9.31703996e-03,-3.58977518e-02, 7.31286414e-02, 6.73207538e-01,
 -1.98461386e-01,-6.77080320e-01,-2.21284723e-01]

qacc:
[-2.54005031e-01, 1.34173675e+00,-5.86805277e+00, 1.28470614e+01,
 -1.22589218e-01,-2.56655737e+00, 1.14351201e+01,-2.67227808e+01,
 -5.55100641e+00,-1.19984495e+00, 9.57371087e+00,-2.82403675e+01,
 -3.71051261e-02, 1.38699560e-01,-2.31259729e+00, 8.30038437e+00,
  1.60198601e+00,-1.83304265e-01,-1.62017294e+00,-7.15192763e+00,
  8.50355622e+01, 1.27826790e+02]

qfrc_actuator:
[-3.25053999e-06, 1.11914049e-04, 1.17325191e-04, 1.41325720e-04,
 -4.68609423e-05, 2.56898748e-02, 8.61404592e-03, 2.18716719e-03,
 -1.09199255e-05, 4.62614362e-04, 2.18276046e-05, 7.16267679e-05,
  0.00000000e+00,-1.57054144e-03, 0.00000000e+00,-1.49571775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002141270933216935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59243940e-14, -2.59243940e-14,  1.00000000e+00,  6.72074202e-28,
        1.00000000e+00,  2.59243940e-14, -1.00000000e+00,  0.00000000e+00,
        2.59243940e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05346255, -0.0115566 ,  0.06174129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43871979e-06, 4.80830946e-05, 1.20265053e-05, 2.38437860e-05,
 -2.00174059e-05,-1.64456043e-05,-4.71483384e-06,-7.12283867e-05,
 -3.26691276e-05, 3.57116088e-05,-4.09120153e-06,-5.35584556e-05,
  7.61283329e-06, 1.12576028e-05, 1.66365136e-05, 4.51473756e-05,
 -8.66162935e-05,-9.67688083e-05,-1.21650136e+00, 8.04195789e-04,
 -2.46964039e-02,-1.43555065e-04]


--- Step 2005 ---
qpos:
[ 3.29001542e-03,-3.19066099e-03, 1.19406237e-02, 4.17660516e-02,
  6.14937973e-03, 7.64892670e-01,-2.99468707e-02, 8.70989323e-01,
  5.82866980e-03, 1.63809722e-02,-9.29598107e-03, 2.60131050e-02,
  1.36694807e+00,-1.23114687e-04, 1.14682758e+00, 6.30856066e-02,
  9.31263549e-03,-3.59119224e-02, 7.31366789e-02, 6.73301130e-01,
 -1.98278540e-01,-6.76937018e-01,-2.21602080e-01]

qacc:
[ -6.27570931, -0.88949829,  4.29085421, -7.06355375, -0.21870642,
   0.48899092, -3.68588309, 10.75221956, -3.4704476 , -0.97403172,
   6.59532446,-17.69479403, -0.3576719 ,  0.53226592, 14.91893299,
 -50.69544165,  1.45195709, -0.1252346 , -2.29407648, -7.09982571,
  78.26188356,116.9977599 ]

qfrc_actuator:
[-4.00441425e-05, 1.36260967e-04, 1.40858122e-04, 1.36563238e-04,
 -7.35161211e-05, 2.56484966e-02, 8.60800826e-03, 2.21779534e-03,
 -3.04418268e-05, 4.71293858e-04, 2.13678925e-05, 4.03767606e-05,
  0.00000000e+00,-1.56795875e-03, 0.00000000e+00,-1.74254689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62727832,  0.39603747,  8.62727832,  8.64799516,
       -0.25338107,  0.39603747, -0.25338107, 14.1560156 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021268282078386186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61004396e-14,  2.61004396e-14,  1.00000000e+00, -6.81232949e-28,
        1.00000000e+00, -2.61004396e-14, -1.00000000e+00,  0.00000000e+00,
        2.61004396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05351275, -0.01153404,  0.06174314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68208051e-05, 5.47227161e-05, 3.57668937e-05,-1.82554277e-06,
 -3.56401665e-05,-5.37434422e-05,-1.19851030e-05, 2.83429182e-05,
 -2.04445577e-05, 2.55123201e-05, 4.57191490e-06,-3.09014399e-05,
  6.78995188e-06, 7.32622716e-06, 8.53264441e-06,-2.43161025e-04,
  4.55613151e-05, 1.40253869e-04,-1.21651158e+00, 7.72245518e-04,
 -2.46881070e-02,-1.45865931e-04]


--- Step 2006 ---
qpos:
[ 3.28881884e-03,-3.18971869e-03, 1.19410974e-02, 4.17661359e-02,
  6.14827604e-03, 7.64893148e-01,-2.99461373e-02, 8.70988944e-01,
  5.82856289e-03, 1.63811886e-02,-9.29655662e-03, 2.60128294e-02,
  1.36702231e+00,-1.21725851e-04, 1.14700394e+00, 6.30824546e-02,
  9.31354392e-03,-3.59264056e-02, 7.31332464e-02, 6.73538006e-01,
 -1.98219088e-01,-6.76649897e-01,-2.21812227e-01]

qacc:
[-3.80368374e+00,-3.47460061e+00, 1.70590594e+01,-3.64700670e+01,
  2.62222468e-02,-7.95911494e-01, 1.56417676e+00,-5.48640481e-01,
 -2.04324951e+00,-1.58608755e+00, 7.43703349e+00,-1.46176714e+01,
 -3.69997366e-02,-5.37575078e-02, 1.32168783e+01,-4.58160861e+01,
  1.32822556e+00,-7.81634233e-02,-2.86749752e+00,-6.98338829e+00,
  7.26128873e+01, 1.07991565e+02]

qfrc_actuator:
[-6.13861606e-05, 1.14812364e-04, 1.54741520e-04, 8.00492574e-05,
 -5.33082166e-05, 2.56057560e-02, 8.60411320e-03, 2.21822858e-03,
 -4.19678799e-05, 4.76310831e-04, 3.92095431e-05, 2.19635401e-05,
  0.00000000e+00,-1.58484871e-03, 0.00000000e+00,-1.95934291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62310991,  0.47828057,  8.62310991,  8.65832829,
       -0.39600944,  0.47828057, -0.39600944, 15.77617475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020905273951602604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31920735e-15,  2.65536588e-14,  1.00000000e+00, -8.81370997e-29,
        1.00000000e+00, -2.65536588e-14, -1.00000000e+00,  0.00000000e+00,
        3.31920735e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05362244, -0.01149646,  0.06174726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23760803e-05, 1.64174640e-05, 2.95183860e-05,-5.29706250e-05,
  4.20481528e-06,-7.40164042e-05,-1.50352299e-05,-1.00086618e-06,
 -1.21025565e-05, 1.89027650e-05, 2.26153076e-05,-1.77607294e-05,
  4.62240676e-06,-1.29847365e-05,-2.82872638e-05,-2.30462455e-04,
 -5.11966606e-05, 2.73026118e-04,-1.21648591e+00, 7.74694429e-04,
 -2.46766992e-02,-1.47642784e-04]


--- Step 2007 ---
qpos:
[ 3.28841045e-03,-3.18897711e-03, 1.19418846e-02, 4.17659355e-02,
  6.14772286e-03, 7.64893222e-01,-2.99460930e-02, 8.70988595e-01,
  5.82797351e-03, 1.63815646e-02,-9.29667669e-03, 2.60126625e-02,
  1.36709651e+00,-1.20252939e-04, 1.14717973e+00, 6.30800428e-02,
  9.30583939e-03,-3.59338326e-02, 7.31347770e-02, 6.73591318e-01,
 -1.98097651e-01,-6.76549941e-01,-2.22063582e-01]

qacc:
[ 6.93102165e+00,-1.74226079e+00, 7.00469132e+00,-1.22602802e+01,
  3.06238958e-01, 1.38372934e+00,-5.26658991e+00, 5.35789120e+00,
 -4.19669161e+00,-8.30216229e-01, 2.82200303e+00,-1.80328811e+00,
 -5.63592860e-03, 5.07197726e-02,-3.07799261e+00, 9.54277203e+00,
 -2.15324152e+00, 1.76408605e+00, 1.24079607e+00, 9.49737985e+00,
 -1.14176970e+02,-7.37568895e+01]

qfrc_actuator:
[-2.01939002e-05, 8.37726513e-05, 1.62590167e-04, 6.45037287e-05,
 -5.26467310e-06, 2.55802807e-02, 8.56596160e-03, 2.21861803e-03,
 -6.64522369e-05, 4.96933994e-04, 6.76989149e-05, 2.90065578e-05,
  0.00000000e+00,-1.57765220e-03, 0.00000000e+00,-1.90806447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 0.21743169, 8.63362614, 0.21743169, 1.68105039,
       0.17516458, 8.63362614, 0.17516458, 8.63195224, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00215666336399539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.18631223,  0.18631223,  0.96466342,  0.03533087,  0.98249059,
       -0.18293161, -0.98185512,  0.        , -0.18963258])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05564652, -0.05648455,  0.06174853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05581561e-05,-1.80747952e-05, 1.30278989e-05,-1.48541876e-05,
  4.99199936e-05,-6.95038929e-05,-5.45220321e-05,-2.45153396e-06,
 -2.48247891e-05, 3.50990384e-05, 3.45702079e-05, 8.29183986e-06,
 -1.80784438e-06, 5.45146809e-06,-4.16755153e-05, 3.40889009e-05,
 -3.27588124e-04, 3.24327927e-04,-1.21643078e+00, 8.02490626e-04,
 -2.46625107e-02,-1.48923591e-04]


--- Step 2008 ---
qpos:
[ 3.28884342e-03,-3.18811488e-03, 1.19423341e-02, 4.17662452e-02,
  6.14753767e-03, 7.64892759e-01,-2.99468325e-02, 8.70989652e-01,
  5.82709527e-03, 1.63819018e-02,-9.29610103e-03, 2.60132803e-02,
  1.36717079e+00,-1.18970823e-04, 1.14735567e+00, 6.30748406e-02,
  9.29064321e-03,-3.59355285e-02, 7.31373346e-02, 6.73476948e-01,
 -1.97922656e-01,-6.76620049e-01,-2.22352720e-01]

qacc:
[ 7.37227118e+00, 2.14059176e+00,-9.57683395e+00, 1.88792826e+01,
  2.04279207e-01, 3.85336070e+00,-1.67309676e+01, 3.22439438e+01,
 -2.49665222e+00,-3.75292504e-01,-2.04162625e+00, 1.45320213e+01,
 -2.63335020e-03,-9.72277330e-02, 8.64380529e+00,-2.99228033e+01,
 -1.87291040e+00, 1.43275244e+00, 2.56706411e-01, 7.53110020e+00,
 -1.04310199e+02,-6.63049744e+01]

qfrc_actuator:
[ 2.19645363e-05, 1.00477890e-04, 1.49043767e-04, 9.09327199e-05,
  5.69978421e-06, 2.55474551e-02, 8.52571380e-03, 2.28998444e-03,
 -8.06176147e-05, 4.91309043e-04, 1.02319908e-04, 6.87392698e-05,
  0.00000000e+00,-1.59172653e-03, 0.00000000e+00,-2.05430309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.53422914, -1.32427709, -8.53422914,  8.53356987,
        0.66244866, -1.32427709,  0.66244866,  4.36725053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002171343133593078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84418424e-01,  1.84418424e-01,  9.65390952e-01,  3.46036836e-02,
        9.82847824e-01, -1.81142872e-01, -9.82238479e-01,  6.93889390e-18,
       -1.87636804e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05557925, -0.05646641,  0.061747  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33043786e-05, 8.63231473e-06,-1.62078452e-05, 2.58118263e-05,
  3.33587057e-05,-8.21674740e-05,-6.03124962e-05, 6.74470157e-05,
 -1.48653931e-05, 2.14765761e-05, 4.64139205e-05, 4.25951112e-05,
 -4.04899912e-07,-1.27050699e-05,-1.65444769e-05,-1.49964505e-04,
 -2.65135996e-05, 1.43558613e-04,-1.21647913e+00, 8.08659827e-04,
 -2.46694015e-02,-1.47986032e-04]


--- Step 2009 ---
qpos:
[ 3.28908868e-03,-3.18709764e-03, 1.19426165e-02, 4.17661618e-02,
  6.14739289e-03, 7.64891567e-01,-2.99480725e-02, 8.70993286e-01,
  5.82639882e-03, 1.63821345e-02,-9.29497141e-03, 2.60136972e-02,
  1.36724517e+00,-1.18108656e-04, 1.14753125e+00, 6.30699149e-02,
  9.26890360e-03,-3.59325839e-02, 7.31375626e-02, 6.73208136e-01,
 -1.97700869e-01,-6.76845828e-01,-2.22676664e-01]

qacc:
[-1.65571084e+00,-1.34647059e-01, 2.44070336e+00,-9.09316362e+00,
  2.18992245e-02, 4.86642532e+00,-2.30218015e+01, 5.20210217e+01,
  1.60457253e+00,-2.10297392e+00, 8.14074308e+00,-1.24202316e+01,
  4.19647131e-01,-7.90646495e-01,-1.40056911e+00, 4.04261614e+00,
 -1.63586001e+00, 1.16011846e+00,-5.82380988e-01, 6.00464973e+00,
 -9.60234632e+01,-6.01266605e+01]

qfrc_actuator:
[ 1.10763263e-05, 1.10083758e-04, 1.40938759e-04, 7.08549719e-05,
 -5.62089627e-06, 2.55105154e-02, 8.50233118e-03, 2.42030015e-03,
 -7.08395949e-05, 4.70069848e-04, 1.22444805e-04, 5.63556369e-05,
  0.00000000e+00,-1.61832213e-03, 0.00000000e+00,-2.03177539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.4752997 , -1.66014211, -8.4752997 ,  8.48089872,
        0.79367409, -1.66014211,  0.79367409,  4.58452629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002156859673754539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83425089e-01,  1.83425089e-01,  9.65769369e-01,  3.42254429e-02,
        9.83033690e-01, -1.80203725e-01, -9.82437711e-01, -6.93889390e-18,
       -1.86590847e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05561638, -0.05649577,  0.06174841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.65537541e-06, 1.21675024e-05,-7.44331187e-06,-1.97718609e-05,
  3.63829263e-06,-9.21906112e-05,-4.44978399e-05, 1.27405234e-04,
  9.35755424e-06, 2.15516782e-06, 3.17395149e-05,-9.03129999e-06,
 -4.07747672e-06,-2.96351040e-05,-2.75802302e-05, 1.12854651e-05,
 -2.73876025e-05,-1.14325772e-05,-1.21649707e+00, 8.53121439e-04,
 -2.46736439e-02,-1.47870820e-04]


--- Step 2010 ---
qpos:
[ 3.28851214e-03,-3.18618312e-03, 1.19431945e-02, 4.17654942e-02,
  6.14679997e-03, 7.64890630e-01,-2.99499177e-02, 8.70996292e-01,
  5.82617014e-03, 1.63818225e-02,-9.29330174e-03, 2.60133307e-02,
  1.36731949e+00,-1.17299173e-04, 1.14770645e+00, 6.30669207e-02,
  9.25564239e-03,-3.59314858e-02, 7.31347723e-02, 6.73125985e-01,
 -1.97638421e-01,-6.76886875e-01,-2.22855606e-01]

qacc:
[-7.20218888e+00,-2.15210612e+00, 9.96423172e+00,-2.04938648e+01,
 -2.50152514e-01, 8.82039193e-01,-1.06330021e+00,-6.73571099e+00,
  4.10569711e+00,-3.85000926e+00, 1.59763742e+01,-2.99811155e+01,
  1.37305975e-01,-2.35940290e-01,-6.41820657e+00, 2.15891291e+01,
  2.11960348e+00,-4.61619441e-01,-7.54556625e-01,-6.67870141e+00,
  9.32782850e+01, 1.41775645e+02]

qfrc_actuator:
[-3.09473377e-05, 9.75947345e-05, 1.53815707e-04, 4.13248595e-05,
 -4.78848963e-05, 2.55780282e-02, 8.48909789e-03, 2.38897481e-03,
 -4.70506441e-05, 4.04038001e-04, 1.33735523e-04, 1.33739817e-05,
  0.00000000e+00,-1.61661976e-03, 0.00000000e+00,-1.92769126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.01669926,  -3.21236827,  -8.01669926,
        17.35051008, -21.74678785,  -3.21236827, -21.74678785,
        62.90705842,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002078436408006576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33540653e-14, -2.67081307e-14,  1.00000000e+00,  3.56662123e-28,
        1.00000000e+00,  2.67081307e-14, -1.00000000e+00,  0.00000000e+00,
        1.33540653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05367995, -0.0114337 ,  0.06174876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.22968168e-05,-8.11342326e-06, 1.37743692e-05,-2.96537248e-05,
 -4.06458010e-05, 1.17608956e-05,-3.26896468e-05,-3.27174821e-05,
  2.40589884e-05,-5.86789675e-05, 1.53148446e-05,-4.19713388e-05,
 -9.81549924e-06,-6.79830615e-06,-1.32410550e-05, 1.00749345e-04,
 -2.59017089e-04,-1.43487101e-04,-1.21649393e+00, 9.27200775e-04,
 -2.46763562e-02,-1.48374528e-04]


--- Step 2011 ---
qpos:
[ 3.28812620e-03,-3.18534726e-03, 1.19435915e-02, 4.17655442e-02,
  6.14553606e-03, 7.64890273e-01,-2.99512043e-02, 8.70996732e-01,
  5.82657319e-03, 1.63813225e-02,-9.29188278e-03, 2.60124621e-02,
  1.36739384e+00,-1.16762122e-04, 1.14788135e+00, 6.30665015e-02,
  9.24984642e-03,-3.59317620e-02, 7.31257365e-02, 6.73213749e-01,
 -1.97721173e-01,-6.76759395e-01,-2.22904255e-01]

qacc:
[  1.66895908,  1.87739381, -9.87627714, 22.64249335, -0.37305966,
  -5.20174578, 23.86310952,-52.5604202 ,  5.50507776, -0.5922425 ,
   3.85287786,-11.98469925,  0.39723107, -0.69281783, -8.23257367,
  28.10374268,  1.86630727, -0.34355311, -1.56140504, -6.75945259,
  85.17120961,128.58063169]

qfrc_actuator:
[-1.99325781e-05, 8.97971531e-05, 1.43380730e-04, 7.74821900e-05,
 -9.04898788e-05, 2.56542629e-02, 8.53551700e-03, 2.26283774e-03,
 -1.52138354e-05, 4.00375824e-04, 1.21765422e-04,-1.17983964e-05,
  0.00000000e+00,-1.63364315e-03, 0.00000000e+00,-1.79419140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.1509657 ,  2.8545639 ,  8.1509657 ,  8.73485989,
       -0.28124773,  2.8545639 , -0.28124773,  9.43944273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020923968675344573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65299342e-14, -2.65299342e-14,  1.00000000e+00,  7.03837409e-28,
        1.00000000e+00,  2.65299342e-14, -1.00000000e+00,  0.00000000e+00,
        2.65299342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05364528, -0.01142985,  0.06174723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.80445347e-06,-1.08110107e-05,-1.14540489e-05, 3.57092053e-05,
 -6.08440106e-05, 7.52883848e-05, 4.40090037e-05,-1.27488187e-04,
  3.25077206e-05,-3.51107145e-05,-2.36732211e-05,-2.79772019e-05,
 -7.05308055e-06,-2.10510906e-05, 2.77620042e-06, 1.36877764e-04,
 -2.48983683e-05,-1.96543370e-06,-1.21647587e+00, 8.83373085e-04,
 -2.46652142e-02,-1.49739621e-04]


--- Step 2012 ---
qpos:
[ 3.28821975e-03,-3.18459826e-03, 1.19438699e-02, 4.17660237e-02,
  6.14428640e-03, 7.64890209e-01,-2.99515847e-02, 8.70996009e-01,
  5.82700936e-03, 1.63816008e-02,-9.29165592e-03, 2.60112388e-02,
  1.36746810e+00,-1.16177443e-04, 1.14805627e+00, 6.30673389e-02,
  9.25068960e-03,-3.59330337e-02, 7.31077025e-02, 6.73457335e-01,
 -1.97937198e-01,-6.76476770e-01,-2.22834610e-01]

qacc:
[ 4.20653398e+00, 1.09411580e+00,-5.89352307e+00, 1.35943030e+01,
  8.82605973e-03,-4.08018635e+00, 1.65273434e+01,-2.89628085e+01,
  2.38288883e-01, 3.62974330e+00,-9.95282063e+00, 5.14758029e+00,
 -2.12559295e-02, 2.94299305e-02,-3.78404750e+00, 1.32541173e+01,
  1.65978752e+00,-2.48895032e-01,-2.24952327e+00,-6.71896741e+00,
  7.84023980e+01, 1.17619932e+02]

qfrc_actuator:
[ 4.46892582e-06, 8.48314510e-05, 1.37069478e-04, 9.87261245e-05,
 -6.18868070e-05, 2.56642938e-02, 8.58130063e-03, 2.20627215e-03,
 -1.44046324e-05, 4.87254461e-04, 7.86609391e-05,-2.62530815e-05,
  0.00000000e+00,-1.62615591e-03, 0.00000000e+00,-1.73322149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.10648911,  2.978525  ,  8.10648911,  8.86328157,
       -0.61759017,  2.978525  , -0.61759017, 10.31722514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020787841708938687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.67591566e-15, -3.33795783e-15,  1.00000000e+00,  2.22839250e-29,
        1.00000000e+00,  3.33795783e-15, -1.00000000e+00,  0.00000000e+00,
        6.67591566e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05368658, -0.01140733,  0.06174861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46729167e-05,-1.18778695e-05,-8.73396345e-06, 2.10764353e-05,
  1.30897203e-06, 5.63658335e-05, 6.18766492e-05,-5.57294664e-05,
  1.73054795e-06, 6.11716030e-05,-5.42506906e-05,-1.73243149e-05,
 -8.66711240e-06, 2.02912943e-07, 1.36243281e-05, 6.82814839e-05,
 -7.24973131e-05, 2.31269131e-05,-1.21641991e+00, 8.81292393e-04,
 -2.46510969e-02,-1.50480067e-04]


--- Step 2013 ---
qpos:
[ 3.28826024e-03,-3.18414179e-03, 1.19444651e-02, 4.17664050e-02,
  6.14362927e-03, 7.64890365e-01,-2.99519522e-02, 8.70995706e-01,
  5.82745237e-03, 1.63822901e-02,-9.29194306e-03, 2.60101964e-02,
  1.36754240e+00,-1.15801335e-04, 1.14823153e+00, 6.30662313e-02,
  9.24357437e-03,-3.59282160e-02, 7.30963247e-02, 6.73509577e-01,
 -1.98092697e-01,-6.76387993e-01,-2.22808024e-01]

qacc:
[-4.50818326e-01,-1.47402987e+00, 5.11011208e+00,-7.10182281e+00,
  3.29896163e-01, 9.80423110e-01,-3.82356773e+00, 8.30992477e+00,
  3.66607986e-02, 2.35185758e+00,-8.36082182e+00, 1.20084440e+01,
  2.71239517e-02,-1.59335049e-01, 6.38811597e+00,-2.16028839e+01,
 -1.98960065e+00, 1.52234223e+00, 1.66404205e+00, 8.47729190e+00,
 -1.18989388e+02,-7.54751783e+01]

qfrc_actuator:
[ 1.03207658e-06, 6.38519159e-05, 1.50995207e-04, 9.32703128e-05,
 -8.72839904e-06, 2.56524085e-02, 8.57287399e-03, 2.22657738e-03,
 -1.41134619e-05, 5.03298133e-04, 5.34227632e-05,-1.64711818e-05,
  0.00000000e+00,-1.63967865e-03, 0.00000000e+00,-1.83974954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 0.28626185, 8.6316181 , 0.28626185, 1.53247131,
       0.23559584, 8.6316181 , 0.23559584, 8.62855026, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00219614990919989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73510748e-01,  1.73510748e-01,  9.69426656e-01,  3.05696610e-02,
        9.84831976e-01, -1.70796591e-01, -9.84357413e-01, -3.46944695e-18,
       -1.76183098e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05537458, -0.05642457,  0.06174323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74147905e-06,-2.85460008e-05, 1.11116980e-05,-5.86094858e-06,
  5.37541586e-05, 2.97772587e-05, 8.14325463e-06, 2.27038386e-05,
  3.65901095e-07, 3.82945443e-05,-1.98866916e-05, 1.01906903e-05,
 -4.50398640e-06,-1.55601669e-05, 9.89017560e-06,-1.01894663e-04,
 -3.35886741e-04,-3.97252276e-05,-1.21633320e+00, 9.09120100e-04,
 -2.46342833e-02,-1.50654562e-04]


--- Step 2014 ---
qpos:
[ 3.28894929e-03,-3.18388604e-03, 1.19448929e-02, 4.17674307e-02,
  6.14358860e-03, 7.64890898e-01,-2.99524892e-02, 8.70996334e-01,
  5.82789613e-03, 1.63824433e-02,-9.29161090e-03, 2.60100134e-02,
  1.36761662e+00,-1.15332948e-04, 1.14840715e+00, 6.30611936e-02,
  9.22951252e-03,-3.59184478e-02, 7.30873796e-02, 6.73387831e-01,
 -1.98195932e-01,-6.76474772e-01,-2.22820744e-01]

qacc:
[ 5.69092936e+00, 1.51970818e+00,-8.54022815e+00, 2.01242205e+01,
  3.42910562e-01, 2.56971709e+00,-9.95351210e+00, 1.98299681e+01,
  3.54706676e-02,-6.70055396e-01,-2.26826474e+00, 1.65492667e+01,
 -3.96125100e-01, 5.60442502e-01, 1.24233327e+01,-4.26227220e+01,
 -1.73665689e+00, 1.23764237e+00, 6.08162555e-01, 6.63207724e+00,
 -1.08245543e+02,-6.76832123e+01]

qfrc_actuator:
[ 3.44908729e-05, 5.12571193e-05, 1.41169824e-04, 1.25408461e-04,
  2.30739895e-05, 2.56805892e-02, 8.56795721e-03, 2.27413510e-03,
 -1.41200642e-05, 4.41391488e-04, 7.42083782e-05, 2.52117357e-05,
  0.00000000e+00,-1.63006496e-03, 0.00000000e+00,-2.04407734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58790632, -0.91358736, -8.58790632,  8.597167  ,
        0.36845629, -0.91358736,  0.36845629,  5.17279981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002215892241088905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.17028835,  0.17028835,  0.97056878,  0.02942794,  0.98539428,
       -0.16772632, -0.98495476,  0.        , -0.1728124 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05527348, -0.05638622,  0.06174081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33684104e-05,-2.65390602e-05,-1.45689482e-05, 3.11826894e-05,
  5.59307247e-05, 4.70193692e-05, 2.57927838e-06, 4.92695517e-05,
  1.93113848e-08,-4.41810000e-05, 2.65970876e-05, 4.28357296e-05,
 -6.48168845e-06, 4.62691858e-06,-1.12685900e-05,-2.09780121e-04,
 -3.96797189e-05, 5.78768803e-07,-1.21639975e+00, 8.58472254e-04,
 -2.46459358e-02,-1.48602775e-04]


--- Step 2015 ---
qpos:
[ 3.29003396e-03,-3.18396908e-03, 1.19458049e-02, 4.17691512e-02,
  6.14383539e-03, 7.64891638e-01,-2.99528214e-02, 8.70999595e-01,
  5.82799116e-03, 1.63825506e-02,-9.29114602e-03, 2.60099569e-02,
  1.36769055e+00,-1.13988219e-04, 1.14858254e+00, 6.30550774e-02,
  9.20935963e-03,-3.59046646e-02, 7.30772623e-02, 6.73106570e-01,
 -1.98253543e-01,-6.76721698e-01,-2.22869516e-01]

qacc:
[ 3.49374518e+00,-3.76396951e-01,-2.25007132e+00, 1.37579573e+01,
  1.59705033e-01, 4.28570474e+00,-1.97318979e+01, 4.90970706e+01,
 -3.03660392e+00,-1.65212753e-01,-2.27367448e-02, 2.02257850e+00,
 -9.09435104e-01, 1.66948664e+00, 2.99343817e+00,-1.07809651e+01,
 -1.52275987e+00, 1.00372214e+00,-2.93042422e-01, 5.20139144e+00,
 -9.92182225e+01,-6.12122090e+01]

qfrc_actuator:
[ 5.39013961e-05, 4.37183810e-05, 1.70709183e-04, 1.61647089e-04,
  2.40491774e-05, 2.56970579e-02, 8.58307626e-03, 2.40837532e-03,
 -3.20546024e-05, 4.57765776e-04, 8.61753003e-05, 3.20263385e-05,
  0.00000000e+00,-1.57128158e-03, 0.00000000e+00,-2.09129032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.54202504, -1.27302202, -8.54202504,  8.56490324,
        0.47950192, -1.27302202,  0.47950192,  5.41888797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002204404496227088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68328706e-01,  1.68328706e-01,  9.71252229e-01,  2.87447140e-02,
        9.85730920e-01, -1.65856247e-01, -9.85311721e-01, -3.46944695e-18,
       -1.70765371e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0552864 , -0.05640111,  0.06174159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03495786e-05,-2.40600452e-05, 2.33298647e-05, 3.51993696e-05,
  2.60825441e-05, 4.46054550e-05, 2.61738779e-05, 1.36939028e-04,
 -1.79514648e-05,-1.00992043e-06, 7.59406181e-06, 6.67461046e-06,
 -3.27824803e-06, 5.89338601e-05,-3.25838775e-05,-6.12817221e-05,
 -6.56126990e-05, 5.08151657e-05,-1.21643168e+00, 8.51479465e-04,
 -2.46543779e-02,-1.47316154e-04]


--- Step 2016 ---
qpos:
[ 3.29030829e-03,-3.18436351e-03, 1.19471310e-02, 4.17706028e-02,
  6.14401895e-03, 7.64892444e-01,-2.99524957e-02, 8.71002700e-01,
  5.82821500e-03, 1.63831209e-02,-9.29103773e-03, 2.60096052e-02,
  1.36776451e+00,-1.12492559e-04, 1.14875730e+00, 6.30517362e-02,
  9.19820431e-03,-3.58930142e-02, 7.30664345e-02, 6.73023334e-01,
 -1.98479977e-01,-6.76772978e-01,-2.22763612e-01]

qacc:
[-7.09404178e+00,-2.10976827e+00, 8.08296372e+00,-1.31936658e+01,
 -3.46466449e-02,-1.96041261e+00, 6.90425803e+00,-8.10321178e+00,
  1.10433183e+00, 9.98539900e-01,-1.42954716e+00,-3.44744489e+00,
  1.40814538e-01,-7.54286040e-02,-9.30805083e+00, 3.12040470e+01,
  2.24939364e+00,-5.33163696e-01,-1.77627256e-01,-6.65353058e+00,
  9.87029126e+01, 1.50640782e+02]

qfrc_actuator:
[ 1.16185801e-05, 2.16789960e-05, 1.87777500e-04, 1.46779959e-04,
  6.61047319e-06, 2.56887664e-02, 8.60991036e-03, 2.39727264e-03,
 -2.48914745e-05, 5.03080210e-04, 7.53372438e-05, 1.83091644e-05,
  0.00000000e+00,-1.57258051e-03, 0.00000000e+00,-1.93899823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.20640995,  -2.69102445,  -8.20640995,
        15.23743179, -20.13027845,  -2.69102445, -20.13027845,
        70.02462699,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021372161585336558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59735783e-14, -5.19471566e-14,  1.00000000e+00,  1.34925354e-27,
        1.00000000e+00,  5.19471566e-14, -1.00000000e+00,  0.00000000e+00,
        2.59735783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05352569, -0.01139551,  0.0617416 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.17149842e-05,-2.91749598e-05, 1.61746733e-05,-1.44119971e-05,
 -5.72877045e-06, 2.59528426e-05, 4.27677017e-05,-5.77854146e-06,
  6.64844900e-06, 4.65892163e-05,-9.88609687e-06,-1.33681771e-05,
  1.14013893e-05, 1.39330022e-05,-2.42942536e-05, 1.44144306e-04,
 -3.34649831e-04, 1.10228745e-04,-1.21643933e+00, 8.78140702e-04,
 -2.46608563e-02,-1.46605662e-04]


--- Step 2017 ---
qpos:
[ 3.29007384e-03,-3.18484089e-03, 1.19480495e-02, 4.17715478e-02,
  6.14405831e-03, 7.64893672e-01,-2.99520403e-02, 8.71001501e-01,
  5.82852282e-03, 1.63842480e-02,-9.29175100e-03, 2.60098025e-02,
  1.36783862e+00,-1.11225338e-04, 1.14893196e+00, 6.30495205e-02,
  9.19492916e-03,-3.58829642e-02, 7.30512973e-02, 6.73119192e-01,
 -1.98859385e-01,-6.76646621e-01,-2.22519322e-01]

qacc:
[-4.47727383e+00,-5.40436337e-03, 2.01221782e+00,-1.00800687e+01,
 -7.95765858e-02,-7.26566010e+00, 3.43403103e+01,-8.26750038e+01,
  6.97620944e-01, 4.16081414e+00,-1.60877524e+01, 2.64938082e+01,
  3.51515333e-01,-5.65066993e-01,-3.57981496e+00, 1.22320977e+01,
  1.97004255e+00,-4.00123109e-01,-1.07734176e+00,-6.66195133e+00,
  8.96090238e+01, 1.35909633e+02]

qfrc_actuator:
[-1.33746446e-05, 8.79996878e-06, 1.61734321e-04, 1.19687728e-04,
 -3.88824110e-06, 2.57011818e-02, 8.60773315e-03, 2.17643047e-03,
 -2.07604241e-05, 5.29762968e-04, 3.34997808e-05, 4.59019576e-05,
  0.00000000e+00,-1.59180132e-03, 0.00000000e+00,-1.88345685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.09446034,  3.01106104,  8.09446034,  8.77581816,
       -0.37488748,  3.01106104, -0.37488748,  9.64415185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002164073280007832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.45088734e-14, -5.13024690e-14,  1.00000000e+00,  2.79643979e-27,
        1.00000000e+00,  5.13024690e-14, -1.00000000e+00,  0.00000000e+00,
        5.45088734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05345027, -0.01140149,  0.06173851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61920775e-05,-2.64899797e-05,-3.05886036e-05,-2.80664370e-05,
 -1.30663823e-05, 3.50249706e-05, 7.68601311e-06,-2.18855955e-04,
  4.34067618e-06, 5.01026385e-05,-3.39012387e-05, 2.89861403e-05,
  9.14602177e-06,-1.27117375e-05, 3.47247445e-06, 6.01320414e-05,
 -2.83868517e-05, 1.11477124e-04,-1.21638473e+00, 8.31374156e-04,
 -2.46468248e-02,-1.46923290e-04]


--- Step 2018 ---
qpos:
[ 3.28988626e-03,-3.18545760e-03, 1.19486490e-02, 4.17721624e-02,
  6.14396442e-03, 7.64894967e-01,-2.99515654e-02, 8.70999087e-01,
  5.82853335e-03, 1.63855063e-02,-9.29310895e-03, 2.60107171e-02,
  1.36791272e+00,-1.09893475e-04, 1.14910635e+00, 6.30499921e-02,
  9.19862324e-03,-3.58740883e-02, 7.30287755e-02, 6.73378217e-01,
 -1.99378394e-01,-6.76357483e-01,-2.22149925e-01]

qacc:
[ 4.03513451e-01, 2.55784766e-02, 1.03434422e+00,-6.13812919e+00,
 -7.40043005e-02,-2.07259461e+00, 9.67844799e+00,-2.32796198e+01,
 -2.61495709e+00, 3.45702617e+00,-1.50949876e+01, 2.84353327e+01,
  1.34418434e-01,-1.40476749e-01,-8.52349683e+00, 2.92141818e+01,
  1.74230670e+00,-2.93508319e-01,-1.84615577e+00,-6.54501313e+00,
  8.20167330e+01, 1.23674920e+02]

qfrc_actuator:
[-1.02188977e-05, 1.31326796e-06, 1.45985563e-04, 1.03358312e-04,
 -1.01166891e-05, 2.56901339e-02, 8.60616689e-03, 2.11799825e-03,
 -3.62079362e-05, 5.09482363e-04,-8.57709010e-06, 7.98019907e-05,
  0.00000000e+00,-1.58595100e-03, 0.00000000e+00,-1.74340514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.02963367,  3.17989937,  8.02963367,  8.9299937 ,
       -0.7414517 ,  3.17989937, -0.7414517 , 10.5086196 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021596182564476846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28520749e-14,  2.57041498e-14,  1.00000000e+00, -3.30351659e-28,
        1.00000000e+00, -2.57041498e-14, -1.00000000e+00,  0.00000000e+00,
        1.28520749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05346168, -0.01138603,  0.06173875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40322749e-06,-2.98243123e-05,-2.59650782e-05,-1.90708982e-05,
 -1.20845441e-05, 2.84644502e-06,-3.74102621e-07,-6.20527057e-05,
 -1.53025735e-05, 1.94608415e-06,-3.49053218e-05, 3.54367606e-05,
  1.77938609e-06, 4.69062418e-06, 5.14566810e-06, 1.43112805e-04,
 -4.14220452e-05,-4.04986016e-06,-1.21629091e+00, 8.30273586e-04,
 -2.46297294e-02,-1.46553286e-04]


--- Step 2019 ---
qpos:
[ 3.28973771e-03,-3.18620595e-03, 1.19490388e-02, 4.17722224e-02,
  6.14377098e-03, 7.64895922e-01,-2.99513111e-02, 8.70997770e-01,
  5.82870378e-03, 1.63865444e-02,-9.29427120e-03, 2.60123637e-02,
  1.36798680e+00,-1.08501362e-04, 1.14928071e+00, 6.30521288e-02,
  9.19470996e-03,-3.58594934e-02, 7.30135600e-02, 6.73443270e-01,
 -1.99838071e-01,-6.76264081e-01,-2.21823804e-01]

qacc:
[ 3.37961587e-01,-7.30956047e-01, 4.69179675e+00,-1.38526684e+01,
 -5.57010251e-02, 2.05262427e+00,-9.78631382e+00, 2.21537073e+01,
  1.40505006e+00, 6.65946195e-01,-5.89165949e+00, 1.84129814e+01,
  6.08573484e-02,-4.45623696e-02,-5.07260033e+00, 1.76764321e+01,
 -1.90184028e+00, 1.42973782e+00, 1.82656431e+00, 7.74637519e+00,
 -1.20594463e+02,-7.56935158e+01]

qfrc_actuator:
[-8.27853637e-06,-2.84845781e-06, 1.36487838e-04, 7.57604873e-05,
 -1.37362537e-05, 2.56474421e-02, 8.58727285e-03, 2.17339627e-03,
 -2.75496475e-05, 4.96732037e-04, 2.61205161e-06, 1.17098329e-04,
  0.00000000e+00,-1.58301234e-03, 0.00000000e+00,-1.66117519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.4708353 ,  8.62351964, -0.4708353 ,  1.92549569,
       -0.36640649,  8.62351964, -0.36640649,  8.61635822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002246363095930541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57898008e-01,  1.57898008e-01,  9.74749423e-01,  2.52485127e-02,
        9.87455426e-01, -1.55866268e-01, -9.87132581e-01,  3.46944695e-18,
       -1.59903934e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05500523, -0.05630466,  0.06173536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00146983e-06,-2.70042205e-05,-1.95171223e-05,-3.01464737e-05,
 -9.04174186e-06,-4.32087466e-05,-2.02565686e-05, 5.40682871e-05,
  8.22305237e-06,-1.73906524e-05, 8.51770439e-06, 3.68604556e-05,
  2.20318576e-06, 4.52439552e-06, 1.52620485e-05, 9.01598483e-05,
 -2.95043597e-04,-2.05032905e-04,-1.21616596e+00, 8.61112723e-04,
 -2.46099814e-02,-1.45562580e-04]


--- Step 2020 ---
qpos:
[ 3.28961351e-03,-3.18693461e-03, 1.19491902e-02, 4.17722787e-02,
  6.14351045e-03, 7.64896589e-01,-2.99515060e-02, 8.70995753e-01,
  5.82897603e-03, 1.63879967e-02,-9.29524501e-03, 2.60136715e-02,
  1.36806106e+00,-1.07599065e-04, 1.14945518e+00, 6.30545745e-02,
  9.18413509e-03,-3.58402352e-02, 7.30013035e-02, 6.73332303e-01,
 -2.00246710e-01,-6.76347664e-01,-2.21537135e-01]

qacc:
[ 2.05824089e-01, 6.84428973e-01,-2.38762546e+00, 2.69149106e+00,
 -3.75092760e-02,-3.78130334e-01, 2.36618159e+00,-1.03022006e+01,
  8.86683808e-01,-6.78047116e-01, 4.63888693e+00,-1.11029594e+01,
  4.94924446e-01,-9.12647423e-01,-8.17427996e-01, 2.98798474e+00,
 -1.66539606e+00, 1.16581487e+00, 7.39775882e-01, 5.88722798e+00,
 -1.09510640e+02,-6.77487264e+01]

qfrc_actuator:
[-7.07832319e-06, 1.27854553e-05, 1.30759217e-04, 7.72631475e-05,
 -1.57708948e-05, 2.56216490e-02, 8.55821441e-03, 2.13549345e-03,
 -2.25187910e-05, 5.59809215e-04, 2.74256367e-05, 1.02873124e-04,
  0.00000000e+00,-1.61734740e-03, 0.00000000e+00,-1.64919617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62386258, -0.46451166, -8.62386258,  8.62739902,
        0.16643203, -0.46451166,  0.16643203,  5.54648   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022652029288653696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.15506322,  0.15506322,  0.97565916,  0.02433899,  0.98790455,
       -0.15314116, -0.98760468,  0.        , -0.15696174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05490402, -0.05626555,  0.06173294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25180305e-06,-4.76596519e-06,-1.47493769e-05,-9.15664746e-07,
 -6.09929711e-06,-5.20307074e-05,-3.82949067e-05,-3.86653567e-05,
  5.26103180e-06, 5.66670329e-05, 2.35434685e-05,-1.39620878e-05,
  2.39489079e-06,-3.26970760e-05, 1.32185330e-05, 1.80653275e-05,
  1.04644845e-05, 8.46144828e-05,-1.21625154e+00, 7.45017628e-04,
 -2.46261925e-02,-1.42195974e-04]


--- Step 2021 ---
qpos:
[ 3.28915974e-03,-3.18761827e-03, 1.19492045e-02, 4.17726870e-02,
  6.14320787e-03, 7.64897119e-01,-2.99520964e-02, 8.70992245e-01,
  5.82861713e-03, 1.63895068e-02,-9.29578260e-03, 2.60148268e-02,
  1.36813548e+00,-1.07351244e-04, 1.14962997e+00, 6.30548130e-02,
  9.16769975e-03,-3.58171799e-02, 7.29882936e-02, 6.73060290e-01,
 -2.00610987e-01,-6.76592428e-01,-2.21286609e-01]

qacc:
[-2.89749771e+00, 1.17379020e+00,-5.57350131e+00, 1.18384964e+01,
 -2.34145640e-02,-1.69700046e+00, 8.74511567e+00,-2.56166568e+01,
 -5.49245585e+00,-1.44629733e+00, 5.93041523e+00,-9.33120013e+00,
  4.27471726e-01,-9.32794640e-01, 7.08689048e+00,-2.42156296e+01,
 -1.46511808e+00, 9.49297257e-01,-1.88386847e-01, 4.44218776e+00,
 -1.00192576e+02,-6.11469528e+01]

qfrc_actuator:
[-2.40757522e-05, 2.24454524e-05, 1.27404484e-04, 9.58970345e-05,
 -1.68471995e-05, 2.56238321e-02, 8.54112677e-03, 2.06072015e-03,
 -5.51755303e-05, 5.43568147e-04, 4.25902542e-05, 9.40180496e-05,
  0.00000000e+00,-1.65576810e-03, 0.00000000e+00,-1.76744093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59660185, -0.82777625, -8.59660185,  8.61017857,
        0.27193652, -0.82777625,  0.27193652,  5.81225511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002252009591288075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53456421e-01,  1.53456421e-01,  9.76167124e-01,  2.38311431e-02,
        9.88155416e-01, -1.51594689e-01, -9.87868009e-01,  3.46944695e-18,
       -1.55295836e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05492007, -0.0562818 ,  0.0617338 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69606593e-05, 3.93442037e-06,-6.18080454e-06, 1.79026689e-05,
 -3.82023640e-06,-3.54541683e-05,-3.29290647e-05,-7.84675496e-05,
 -3.24826770e-05, 1.96709600e-05, 2.92783030e-05,-5.88790258e-06,
 -6.54025052e-06,-4.64880571e-05, 4.24571299e-06,-1.16456454e-04,
 -1.34121280e-05, 3.63519637e-04,-1.21629887e+00, 6.77133049e-04,
 -2.46384963e-02,-1.39545100e-04]


--- Step 2022 ---
qpos:
[ 3.28850594e-03,-3.18852581e-03, 1.19498654e-02, 4.17729500e-02,
  6.14288090e-03, 7.64897511e-01,-2.99528083e-02, 8.70990961e-01,
  5.82821446e-03, 1.63912325e-02,-9.29590190e-03, 2.60161932e-02,
  1.36820969e+00,-1.06788188e-04, 1.14980480e+00, 6.30533076e-02,
  9.14852907e-03,-3.58044801e-02, 7.29941665e-02, 6.72730430e-01,
 -2.00708402e-01,-6.76887603e-01,-2.21298620e-01]

qacc:
[-1.73154700e+00,-2.39982000e+00, 8.74588889e+00,-1.21367912e+01,
 -1.40584470e-02, 4.00484802e+00,-1.84389050e+01, 4.32831290e+01,
 -3.72204415e-01,-4.48569989e-01, 1.12239715e+00, 1.70426965e+00,
 -5.04867721e-01, 7.99921602e-01, 5.37780421e+00,-1.86120774e+01,
 -6.83837000e-01,-2.58888347e+00, 4.72073821e+00, 7.66967216e-01,
  1.93261607e+01,-1.90087276e+02]

qfrc_actuator:
[-3.38949600e-05, 1.07352818e-05, 1.60973395e-04, 8.89502188e-05,
 -1.73467261e-05, 2.56427639e-02, 8.54910035e-03, 2.17792771e-03,
 -5.64946909e-05, 5.68690098e-04, 6.93949582e-05, 1.06087101e-04,
  0.00000000e+00,-1.62526906e-03, 0.00000000e+00,-1.85491147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.20061955,  -2.70861881,  -8.20061955,
        13.97809138, -16.17262524,  -2.70861881, -16.17262524,
        57.60063504,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022463468945058337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47117448e-14, -2.47117448e-14,  1.00000000e+00,  6.10670332e-28,
        1.00000000e+00,  2.47117448e-14, -1.00000000e+00,  0.00000000e+00,
        2.47117448e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408576, -0.00719804,  0.06172824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02993727e-05,-1.00006475e-05, 3.42478550e-05,-6.64227902e-06,
 -2.21774085e-06,-9.72698939e-06,-5.17489775e-06, 1.13300393e-04,
 -2.23983785e-06, 4.18541503e-05, 3.42575190e-05, 1.38070395e-05,
 -1.50175066e-05, 1.68844579e-05,-1.50795131e-05,-9.43800443e-05,
 -2.84501928e-04, 6.34050927e-04,-1.21631920e+00, 6.46520492e-04,
 -2.46483283e-02,-1.37427137e-04]


--- Step 2023 ---
qpos:
[ 3.28808418e-03,-3.18939394e-03, 1.19508651e-02, 4.17727695e-02,
  6.14254133e-03, 7.64897394e-01,-2.99523967e-02, 8.70990712e-01,
  5.82814386e-03, 1.63931449e-02,-9.29594086e-03, 2.60177206e-02,
  1.36828394e+00,-1.06447967e-04, 1.14997956e+00, 6.30504063e-02,
  9.13782339e-03,-3.57935789e-02, 7.29997923e-02, 6.72598853e-01,
 -2.00975610e-01,-6.76985802e-01,-2.21155626e-01]

qacc:
[ 2.04637313e+00,-1.81332643e+00, 8.40389006e+00,-1.66382447e+01,
 -6.01555189e-03,-1.91070932e+00, 3.11041317e+00, 9.94760748e+00,
  2.89580148e+00, 3.47752708e-01,-1.57102406e+00, 4.10023447e+00,
  1.03109349e-01,-2.65721963e-01, 4.09765823e+00,-1.45152314e+01,
  2.11625279e+00,-4.49665028e-01,-6.17863047e-02,-6.54874667e+00,
  9.90208258e+01, 1.51311056e+02]

qfrc_actuator:
[-2.16523164e-05, 2.19591581e-05, 1.80462507e-04, 6.70115692e-05,
 -1.75010195e-05, 2.56185443e-02, 8.60750002e-03, 2.22967886e-03,
 -3.93462292e-05, 5.65190969e-04, 6.75218926e-05, 1.12655241e-04,
  0.00000000e+00,-1.64288927e-03, 0.00000000e+00,-1.92349790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002301423219458483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61805365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.61805365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05305608, -0.01142231,  0.0617223 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19468266e-05, 1.24440363e-05, 2.14152334e-05,-2.13107266e-05,
 -1.15250035e-06,-2.70145495e-05, 5.92988499e-05, 5.38581228e-05,
  1.71025173e-05, 2.75078266e-05, 1.14476055e-05, 9.80920073e-06,
 -4.68974492e-06,-1.63633663e-05,-2.09048953e-05,-7.65773379e-05,
 -4.63318723e-04, 2.13971894e-04,-1.21642442e+00, 7.46392420e-04,
 -2.46675189e-02,-1.38273097e-04]


--- Step 2024 ---
qpos:
[ 3.28781208e-03,-3.18965879e-03, 1.19509683e-02, 4.17730313e-02,
  6.14239239e-03, 7.64896625e-01,-2.99504069e-02, 8.70987620e-01,
  5.82862488e-03, 1.63946963e-02,-9.29625314e-03, 2.60190658e-02,
  1.36835830e+00,-1.06569629e-04, 1.15015427e+00, 6.30460017e-02,
  9.13457187e-03,-3.57840198e-02, 7.30014709e-02, 6.72646366e-01,
 -2.01396477e-01,-6.76905467e-01,-2.20873978e-01]

qacc:
[ 1.27517538e+00, 4.21329965e+00,-1.57347367e+01, 2.43809335e+01,
  1.08397614e-01,-1.00530691e+01, 3.84495023e+01,-6.81061301e+01,
  4.80868026e+00,-9.76038142e-02, 4.08263487e-01,-2.83983352e+00,
  3.09487463e-01,-6.73023216e-01, 4.41966374e+00,-1.56618900e+01,
  1.86353875e+00,-3.35497819e-01,-9.86824613e-01,-6.48761255e+00,
  8.97370646e+01, 1.36386142e+02]

qfrc_actuator:
[-1.42772537e-05, 6.45223521e-05, 1.38294838e-04, 8.96918627e-05,
  3.02422478e-07, 2.55688597e-02, 8.67720631e-03, 2.08268256e-03,
 -1.14755248e-05, 4.91203992e-04, 3.08601734e-05, 9.81360337e-05,
  0.00000000e+00,-1.67121641e-03, 0.00000000e+00,-1.99815695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.28005439,  2.45509187,  8.28005439,  8.87807348,
       -0.81519176,  2.45509187, -0.81519176, 11.3856832 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023223429135829712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58546218e-14,  2.39030812e-14,  1.00000000e+00, -8.57035936e-28,
        1.00000000e+00, -2.39030812e-14, -1.00000000e+00,  0.00000000e+00,
        3.58546218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05300156, -0.01142384,  0.06172006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.72149192e-06, 5.30581122e-05,-3.76982288e-05, 2.35392205e-05,
  1.72808431e-05,-5.12359423e-05, 7.28268849e-05,-1.44850623e-04,
  2.83759655e-05,-5.58858593e-05,-2.92562536e-05,-1.27616943e-05,
 -7.11208165e-06,-3.34055199e-05,-2.08406167e-05,-8.22427008e-05,
 -6.36333956e-05, 2.06785129e-04,-1.21636829e+00, 6.88250844e-04,
 -2.46529833e-02,-1.38520283e-04]


--- Step 2025 ---
qpos:
[ 3.28797584e-03,-3.18982492e-03, 1.19510104e-02, 4.17735698e-02,
  6.14244595e-03, 7.64896172e-01,-2.99488181e-02, 8.70983499e-01,
  5.82943641e-03, 1.63960700e-02,-9.29732736e-03, 2.60202385e-02,
  1.36843259e+00,-1.06772070e-04, 1.15032908e+00, 6.30386951e-02,
  9.13790086e-03,-3.57754887e-02, 7.29964865e-02, 6.72856456e-01,
 -2.01953709e-01,-6.76662155e-01,-2.20470445e-01]

qacc:
[ 3.82216894e+00, 8.64133494e-01,-4.07155965e+00, 8.89736972e+00,
  1.12510257e-01,-2.85775852e-01, 3.78766531e+00,-1.59449171e+01,
  2.86192580e+00, 1.53404793e+00,-5.09130139e+00, 3.46392699e+00,
 -1.86684799e-01, 1.74261460e-01, 8.94014554e+00,-3.10060394e+01,
  1.64512687e+00,-2.57021978e-01,-1.66572309e+00,-6.23785194e+00,
  8.25041554e+01, 1.21511041e+02]

qfrc_actuator:
[ 7.91946828e-06, 5.42989829e-05, 1.31243542e-04, 1.02929964e-04,
  1.09296820e-05, 2.56107582e-02, 8.66402938e-03, 2.03293223e-03,
  4.72352826e-06, 4.81913186e-04,-8.60058459e-06, 8.89956758e-05,
  0.00000000e+00,-1.67013427e-03, 0.00000000e+00,-2.14680445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.21626197,  2.66079239,  8.21626197,  8.90404534,
       -0.82657446,  2.66079239, -0.82657446, 11.18874326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023113926272054744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.11708069e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.11708069e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05250849, -0.01117404,  0.06172119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24364058e-05, 1.26797211e-05, 8.06376898e-08, 1.46641173e-05,
  1.83764506e-05, 2.32509099e-05,-1.92663665e-05,-5.24855207e-05,
  1.69994810e-05,-4.71767962e-05,-5.50679934e-05,-1.28028175e-05,
 -1.24611530e-05,-9.07566885e-06,-2.13840305e-05,-1.56524282e-04,
  5.99077671e-06, 8.32131088e-05,-1.21627234e+00, 6.77052009e-04,
 -2.46354881e-02,-1.38062953e-04]


--- Step 2026 ---
qpos:
[ 3.28805981e-03,-3.19033541e-03, 1.19515036e-02, 4.17735940e-02,
  6.14265884e-03, 7.64897014e-01,-2.99488091e-02, 8.70980165e-01,
  5.83009127e-03, 1.63971524e-02,-9.29859744e-03, 2.60212678e-02,
  1.36850699e+00,-1.07512502e-04, 1.15050335e+00, 6.30329829e-02,
  9.13792645e-03,-3.57738453e-02, 7.30064732e-02, 6.73013335e-01,
 -2.02254302e-01,-6.76466571e-01,-2.20316197e-01]

qacc:
[-6.80539683e-01,-2.77536785e+00, 1.14061684e+01,-2.07738850e+01,
  8.66562735e-02, 7.33596423e+00,-2.38150169e+01, 2.99178621e+01,
 -1.36770396e+00,-1.30377800e-01, 5.16379675e-01,-2.47666483e+00,
  5.92964197e-01,-1.09603261e+00,-5.68432702e+00, 1.85722029e+01,
 -8.25847709e-01,-1.72190425e+00, 3.74275716e+00, 1.88790815e+00,
  1.94026075e+01,-1.81380239e+02]

qfrc_actuator:
[ 3.15784198e-06, 1.26669085e-05, 1.44785222e-04, 7.49861701e-05,
  1.71631142e-05, 2.57246512e-02, 8.60247047e-03, 2.07635848e-03,
 -3.83259493e-06, 4.75895722e-04,-1.36375643e-05, 8.31458853e-05,
  0.00000000e+00,-1.70486081e-03, 0.00000000e+00,-2.05380268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023258211482255625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38673345e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.38673345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00411676, -0.00726499,  0.06171968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11834947e-06,-3.38851320e-05, 1.66772610e-05,-2.71142953e-05,
  1.44849993e-05, 1.21301752e-04,-6.07803324e-05, 4.23965651e-05,
 -8.07907753e-06,-4.43540249e-05,-2.20137523e-05,-1.00299221e-05,
 -9.71917971e-06,-3.96131133e-05,-3.04697594e-05, 8.08033340e-05,
 -1.73182666e-04,-1.25363342e-04,-1.21614819e+00, 6.99001393e-04,
 -2.46158995e-02,-1.36991767e-04]


--- Step 2027 ---
qpos:
[ 3.28774128e-03,-3.19104469e-03, 1.19521373e-02, 4.17732866e-02,
  6.14317823e-03, 7.64898733e-01,-2.99487429e-02, 8.70979398e-01,
  5.83063880e-03, 1.63976275e-02,-9.29897279e-03, 2.60221831e-02,
  1.36858131e+00,-1.08399674e-04, 1.15067724e+00, 6.30297082e-02,
  9.13488777e-03,-3.57785082e-02, 7.30266500e-02, 6.73122007e-01,
 -2.02321220e-01,-6.76314692e-01,-2.20389033e-01]

qacc:
[  -3.52511666,  -1.33190098,   5.77801435, -11.60580208,   0.16989681,
    5.44994602, -22.32848168,  50.17583406,  -0.89798546,  -3.536019  ,
   11.92733193, -14.88514965,   0.22545195,  -0.41662125,  -7.92808924,
   26.89015525,  -0.76607031,  -1.57659868,   2.54753699,   1.7656579 ,
   17.69347564,-165.18173406]

qfrc_actuator:
[-1.74374778e-05, 5.85111337e-06, 1.52442192e-04, 5.85187511e-05,
  3.84750522e-05, 2.57918736e-02, 8.61973720e-03, 2.20979072e-03,
 -9.13421439e-06, 4.54274524e-04, 3.72237013e-05, 7.93103775e-05,
  0.00000000e+00,-1.70732513e-03, 0.00000000e+00,-1.92566291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.87258772,  7.13054456, -4.87258772, 56.47057598,
       32.68704005,  7.13054456, 32.68704005, 30.972732  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023218338718493797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.39083217e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.39083217e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00411697, -0.00725906,  0.06172036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07228907e-05,-2.34701247e-05, 1.77396154e-06,-1.78694941e-05,
  2.78305088e-05, 1.23785571e-04, 3.54641321e-05, 1.36441490e-04,
 -5.54503251e-06,-5.14286909e-05, 3.86417179e-05,-6.69457579e-06,
 -1.50578219e-05,-1.50107652e-05,-6.31276116e-06, 1.28433213e-04,
 -1.48914080e-04,-6.35692511e-05,-1.21631357e+00, 6.66929775e-04,
 -2.46418938e-02,-1.36216369e-04]


--- Step 2028 ---
qpos:
[ 3.28786811e-03,-3.19180919e-03, 1.19530703e-02, 4.17727545e-02,
  6.14377631e-03, 7.64900667e-01,-2.99481488e-02, 8.70979927e-01,
  5.83077371e-03, 1.63974530e-02,-9.29896119e-03, 2.60234311e-02,
  1.36865540e+00,-1.08833982e-04, 1.15085122e+00, 6.30266308e-02,
  9.12897856e-03,-3.57890035e-02, 7.30529956e-02, 6.73186383e-01,
 -2.02173333e-01,-6.76203006e-01,-2.20670641e-01]

qacc:
[ 3.91914944e+00,-1.38060795e+00, 5.75136207e+00,-1.00642048e+01,
  4.39517850e-02, 1.10363484e+00,-6.22437454e+00, 2.09613968e+01,
 -3.57545181e+00,-1.24815505e+00, 1.81195351e+00, 3.79286068e+00,
 -4.98157115e-01, 8.69933737e-01,-4.24939954e-01, 1.77424444e+00,
 -7.17631119e-01,-1.45809170e+00, 1.54221037e+00, 1.64475589e+00,
  1.62828720e+01,-1.51849736e+02]

qfrc_actuator:
[ 6.07950764e-06, 1.99172521e-05, 1.74451276e-04, 4.89601810e-05,
  3.31179354e-05, 2.57599830e-02, 8.63003654e-03, 2.27086440e-03,
 -3.02224260e-05, 4.05970852e-04, 4.96011251e-05, 9.44639524e-05,
  0.00000000e+00,-1.67285555e-03, 0.00000000e+00,-1.91994218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.10587691,  6.96540005, -5.10587691, 53.37357742,
       32.79391064,  6.96540005, 32.79391064, 32.67542383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002293462785942335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.42040776e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.42040776e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00411135, -0.00722601,  0.06172376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29208472e-05, 5.55334505e-07, 1.67641224e-05,-1.08486130e-05,
  7.14876728e-06, 4.80191253e-05, 4.28967372e-05, 6.91966736e-05,
 -2.12650739e-05,-6.93828773e-05, 6.27959487e-06, 1.41544644e-05,
 -1.16289944e-05, 2.69641157e-05, 8.82382126e-06, 1.14839859e-05,
 -9.91937754e-05, 4.41868196e-05,-1.21642173e+00, 6.40021736e-04,
 -2.46632872e-02,-1.36328432e-04]


--- Step 2029 ---
qpos:
[ 3.28793048e-03,-3.19223435e-03, 1.19535018e-02, 4.17724615e-02,
  6.14397974e-03, 7.64902908e-01,-2.99481445e-02, 8.70979512e-01,
  5.83099968e-03, 1.63967111e-02,-9.29933579e-03, 2.60248949e-02,
  1.36872936e+00,-1.08898545e-04, 1.15102503e+00, 6.30249919e-02,
  9.12035513e-03,-3.58049451e-02, 7.30821331e-02, 6.73209489e-01,
 -2.01826150e-01,-6.76128444e-01,-2.21145917e-01]

qacc:
[  -0.5871381 ,   2.34445442,  -8.71485335,  13.40268118,  -0.2203025 ,
    0.35953549,   1.45901424, -12.8327627 ,   0.7918744 ,   0.77228822,
   -4.75568967,   9.52910853,  -0.25264451,   0.5313036 ,  -4.55462913,
   15.64850231,  -0.67855318,  -1.36155898,   0.69797135,   1.526733  ,
   15.11856195,-140.8761686 ]

qfrc_actuator:
[ 2.11911978e-06, 4.64485029e-05, 1.51598763e-04, 6.13254166e-05,
 -5.88804881e-06, 2.57399464e-02, 8.58240378e-03, 2.21775629e-03,
 -2.49291220e-05, 3.59695574e-04, 2.12855046e-05, 1.02857290e-04,
  0.00000000e+00,-1.65227179e-03, 0.00000000e+00,-1.84438662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.30849538,  6.81224292, -5.30849538, 50.77499486,
       32.83686914,  6.81224292, 32.83686914, 34.22475946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022458713042930595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47169778e-14, -2.47169778e-14,  1.00000000e+00,  6.10928993e-28,
        1.00000000e+00,  2.47169778e-14, -1.00000000e+00,  0.00000000e+00,
        2.47169778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00410117, -0.00717177,  0.06172929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30596069e-06, 2.98653450e-05,-2.10502287e-05, 1.27577628e-05,
 -3.57921281e-05, 1.71940776e-05,-3.11543791e-05,-4.87098965e-05,
  4.65842022e-06,-8.31744885e-05,-4.13842758e-05, 5.91122726e-06,
  8.19778376e-08, 2.50587093e-05, 1.14010994e-06, 7.63782332e-05,
 -3.01037861e-05, 1.86770436e-04,-1.21648512e+00, 6.19686047e-04,
 -2.46809124e-02,-1.37268374e-04]


--- Step 2030 ---
qpos:
[ 3.28725540e-03,-3.19247128e-03, 1.19533907e-02, 4.17726867e-02,
  6.14355415e-03, 7.64905245e-01,-2.99489299e-02, 8.70978842e-01,
  5.83163198e-03, 1.63953769e-02,-9.30007436e-03, 2.60271410e-02,
  1.36880320e+00,-1.08455109e-04, 1.15119918e+00, 6.30212467e-02,
  9.10914294e-03,-3.58260186e-02, 7.31112315e-02, 6.73193633e-01,
 -2.01292391e-01,-6.76088304e-01,-2.21802414e-01]

qacc:
[-6.49270361e+00, 2.84687521e+00,-1.19529676e+01, 2.16242486e+01,
 -3.51072104e-01, 1.81940119e+00,-5.24598895e+00, 1.59002088e+00,
  3.54330809e+00, 1.83768446e+00,-1.10032045e+01, 2.55723921e+01,
 -6.03416612e-01, 1.08535895e+00, 6.90103122e+00,-2.33067480e+01,
 -6.47192646e-01,-1.28299113e+00,-9.80190383e-03, 1.41210274e+00,
  1.41586089e+01,-1.31856229e+02]

qfrc_actuator:
[-3.57486573e-05, 4.45810769e-05, 1.20262813e-04, 8.64708837e-05,
 -4.68888573e-05, 2.57268435e-02, 8.53642366e-03, 2.20437677e-03,
 -4.14552428e-06, 3.32567590e-04, 4.67769997e-06, 1.42683505e-04,
  0.00000000e+00,-1.62236493e-03, 0.00000000e+00,-1.95903456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.44773097,  6.70141807, -5.44773097, 49.60601992,
       33.30513973,  6.70141807, 33.30513973, 35.71084834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021833626343988957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54246136e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.54246136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408745, -0.00710119,  0.06173645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79502420e-05, 1.10414260e-05,-2.73177622e-05, 2.59454668e-05,
 -5.70605899e-05,-1.13380595e-05,-4.76588106e-05,-1.48740469e-05,
  2.08870822e-05,-8.19045249e-05,-3.86716264e-05, 3.49440162e-05,
  5.92240006e-06, 3.66274646e-05, 5.72511492e-06,-1.11000593e-04,
  5.41128550e-05, 3.56425387e-04,-1.21651266e+00, 6.06716939e-04,
 -2.46954098e-02,-1.38985837e-04]


--- Step 2031 ---
qpos:
[ 3.28647696e-03,-3.19301060e-03, 1.19534113e-02, 4.17728831e-02,
  6.14277698e-03, 7.64906943e-01,-2.99491791e-02, 8.70979050e-01,
  5.83216305e-03, 1.63941276e-02,-9.30157748e-03, 2.60290962e-02,
  1.36887693e+00,-1.07382675e-04, 1.15137308e+00, 6.30181766e-02,
  9.09544205e-03,-3.58519683e-02, 7.31379213e-02, 6.73140522e-01,
 -2.00582461e-01,-6.76080204e-01,-2.22629900e-01]

qacc:
[  -0.89786056,  -0.82551206,   2.48826935,  -2.9793319 ,  -0.195265  ,
   -0.76546713,  -0.51098348,  11.42014194,  -0.90848293,   1.65191195,
   -4.49514293,   0.61476752,  -0.47264043,   0.99161125,  -2.3514505 ,
    7.81185269,  -0.62217362,  -1.21904262,  -0.60213051,   1.30070928,
   13.36899333,-124.46403796]

qfrc_actuator:
[-4.00041804e-05, 7.93719044e-06, 1.19583911e-04, 8.34045038e-05,
 -5.31890629e-05, 2.56824836e-02, 8.56288148e-03, 2.25002787e-03,
 -9.92472110e-06, 3.70437840e-04,-2.25258094e-05, 1.29706175e-04,
  0.00000000e+00,-1.58715035e-03, 0.00000000e+00,-1.91854563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.50259201,  6.65644485, -5.50259201, 50.59320715,
       34.68388864,  6.65644485, 34.68388864, 37.30801839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002109516057413746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97359784e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97359784e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407103, -0.00701819,  0.06174484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33181561e-06,-3.50024513e-05,-8.59353729e-07,-3.03164430e-06,
 -3.19096321e-05,-6.05796796e-05, 1.82741491e-05, 4.35165911e-05,
 -5.21350765e-06,-1.43606960e-05,-4.76571190e-05,-1.71464275e-05,
  1.13903949e-05, 4.65781235e-05,-1.42075154e-05, 3.40108981e-05,
  1.50519442e-04, 5.47791871e-04,-1.21651078e+00, 6.01503605e-04,
 -2.47072699e-02,-1.41438481e-04]


--- Step 2032 ---
qpos:
[ 3.28565313e-03,-3.19369267e-03, 1.19534176e-02, 4.17723406e-02,
  6.14200181e-03, 7.64908055e-01,-2.99491421e-02, 8.70981193e-01,
  5.83262047e-03, 1.63930957e-02,-9.30238914e-03, 2.60297249e-02,
  1.36895082e+00,-1.06385938e-04, 1.15154657e+00, 6.30179258e-02,
  9.07492870e-03,-3.58725798e-02, 7.31616116e-02, 6.72935557e-01,
 -1.99824610e-01,-6.76224593e-01,-2.23490852e-01]

qacc:
[-3.96748899e-01,-1.67130281e+00, 8.80314944e+00,-2.14607811e+01,
  1.24743139e-03, 1.81496115e+00,-1.13050286e+01, 3.37268154e+01,
 -6.25348027e-01,-4.37455270e+00, 2.16170059e+01,-4.58404722e+01,
  3.79155806e-01,-4.98667589e-01,-9.15420750e+00, 3.10645007e+01,
 -1.70311725e+00, 1.33454182e+00,-7.49862477e-01, 6.56024910e+00,
 -9.39648585e+01,-5.96599939e+01]

qfrc_actuator:
[-4.21841026e-05, 4.10065782e-06, 1.19089388e-04, 4.59981932e-05,
 -3.86947390e-05, 2.56555726e-02, 8.57853416e-03, 2.34781884e-03,
 -1.35439267e-05, 4.29113949e-04, 3.32225932e-05, 6.80544103e-05,
  0.00000000e+00,-1.60233324e-03, 0.00000000e+00,-1.76916090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.85286273, -3.5943461 ,  7.85286273, 19.37294529,
       23.45709053, -3.5943461 , 23.45709053, 59.88499323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002131101643679691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.15624397,  0.15624397,  0.97528234,  0.02471573,  0.98771849,
       -0.15427674, -0.98740921,  0.        , -0.15818674])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05532694, -0.05665367,  0.06174871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34219914e-06,-2.36978404e-05,-7.92852679e-06,-3.89933096e-05,
  1.63740654e-07,-5.55292232e-05, 7.10834279e-06, 9.73941731e-05,
 -3.77613056e-06, 4.01247967e-05, 4.63473166e-05,-6.42477623e-05,
  1.67507199e-05, 6.96852043e-08,-5.44268246e-06, 1.48841534e-04,
  2.57113012e-04, 7.57218926e-04,-1.21648407e+00, 6.04170845e-04,
 -2.47168650e-02,-1.44590933e-04]


--- Step 2033 ---
qpos:
[ 3.28480930e-03,-3.19417319e-03, 1.19532386e-02, 4.17713213e-02,
  6.14132673e-03, 7.64908870e-01,-2.99491973e-02, 8.70982758e-01,
  5.83234159e-03, 1.63915185e-02,-9.30168810e-03, 2.60303405e-02,
  1.36902497e+00,-1.06028457e-04, 1.15171984e+00, 6.30204444e-02,
  9.04840256e-03,-3.58888620e-02, 7.31795892e-02, 6.72589077e-01,
 -1.99024321e-01,-6.76509849e-01,-2.24382880e-01]

qacc:
[-1.85119845e-01,-1.97362521e-01, 3.10149821e+00,-1.12012984e+01,
  5.59192541e-02,-1.14412064e+00, 4.59452018e+00,-1.08435397e+01,
 -6.36549766e+00,-4.96277103e+00, 1.67257153e+01,-1.89901783e+01,
  8.52850278e-01,-1.44743344e+00,-8.75076529e+00, 2.99812545e+01,
 -1.50319564e+00, 1.08231267e+00,-1.42819606e+00, 5.37460821e+00,
 -8.73988738e+01,-5.46929836e+01]

qfrc_actuator:
[-4.31352958e-05, 3.76624757e-05, 1.18798623e-04, 2.42147601e-05,
 -2.96892725e-05, 2.56393326e-02, 8.56998663e-03, 2.31571216e-03,
 -5.13594876e-05, 3.75838804e-04, 1.02086683e-04, 6.71129769e-05,
  0.00000000e+00,-1.64730152e-03, 0.00000000e+00,-1.62786337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.45348337, -1.76787889, -8.45348337,  8.45204969,
        0.88133573, -1.76787889,  0.88133573,  4.42207215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020952831374504983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57347498e-01,  1.57347498e-01,  9.74927449e-01,  2.50705312e-02,
        9.87543298e-01, -1.55337386e-01, -9.87225017e-01, -3.46944695e-18,
       -1.59332252e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05546713, -0.05673627,  0.06175291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02197333e-06, 1.70296342e-05,-7.50143631e-06,-2.38289790e-05,
  9.06943290e-06,-4.25231511e-05,-1.57574835e-05,-3.14548075e-05,
 -3.79129677e-05,-2.39711351e-05, 8.06588141e-05, 1.13433701e-06,
  8.95334415e-06,-4.09796416e-05, 1.18616574e-05, 1.48369440e-04,
  1.46647646e-04, 2.61779003e-04,-1.21645987e+00, 7.61933640e-04,
 -2.47123386e-02,-1.47189671e-04]


--- Step 2034 ---
qpos:
[ 3.28396073e-03,-3.19458256e-03, 1.19530482e-02, 4.17703984e-02,
  6.14075842e-03, 7.64909485e-01,-2.99493242e-02, 8.70982190e-01,
  5.83161170e-03, 1.63894753e-02,-9.30119234e-03, 2.60313957e-02,
  1.36909923e+00,-1.06163732e-04, 1.15189284e+00, 6.30269819e-02,
  9.02948547e-03,-3.59066526e-02, 7.31929692e-02, 6.72421357e-01,
 -1.98376547e-01,-6.76616341e-01,-2.25136827e-01]

qacc:
[-4.31725026e-02, 3.24343133e-01,-1.42606022e+00, 3.05798855e+00,
  5.99101911e-02,-3.77036454e+00, 1.69142062e+01,-4.05912554e+01,
 -3.93200431e+00, 8.70084857e-01,-5.83827417e+00, 1.41008125e+01,
  7.11206972e-01,-1.21853745e+00,-1.26088700e+01, 4.33647808e+01,
  1.90226391e+00,-3.77080797e-01,-1.14938035e+00,-6.85067584e+00,
  8.97324483e+01, 1.35869246e+02]

qfrc_actuator:
[-4.33564795e-05, 4.01182182e-05, 1.18807028e-04, 2.95910478e-05,
 -2.40760166e-05, 2.56294406e-02, 8.56493547e-03, 2.20740593e-03,
 -7.34954987e-05, 3.09326474e-04, 7.12065773e-05, 8.40623198e-05,
  0.00000000e+00,-1.67404192e-03, 0.00000000e+00,-1.42148555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.15952545,  -2.83000377,  -8.15952545,
        16.02881472, -21.314068  ,  -2.83000377, -21.314068  ,
        70.08952569,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020576649147166157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70943939e-14, -5.39554821e-14,  1.00000000e+00,  2.00144591e-27,
        1.00000000e+00,  5.39554821e-14, -1.00000000e+00,  0.00000000e+00,
        3.70943939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05385772, -0.01108101,  0.06175155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41148141e-07, 9.43264016e-06, 1.78833452e-06, 5.38626714e-06,
  9.67800678e-06,-3.75870516e-05,-1.62064481e-05,-1.10854268e-04,
 -2.32385567e-05,-6.31739062e-05,-2.58474737e-05, 1.87371348e-05,
 -4.71908686e-06,-3.56059319e-05, 1.90142094e-05, 2.15455911e-04,
 -1.46400693e-04,-1.89879399e-04,-1.21642667e+00, 9.39459140e-04,
 -2.47076734e-02,-1.50322076e-04]


--- Step 2035 ---
qpos:
[ 3.28346096e-03,-3.19484129e-03, 1.19531173e-02, 4.17691724e-02,
  6.14027685e-03, 7.64910268e-01,-2.99500286e-02, 8.70981012e-01,
  5.83131074e-03, 1.63878594e-02,-9.30137854e-03, 2.60315287e-02,
  1.36917326e+00,-1.05853937e-04, 1.15206633e+00, 6.30322674e-02,
  9.01734245e-03,-3.59255649e-02, 7.31987894e-02, 6.72417235e-01,
 -1.97868359e-01,-6.76559420e-01,-2.25766531e-01]

qacc:
[ 3.06680025e+00,-1.15716921e+00, 5.68256689e+00,-1.14409706e+01,
  4.78630245e-02, 7.23484737e-01,-7.20804855e-01,-6.77677648e+00,
  3.71199951e+00, 5.65096383e-01, 2.68555543e+00,-1.78564998e+01,
 -6.02819502e-01, 1.00504998e+00, 4.57567006e+00,-1.48041831e+01,
  1.69351373e+00,-2.80421651e-01,-1.88996626e+00,-7.06602476e+00,
  8.22515962e+01, 1.23619578e+02]

qfrc_actuator:
[-2.53942813e-05, 5.94653478e-05, 1.36647655e-04, 1.53755742e-05,
 -2.05447972e-05, 2.56588851e-02, 8.54424596e-03, 2.17943444e-03,
 -5.07092778e-05, 3.77031780e-04, 5.26033715e-05, 4.02883036e-05,
  0.00000000e+00,-1.63647850e-03, 0.00000000e+00,-1.49796419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.49170439,  1.57408176,  8.49170439,  8.67716531,
       -0.22011293,  1.57408176, -0.22011293,  9.82380762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002063553814034849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.07022587e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.07022587e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05385202, -0.01107047,  0.06175119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79599995e-05, 2.52436923e-05, 2.02055739e-05,-1.36411174e-05,
  7.87091249e-06, 1.86396159e-06,-3.33118846e-05,-3.21789973e-05,
  2.20925791e-05, 2.78972916e-05,-3.41720566e-05,-4.70090542e-05,
 -1.04687712e-05, 2.67555914e-05, 2.95030463e-05,-6.28055575e-05,
  1.26938333e-04, 2.43076615e-04,-1.21648708e+00, 8.79732309e-04,
 -2.47024771e-02,-1.53953778e-04]


--- Step 2036 ---
qpos:
[ 3.28421495e-03,-3.19475855e-03, 1.19538447e-02, 4.17680778e-02,
  6.13985916e-03, 7.64911004e-01,-2.99506568e-02, 8.70979146e-01,
  5.83093947e-03, 1.63871363e-02,-9.30129057e-03, 2.60310077e-02,
  1.36924710e+00,-1.04898519e-04, 1.15224033e+00, 6.30336275e-02,
  9.01129209e-03,-3.59452874e-02, 7.31945288e-02, 6.72563978e-01,
 -1.97488873e-01,-6.76351761e-01,-2.26283310e-01]

qacc:
[ 1.10192509e+01,-1.13969138e+00, 4.12610797e+00,-3.11485033e+00,
  3.57984897e-02,-1.46079984e+00, 6.28867009e+00,-1.38505131e+01,
 -6.20233799e-01,-9.31192963e-01, 7.79589975e+00,-2.02121877e+01,
 -8.91498406e-01, 1.52595177e+00, 1.26693104e+01,-4.30630185e+01,
  1.52316889e+00,-2.02565017e-01,-2.52020832e+00,-7.16066082e+00,
  7.60133716e+01, 1.13447290e+02]

qfrc_actuator:
[ 3.86315651e-05, 1.06591998e-04, 1.82673937e-04, 2.52711996e-05,
 -1.82854870e-05, 2.56583847e-02, 8.55021314e-03, 2.14573624e-03,
 -5.49271464e-05, 4.89055525e-04, 9.51830008e-05, 1.45239728e-05,
  0.00000000e+00,-1.59657878e-03, 0.00000000e+00,-1.70498797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.48890235,  1.58912357,  8.48890235,  8.71142564,
       -0.40097195,  1.58912357, -0.40097195, 10.77830641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002044324002040021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71537932e-14, -5.43075864e-14,  1.00000000e+00,  1.47465697e-27,
        1.00000000e+00,  5.43075864e-14, -1.00000000e+00,  0.00000000e+00,
        2.71537932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05391514, -0.01104255,  0.06175348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45469792e-05, 6.48513100e-05, 5.32618681e-05, 1.14130857e-05,
  5.79286973e-06,-7.08021134e-06, 1.52854525e-06,-3.53728361e-05,
 -3.57683289e-06, 1.18617980e-04, 4.25262107e-05,-2.66633285e-05,
  7.45171198e-07, 4.45419763e-05, 9.00907090e-07,-2.08056929e-04,
  1.34753276e-04, 5.45605466e-04,-1.21650689e+00, 8.62960562e-04,
 -2.46943651e-02,-1.57027704e-04]


--- Step 2037 ---
qpos:
[ 3.28573052e-03,-3.19416969e-03, 1.19547444e-02, 4.17678126e-02,
  6.13929081e-03, 7.64911456e-01,-2.99503148e-02, 8.70977899e-01,
  5.83052068e-03, 1.63873414e-02,-9.30107910e-03, 2.60305311e-02,
  1.36932112e+00,-1.04253797e-04, 1.15241386e+00, 6.30361877e-02,
  8.99798132e-03,-3.59593056e-02, 7.31938549e-02, 6.72530241e-01,
 -1.97051761e-01,-6.76326125e-01,-2.26840584e-01]

qacc:
[ 6.68159967e+00, 1.88386316e+00,-9.26718801e+00, 2.29930512e+01,
 -8.30690263e-02,-1.92046955e+00, 4.44647539e+00, 3.62696728e+00,
 -4.26452931e-01, 9.73705241e-01,-1.87792838e+00, 1.76386475e+00,
  4.67458771e-01,-7.54967337e-01,-4.36191560e+00, 1.41496231e+01,
 -1.81510404e+00, 1.42608439e+00, 8.96680692e-01, 8.45765196e+00,
 -1.11726673e+02,-7.14989358e+01]

qfrc_actuator:
[ 7.59932156e-05, 1.34630008e-04, 1.91851141e-04, 6.70727996e-05,
 -3.45537780e-05, 2.56578178e-02, 8.60725682e-03, 2.17993426e-03,
 -5.72671800e-05, 5.38270612e-04, 1.02778457e-04, 1.74187943e-05,
  0.00000000e+00,-1.62666639e-03, 0.00000000e+00,-1.63211215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.80097802,  8.59914014, -0.80097802,  2.05739168,
       -0.61280685,  8.59914014, -0.61280685,  8.57928295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020734443073236086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53979459e-01,  1.53979459e-01,  9.76002383e-01,  2.39958471e-02,
        9.88074049e-01, -1.52098235e-01, -9.87782631e-01, -3.46944695e-18,
       -1.55837975e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05552718, -0.05681987,  0.06175586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92194448e-05, 7.58043268e-05, 2.95172024e-05, 4.66425287e-05,
 -1.36690216e-05,-5.33232741e-06, 5.47570726e-05, 3.32141030e-05,
 -2.40407936e-06, 1.23212623e-04, 3.64214191e-05, 8.93329720e-06,
  1.02127453e-05,-1.77035162e-05,-2.76057148e-05, 6.02669854e-05,
 -6.36919239e-05, 7.46797216e-04,-1.21649351e+00, 8.77823358e-04,
 -2.46834368e-02,-1.59598043e-04]


--- Step 2038 ---
qpos:
[ 3.28699340e-03,-3.19376087e-03, 1.19555464e-02, 4.17681584e-02,
  6.13874645e-03, 7.64911675e-01,-2.99490668e-02, 8.70979142e-01,
  5.83007781e-03, 1.63876033e-02,-9.30065963e-03, 2.60305453e-02,
  1.36939525e+00,-1.03911067e-04, 1.15258744e+00, 6.30375369e-02,
  8.98499571e-03,-3.59667604e-02, 7.31964041e-02, 6.72410332e-01,
 -1.96797726e-01,-6.76405847e-01,-2.27178630e-01]

qacc:
[-2.21749304e+00, 1.29881211e+00,-7.54590309e+00, 1.83984465e+01,
  1.37674270e-02, 1.56345807e+00,-1.11684824e+01, 3.99985843e+01,
 -2.04142222e-01, 5.04768730e-01,-3.76288851e+00, 1.18841604e+01,
  2.13774918e-01,-4.40520932e-01, 3.72289807e+00,-1.29452047e+01,
  8.12878825e-02, 1.64086321e+00, 8.05794458e-01, 1.60314220e+01,
 -1.06932466e+02, 1.15474118e+02]

qfrc_actuator:
[ 6.18417659e-05, 6.21504398e-05, 1.61389005e-04, 9.17622382e-05,
 -2.62443930e-05, 2.56574677e-02, 8.65851686e-03, 2.30709561e-03,
 -5.84751674e-05, 4.78397605e-04, 8.94244127e-05, 3.70723367e-05,
  0.00000000e+00,-1.64479042e-03, 0.00000000e+00,-1.69664654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.79522644, -5.33026027, -6.79522644, 14.59324391,
       -7.59406638, -5.33026027, -7.59406638, 18.31757957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020620209111698318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.69207509e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.69207509e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03605385, -0.07490456,  0.06175192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30137256e-05,-2.20172491e-05,-9.57483138e-06, 2.98612405e-05,
  2.17286026e-06, 8.54207275e-06, 5.75094449e-05, 1.29394428e-04,
 -1.23497594e-06, 1.69234258e-05, 1.68882572e-05, 2.63679515e-05,
  7.43915364e-07,-2.01526965e-05,-7.44700778e-06,-6.50902196e-05,
  1.02398277e-04, 3.50478128e-04,-1.21651165e+00, 9.60220332e-04,
 -2.46841399e-02,-1.60224287e-04]


--- Step 2039 ---
qpos:
[ 3.28773272e-03,-3.19407936e-03, 1.19563117e-02, 4.17688662e-02,
  6.13866140e-03, 7.64911973e-01,-2.99478537e-02, 8.70982611e-01,
  5.82962455e-03, 1.63870664e-02,-9.29933556e-03, 2.60305138e-02,
  1.36946942e+00,-1.03780705e-04, 1.15276113e+00, 6.30367512e-02,
  8.97200248e-03,-3.59682570e-02, 7.31984414e-02, 6.72212217e-01,
 -1.96711699e-01,-6.76581240e-01,-2.27317109e-01]

qacc:
[-4.58379898e+00,-1.03922762e-01,-2.53493550e+00, 9.37276134e+00,
  2.55367881e-01, 4.06217220e+00,-1.82802668e+01, 4.30196105e+01,
 -4.88171919e-02,-3.67821982e+00, 1.17767609e+01,-1.34279605e+01,
  3.31283133e-02,-1.67988391e-01, 6.58869400e+00,-2.28475330e+01,
 -1.90220901e-03, 1.48953946e+00,-1.27981364e-01, 1.41806467e+01,
 -9.73358805e+01, 1.05618994e+02]

qfrc_actuator:
[ 3.52447256e-05,-1.68980688e-05, 1.42849498e-04, 1.06070916e-04,
  1.44498621e-05, 2.56573103e-02, 8.65272477e-03, 2.41690721e-03,
 -5.90083687e-05, 3.89077042e-04, 1.16624664e-04, 3.08115725e-05,
  0.00000000e+00,-1.65562074e-03, 0.00000000e+00,-1.80619087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.60077876,  8.48671221, -1.60077876,  9.82115594,
        0.22347763,  8.48671221,  0.22347763,  8.67851639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002075224329858988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67494701e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.67494701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03600764, -0.07486834,  0.06175056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69784572e-05,-9.20926732e-05,-2.32489764e-05, 1.36123609e-05,
  4.16682507e-05, 2.00415510e-05, 6.40247193e-06, 1.14755665e-04,
 -5.63214093e-07,-7.52546516e-05, 3.36801180e-05,-4.43959692e-06,
 -4.91304090e-06,-1.57393904e-05,-1.39300149e-05,-1.14905382e-04,
 -1.21654919e-05,-6.10607962e-06,-1.21648134e+00, 1.05714880e-03,
 -2.46620337e-02,-1.60350522e-04]


--- Step 2040 ---
qpos:
[ 3.28849202e-03,-3.19468506e-03, 1.19567149e-02, 4.17693614e-02,
  6.13904898e-03, 7.64912410e-01,-2.99466151e-02, 8.70985634e-01,
  5.82951257e-03, 1.63867844e-02,-9.29830511e-03, 2.60296650e-02,
  1.36954349e+00,-1.03527318e-04, 1.15293464e+00, 6.30353093e-02,
  8.95875455e-03,-3.59642987e-02, 7.31967800e-02, 6.71942388e-01,
 -1.96780945e-01,-6.76844065e-01,-2.27272522e-01]

qacc:
[ 1.68795686e-01, 1.94277566e-01,-3.47080896e-01,-2.54017747e+00,
  2.63316692e-01,-6.61000095e-01, 3.40761660e+00,-8.49248816e+00,
  2.96265788e+00,-5.30745528e-01, 5.82165559e+00,-1.96732075e+01,
 -1.89263604e-01, 2.99052261e-01, 1.73713900e+00,-6.41790984e+00,
 -6.36755837e-02, 1.36371324e+00,-9.24686523e-01, 1.26255486e+01,
 -8.93000506e+01, 9.73070140e+01]

qfrc_actuator:
[ 3.70575450e-05,-1.05054891e-05, 1.31441699e-04, 9.64032397e-05,
  3.86248378e-05, 2.56570485e-02, 8.64878517e-03, 2.39130761e-03,
 -4.13881182e-05, 4.42694502e-04, 1.14119792e-04,-8.40999374e-06,
  0.00000000e+00,-1.64429102e-03, 0.00000000e+00,-1.83481690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.62515258,  8.48207852, -1.62515258, 10.81033954,
        0.41653028,  8.48207852,  0.41653028,  8.71617017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020600158822665013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69469530e-14,  2.69469530e-14,  1.00000000e+00, -7.26138278e-28,
        1.00000000e+00, -2.69469530e-14, -1.00000000e+00,  0.00000000e+00,
        2.69469530e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03603562, -0.07491404,  0.06175207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01267030e-06,-4.93355518e-05,-3.28288843e-05,-1.41535921e-05,
  4.28769914e-05, 1.57644751e-05, 4.19565318e-06,-2.21599188e-05,
  1.75763235e-05, 1.83038281e-05,-1.40645349e-05,-4.13693347e-05,
 -7.08039949e-06, 6.35435826e-06,-2.24612641e-05,-3.75869089e-05,
 -1.57680767e-04,-3.68043467e-05,-1.21645024e+00, 1.09070578e-03,
 -2.46504730e-02,-1.60466003e-04]


--- Step 2041 ---
qpos:
[ 3.28961187e-03,-3.19569457e-03, 1.19572589e-02, 4.17697164e-02,
  6.13960818e-03, 7.64912548e-01,-2.99451037e-02, 8.70985594e-01,
  5.82995730e-03, 1.63870584e-02,-9.29784334e-03, 2.60290228e-02,
  1.36961752e+00,-1.03162771e-04, 1.15310820e+00, 6.30318223e-02,
  8.95306081e-03,-3.59600577e-02, 7.31933274e-02, 6.71864239e-01,
 -1.97013461e-01,-6.76914089e-01,-2.27093497e-01]

qacc:
[ 3.17587710e+00,-1.22252595e+00, 4.16488825e+00,-6.50624434e+00,
  9.65552344e-02,-6.44555177e+00, 2.76622659e+01,-6.13156852e+01,
  4.82865351e+00, 2.74030231e+00,-9.59312792e+00, 1.36867322e+01,
 -2.55025830e-01, 3.90475975e-01, 6.27786313e+00,-2.17929340e+01,
  1.88854632e+00, 7.06848593e-02,-4.47801768e-01,-1.24068275e+01,
  9.78633872e+01, 1.41172596e+02]

qfrc_actuator:
[ 5.55821591e-05,-2.40079699e-05, 1.42405633e-04, 9.05321048e-05,
  3.49385847e-05, 2.56033760e-02, 8.64591074e-03, 2.23298492e-03,
 -1.32233093e-05, 4.92577552e-04, 9.46282284e-05, 4.39218760e-06,
  0.00000000e+00,-1.63766836e-03, 0.00000000e+00,-1.93978519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002107586904918912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63387247e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.63387247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05375738, -0.01105477,  0.0617468 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85395622e-05,-4.84641099e-05,-3.75931536e-06,-9.39678724e-06,
  1.55595146e-05,-4.48307157e-05, 3.89722339e-08,-1.58196307e-04,
  2.86772769e-05, 5.54464213e-05,-1.88821004e-05, 1.22942857e-05,
 -2.91427259e-06, 6.96652026e-06,-1.71082490e-05,-1.10548736e-04,
 -3.24855970e-04, 1.82175286e-04,-1.21641759e+00, 1.07383532e-03,
 -2.46469928e-02,-1.60448443e-04]


--- Step 2042 ---
qpos:
[ 3.29060010e-03,-3.19701022e-03, 1.19578630e-02, 4.17703362e-02,
  6.14021665e-03, 7.64911668e-01,-2.99430922e-02, 8.70985096e-01,
  5.83039215e-03, 1.63869495e-02,-9.29700579e-03, 2.60292849e-02,
  1.36969186e+00,-1.03761758e-04, 1.15328140e+00, 6.30290873e-02,
  8.95411389e-03,-3.59555114e-02, 7.31846670e-02, 6.71960103e-01,
 -1.97394351e-01,-6.76808901e-01,-2.26792422e-01]

qacc:
[-1.14806685e+00,-2.46879222e-02,-1.61184115e+00, 6.31732714e+00,
  2.84239949e-02,-3.48176654e+00, 1.08445129e+01,-1.45184213e+01,
 -6.74077203e-02, 3.05237758e-01,-5.64027342e+00, 2.09707028e+01,
  9.89522549e-01,-1.82017221e+00,-2.91202435e+00, 9.17347150e+00,
  1.68670630e+00, 7.63197314e-02,-1.30192885e+00,-1.12884337e+01,
  8.88852077e+01, 1.28237264e+02]

qfrc_actuator:
[ 4.82800190e-05,-3.14633700e-05, 1.48681913e-04, 1.04704122e-04,
  3.24001853e-05, 2.55180389e-02, 8.66117046e-03, 2.21085593e-03,
 -1.45889768e-05, 4.33300968e-04, 1.00842418e-04, 4.77116139e-05,
  0.00000000e+00,-1.70491780e-03, 0.00000000e+00,-1.89362860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.98179172,   7.66368786,   3.98179172,
        37.08076118, -14.77874213,   7.66368786, -14.77874213,
        16.31489571,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002129266240329844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.21411087e-14, -5.21411087e-14,  1.00000000e+00,  2.71869522e-27,
        1.00000000e+00,  5.21411087e-14, -1.00000000e+00,  0.00000000e+00,
        5.21411087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0536965 , -0.01107118,  0.06174436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78785452e-06,-3.57032618e-05,-4.51960260e-06, 1.17822915e-05,
  4.44035329e-06,-1.15238931e-04, 1.64574937e-06,-2.71542317e-05,
 -5.22868669e-07,-3.16465761e-05, 1.57592076e-05, 4.52801516e-05,
 -6.56301259e-07,-6.57029815e-05,-2.33598223e-05, 3.70636506e-05,
 -1.11111038e-05, 1.45767598e-04,-1.21639862e+00, 1.02993503e-03,
 -2.46425667e-02,-1.59745320e-04]


--- Step 2043 ---
qpos:
[ 3.29149312e-03,-3.19822436e-03, 1.19577955e-02, 4.17711191e-02,
  6.14082747e-03, 7.64909796e-01,-2.99410907e-02, 8.70982981e-01,
  5.83080747e-03, 1.63866420e-02,-9.29635846e-03, 2.60297351e-02,
  1.36976623e+00,-1.04856709e-04, 1.15345435e+00, 6.30275503e-02,
  8.96124855e-03,-3.59506377e-02, 7.31678804e-02, 6.72215089e-01,
 -1.97911039e-01,-6.76542995e-01,-2.26379483e-01]

qacc:
[-8.58311537e-01, 2.34958725e+00,-8.86704675e+00, 1.26836145e+01,
  2.04909681e-03,-4.08365445e+00, 1.54913491e+01,-3.25832921e+01,
 -1.72732501e-01, 6.56745167e-01,-3.51644622e+00, 7.22250017e+00,
  4.64610669e-01,-9.20387627e-01,-4.02201591e+00, 1.34430044e+01,
  1.52039438e+00, 8.18601494e-02,-2.03156914e+00,-1.02900308e+01,
  8.14058610e+01, 1.17444588e+02]

qfrc_actuator:
[ 4.35824270e-05,-1.74740393e-05, 1.16664743e-04, 1.12800547e-04,
  3.06041883e-05, 2.54500457e-02, 8.65146900e-03, 2.12704215e-03,
 -1.55763834e-05, 4.15760946e-04, 8.62578223e-05, 5.53032968e-05,
  0.00000000e+00,-1.72669712e-03, 0.00000000e+00,-1.82978648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.18809014,   8.02638512,   3.18809014,
        42.41219636, -13.4158027 ,   8.02638512, -13.4158027 ,
        13.96513712,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021212692799105065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05371768, -0.01106396,  0.06174507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90028330e-06,-6.37111288e-06,-3.95345859e-05, 6.64032730e-06,
  1.80445947e-07,-1.32384965e-04,-3.30690080e-05,-8.80640089e-05,
 -1.01539186e-06,-3.00464958e-05,-1.76224575e-05, 7.65989957e-06,
 -1.64343297e-05,-3.91385252e-05,-8.21127905e-06, 6.25168727e-05,
 -6.64801587e-06, 1.16205081e-05,-1.21632915e+00, 1.02800488e-03,
 -2.46314110e-02,-1.58707685e-04]


--- Step 2044 ---
qpos:
[ 3.29232288e-03,-3.19928834e-03, 1.19569917e-02, 4.17719911e-02,
  6.14103324e-03, 7.64907413e-01,-2.99400998e-02, 8.70981960e-01,
  5.83120730e-03, 1.63867661e-02,-9.29671602e-03, 2.60299032e-02,
  1.36984038e+00,-1.05734264e-04, 1.15362747e+00, 6.30247589e-02,
  8.97391244e-03,-3.59454152e-02, 7.31404779e-02, 6.72616623e-01,
 -1.98552880e-01,-6.76128328e-01,-2.25863048e-01]

qacc:
[-5.80980064e-01, 2.44194144e+00,-8.79245999e+00, 1.14000906e+01,
 -2.26490231e-01, 3.95990967e+00,-1.63235509e+01, 2.81027055e+01,
 -1.74017384e-01, 2.79845416e+00,-7.95828140e+00, 4.36232271e+00,
 -4.09475485e-01, 6.08926955e-01, 4.06850210e+00,-1.37945482e+01,
  1.38230879e+00, 8.71990461e-02,-2.65397473e+00,-9.39165302e+00,
  7.51654713e+01, 1.08430581e+02]

qfrc_actuator:
[ 4.04637790e-05,-8.65568146e-06, 8.01317624e-05, 1.17247441e-04,
 -6.22440672e-06, 2.54461005e-02, 8.60934816e-03, 2.18508569e-03,
 -1.63232415e-05, 4.58737022e-04, 4.18569927e-05, 4.18126881e-05,
  0.00000000e+00,-1.70352389e-03, 0.00000000e+00,-1.89810109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.10770002,  8.37522403,  2.10770002, 46.73062735,
       -9.5867621 ,  8.37522403, -9.5867621 , 11.04895804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002089438428884094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32837490e-14, -5.31349960e-14,  1.00000000e+00,  7.05831949e-28,
        1.00000000e+00,  5.31349960e-14, -1.00000000e+00,  0.00000000e+00,
        1.32837490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05380377, -0.01103803,  0.06174826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25537491e-06,-2.58748819e-06,-4.24760723e-05, 2.93636849e-06,
 -3.67652604e-05,-8.66082696e-05,-7.46957987e-05, 5.08163663e-05,
 -7.86276752e-07, 2.28655097e-05,-5.25173997e-05,-1.52405480e-05,
 -1.82604470e-05, 9.00557914e-06, 5.30625370e-07,-6.65029705e-05,
 -2.36634663e-04,-1.95457361e-04,-1.21622139e+00, 1.05575573e-03,
 -2.46152403e-02,-1.57293331e-04]


--- Step 2045 ---
qpos:
[ 3.29276384e-03,-3.20027129e-03, 1.19562850e-02, 4.17728603e-02,
  6.14081541e-03, 7.64904412e-01,-2.99397579e-02, 8.70984048e-01,
  5.83125017e-03, 1.63873237e-02,-9.29798307e-03, 2.60299011e-02,
  1.36991441e+00,-1.06394090e-04, 1.15380056e+00, 6.30211702e-02,
  8.97803922e-03,-3.59339058e-02, 7.31223563e-02, 6.72814739e-01,
 -1.99131584e-01,-6.75918307e-01,-2.25391619e-01]

qacc:
[  -3.41087042,  -0.163427  ,   0.7615723 ,  -1.03811848,  -0.23684967,
    6.33963807, -28.8987074 ,  63.6162681 ,  -3.14942705,   2.77078465,
   -8.31866607,   6.49621041,  -0.30457757,   0.49818804,   2.39206063,
   -8.36678249,  -2.134278  ,   1.57170159,   2.32021522,   8.93520995,
 -125.99493133, -79.76969611]

qfrc_actuator:
[ 2.05460147e-05, 1.47234557e-05, 9.44804741e-05, 1.19513243e-04,
 -2.81608402e-05, 2.54272399e-02, 8.58428582e-03, 2.34393264e-03,
 -3.46746273e-05, 4.84214067e-04,-1.79017728e-06, 3.38203684e-05,
  0.00000000e+00,-1.68939937e-03, 0.00000000e+00,-1.93722059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 0.60098181, 8.61542789, 0.60098181, 1.36417011,
       0.50728253, 8.61542789, 0.50728253, 8.6009774 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021349890150535893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50040842e-01,  1.50040842e-01,  9.77228475e-01,  2.27700154e-02,
        9.88679799e-01, -1.48303003e-01, -9.88417560e-01,  3.46944695e-18,
       -1.51758782e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0551886 , -0.05674651,  0.06174836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00057832e-05, 1.33266088e-05, 8.70332778e-06, 7.44513831e-07,
 -3.84491798e-05,-7.99158058e-05,-4.92088366e-05, 1.54984521e-04,
 -1.83631318e-05, 2.67625661e-05,-4.59171512e-05,-9.12593920e-06,
 -7.99644267e-06, 1.24211991e-05,-1.12661177e-05,-4.36935364e-05,
 -6.47335038e-04,-4.57903327e-04,-1.21608350e+00, 1.10455741e-03,
 -2.45953033e-02,-1.55475581e-04]


--- Step 2046 ---
qpos:
[ 3.29296261e-03,-3.20108421e-03, 1.19557142e-02, 4.17733895e-02,
  6.14046163e-03, 7.64901257e-01,-2.99395703e-02, 8.70986225e-01,
  5.83107308e-03, 1.63876491e-02,-9.29868407e-03, 2.60294410e-02,
  1.36998838e+00,-1.06893919e-04, 1.15397330e+00, 6.30191281e-02,
  8.97471147e-03,-3.59172387e-02, 7.31089051e-02, 6.72828858e-01,
 -1.99656107e-01,-6.75892914e-01,-2.24961188e-01]

qacc:
[-2.12450210e+00,-8.51578531e-01, 4.80307329e+00,-1.10339830e+01,
 -7.58064510e-02, 3.66815180e-01,-1.65574101e+00, 2.64937130e+00,
 -1.89714210e+00,-2.82821512e+00, 1.15790160e+01,-2.02467507e+01,
 -4.36616284e-02, 1.38596579e-01,-5.16896635e+00, 1.73610603e+01,
 -1.86363378e+00, 1.28945477e+00, 1.16763099e+00, 6.85797775e+00,
 -1.14105201e+02,-7.12208448e+01]

qfrc_actuator:
[ 8.65225649e-06, 2.90954945e-05, 1.03314155e-04, 1.02774132e-04,
 -2.32287753e-05, 2.54529995e-02, 8.58725362e-03, 2.34777622e-03,
 -4.54884245e-05, 4.63511814e-04, 2.63319326e-05, 1.13752539e-05,
  0.00000000e+00,-1.68079136e-03, 0.00000000e+00,-1.85226270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60707818, -0.71062086, -8.60707818,  8.61546245,
        0.25315628, -0.71062086,  0.25315628,  5.57012115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002175763303277652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.14724726,  0.14724726,  0.97807796,  0.0219207 ,  0.98909971,
       -0.14560645, -0.98885678,  0.        , -0.14886999])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05501189, -0.05667016,  0.06174373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24556757e-05, 2.36874265e-05, 1.27022581e-05,-1.58500283e-05,
 -1.23371848e-05,-2.32109637e-05,-1.37774047e-05, 3.32882571e-06,
 -1.13281084e-05,-1.56240112e-05, 2.76879400e-05,-2.30622490e-05,
 -1.82594856e-06, 1.03000015e-05,-1.32986021e-05, 8.03338656e-05,
 -9.15767165e-05,-7.84001057e-05,-1.21619082e+00, 9.31180600e-04,
 -2.46139477e-02,-1.51567662e-04]


--- Step 2047 ---
qpos:
[ 3.29370714e-03,-3.20180767e-03, 1.19550115e-02, 4.17737432e-02,
  6.14027734e-03, 7.64898868e-01,-2.99400258e-02, 8.70987334e-01,
  5.83076764e-03, 1.63875388e-02,-9.29810226e-03, 2.60290369e-02,
  1.37006230e+00,-1.07280142e-04, 1.15414548e+00, 6.30217694e-02,
  8.96484400e-03,-3.58963432e-02, 7.30961886e-02, 6.72675159e-01,
 -2.00133671e-01,-6.76035299e-01,-2.24568294e-01]

qacc:
[ 4.78444378e+00, 1.15586266e-01, 4.83840108e-01,-3.35889513e+00,
  9.37157556e-02, 8.91148877e-01, 7.32992906e-01,-1.39805480e+01,
 -1.07191398e+00,-4.04373305e+00, 1.33498199e+01,-1.41141248e+01,
  2.30604131e-01,-2.42104994e-01,-1.50004347e+01, 5.12122975e+01,
 -1.63492920e+00, 1.05708931e+00, 1.83652985e-01, 5.23131875e+00,
 -1.04127269e+02,-6.41234351e+01]

qfrc_actuator:
[ 3.70870691e-05, 2.01892436e-05, 9.10085525e-05, 9.27229154e-05,
 -2.29383143e-06, 2.55408206e-02, 8.57129916e-03, 2.29590084e-03,
 -5.17738927e-05, 4.51099676e-04, 9.64038655e-05, 1.61196871e-05,
  0.00000000e+00,-1.67552263e-03, 0.00000000e+00,-1.60612004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57071572, -1.0628306 , -8.57071572,  8.59271616,
        0.35197529, -1.0628306 ,  0.35197529,  5.79801845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021813885939641216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.14565385,  0.14565385,  0.97855501,  0.02144373,  0.98933561,
       -0.14406669, -0.98910319,  0.        , -0.1472239 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0549645 , -0.05665555,  0.06174273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80914908e-05, 6.31449309e-06,-6.38151595e-06,-8.90317980e-06,
  1.53947283e-05, 7.24232407e-05,-2.19983904e-05,-5.29563017e-05,
 -6.61555455e-06,-1.64252393e-05, 6.94626501e-05, 4.58638086e-06,
  1.22408410e-06, 7.72554397e-06, 3.98982150e-07, 2.48354369e-04,
  8.27638149e-05, 2.82048418e-04,-1.21625365e+00, 8.14269749e-04,
 -2.46275553e-02,-1.48461432e-04]


--- Step 2048 ---
qpos:
[ 3.29444168e-03,-3.20253164e-03, 1.19547443e-02, 4.17742914e-02,
  6.14030717e-03, 7.64897547e-01,-2.99411281e-02, 8.70986402e-01,
  5.83073388e-03, 1.63872905e-02,-9.29701471e-03, 2.60287079e-02,
  1.37013631e+00,-1.07859488e-04, 1.15431821e+00, 6.30222929e-02,
  8.94920981e-03,-3.58719836e-02, 7.30808471e-02, 6.72367152e-01,
 -2.00570103e-01,-6.76331242e-01,-2.24209942e-01]

qacc:
[-7.39408122e-02,-8.17170735e-01, 2.09238542e+00, 5.75956223e-01,
  1.18632302e-01,-3.91147358e-01, 7.64313845e+00,-3.20424616e+01,
  2.38775598e+00,-1.44587651e+00, 4.56493938e+00,-3.96154672e+00,
  3.08150581e-02,-1.37446331e-01, 7.20746123e+00,-2.40362072e+01,
 -1.44168121e+00, 8.66023787e-01,-6.56247446e-01, 3.95906279e+00,
 -9.57314213e+01,-5.82129547e+01]

qfrc_actuator:
[ 3.57700473e-05, 3.28338321e-05, 1.19490602e-04, 1.04408679e-04,
  1.02391623e-05, 2.56117615e-02, 8.54454190e-03, 2.19396246e-03,
 -3.75933612e-05, 4.43957896e-04, 1.19691979e-04, 1.90944433e-05,
  0.00000000e+00,-1.69002769e-03, 0.00000000e+00,-1.72859060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.52331691, -1.39278345, -8.52331691,  8.56834506,
        0.41624842, -1.39278345,  0.41624842,  6.08907807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021585410956961905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.14502404,  0.14502404,  0.97874208,  0.0212567 ,  0.98942813,
       -0.14345775, -0.98919977,  0.        , -0.1465736 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0550197 , -0.05669007,  0.0617446 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11082503e-07, 1.45172313e-05, 2.87062453e-05, 1.15631886e-05,
  1.94536824e-05, 1.05105509e-04,-1.65798298e-05,-1.01489429e-04,
  1.39823506e-05,-1.78704258e-06, 2.86050806e-05, 4.76366553e-06,
  2.81918031e-06,-1.23014968e-05, 2.55705791e-05,-1.09108667e-04,
 -2.87836416e-05, 6.27100249e-04,-1.21628455e+00, 7.40956734e-04,
 -2.46379171e-02,-1.45941931e-04]


--- Step 2049 ---
qpos:
[ 3.29480979e-03,-3.20290866e-03, 1.19549741e-02, 4.17745800e-02,
  6.14051450e-03, 7.64897032e-01,-2.99422427e-02, 8.70984245e-01,
  5.83121507e-03, 1.63871571e-02,-9.29624127e-03, 2.60277513e-02,
  1.37021036e+00,-1.08593660e-04, 1.15449113e+00, 6.30207178e-02,
  8.94261881e-03,-3.58491930e-02, 7.30669437e-02, 6.72267342e-01,
 -2.01184228e-01,-6.76419237e-01,-2.23692967e-01]

qacc:
[-3.20664236e+00,-1.45989498e+00, 6.97584330e+00,-1.25283818e+01,
  9.87428474e-02,-1.03435546e+00, 7.48150687e+00,-2.19404965e+01,
  4.47943310e+00,-2.70858435e-01, 3.82130181e+00,-1.42501480e+01,
 -6.20669069e-03,-7.73445802e-02, 6.61814484e+00,-2.27443956e+01,
  2.26079831e+00,-3.92259367e-01, 3.59537483e-01,-8.52954395e+00,
  1.04486283e+02, 1.57609696e+02]

qfrc_actuator:
[ 1.69393859e-05, 7.62157402e-05, 1.54178088e-04, 9.33315697e-05,
  1.76185539e-05, 2.56542141e-02, 8.54706929e-03, 2.13439683e-03,
 -1.14819072e-05, 4.39855046e-04, 9.74211262e-05,-1.45394702e-05,
  0.00000000e+00,-1.69838312e-03, 0.00000000e+00,-1.83651685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021697339580535116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.55843123e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.55843123e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05355711, -0.01106667,  0.06173799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88393351e-05, 5.79502681e-05, 4.16315423e-05,-9.23596989e-06,
  1.61270547e-05, 9.42235915e-05, 1.83111115e-05,-5.90116176e-05,
  2.65105222e-05, 1.01252398e-06,-1.89615221e-05,-3.26297505e-05,
 -1.61572188e-06,-1.08399094e-05,-5.61972459e-06,-1.11949388e-04,
 -3.57556002e-04, 9.59696108e-04,-1.21629296e+00, 7.01850923e-04,
 -2.46462184e-02,-1.43865436e-04]


--- Step 2050 ---
qpos:
[ 3.29563913e-03,-3.20274632e-03, 1.19552966e-02, 4.17740456e-02,
  6.14104407e-03, 7.64896855e-01,-2.99431296e-02, 8.70981076e-01,
  5.83166057e-03, 1.63875067e-02,-9.29648668e-03, 2.60264012e-02,
  1.37028424e+00,-1.08898163e-04, 1.15466354e+00, 6.30215371e-02,
  8.94395398e-03,-3.58275671e-02, 7.30505412e-02, 6.72354780e-01,
 -2.01958640e-01,-6.76319174e-01,-2.23033925e-01]

qacc:
[  4.04146427, -1.24985588,  8.94754838,-23.71412863,  0.17974488,
  -1.92562957,  9.17279751,-20.58092006, -0.35171415,  2.67657389,
  -6.95471132,  1.41643002, -0.25028533,  0.5488992 , -7.95090277,
  26.78824563,  1.98154433, -0.29115477, -0.62478851, -8.02695274,
  94.32316763,141.82441088]

qfrc_actuator:
[ 4.12188694e-05, 1.02187523e-04, 1.56847778e-04, 5.12203763e-05,
  3.96093888e-05, 2.56439031e-02, 8.54903882e-03, 2.08250236e-03,
 -1.40691241e-05, 4.72882909e-04, 4.84324341e-05,-3.39606033e-05,
  0.00000000e+00,-1.66750454e-03, 0.00000000e+00,-1.70410441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.64366847,  4.0200882 ,  7.64366847,  9.90241288,
       -2.40722596,  4.0200882 , -2.40722596, 13.21338689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002210719465947593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51099934e-14,  5.02199868e-14,  1.00000000e+00, -1.26102354e-27,
        1.00000000e+00, -5.02199868e-14, -1.00000000e+00,  0.00000000e+00,
        2.51099934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05343751, -0.01108929,  0.06173324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37626894e-05, 6.65837338e-05, 1.94491054e-05,-3.83676870e-05,
  2.92429080e-05, 4.36496639e-05, 2.08987400e-05,-4.96726542e-05,
 -1.82467400e-06, 2.82876761e-05,-5.22500024e-05,-2.06691622e-05,
 -4.04483261e-06, 2.79412493e-05,-1.87091598e-05, 1.24594922e-04,
  8.40959573e-05, 7.38492509e-04,-1.21620211e+00, 6.51516647e-04,
 -2.46318643e-02,-1.42344284e-04]


--- Step 2051 ---
qpos:
[ 3.29640834e-03,-3.20254543e-03, 1.19556010e-02, 4.17730838e-02,
  6.14185942e-03, 7.64896586e-01,-2.99439022e-02, 8.70980121e-01,
  5.83172717e-03, 1.63879681e-02,-9.29696230e-03, 2.60248219e-02,
  1.37035813e+00,-1.09116795e-04, 1.15483605e+00, 6.30218817e-02,
  8.95230282e-03,-3.58067799e-02, 7.30282684e-02, 6.72611826e-01,
 -2.02878641e-01,-6.76047450e-01,-2.22246337e-01]

qacc:
[-5.29258123e-01,-7.78774799e-01, 4.65522796e+00,-1.20517764e+01,
  1.58903059e-01, 3.40999183e+00,-1.63840651e+01, 4.12786766e+01,
 -3.31400484e+00, 3.25487435e-01, 3.31318160e-02,-3.72829098e+00,
 -9.20265014e-02, 1.78095772e-01, 1.58244738e+00,-5.31109286e+00,
  1.75341603e+00,-2.09698215e-01,-1.46758280e+00,-7.49155314e+00,
  8.58469378e+01, 1.28695168e+02]

qfrc_actuator:
[ 3.74254494e-05, 6.41241454e-05, 1.40512442e-04, 2.66611369e-05,
  5.23987170e-05, 2.56198317e-02, 8.55043879e-03, 2.19526084e-03,
 -3.35308614e-05, 4.74517361e-04, 3.75013215e-05,-4.48372126e-05,
  0.00000000e+00,-1.66686603e-03, 0.00000000e+00,-1.73293712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.47316517,  4.32880806,  7.47316517, 10.50179488,
       -3.22044212,  4.32880806, -3.22044212, 14.19606865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022167519874802394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.00833215e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.00833215e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05341538, -0.01108619,  0.06173224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09324715e-06, 1.54130968e-06,-1.52061636e-06,-2.17820322e-05,
  2.59202040e-05, 2.66560715e-06, 1.09283216e-05, 1.13653866e-04,
 -1.95006072e-05, 5.76837027e-06,-1.22364428e-05,-1.18715772e-05,
  4.26718344e-06, 7.24722001e-06, 3.19152587e-06,-2.47693052e-05,
  1.60313240e-04, 4.13883886e-04,-1.21606658e+00, 6.49828436e-04,
 -2.46131341e-02,-1.40197221e-04]


--- Step 2052 ---
qpos:
[ 3.29678160e-03,-3.20253981e-03, 1.19557902e-02, 4.17729093e-02,
  6.14288208e-03, 7.64896329e-01,-2.99444998e-02, 8.70983619e-01,
  5.83121503e-03, 1.63885548e-02,-9.29732135e-03, 2.60230983e-02,
  1.37043229e+00,-1.10084138e-04, 1.15500858e+00, 6.30215435e-02,
  8.95701490e-03,-3.57938520e-02, 7.30268867e-02, 6.72808294e-01,
 -2.03513119e-01,-6.75828728e-01,-2.21736197e-01]

qacc:
[-3.47510076e+00, 1.69351564e+00,-9.72126169e+00, 2.36567427e+01,
  1.14777454e-01, 7.27000084e+00,-3.39894198e+01, 8.38323742e+01,
 -5.04642703e+00,-4.47278047e-01, 2.46139596e+00,-5.25544527e+00,
  6.93664179e-01,-1.30254244e+00, 2.02221348e+00,-7.18878799e+00,
 -9.09191390e-01,-1.96480249e+00, 5.22278615e+00, 1.98430428e+00,
  2.15710427e+01,-2.01928923e+02]

qfrc_actuator:
[ 1.71251614e-05, 4.11826303e-05, 1.30600233e-04, 6.58246569e-05,
  5.95747133e-05, 2.56410569e-02, 8.56927176e-03, 2.42174373e-03,
 -6.27598404e-05, 4.92999096e-04, 4.90236641e-05,-5.05938604e-05,
  0.00000000e+00,-1.71970489e-03, 0.00000000e+00,-1.76784246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002249995503872518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.40150162e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.40150162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041724 , -0.00714213,  0.0617284 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03876534e-05,-2.33389481e-05,-1.05392917e-05, 3.87538999e-05,
  1.88075917e-05, 2.85060834e-05, 2.40467310e-05, 2.29478439e-04,
 -2.97842662e-05, 1.86568780e-05, 1.08004804e-05,-6.15950082e-06,
  3.70255254e-06,-4.97337301e-05,-5.02405319e-06,-3.67497681e-05,
 -3.54018254e-05, 1.69103552e-05,-1.21589734e+00, 6.81386505e-04,
 -2.45911043e-02,-1.37457443e-04]


--- Step 2053 ---
qpos:
[ 3.29794337e-03,-3.20256523e-03, 1.19554667e-02, 4.17742481e-02,
  6.14403919e-03, 7.64896545e-01,-2.99446408e-02, 8.70988016e-01,
  5.83001121e-03, 1.63896108e-02,-9.29771192e-03, 2.60212843e-02,
  1.37050648e+00,-1.11375654e-04, 1.15518114e+00, 6.30201083e-02,
  8.95838732e-03,-3.57880214e-02, 7.30407044e-02, 6.72950775e-01,
 -2.03890133e-01,-6.75658397e-01,-2.21476407e-01]

qacc:
[ 6.90598876e+00, 4.49822883e+00,-2.25033765e+01, 4.95521026e+01,
  7.49064728e-02, 9.47361749e-01,-4.39559116e+00, 1.43978628e+01,
 -6.04202011e+00, 5.34189863e-01,-6.02671017e-01,-1.27838414e+00,
  1.76270695e-01,-4.30572896e-01, 3.33073747e+00,-1.16419361e+01,
 -8.34911862e-01,-1.77434474e+00, 3.79985659e+00, 1.88648959e+00,
  1.94971043e+01,-1.82129300e+02]

qfrc_actuator:
[ 5.82911519e-05, 4.52852715e-05, 1.06893737e-04, 1.42178113e-04,
  6.33468521e-05, 2.56893924e-02, 8.59845830e-03, 2.46479970e-03,
 -9.74977627e-05, 5.39283518e-04, 5.60107529e-05,-5.32718312e-05,
  0.00000000e+00,-1.73281941e-03, 0.00000000e+00,-1.82374594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.50522278,  8.26502484, -2.50522278, 79.11734209,
       21.36358405,  8.26502484, 21.36358405, 15.11190829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002281024506667874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86721217e-14, -4.86721217e-14,  1.00000000e+00,  2.36897543e-27,
        1.00000000e+00,  4.86721217e-14, -1.00000000e+00,  0.00000000e+00,
        4.86721217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418122, -0.00717431,  0.06172518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05757490e-05,-9.47574066e-06,-2.84857951e-05, 7.57441676e-05,
  1.22136498e-05, 7.62221429e-05, 4.44950309e-05, 4.99036935e-05,
 -3.55841581e-05, 5.86592791e-05, 1.19599691e-05,-1.62013242e-06,
 -1.02620442e-05,-2.52407396e-05,-9.38596537e-06,-5.93147414e-05,
 -8.09913623e-05,-5.50147782e-05,-1.21613396e+00, 6.57480521e-04,
 -2.46182029e-02,-1.35354908e-04]


--- Step 2054 ---
qpos:
[ 3.29889938e-03,-3.20262306e-03, 1.19548308e-02, 4.17768228e-02,
  6.14488428e-03, 7.64896870e-01,-2.99438096e-02, 8.70989795e-01,
  5.82874534e-03, 1.63907436e-02,-9.29813841e-03, 2.60195032e-02,
  1.37058055e+00,-1.12585002e-04, 1.15535337e+00, 6.30200069e-02,
  8.95666204e-03,-3.57886676e-02, 7.30649278e-02, 6.73044450e-01,
 -2.04032705e-01,-6.75532447e-01,-2.21444659e-01]

qacc:
[-1.81440112e+00, 3.38127779e+00,-1.73245879e+01, 3.92241246e+01,
 -1.72512349e-01,-7.02784283e+00, 2.92270111e+01,-5.76793692e+01,
 -5.43614087e-01, 2.70507345e-01,-9.54348281e-01, 1.52208173e+00,
 -4.60763353e-02, 7.38008844e-02,-4.50183523e+00, 1.50625532e+01,
 -7.74428065e-01,-1.61917226e+00, 2.60142437e+00, 1.78386831e+00,
  1.77879629e+01,-1.65861453e+02]

qfrc_actuator:
[ 4.65476736e-05, 4.77756439e-05, 9.31069400e-05, 2.04299363e-04,
  2.95613594e-05, 2.56647661e-02, 8.63350526e-03, 2.32856069e-03,
 -9.96913449e-05, 5.13092240e-04, 4.26255050e-05,-5.40988108e-05,
  0.00000000e+00,-1.72222438e-03, 0.00000000e+00,-1.74953992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.97226451,  8.10878663, -2.97226451, 76.56893045,
       24.90058827,  8.10878663, 24.90058827, 17.76363978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002281186437481937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86686667e-14,  2.43343334e-14,  1.00000000e+00, -1.18431956e-27,
        1.00000000e+00, -2.43343334e-14, -1.00000000e+00,  0.00000000e+00,
        4.86686667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041824 , -0.00717187,  0.06172544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05928716e-05,-5.43560025e-06,-1.66333397e-05, 6.22000083e-05,
 -2.82942176e-05, 2.79797810e-05, 5.67089977e-05,-1.31329590e-04,
 -3.19090645e-06, 8.96656811e-06, 1.45172114e-07, 2.07292531e-06,
 -1.19814395e-05, 1.73579948e-06,-1.41303349e-05, 6.89441976e-05,
 -8.83521419e-05,-5.77360598e-05,-1.21629593e+00, 6.34715854e-04,
 -2.46401307e-02,-1.34217517e-04]


--- Step 2055 ---
qpos:
[ 3.29901754e-03,-3.20256608e-03, 1.19542992e-02, 4.17790376e-02,
  6.14516867e-03, 7.64896876e-01,-2.99423305e-02, 8.70990333e-01,
  5.82746290e-03, 1.63917717e-02,-9.29864750e-03, 2.60184443e-02,
  1.37065445e+00,-1.13435245e-04, 1.15552540e+00, 6.30214319e-02,
  8.95203539e-03,-3.57952854e-02, 7.30955256e-02, 6.73093376e-01,
 -2.03959749e-01,-6.75447384e-01,-2.21622558e-01]

qacc:
[-7.35283249e+00,-8.66944089e-01, 4.85379672e+00,-1.13575627e+01,
 -3.11394154e-01,-4.32345119e+00, 1.65126989e+01,-2.94589823e+01,
 -1.44865360e-01, 1.57961915e+00,-8.88173190e+00, 2.15897926e+01,
 -2.71999366e-01, 5.32705602e-01,-4.87509910e+00, 1.66900164e+01,
 -7.25340104e-01,-1.49292904e+00, 1.59359324e+00, 1.68013193e+00,
  1.63775927e+01,-1.52474253e+02]

qfrc_actuator:
[ 3.73736397e-06, 6.70650858e-05, 1.03029215e-04, 1.86542777e-04,
 -8.61339045e-06, 2.56142890e-02, 8.65361758e-03, 2.26542989e-03,
 -1.00463916e-04, 4.96878358e-04, 3.47865165e-05,-1.83970080e-05,
  0.00000000e+00,-1.69768029e-03, 0.00000000e+00,-1.67027083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.51038508,  7.8907524 , -3.51038508, 71.92192785,
       28.15405799,  7.8907524 , 28.15405799, 21.16135241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022566930717796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45984498e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45984498e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417758, -0.00714216,  0.06172846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31155291e-05, 1.54755847e-05, 8.90496538e-06,-1.73581106e-05,
 -5.08678818e-05,-2.80018884e-05, 2.82004721e-05,-6.35117076e-05,
 -8.58197227e-07,-1.11180767e-05,-5.90266441e-06, 3.61337083e-05,
 -6.24432868e-06, 2.23409885e-05,-1.34219428e-06, 8.07148691e-05,
 -6.69504383e-05,-8.45186518e-06,-1.21640069e+00, 6.15738739e-04,
 -2.46578601e-02,-1.33973547e-04]


--- Step 2056 ---
qpos:
[ 3.30000139e-03,-3.20240645e-03, 1.19536457e-02, 4.17803490e-02,
  6.14514699e-03, 7.64897005e-01,-2.99412658e-02, 8.70988745e-01,
  5.82618098e-03, 1.63929640e-02,-9.29937352e-03, 2.60181415e-02,
  1.37072811e+00,-1.13489973e-04, 1.15569763e+00, 6.30217738e-02,
  8.94466607e-03,-3.58074648e-02, 7.31291129e-02, 6.73100711e-01,
 -2.03686810e-01,-6.75400154e-01,-2.21994928e-01]

qacc:
[ 7.59210100e+00,-1.40064933e+00, 8.97558199e+00,-2.44584169e+01,
 -1.70502100e-01,-2.40528437e+00, 1.29346256e+01,-3.71558639e+01,
 -4.59703494e-03, 2.37967933e+00,-1.13625191e+01, 2.46739922e+01,
 -8.29044570e-01, 1.52012399e+00, 3.64365139e+00,-1.21366342e+01,
 -6.85669067e-01,-1.39037595e+00, 7.47369587e-01, 1.57729860e+00,
  1.52135966e+01,-1.41455040e+02]

qfrc_actuator:
[ 4.95171621e-05, 6.07944368e-05, 9.13800837e-05, 1.39713546e-04,
 -1.35429426e-05, 2.56196980e-02, 8.62919944e-03, 2.15706998e-03,
 -1.00404542e-04, 5.22306789e-04, 3.03363096e-05, 2.07669276e-05,
  0.00000000e+00,-1.64732394e-03, 0.00000000e+00,-1.73071100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.00573299,  7.65120122, -4.00573299, 67.08532226,
       30.60054432,  7.65120122, 30.60054432, 24.65706502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022127280258968096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50872003e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.50872003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00416806, -0.00709112,  0.06173363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45573767e-05, 3.46291786e-06,-7.95419525e-06,-4.61982009e-05,
 -2.77623314e-05,-6.59262701e-06,-2.86159810e-05,-1.09847597e-04,
  3.21546401e-08, 1.95070655e-05,-6.22856022e-06, 3.91874526e-05,
  1.89340541e-06, 5.49036330e-05, 5.16704463e-06,-5.68539064e-05,
 -2.34815868e-05, 8.06705992e-05,-1.21646076e+00, 6.02206814e-04,
 -2.46721416e-02,-1.34562251e-04]


--- Step 2057 ---
qpos:
[ 3.30083606e-03,-3.20223566e-03, 1.19528860e-02, 4.17811002e-02,
  6.14534888e-03, 7.64897262e-01,-2.99408285e-02, 8.70985538e-01,
  5.82559960e-03, 1.63941974e-02,-9.30010891e-03, 2.60183115e-02,
  1.37080178e+00,-1.13214452e-04, 1.15587010e+00, 6.30193856e-02,
  8.93468168e-03,-3.58248728e-02, 7.31628521e-02, 6.73068872e-01,
 -2.03226639e-01,-6.75388076e-01,-2.22549261e-01]

qacc:
[-1.31315966e+00,-8.40280737e-01, 5.38475170e+00,-1.49201941e+01,
  1.24253306e-01,-9.47623569e-01, 6.99785209e+00,-2.57673307e+01,
  6.10954086e+00, 1.04194834e+00,-5.65306159e+00, 1.38426224e+01,
 -4.17827269e-01, 7.63290074e-01, 8.63617468e+00,-2.96070624e+01,
 -6.53768304e-01,-1.30717288e+00, 3.79920158e-02, 1.47626285e+00,
  1.42539329e+01,-1.32395731e+02]

qfrc_actuator:
[ 4.05668211e-05, 5.69065996e-05, 8.47250537e-05, 1.11633478e-04,
  1.91969065e-05, 2.56228169e-02, 8.59661857e-03, 2.07621180e-03,
 -6.43511939e-05, 5.19235838e-04, 2.80867548e-05, 4.39327576e-05,
  0.00000000e+00,-1.63531818e-03, 0.00000000e+00,-1.87297776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.39555255,  7.43410349, -4.39555255, 63.58484896,
       32.48931834,  7.43410349, 32.48931834, 27.84627998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002153611227581488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28879230e-14,  2.57758459e-14,  1.00000000e+00, -3.32197117e-28,
        1.00000000e+00, -2.57758459e-14, -1.00000000e+00,  0.00000000e+00,
        1.28879230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00415489, -0.00702361,  0.06174046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67779663e-06,-5.56188458e-06,-8.51801782e-06,-2.91101646e-05,
  2.02811208e-05,-9.70432596e-06,-4.04929574e-05,-8.44254543e-05,
  3.60626659e-05, 8.19221937e-06, 2.36255584e-06, 2.45483123e-05,
  1.37023088e-05, 2.72752627e-05,-8.29914228e-06,-1.45770582e-04,
  3.73194575e-05, 2.01025363e-04,-1.21648512e+00, 5.95117223e-04,
 -2.46835509e-02,-1.35932371e-04]


--- Step 2058 ---
qpos:
[ 3.30052251e-03,-3.20197002e-03, 1.19519563e-02, 4.17821932e-02,
  6.14586530e-03, 7.64897555e-01,-2.99406284e-02, 8.70983446e-01,
  5.82545501e-03, 1.63952972e-02,-9.30021596e-03, 2.60187359e-02,
  1.37087565e+00,-1.13259914e-04, 1.15604192e+00, 6.30199885e-02,
  8.92218425e-03,-3.58472397e-02, 7.31943687e-02, 6.72999666e-01,
 -2.02589669e-01,-6.75408788e-01,-2.23275267e-01]

qacc:
[ -10.08472542,   1.32495467,  -5.94957233,  12.02807444,   0.17477391,
    2.62244722, -11.0939473 ,  23.28422964,   3.83174317,  -1.41627815,
    3.70588998,  -0.19266834,   0.6185988 ,  -0.95023553, -10.04321773,
   33.61700137,  -0.62825834,  -1.23971022,  -0.55566304,   1.37716977,
   13.46451833,-124.96812373]

qfrc_actuator:
[-1.83056440e-05, 7.22515273e-05, 8.10996730e-05, 1.30326347e-04,
  3.86259130e-05, 2.56422618e-02, 8.59502422e-03, 2.13646728e-03,
 -4.29069606e-05, 5.16875191e-04, 6.25420659e-05, 5.74805918e-05,
  0.00000000e+00,-1.66392834e-03, 0.00000000e+00,-1.70720758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.65327984,  7.27555933, -4.65327984, 62.65218354,
       34.54727177,  7.27555933, 34.54727177, 30.73200133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002082936141355504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66504336e-14,  1.99878252e-14,  1.00000000e+00, -5.32684206e-28,
        1.00000000e+00, -1.99878252e-14, -1.00000000e+00,  0.00000000e+00,
        2.66504336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00413893, -0.00694358,  0.06174854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90914604e-05, 9.22404491e-06,-6.82599938e-06, 1.75929933e-05,
  2.85312857e-05, 3.37539284e-06,-1.07197273e-05, 5.68078642e-05,
  2.24828437e-05, 3.73480880e-06, 3.72796687e-05, 1.44552966e-05,
  1.30259419e-05,-1.77097421e-05,-2.37781016e-05, 1.55711200e-04,
  1.12116986e-04, 3.46548042e-04,-1.21648021e+00, 5.95026057e-04,
 -2.46925267e-02,-1.38040848e-04]


--- Step 2059 ---
qpos:
[ 3.30019558e-03,-3.20159455e-03, 1.19509627e-02, 4.17834919e-02,
  6.14645142e-03, 7.64897587e-01,-2.99402315e-02, 8.70985893e-01,
  5.82522417e-03, 1.63962734e-02,-9.30014386e-03, 2.60193494e-02,
  1.37094936e+00,-1.12798765e-04, 1.15621308e+00, 6.30265364e-02,
  8.90304939e-03,-3.58648719e-02, 7.32214794e-02, 6.72784395e-01,
 -2.01909936e-01,-6.75575783e-01,-2.24033251e-01]

qacc:
[-1.21238273e-01, 7.47909864e-01,-3.32296248e+00, 6.90177364e+00,
  3.82323657e-02, 7.00297499e+00,-3.37518321e+01, 8.48540780e+01,
 -7.44363593e-01,-2.73707740e-01,-5.66210569e-02, 3.12910226e+00,
 -5.03950270e-02, 3.40080924e-01,-1.89212889e+01, 6.47896884e+01,
 -1.65935775e+00, 1.18367650e+00,-1.10148364e+00, 5.12603993e+00,
 -9.05378353e+01,-5.63259393e+01]

qfrc_actuator:
[-1.73095083e-05, 8.12953124e-05, 7.93983589e-05, 1.40899801e-04,
  3.21353938e-05, 2.56360374e-02, 8.61188254e-03, 2.36806772e-03,
 -4.79972851e-05, 4.97346429e-04, 6.51284347e-05, 6.52868004e-05,
  0.00000000e+00,-1.62762577e-03, 0.00000000e+00,-1.39674981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47918839, -1.64016496,  8.47918839, 10.99414021,
       12.18903726, -1.64016496, 12.18903726, 71.65023485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021002199801356015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44563352e-01,  1.44563352e-01,  9.78878376e-01,  2.11204211e-02,
        9.89495547e-01, -1.43012204e-01, -9.89270117e-01, -3.46944695e-18,
       -1.46098032e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05517498, -0.05690927,  0.06175201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.84385984e-07, 1.35247272e-05,-1.99930936e-08, 1.10764078e-05,
  6.31404016e-06,-4.65759856e-06, 1.79962117e-05, 2.32675503e-04,
 -4.44323128e-06,-9.15226366e-06, 8.43617966e-06, 9.53337107e-06,
  2.50906554e-06, 3.47945512e-05, 5.28894275e-06, 3.15802540e-04,
  1.98581215e-04, 5.12999797e-04,-1.21645064e+00, 6.02196371e-04,
 -2.46994001e-02,-1.40851722e-04]


--- Step 2060 ---
qpos:
[ 3.30022761e-03,-3.20124485e-03, 1.19500533e-02, 4.17842236e-02,
  6.14721866e-03, 7.64896994e-01,-2.99396007e-02, 8.70989403e-01,
  5.82458980e-03, 1.63967966e-02,-9.29985057e-03, 2.60200919e-02,
  1.37102284e+00,-1.11404947e-04, 1.15638440e+00, 6.30350603e-02,
  8.87804376e-03,-3.58786484e-02, 7.32416954e-02, 6.72432480e-01,
 -2.01192032e-01,-6.75878560e-01,-2.24821038e-01]

qacc:
[  3.15331397, -1.44407071,  7.47946203,-17.39061846,  0.10117473,
   0.3897135 , -4.70090227, 17.37041277, -3.50500314, -0.94408323,
   1.96436359,  0.23745261, -0.71623536,  1.46187236, -5.64190202,
  20.27036045, -1.4676932 ,  0.963899  , -1.72366326,  4.18858117,
 -84.54836818,-51.93300122]

qfrc_actuator:
[ 1.17960667e-06, 6.87528631e-05, 7.88133531e-05, 1.11095770e-04,
  4.57174559e-05, 2.55614364e-02, 8.60396814e-03, 2.41456189e-03,
 -6.86600350e-05, 4.49807664e-04, 6.65439244e-05, 6.96117737e-05,
  0.00000000e+00,-1.57082739e-03, 0.00000000e+00,-1.30542442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.2989867 , -2.39031306, -8.2989867 ,  8.32261064,
        1.08932675, -2.39031306,  1.08932675,  4.85430329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020566182506599755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46103591e-01,  1.46103591e-01,  9.78420912e-01,  2.15778042e-02,
        9.89269296e-01, -1.44501410e-01, -9.89033942e-01,  3.46944695e-18,
       -1.47688391e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05534721, -0.05700651,  0.06175706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84734551e-05,-4.51315611e-06, 2.59409015e-06,-2.90111932e-05,
  1.64117364e-05,-6.61985494e-05, 2.42902304e-07, 5.21726163e-05,
 -2.07907544e-05,-5.05454501e-05, 8.80236048e-07, 4.40662723e-06,
  1.01548191e-05, 6.64016920e-05, 3.52434704e-05, 1.09052222e-04,
  6.21139347e-05, 9.68221410e-05,-1.21642977e+00, 7.43483865e-04,
 -2.46961652e-02,-1.43397234e-04]


--- Step 2061 ---
qpos:
[ 3.30013608e-03,-3.20096834e-03, 1.19491727e-02, 4.17846030e-02,
  6.14795661e-03, 7.64896385e-01,-2.99399422e-02, 8.70989999e-01,
  5.82371249e-03, 1.63970439e-02,-9.29900441e-03, 2.60204896e-02,
  1.37109670e+00,-1.10643997e-04, 1.15655664e+00, 6.30382906e-02,
  8.84781297e-03,-3.58892907e-02, 7.32528983e-02, 6.71951775e-01,
 -2.00439598e-01,-6.76308253e-01,-2.25636713e-01]

qacc:
[-1.08248612e+00,-9.01553567e-01, 4.56425019e+00,-1.06578633e+01,
 -1.65959157e-02,-2.44651862e+00, 1.46311394e+01,-4.80082149e+01,
 -2.09722049e+00,-2.61584159e+00, 1.02608537e+01,-1.69177186e+01,
  3.42308815e-01,-7.30707987e-01, 1.72907124e+01,-5.86173028e+01,
 -1.30628794e+00, 7.83574535e-01,-2.25327598e+00, 3.49549209e+00,
 -7.95071015e+01,-4.82906060e+01]

qfrc_actuator:
[-5.70773875e-06, 6.11029833e-05, 7.87755709e-05, 9.32607399e-05,
  3.56984843e-05, 2.55527931e-02, 8.54556884e-03, 2.26289117e-03,
 -8.05618124e-05, 4.56852089e-04, 1.02648454e-04, 5.40796371e-05,
  0.00000000e+00,-1.62662865e-03, 0.00000000e+00,-1.59252435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.20413373, -2.69795602, -8.20413373,  8.27157705,
        1.1092686 , -2.69795602,  1.1092686 ,  5.26322194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001997085509644618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47814051e-01,  1.47814051e-01,  9.77906955e-01,  2.20916668e-02,
        9.89015170e-01, -1.46153863e-01, -9.88768408e-01,  3.46944695e-18,
       -1.49455797e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05557145, -0.05712742,  0.06176358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.36193323e-06,-1.08778386e-05,-1.65022796e-06,-1.85044963e-05,
 -2.66377192e-06,-4.35974986e-05,-6.98585688e-05,-1.52593980e-04,
 -1.25134704e-05,-2.08835307e-05, 2.59135432e-05,-1.75847432e-05,
  2.16153718e-05,-3.59158714e-05, 2.32586552e-05,-2.77687285e-04,
 -2.41477025e-04,-2.81209068e-04,-1.21640035e+00, 9.03497563e-04,
 -2.46929239e-02,-1.46373947e-04]


--- Step 2062 ---
qpos:
[ 3.30030782e-03,-3.20076009e-03, 1.19483128e-02, 4.17844203e-02,
  6.14841626e-03, 7.64896212e-01,-2.99418909e-02, 8.70989803e-01,
  5.82304365e-03, 1.63975813e-02,-9.29826043e-03, 2.60206697e-02,
  1.37117096e+00,-1.10978850e-04, 1.15672956e+00, 6.30334168e-02,
  8.82601022e-03,-3.59014261e-02, 7.32629550e-02, 6.71668239e-01,
 -1.99854543e-01,-6.76540687e-01,-2.26302091e-01]

qacc:
[  2.31225718, -1.31111102,  6.90652945,-16.60472137, -0.15646377,
   3.54069493, -9.13408761, -1.60136354,  1.81010839,  0.21762456,
   0.69325333, -4.50314378,  0.5056319 , -1.237313  , 25.42776445,
 -87.60801132,  2.10700724, -0.37326503, -0.28654338, -7.90583412,
  99.00104614,149.11000081]

qfrc_actuator:
[ 8.02323109e-06, 5.64463620e-05, 7.90878609e-05, 6.48668023e-05,
  1.16568678e-05, 2.56011179e-02, 8.47574401e-03, 2.22665551e-03,
 -6.94535543e-05, 4.96650709e-04, 1.05888355e-04, 4.48082282e-05,
  0.00000000e+00,-1.69553933e-03, 0.00000000e+00,-2.01143708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020258804881121348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.7401000e-14, -8.2203000e-14,  1.0000000e+00,  2.2524444e-27,
        1.0000000e+00,  8.2203000e-14, -1.0000000e+00,  0.0000000e+00,
        2.7401000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05406677, -0.01080334,  0.06175583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35467464e-05,-1.18755159e-05,-2.77157309e-06,-2.92764308e-05,
 -2.52405468e-05, 5.52675985e-06,-9.10586554e-05,-4.31988183e-05,
  1.07437008e-05, 3.26927609e-05, 1.49540162e-06,-9.61492807e-06,
  2.32236344e-06,-7.30464816e-05,-2.57743566e-05,-4.32737917e-04,
 -6.81297314e-04,-6.26314352e-04,-1.21636549e+00, 1.07901576e-03,
 -2.46897559e-02,-1.49706860e-04]


--- Step 2063 ---
qpos:
[ 3.30098781e-03,-3.20077932e-03, 1.19475277e-02, 4.17839158e-02,
  6.14859183e-03, 7.64896045e-01,-2.99437185e-02, 8.70987737e-01,
  5.82251329e-03, 1.63981851e-02,-9.29772927e-03, 2.60214641e-02,
  1.37124526e+00,-1.11839332e-04, 1.15690191e+00, 6.30272280e-02,
  8.81165661e-03,-3.59146755e-02, 7.32683884e-02, 6.71563704e-01,
 -1.99421492e-01,-6.76594406e-01,-2.26833130e-01]

qacc:
[  4.46695435, -1.1820076 ,  5.12071985,-10.62566092, -0.15777832,
  -3.56442005, 15.9710603 ,-36.73171193,  1.20044063,  1.94485977,
  -9.40541121, 20.33410965,  0.35093674, -0.78206453,  3.08192964,
 -12.1057781 ,  1.86228538, -0.27853666, -1.15582691, -7.93983512,
  89.94600875,134.64674138]

qfrc_actuator:
[ 3.37877832e-05, 3.58574115e-05, 7.96067468e-05, 4.82407215e-05,
 -2.78497854e-06, 2.56121675e-02, 8.48885083e-03, 2.13445793e-03,
 -6.26461529e-05, 4.84635513e-04, 8.98433761e-05, 7.48091855e-05,
  0.00000000e+00,-1.71834168e-03, 0.00000000e+00,-2.06069388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.43980247,  1.83207837,  8.43980247,  8.75218288,
       -0.53354245,  1.83207837, -0.53354245, 11.09422403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020612712411870876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69305418e-14, -2.69305418e-14,  1.00000000e+00,  7.25254079e-28,
        1.00000000e+00,  2.69305418e-14, -1.00000000e+00,  0.00000000e+00,
        2.69305418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05397519, -0.01081802,  0.06175219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61478637e-05,-2.90491869e-05,-3.28117216e-06,-1.77993252e-05,
 -2.57672435e-05,-5.21593421e-06, 2.42386724e-06,-9.57439432e-05,
  7.12959943e-06, 6.13671861e-06,-9.45683737e-06, 3.12627611e-05,
 -1.77593797e-05,-4.09039356e-05,-6.37559589e-05,-7.75806895e-05,
 -1.34392451e-04,-1.58996877e-04,-1.21645610e+00, 9.77480528e-04,
 -2.46892090e-02,-1.52931948e-04]


--- Step 2064 ---
qpos:
[ 3.30162654e-03,-3.20109901e-03, 1.19470724e-02, 4.17832077e-02,
  6.14854545e-03, 7.64895982e-01,-2.99451972e-02, 8.70984905e-01,
  5.82172422e-03, 1.63986012e-02,-9.29781683e-03, 2.60226736e-02,
  1.37131943e+00,-1.12747545e-04, 1.15707353e+00, 6.30234092e-02,
  8.80395485e-03,-3.59287334e-02, 7.32662335e-02, 6.71622930e-01,
 -1.99127522e-01,-6.76484697e-01,-2.27242875e-01]

qacc:
[-3.46752768e-01,-1.73801113e+00, 6.48003976e+00,-1.03087357e+01,
 -1.23238529e-01,-2.13558215e+00, 8.92868480e+00,-1.72650014e+01,
 -2.27241224e+00, 2.33999091e+00,-1.04479699e+01, 1.87497381e+01,
  1.19323144e-01,-2.33415437e-01,-8.24687402e+00, 2.72534790e+01,
  1.66296313e+00,-2.02081876e-01,-1.89707214e+00,-7.87394432e+00,
  8.24077379e+01, 1.22647349e+02]

qfrc_actuator:
[ 3.09169388e-05, 2.36482165e-05, 9.79398551e-05, 3.86600160e-05,
 -1.13498739e-05, 2.56366136e-02, 8.51512591e-03, 2.09884006e-03,
 -7.61852897e-05, 4.41639825e-04, 4.46263541e-05, 9.21233601e-05,
  0.00000000e+00,-1.71361089e-03, 0.00000000e+00,-1.92720972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.43376589,  1.85966928,  8.43376589,  8.8061478 ,
       -0.76998629,  1.85966928, -0.76998629, 12.12832008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002065609564002882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68739805e-14,  2.68739805e-14,  1.00000000e+00, -7.22210830e-28,
        1.00000000e+00, -2.68739805e-14, -1.00000000e+00,  0.00000000e+00,
        2.68739805e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05397017, -0.01080989,  0.06175187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13434437e-06,-2.98757291e-05, 1.13216141e-05,-1.12833684e-05,
 -2.01286157e-05, 1.89873538e-05, 2.26566086e-05,-3.78862844e-05,
 -1.33309459e-05,-4.02067359e-05,-4.40483604e-05, 1.78536620e-05,
 -2.04373630e-05,-9.73049124e-06,-3.83579904e-05, 1.20879945e-04,
  7.06268687e-05, 1.53475271e-04,-1.21649400e+00, 9.31498942e-04,
 -2.46843368e-02,-1.55586746e-04]


--- Step 2065 ---
qpos:
[ 3.30188134e-03,-3.20189004e-03, 1.19471741e-02, 4.17830871e-02,
  6.14834446e-03, 7.64896125e-01,-2.99467552e-02, 8.70983062e-01,
  5.82077912e-03, 1.63988839e-02,-9.29894708e-03, 2.60227237e-02,
  1.37139339e+00,-1.13386935e-04, 1.15724486e+00, 6.30214810e-02,
  8.80225160e-03,-3.59433522e-02, 7.32539653e-02, 6.71833103e-01,
 -1.98961739e-01,-6.76224182e-01,-2.27542004e-01]

qacc:
[-3.34376303e+00,-9.63074919e-01, 6.33294439e-02, 9.54367832e+00,
 -8.64713148e-02, 2.20161241e+00,-9.15118780e+00, 1.99223073e+01,
 -1.39193639e+00, 3.53779618e-01, 3.38313508e+00,-2.16904554e+01,
 -2.02085650e-01, 3.72813946e-01,-6.11244326e+00, 2.08121537e+01,
  1.49962878e+00,-1.40245168e-01,-2.52833074e+00,-7.73810154e+00,
  7.61212249e+01, 1.12670780e+02]

qfrc_actuator:
[ 1.12110671e-05,-1.12176971e-06, 1.26676610e-04, 6.88221896e-05,
 -1.63370808e-05, 2.56512441e-02, 8.51352052e-03, 2.15007249e-03,
 -8.38379127e-05, 4.15788590e-04,-1.76028688e-05, 3.07685083e-05,
  0.00000000e+00,-1.69262786e-03, 0.00000000e+00,-1.82926104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.41497753,  1.94291791,  8.41497753,  8.88745806,
       -1.08751581,  1.94291791, -1.08751581, 13.3465066 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002044916675999639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05403351, -0.01078368,  0.06175417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97754661e-05,-3.96056098e-05, 2.35799051e-05, 2.90578264e-05,
 -1.40178237e-05, 2.84190592e-05, 3.61952193e-06, 5.16609665e-05,
 -8.04627228e-06,-5.66926734e-05,-7.53490234e-05,-6.42575669e-05,
 -1.36433680e-05, 1.38011737e-05,-5.17017377e-06, 9.95449013e-05,
  1.51938177e-05, 3.47849816e-04,-1.21649055e+00, 9.25856403e-04,
 -2.46756291e-02,-1.57722101e-04]


--- Step 2066 ---
qpos:
[ 3.30155284e-03,-3.20282788e-03, 1.19475611e-02, 4.17826150e-02,
  6.14823872e-03, 7.64896327e-01,-2.99476703e-02, 8.70981476e-01,
  5.82009437e-03, 1.63988803e-02,-9.30027060e-03, 2.60219994e-02,
  1.37146725e+00,-1.13812128e-04, 1.15741620e+00, 6.30200514e-02,
  8.80600756e-03,-3.59583310e-02, 7.32294359e-02, 6.72183436e-01,
 -1.98914949e-01,-6.75823278e-01,-2.27739255e-01]

qacc:
[-5.10838225e+00,-1.70606981e+00, 7.30101908e+00,-1.37489541e+01,
  5.35396463e-02,-1.21389311e+00, 3.50373764e+00,-1.12521380e-01,
  2.26922047e+00,-1.43673358e+00, 7.83574175e+00,-2.07100225e+01,
 -1.98730949e-01, 3.63907299e-01,-1.47420278e+00, 5.21908096e+00,
  1.36480145e+00,-9.00018357e-02,-3.06530718e+00,-7.55373807e+00,
  7.08754593e+01, 1.04367279e+02]

qfrc_actuator:
[-1.82366548e-05, 2.36807807e-06, 1.43543781e-04, 5.11100148e-05,
 -1.40361723e-06, 2.56598414e-02, 8.54873322e-03, 2.16320276e-03,
 -7.02051943e-05, 4.17997424e-04,-1.83574260e-05,-5.36878509e-06,
  0.00000000e+00,-1.67994358e-03, 0.00000000e+00,-1.80636016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.37129114,  2.12326669,  8.37129114,  9.02885522,
       -1.5474558 ,  2.12326669, -1.5474558 , 14.7374357 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002004254389151333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11587419e-14,  2.76966594e-14,  1.00000000e+00, -8.62993062e-28,
        1.00000000e+00, -2.76966594e-14, -1.00000000e+00,  0.00000000e+00,
        3.11587419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0541505 , -0.01074323,  0.06175854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00245722e-05,-1.25224063e-05, 1.26051388e-05,-1.80245158e-05,
  8.64573123e-06, 2.67153453e-05, 4.28009996e-05, 1.53210790e-05,
  1.33877607e-05,-4.78150830e-05,-2.39602554e-05,-4.24225936e-05,
 -4.06210095e-06, 1.32005335e-05, 5.78544681e-06, 2.71241056e-05,
 -2.42058714e-04, 4.50767742e-04,-1.21645363e+00, 9.49719599e-04,
 -2.46635447e-02,-1.59374143e-04]


--- Step 2067 ---
qpos:
[ 3.30087346e-03,-3.20339620e-03, 1.19476755e-02, 4.17812157e-02,
  6.14847028e-03, 7.64896012e-01,-2.99482520e-02, 8.70982550e-01,
  5.81957837e-03, 1.63982519e-02,-9.30072152e-03, 2.60218521e-02,
  1.37154100e+00,-1.13832688e-04, 1.15758782e+00, 6.30165647e-02,
  8.80196529e-03,-3.59671975e-02, 7.32140210e-02, 6.72329662e-01,
 -1.98804149e-01,-6.75628603e-01,-2.27981856e-01]

qacc:
[  -3.0950805 ,  -0.65465513,   6.96401084, -22.8525863 ,   0.1878966 ,
    3.03298073, -16.84644422,  47.33447887,   1.51007743,  -2.07984808,
    3.77588594,   5.28171391,  -0.52855794,   0.9125584 ,   6.67154981,
  -22.62815022,  -1.94955851,   1.52805956,   2.27863314,   9.37189113,
 -126.48255887, -80.62416295]

qfrc_actuator:
[-3.54239050e-05, 4.04304796e-05, 1.35585539e-04, 5.37718737e-06,
  2.52942397e-05, 2.55938726e-02, 8.55208857e-03, 2.29582982e-03,
 -6.19078809e-05, 4.01743286e-04, 3.50931096e-05, 2.69610699e-05,
  0.00000000e+00,-1.65453882e-03, 0.00000000e+00,-1.91661541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.90318559,   6.30390171,   5.90318559,
        43.66271877, -32.79985708,   6.30390171, -32.79985708,
        39.35125305,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020468555158775735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.13873601,  0.13873601,  0.98056343,  0.01943563,  0.9903294 ,
       -0.13736789, -0.99013867,  0.        , -0.14009077])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0553141 , -0.05707352,  0.06175822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80439392e-05, 3.29124676e-05,-9.60690229e-06,-4.61803287e-05,
  3.05811981e-05,-4.22302997e-05, 1.40207930e-05, 1.35117502e-04,
  8.66559848e-06,-4.97402113e-05, 3.91704887e-05, 2.86300003e-05,
  8.52247405e-07, 2.80481561e-05, 1.94656259e-06,-1.08858615e-04,
 -6.58839568e-04, 4.81635264e-04,-1.21638867e+00, 9.95368438e-04,
 -2.46484848e-02,-1.60569244e-04]


--- Step 2068 ---
qpos:
[ 3.29999314e-03,-3.20356765e-03, 1.19473070e-02, 4.17799808e-02,
  6.14902664e-03, 7.64894996e-01,-2.99489818e-02, 8.70987320e-01,
  5.81916564e-03, 1.63974506e-02,-9.30100235e-03, 2.60227734e-02,
  1.37161478e+00,-1.13810710e-04, 1.15775930e+00, 6.30127921e-02,
  8.79104712e-03,-3.59710584e-02, 7.32031686e-02, 6.72291100e-01,
 -1.98637986e-01,-6.75620005e-01,-2.28265714e-01]

qacc:
[-1.78564222e+00, 2.21732459e+00,-7.83195619e+00, 1.11503665e+01,
  1.80406971e-01, 5.89721138e+00,-2.89111173e+01, 7.07203873e+01,
  9.09600878e-01, 1.49442654e+00,-1.01750824e+01, 2.85292752e+01,
 -7.40493486e-03, 5.09236313e-02, 6.50761692e-01,-2.58420146e+00,
 -1.71897352e+00, 1.25141963e+00, 1.14062446e+00, 7.51612299e+00,
 -1.14565072e+02,-7.21321190e+01]

qfrc_actuator:
[-4.52539793e-05, 6.32735270e-05, 1.13175679e-04, 1.45587896e-05,
  4.10179560e-05, 2.55369759e-02, 8.53638184e-03, 2.47989677e-03,
 -5.68243417e-05, 4.10369789e-04, 4.90676070e-05, 8.15769741e-05,
  0.00000000e+00,-1.65728316e-03, 0.00000000e+00,-1.92688171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63626397, -0.04149055, -8.63626397,  8.63630206,
        0.01281686, -0.04149055,  0.01281686,  5.96853313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002094283800807057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.13510625,  0.13510625,  0.98157659,  0.01842261,  0.99083112,
       -0.13384433, -0.99065984,  0.        , -0.13635648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05511646, -0.05698766,  0.06175304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03282870e-05, 3.73034535e-05,-1.83830631e-05, 9.36503343e-06,
  2.94402464e-05,-7.31972427e-05,-1.83473915e-05, 1.86208365e-04,
  5.30931937e-06,-9.84065770e-06, 9.52734234e-06, 5.43991262e-05,
  6.60681390e-06, 5.21366376e-06,-1.54683693e-05,-1.70554968e-05,
 -1.33343421e-04, 2.55116991e-04,-1.21645856e+00, 9.78933063e-04,
 -2.46569367e-02,-1.59254271e-04]


--- Step 2069 ---
qpos:
[ 3.29865693e-03,-3.20359820e-03, 1.19467519e-02, 4.17788779e-02,
  6.14982791e-03, 7.64894030e-01,-2.99497069e-02, 8.70990727e-01,
  5.81881731e-03, 1.63962251e-02,-9.30125008e-03, 2.60243842e-02,
  1.37168860e+00,-1.13786153e-04, 1.15793048e+00, 6.30102344e-02,
  8.78056213e-03,-3.59689042e-02, 7.31939438e-02, 6.72170329e-01,
 -1.98649187e-01,-6.75712375e-01,-2.28338205e-01]

qacc:
[-4.00949470e+00, 9.87558678e-01,-3.79375181e+00, 6.25644032e+00,
  1.36665698e-01,-2.31550196e+00, 1.07881641e+01,-2.60557642e+01,
  5.70438098e-01, 7.64972677e-01,-6.45379095e+00, 1.86469710e+01,
  1.19623969e-01,-1.44202331e-01,-4.09856578e+00, 1.37042850e+01,
  1.08295274e-01, 1.50377626e+00, 4.06880251e-01, 1.51410910e+01,
 -1.02946453e+02, 1.11554345e+02]

qfrc_actuator:
[-6.84319559e-05, 5.90571913e-05, 1.00166956e-04, 2.04630619e-05,
  5.00347518e-05, 2.55746742e-02, 8.54509118e-03, 2.40868384e-03,
 -5.36710834e-05, 3.62711968e-04, 3.97099517e-05, 1.13336783e-04,
  0.00000000e+00,-1.65896407e-03, 0.00000000e+00,-1.86035039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.8050568 , -5.31770428, -6.8050568 , 12.94838592,
       -5.51808732, -5.31770428, -5.51808732, 15.69785025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002079637373670465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33463535e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33463535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03562674, -0.07499227,  0.0617504 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34576356e-05, 1.32603038e-05,-7.23331560e-06, 7.05292938e-06,
  2.22164765e-05,-4.95406985e-07,-2.22305098e-06,-6.98751727e-05,
  3.29671345e-06,-4.88307532e-05,-8.32465990e-06, 3.27265045e-05,
  4.23211524e-06, 1.55012424e-06,-1.16434904e-05, 6.29855102e-05,
  9.96277736e-06, 6.63150970e-05,-1.21649200e+00, 1.00952438e-03,
 -2.46622364e-02,-1.58840267e-04]


--- Step 2070 ---
qpos:
[ 3.29705348e-03,-3.20383851e-03, 1.19464448e-02, 4.17785603e-02,
  6.15079349e-03, 7.64893445e-01,-2.99510154e-02, 8.70991874e-01,
  5.81850957e-03, 1.63944503e-02,-9.30144171e-03, 2.60253427e-02,
  1.37176251e+00,-1.14020507e-04, 1.15810123e+00, 6.30111426e-02,
  8.77017257e-03,-3.59612377e-02, 7.31828275e-02, 6.71974551e-01,
 -1.98823595e-01,-6.75896461e-01,-2.28217778e-01]

qacc:
[-2.33378912e+00, 6.52850081e-01,-6.03479505e+00, 1.93721670e+01,
  9.12927952e-02,-1.84408688e+00, 1.18080724e+01,-3.79272264e+01,
  3.64716741e-01,-2.22631531e+00, 9.63708885e+00,-2.06091211e+01,
  5.08520020e-01,-8.00521752e-01,-1.11560380e+01, 3.79835929e+01,
  2.38572680e-02, 1.37806236e+00,-4.72851084e-01, 1.33481644e+01,
 -9.39606458e+01, 1.02304548e+02]

qfrc_actuator:
[-8.15307299e-05, 3.87024350e-05, 1.10448292e-04, 5.98729070e-05,
  5.49773835e-05, 2.55976503e-02, 8.51509875e-03, 2.29440132e-03,
 -5.16784405e-05, 3.17109318e-04, 3.41745884e-05, 7.80768246e-05,
  0.00000000e+00,-1.67773662e-03, 0.00000000e+00,-1.67811643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.86473675,  8.59296266, -0.86473675,  9.51614471,
        0.08853513,  8.59296266,  0.08853513,  8.6452732 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020782498637972255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67105280e-14,  2.67105280e-14,  1.00000000e+00,  7.13452307e-28,
        1.00000000e+00, -2.67105280e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67105280e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03561293, -0.07499165,  0.06175033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37614376e-05,-1.41254353e-05, 1.23850629e-05, 3.98698587e-05,
  1.49141657e-05, 2.00623681e-05,-3.24385023e-05,-1.15952783e-04,
  2.06525251e-06,-7.31824902e-05,-1.55018752e-05,-3.70042052e-05,
  2.34572740e-06,-1.72057532e-05,-7.80856121e-07, 1.83684058e-04,
 -5.96830801e-05, 5.60319303e-06,-1.21645000e+00, 1.03186156e-03,
 -2.46489946e-02,-1.58072873e-04]


--- Step 2071 ---
qpos:
[ 3.29565012e-03,-3.20412105e-03, 1.19462077e-02, 4.17790536e-02,
  6.15186010e-03, 7.64893434e-01,-2.99528406e-02, 8.70991621e-01,
  5.81822744e-03, 1.63928459e-02,-9.30176418e-03, 2.60261368e-02,
  1.37183663e+00,-1.14978279e-04, 1.15827187e+00, 6.30145403e-02,
  8.75962843e-03,-3.59484826e-02, 7.31668146e-02, 6.71709628e-01,
 -1.99149239e-01,-6.76164369e-01,-2.27919945e-01]

qacc:
[ 1.75969116e+00, 1.41626941e+00,-8.55659916e+00, 2.25105644e+01,
  5.58392978e-02,-2.79742393e-01, 5.02725462e+00,-2.16855459e+01,
  2.16232800e-01, 2.51996020e-01, 1.22012882e-01,-2.88377327e+00,
  8.35799519e-01,-1.49137219e+00,-7.75165069e+00, 2.67092560e+01,
 -3.86456334e-02, 1.27217084e+00,-1.22415190e+00, 1.18317440e+01,
 -8.64241403e+01, 9.44931689e+01]

qfrc_actuator:
[-7.08356323e-05, 4.44641871e-05, 1.16591173e-04, 1.00927234e-04,
  5.74581378e-05, 2.56469468e-02, 8.49797669e-03, 2.22672878e-03,
 -5.03841121e-05, 3.79550486e-04, 4.86489970e-05, 7.46814052e-05,
  0.00000000e+00,-1.72425633e-03, 0.00000000e+00,-1.55346619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.98106638,  8.58045952, -0.98106638, 10.52680935,
        0.21614842,  8.58045952,  0.21614842,  8.66107746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020508085001370996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35339675e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.35339675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03566636, -0.07506602,  0.06175286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02971659e-05, 2.14209503e-06, 6.13959637e-06, 4.16567672e-05,
  9.17900547e-06, 5.03351333e-05,-2.03790784e-05,-7.06423310e-05,
  1.32452660e-06, 1.67932694e-05,-3.81175257e-06,-7.78603913e-06,
 -2.67302000e-06,-5.06249140e-05, 1.77772414e-05, 1.34239590e-04,
 -1.59779321e-04, 2.24545252e-04,-1.21640697e+00, 9.99321381e-04,
 -2.46447226e-02,-1.57237431e-04]


--- Step 2072 ---
qpos:
[ 3.29473090e-03,-3.20476862e-03, 1.19464907e-02, 4.17800454e-02,
  6.15278737e-03, 7.64893811e-01,-2.99542484e-02, 8.70989487e-01,
  5.81796303e-03, 1.63910552e-02,-9.30100427e-03, 2.60271892e-02,
  1.37191048e+00,-1.15441726e-04, 1.15844323e+00, 6.30140616e-02,
  8.75694556e-03,-3.59355749e-02, 7.31508528e-02, 6.71646364e-01,
 -1.99646425e-01,-6.76228840e-01,-2.27479718e-01]

qacc:
[ 4.27211171e+00,-9.17666469e-01, 4.54597348e-01, 7.62251904e+00,
 -7.70620022e-02,-3.87974082e+00, 1.76489242e+01,-3.86245513e+01,
  1.91781204e-01,-2.73988092e+00, 8.32034939e+00,-5.44106931e+00,
 -8.44489848e-01, 1.33694530e+00, 1.28302801e+01,-4.31825674e+01,
  1.96531633e+00, 3.81200444e-02, 1.27668481e-02,-1.25761828e+01,
  1.02774589e+02, 1.49057193e+02]

qfrc_actuator:
[-4.62246619e-05, 1.25543343e-05, 1.38082381e-04, 1.24876013e-04,
  4.07067048e-05, 2.56761845e-02, 8.52424878e-03, 2.13380918e-03,
 -4.95100236e-05, 3.82049409e-04, 1.10799024e-04, 9.01778170e-05,
  0.00000000e+00,-1.68034046e-03, 0.00000000e+00,-1.76557093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020954849104589876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64908380e-14, -2.64908380e-14,  1.00000000e+00,  7.01764496e-28,
        1.00000000e+00,  2.64908380e-14, -1.00000000e+00,  0.00000000e+00,
        2.64908380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05388266, -0.0107777 ,  0.06174761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49040890e-05,-2.76395111e-05, 2.41373245e-05, 2.50638034e-05,
 -1.26234593e-05, 5.08665695e-05, 3.17394219e-05,-9.35294887e-05,
  9.13133203e-07, 1.08284478e-05, 6.49004267e-05, 1.59350726e-05,
 -1.31434941e-05, 2.96345794e-05, 1.97268687e-05,-2.03153038e-04,
 -2.81811696e-04, 6.57834609e-04,-1.21636288e+00, 9.22951081e-04,
 -2.46472448e-02,-1.56224718e-04]


--- Step 2073 ---
qpos:
[ 3.29411411e-03,-3.20594356e-03, 1.19469136e-02, 4.17810193e-02,
  6.15353822e-03, 7.64894450e-01,-2.99555937e-02, 8.70986634e-01,
  5.81771107e-03, 1.63891903e-02,-9.29974478e-03, 2.60280993e-02,
  1.37198419e+00,-1.15449066e-04, 1.15861455e+00, 6.30120893e-02,
  8.76125774e-03,-3.59224691e-02, 7.31312397e-02, 6.71765213e-01,
 -2.00298816e-01,-6.76109052e-01,-2.26910628e-01]

qacc:
[ 2.66796793e+00,-1.13026315e+00, 3.08521633e+00,-3.22145022e+00,
 -9.82045261e-02,-1.07518619e+00, 5.59267562e+00,-1.38288116e+01,
  1.25359463e-01,-1.78741593e+00, 6.83125201e+00,-1.00371467e+01,
 -5.27873210e-01, 9.36275022e-01, 4.50468592e+00,-1.57241798e+01,
  1.74876460e+00, 4.95591887e-02,-9.12808398e-01,-1.13295416e+01,
  9.29372139e+01, 1.34859196e+02]

qfrc_actuator:
[-3.13808661e-05,-4.16187953e-05, 1.32799176e-04, 1.20796823e-04,
  3.03685324e-05, 2.56755906e-02, 8.52257213e-03, 2.09779121e-03,
 -4.88904458e-05, 3.66624214e-04, 1.29383025e-04, 8.11470908e-05,
  0.00000000e+00,-1.65410216e-03, 0.00000000e+00,-1.83705862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.28497294,   7.9872229 ,   3.28497294,
        40.04130232, -12.91617564,   7.9872229 , -12.91617564,
        13.9485088 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021312762316996123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60459674e-14, -2.60459674e-14,  1.00000000e+00,  6.78392417e-28,
        1.00000000e+00,  2.60459674e-14, -1.00000000e+00,  0.00000000e+00,
        2.60459674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05377583, -0.01080708,  0.06174343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55430781e-05,-6.35403624e-05,-7.15002284e-06,-3.94225878e-06,
 -1.59952210e-05, 3.08628699e-05, 9.20350697e-06,-3.55611286e-05,
  6.41558641e-07, 4.77219351e-06, 2.93753942e-05,-6.01107737e-06,
 -4.36343357e-07, 3.13042656e-05,-1.94068156e-05,-8.16242387e-05,
  7.31713552e-05, 4.70117818e-04,-1.21630196e+00, 8.82490263e-04,
 -2.46382286e-02,-1.54429203e-04]


--- Step 2074 ---
qpos:
[ 3.29367995e-03,-3.20708993e-03, 1.19467980e-02, 4.17815676e-02,
  6.15394375e-03, 7.64895168e-01,-2.99574966e-02, 8.70984804e-01,
  5.81712326e-03, 1.63877593e-02,-9.29896852e-03, 2.60282069e-02,
  1.37205811e+00,-1.15915566e-04, 1.15878548e+00, 6.30112509e-02,
  8.77185022e-03,-3.59091239e-02, 7.31048063e-02, 6.72049698e-01,
 -2.01092609e-01,-6.75820805e-01,-2.26223793e-01]

qacc:
[ 1.58519373e+00, 6.63088648e-01,-5.19696839e-01,-5.99659867e+00,
 -1.93069877e-01, 3.38688081e+00,-1.33311756e+01, 2.41732442e+01,
 -2.95235703e+00, 2.77620965e-01, 3.24059232e+00,-1.66879840e+01,
  5.75735744e-01,-9.81469470e-01,-4.04964550e+00, 1.32110432e+01,
  1.57007298e+00, 5.98185064e-02,-1.70509608e+00,-1.02141869e+01,
  8.47414850e+01, 1.23013487e+02]

qfrc_actuator:
[-2.24093400e-05,-2.00783846e-05, 1.11623567e-04, 1.00217874e-04,
  6.21851817e-06, 2.56570691e-02, 8.48656148e-03, 2.14876462e-03,
 -6.61780173e-05, 3.93664791e-04, 1.04224612e-04, 3.99447336e-05,
  0.00000000e+00,-1.69188780e-03, 0.00000000e+00,-1.77175036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.24363554,  8.33983671,  2.24363554, 44.52344424,
       -9.65456907,  8.33983671, -9.65456907, 11.23369678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021341626208150263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.6010741e-14, -5.2021482e-14,  1.0000000e+00,  1.3531173e-27,
        1.0000000e+00,  5.2021482e-14, -1.0000000e+00,  0.0000000e+00,
        2.6010741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05376085, -0.01080977,  0.06174277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.39563748e-06,-1.55943402e-05,-3.53105677e-05,-2.36258971e-05,
 -3.13236929e-05,-7.49530700e-07,-2.99285911e-05, 5.14291734e-05,
 -1.72728932e-05, 3.55697006e-05,-2.07576746e-05,-4.00991722e-05,
  6.47789283e-06,-2.91469980e-05,-2.10332467e-05, 5.75721985e-05,
  8.59619363e-05, 1.90010775e-04,-1.21618955e+00, 8.86702719e-04,
 -2.46225595e-02,-1.52285378e-04]


--- Step 2075 ---
qpos:
[ 3.29335686e-03,-3.20831676e-03, 1.19469670e-02, 4.17818214e-02,
  6.15383969e-03, 7.64894716e-01,-2.99581681e-02, 8.70984310e-01,
  5.81633280e-03, 1.63866507e-02,-9.29851885e-03, 2.60281689e-02,
  1.37213212e+00,-1.16774829e-04, 1.15895605e+00, 6.30128320e-02,
  8.78812858e-03,-3.58955032e-02, 7.30688441e-02, 6.72485898e-01,
 -2.02016112e-01,-6.75377133e-01,-2.25428338e-01]

qacc:
[ 9.85063604e-01,-1.51109519e+00, 6.47263839e+00,-1.19621527e+01,
 -2.82541086e-01,-2.54357337e+00, 3.43958711e+00, 1.37298476e+01,
 -1.78333460e+00, 1.04287245e+00,-2.47937523e+00, 2.38360266e-01,
  5.26675751e-01,-9.10391855e-01,-7.88253979e+00, 2.66949207e+01,
  1.42147155e+00, 6.89039444e-02,-2.38220095e+00,-9.20787696e+00,
  7.78994780e+01, 1.13117308e+02]

qfrc_actuator:
[-1.69623316e-05,-6.71273011e-06, 1.34792764e-04, 8.79064665e-05,
 -2.59791517e-05, 2.55568588e-02, 8.53706138e-03, 2.21497168e-03,
 -7.61139232e-05, 4.10201259e-04, 8.91089978e-05, 3.34144248e-05,
  0.00000000e+00,-1.71409709e-03, 0.00000000e+00,-1.64414716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.95464735,  8.58343901,  0.95464735, 46.34816021,
       -4.19429401,  8.58343901, -4.19429401,  9.10285168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002110511139898033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63022309e-14, -5.26044617e-14,  1.00000000e+00,  1.38361470e-27,
        1.00000000e+00,  5.26044617e-14, -1.00000000e+00,  0.00000000e+00,
        2.63022309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05381888, -0.01079124,  0.0617449 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.71524658e-06,-3.61397818e-06, 1.47950438e-05,-1.46598836e-05,
 -4.62559514e-05,-1.04894600e-04, 4.84623236e-05, 6.64504438e-05,
 -1.04198101e-05, 3.04556692e-05,-1.17049045e-05,-6.50280287e-06,
 -3.88861558e-06,-2.82400194e-05,-5.00173638e-06, 1.27688664e-04,
 -1.57221731e-04,-1.56517385e-04,-1.21603889e+00, 9.21792421e-04,
 -2.46021204e-02,-1.49743303e-04]


--- Step 2076 ---
qpos:
[ 3.29310163e-03,-3.20950161e-03, 1.19473658e-02, 4.17815674e-02,
  6.15349330e-03, 7.64893504e-01,-2.99568701e-02, 8.70984880e-01,
  5.81611898e-03, 1.63857639e-02,-9.29825824e-03, 2.60284015e-02,
  1.37220596e+00,-1.17375877e-04, 1.15912622e+00, 6.30185866e-02,
  8.79611987e-03,-3.58758499e-02, 7.30439547e-02, 6.72711294e-01,
 -2.02877368e-01,-6.75144317e-01,-2.24678526e-01]

qacc:
[ 6.01799395e-01,-1.63471187e+00, 8.04800590e+00,-1.72271587e+01,
 -1.33148096e-01,-4.47891516e+00, 1.10812824e+01, 3.30821990e+00,
  5.02003971e+00, 1.36866044e+00,-5.61417309e+00, 1.04542173e+01,
 -1.12557806e-02, 1.26932514e-01,-1.31855342e+01, 4.52809274e+01,
 -2.07176870e+00, 1.50812430e+00, 2.76823265e+00, 7.99057521e+00,
 -1.30458005e+02,-8.14254013e+01]

qfrc_actuator:
[-1.36315354e-05, 1.84567131e-06, 1.48455979e-04, 6.28422726e-05,
 -2.71977384e-05, 2.55686251e-02, 8.65565425e-03, 2.27184385e-03,
 -4.61324283e-05, 4.20373061e-04, 8.00557180e-05, 4.73513750e-05,
  0.00000000e+00,-1.69133804e-03, 0.00000000e+00,-1.42764835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.30110572,  8.63111303, -0.30110572,  1.59202589,
       -0.24574935,  8.63111303, -0.24574935,  8.6277904 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002209774064657543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.12861642,  0.12861642,  0.98331868,  0.01668073,  0.99169442,
       -0.12753014, -0.99155412,  0.        , -0.1296936 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05450598, -0.056764  ,  0.06173793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49600851e-06, 9.01037688e-06, 1.42436410e-05,-2.49908025e-05,
 -2.19946530e-05,-3.46662960e-05, 1.05492843e-04, 5.64891341e-05,
  2.96911345e-05, 2.45351426e-05,-4.42154784e-06, 1.47123827e-05,
 -8.79088927e-06, 1.43235259e-05, 9.53474864e-06, 2.22405470e-04,
 -5.94708725e-04,-5.51447498e-04,-1.21585874e+00, 9.78156006e-04,
 -2.45782700e-02,-1.46771370e-04]


--- Step 2077 ---
qpos:
[ 3.29288825e-03,-3.21036276e-03, 1.19475373e-02, 4.17806651e-02,
  6.15303290e-03, 7.64892753e-01,-2.99554385e-02, 8.70986110e-01,
  5.81661066e-03, 1.63854618e-02,-9.29852601e-03, 2.60280853e-02,
  1.37227972e+00,-1.17748166e-04, 1.15929700e+00, 6.30218611e-02,
  8.79685418e-03,-3.58512269e-02, 7.30252237e-02, 6.72746710e-01,
 -2.03685523e-01,-6.75101058e-01,-2.23970163e-01]

qacc:
[ 3.54253147e-01,-2.73575856e-01, 4.32980986e+00,-1.54207882e+01,
 -6.37205833e-02, 1.39139622e+00,-5.32765427e+00, 1.23711392e+01,
  6.12671349e+00, 1.10759363e+00,-5.30866698e-01,-8.53299012e+00,
 -4.21400350e-01, 6.70787446e-01, 8.42512494e+00,-2.80790579e+01,
 -1.81424212e+00, 1.24243513e+00, 1.53956035e+00, 5.89169527e+00,
 -1.17721003e+02,-7.24381006e+01]

qfrc_actuator:
[-1.15716785e-05, 2.51820971e-05, 1.38603831e-04, 3.04572898e-05,
 -2.76449342e-05, 2.56298846e-02, 8.67185110e-03, 2.30510172e-03,
 -1.06513542e-05, 4.62203076e-04, 5.68803086e-05, 1.99528860e-05,
  0.00000000e+00,-1.67759712e-03, 0.00000000e+00,-1.56884446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63536017, -0.13164937, -8.63536017,  8.63578016,
        0.03827237, -0.13164937,  0.03827237,  6.12593989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022553104594561254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.12634967,  0.12634967,  0.98390626,  0.01609321,  0.99198577,
       -0.12532058, -0.99185522,  0.        , -0.12737045])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05430822, -0.05667558,  0.06173269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16644510e-06, 3.02874639e-05,-7.09153524e-06,-3.19904060e-05,
 -1.03252880e-05, 6.46821181e-05, 2.32093834e-05, 3.66100516e-05,
  3.63377515e-05, 5.53055975e-05,-1.81374924e-05,-2.62141169e-05,
 -8.66949155e-07, 1.53117446e-05, 2.61106919e-05,-1.28287214e-04,
  2.20896657e-05, 8.42672001e-05,-1.21598748e+00, 7.32966660e-04,
 -2.46004218e-02,-1.41572932e-04]


--- Step 2078 ---
qpos:
[ 3.29201135e-03,-3.21088427e-03, 1.19478029e-02, 4.17797024e-02,
  6.15252127e-03, 7.64892391e-01,-2.99549234e-02, 8.70987794e-01,
  5.81752375e-03, 1.63859809e-02,-9.29867020e-03, 2.60270213e-02,
  1.37235371e+00,-1.18737776e-04, 1.15946789e+00, 6.30234620e-02,
  8.79120334e-03,-3.58225075e-02, 7.30084510e-02, 6.72609493e-01,
 -2.04447944e-01,-6.75229428e-01,-2.23299636e-01]

qacc:
[-5.82658279e+00, 7.26908209e-02, 6.66402271e-01,-2.13266602e+00,
 -2.95991201e-02, 3.77558945e+00,-1.28155695e+01, 1.66760960e+01,
  3.66506819e+00,-8.06367996e-01, 7.59448136e+00,-2.13234353e+01,
  4.93808660e-01,-9.66778830e-01, 5.16515970e+00,-1.79481122e+01,
 -1.59629017e+00, 1.02410394e+00, 4.89595832e-01, 4.25127896e+00,
 -1.07029203e+02,-6.49762993e+01]

qfrc_actuator:
[-4.57807858e-05, 5.70868242e-05, 1.50512987e-04, 2.95288923e-05,
 -2.76606937e-05, 2.56134057e-02, 8.60990596e-03, 2.32416840e-03,
  1.00173178e-05, 5.40328987e-04, 7.89044645e-05,-1.37829897e-05,
  0.00000000e+00,-1.72259880e-03, 0.00000000e+00,-1.65338392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62227176, -0.49315983, -8.62227176,  8.62899979,
        0.12874742, -0.49315983,  0.12874742,  6.38537897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022633030517756614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25201638e-01,  1.25201638e-01,  9.84199726e-01,  1.57997735e-02,
        9.92131317e-01, -1.24200713e-01, -9.92005503e-01,  1.73472348e-18,
       -1.26194623e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0542485 , -0.05665449,  0.06173132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41324792e-05, 4.60390227e-05, 1.61949349e-05,-4.95655684e-07,
 -4.64100262e-06, 2.51183853e-05,-4.54154078e-05, 2.26645934e-05,
  2.17300625e-05, 1.04212216e-04, 3.03136512e-05,-3.25029817e-05,
  2.94235090e-06,-4.09775909e-05,-7.84714036e-06,-8.96391797e-05,
  2.29863094e-04, 6.79601348e-04,-1.21606699e+00, 5.51722360e-04,
 -2.46167739e-02,-1.37125611e-04]


--- Step 2079 ---
qpos:
[ 3.29073109e-03,-3.21083439e-03, 1.19483440e-02, 4.17790379e-02,
  6.15198911e-03, 7.64892444e-01,-2.99551822e-02, 8.70989684e-01,
  5.81833360e-03, 1.63864661e-02,-9.29792330e-03, 2.60256176e-02,
  1.37242771e+00,-1.19954948e-04, 1.15963831e+00, 6.30273729e-02,
  8.78209898e-03,-3.58033973e-02, 7.30144688e-02, 6.72409787e-01,
 -2.04922391e-01,-6.75412751e-01,-2.22911435e-01]

qacc:
[-3.54130433e+00, 6.06643898e-01,-2.31345734e+00, 6.59971190e+00,
 -1.23290258e-02, 2.99482385e+00,-9.64232554e+00, 1.08367798e+01,
 -8.72322987e-01,-3.23305968e+00, 1.29000218e+01,-2.01825723e+01,
  3.40957677e-01,-5.90239888e-01,-7.71117247e+00, 2.58776428e+01,
 -8.63380434e-01,-2.40229745e+00, 5.69761632e+00, 1.27672056e+00,
  2.14350999e+01,-2.04765695e+02]

qfrc_actuator:
[-6.55573840e-05, 1.11739745e-04, 1.75248391e-04, 4.71458096e-05,
 -2.74347509e-05, 2.56389352e-02, 8.57308269e-03, 2.33466224e-03,
  4.04780320e-06, 4.97741014e-04, 1.09855120e-04,-3.31503182e-05,
  0.00000000e+00,-1.73108094e-03, 0.00000000e+00,-1.52621750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.13941991,  -2.88732061,  -8.13941991,
        16.41282122, -21.92200389,  -2.88732061, -21.92200389,
        70.43497175,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002262875124035009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042407 , -0.00712431,  0.06172705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07318290e-05, 8.37306681e-05, 3.62299137e-05, 2.01440711e-05,
 -1.85301586e-06, 3.12189950e-05,-3.64176691e-05, 1.04440364e-05,
 -5.30887671e-06, 2.05526914e-05, 5.50843108e-05,-1.44842621e-05,
 -8.75508173e-06,-1.84257347e-05,-1.67406914e-05, 1.20400800e-04,
  1.33877649e-04, 1.24111512e-03,-1.21611123e+00, 4.19769942e-04,
 -2.46293349e-02,-1.33217978e-04]


--- Step 2080 ---
qpos:
[ 3.28956860e-03,-3.21050671e-03, 1.19492939e-02, 4.17789630e-02,
  6.15125599e-03, 7.64892876e-01,-2.99558107e-02, 8.70989249e-01,
  5.81906637e-03, 1.63864147e-02,-9.29675195e-03, 2.60240914e-02,
  1.37250159e+00,-1.21038119e-04, 1.15980917e+00, 6.30280484e-02,
  8.76980677e-03,-3.57927648e-02, 7.30372497e-02, 6.72154277e-01,
 -2.05136971e-01,-6.75646072e-01,-2.22777550e-01]

qacc:
[ 1.04206551e+00, 4.37355550e-01,-3.51737228e+00, 1.28643229e+01,
 -1.11985232e-01,-2.53709820e+00, 1.42321262e+01,-4.08852701e+01,
 -6.50003376e-01,-2.14600419e+00, 7.14150932e+00,-9.54473568e+00,
 -4.18160061e-01, 5.96089924e-01, 1.04602280e+01,-3.55569902e+01,
 -7.96961720e-01,-2.11944358e+00, 4.19078527e+00, 1.33926618e+00,
  1.93660396e+01,-1.84604389e+02]

qfrc_actuator:
[-5.89165886e-05, 1.08663451e-04, 1.89707895e-04, 7.55554614e-05,
 -4.48266386e-05, 2.56539824e-02, 8.55155660e-03, 2.21581040e-03,
  2.04102265e-07, 4.18756618e-04, 1.09839458e-04,-4.40053436e-05,
  0.00000000e+00,-1.71779419e-03, 0.00000000e+00,-1.70140473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.29358376,   4.62497706,   7.29358376,
        16.8891058 , -13.01456537,   4.62497706, -13.01456537,
        29.16031898,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002300298731712197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.41321488e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.41321488e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425289, -0.00715886,  0.06172296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07661034e-06, 5.20824436e-05, 3.69105531e-05, 3.36433631e-05,
 -1.82186684e-05, 2.54969916e-05,-1.92463088e-05,-1.18713371e-04,
 -3.98828887e-06,-5.67559469e-05, 1.05031739e-05,-8.34940941e-06,
 -9.21501823e-06, 6.41005035e-06, 3.76965638e-06,-1.71094919e-04,
 -9.65855204e-05, 7.37863800e-04,-1.21628495e+00, 5.11614670e-04,
 -2.46480106e-02,-1.32412259e-04]


--- Step 2081 ---
qpos:
[ 3.28883950e-03,-3.20983399e-03, 1.19498877e-02, 4.17792744e-02,
  6.15012674e-03, 7.64892859e-01,-2.99559149e-02, 8.70989496e-01,
  5.81905712e-03, 1.63864332e-02,-9.29552567e-03, 2.60227409e-02,
  1.37257541e+00,-1.21985822e-04, 1.15997982e+00, 6.30283074e-02,
  8.75454269e-03,-3.57896973e-02, 7.30717149e-02, 6.71848208e-01,
 -2.05114762e-01,-6.75925079e-01,-2.22874871e-01]

qacc:
[ 3.78706484e+00, 2.24075240e+00,-8.96959131e+00, 1.59823739e+01,
 -2.20144397e-01,-8.24625217e-01, 4.37595992e-01, 8.08114609e+00,
 -6.47131713e+00, 3.12893286e-01,-1.70136497e+00, 4.57789583e+00,
 -1.65373596e-01, 2.80175119e-01, 9.76066674e-01,-3.81110175e+00,
 -7.42967291e-01,-1.89122487e+00, 2.92107630e+00, 1.37579482e+00,
  1.76558736e+01,-1.68012891e+02]

qfrc_actuator:
[-3.67851404e-05, 1.06519912e-04, 1.62253041e-04, 9.22774412e-05,
 -7.26005825e-05, 2.56093523e-02, 8.57461943e-03, 2.25258409e-03,
 -3.78542394e-05, 4.60471628e-04, 1.26859491e-04,-3.20818620e-05,
  0.00000000e+00,-1.70946927e-03, 0.00000000e+00,-1.71608295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.04137512,   5.0005813 ,   7.04137512,
        19.49562362, -15.29104687,   5.0005813 , -15.29104687,
        30.16785977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0023051286231450183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20407926e-14,  2.40815852e-14,  1.00000000e+00, -2.89961372e-28,
        1.00000000e+00, -2.40815852e-14, -1.00000000e+00,  0.00000000e+00,
        1.20407926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425659, -0.00715811,  0.06172257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23178316e-05, 3.60291466e-05,-1.10004652e-05, 2.08823808e-05,
 -3.59447635e-05,-3.81009159e-05, 2.23024591e-05, 3.43125786e-05,
 -3.81917965e-05, 1.17810008e-05, 6.29231440e-06, 9.69339125e-06,
 -3.99590861e-06, 8.19687479e-06,-2.19632076e-05,-2.48120879e-05,
 -2.69259447e-04, 3.46642203e-04,-1.21639025e+00, 5.95090612e-04,
 -2.46629930e-02,-1.32584826e-04]


--- Step 2082 ---
qpos:
[ 3.28872635e-03,-3.20887754e-03, 1.19499467e-02, 4.17791145e-02,
  6.14883939e-03, 7.64892059e-01,-2.99550503e-02, 8.70991914e-01,
  5.81824695e-03, 1.63865598e-02,-9.29502267e-03, 2.60222830e-02,
  1.37264902e+00,-1.22309890e-04, 1.16015017e+00, 6.30296890e-02,
  8.73648245e-03,-3.57934588e-02, 7.31135910e-02, 6.71495680e-01,
 -2.04874745e-01,-6.76246009e-01,-2.23184289e-01]

qacc:
[ 5.38415396e+00, 8.88379417e-01,-6.53247362e-01,-6.83543902e+00,
 -8.72970982e-02, 1.22591360e-01,-6.59831612e+00, 3.24775293e+01,
 -7.00967450e+00, 4.01558361e+00,-1.78554145e+01, 3.43543087e+01,
 -5.06420192e-01, 9.93703851e-01,-3.79703345e+00, 1.27327628e+01,
 -6.99038651e-01,-1.70726812e+00, 1.85271266e+00, 1.39328333e+00,
  1.62396815e+01,-1.54336382e+02]

qfrc_actuator:
[-5.72204122e-06, 1.04757683e-04, 1.28003699e-04, 6.64490375e-05,
 -7.08229350e-05, 2.55650982e-02, 8.62368947e-03, 2.36290386e-03,
 -7.79929719e-05, 4.49946098e-04, 8.32901404e-05, 1.10123250e-05,
  0.00000000e+00,-1.66867125e-03, 0.00000000e+00,-1.65373307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.68506686,   5.46778365,   6.68506686,
        23.51052098, -18.18556525,   5.46778365, -18.18556525,
        30.87054981,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022838698119757167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43057424e-14,  2.43057424e-14,  1.00000000e+00, -5.90769112e-28,
        1.00000000e+00, -2.43057424e-14, -1.00000000e+00,  0.00000000e+00,
        2.43057424e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425353, -0.00712945,  0.0617251 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17081569e-05, 1.69857145e-05,-2.74553525e-05,-2.42635352e-05,
 -1.43603522e-05,-5.98749742e-05, 4.51576149e-05, 1.10553588e-04,
 -4.12289358e-05,-2.24770375e-06,-4.00354022e-05, 4.40072474e-05,
 -7.91591014e-07, 4.23817979e-05,-1.53558832e-05, 5.75624863e-05,
 -3.97437117e-04, 4.24953485e-05,-1.21644367e+00, 6.74567415e-04,
 -2.46748167e-02,-1.33658503e-04]


--- Step 2083 ---
qpos:
[ 3.28864182e-03,-3.20796719e-03, 1.19497173e-02, 4.17786725e-02,
  6.14749926e-03, 7.64891520e-01,-2.99540828e-02, 8.70992130e-01,
  5.81730669e-03, 1.63864492e-02,-9.29460407e-03, 2.60220006e-02,
  1.37272254e+00,-1.22155944e-04, 1.16032031e+00, 6.30324426e-02,
  8.72505920e-03,-3.57978207e-02, 7.31513669e-02, 6.71318181e-01,
 -2.04778487e-01,-6.76390682e-01,-2.23368119e-01]

qacc:
[ 2.42849441e-01, 1.63408978e-01, 5.18009311e-01,-4.90216434e+00,
 -2.90077433e-02,-3.75748094e+00, 1.77736484e+01,-4.25130733e+01,
 -1.13319656e+00, 2.85742427e-01,-2.21031407e+00, 5.55121953e+00,
 -2.97321785e-01, 6.67548930e-01,-4.41313947e+00, 1.50724126e+01,
  1.65924727e+00,-1.50090992e-01,-1.02505105e+00,-7.54204243e+00,
  8.94519705e+01, 1.28361152e+02]

qfrc_actuator:
[-5.16111393e-06, 8.53948947e-05, 1.07751412e-04, 5.12987857e-05,
 -6.91465498e-05, 2.56103459e-02, 8.63445177e-03, 2.24929882e-03,
 -8.35189583e-05, 4.25762620e-04, 7.51339340e-05, 1.87637934e-05,
  0.00000000e+00,-1.64443699e-03, 0.00000000e+00,-1.58204401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022504794823962073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37903083e-07, -2.46663663e-14,  1.00000000e+00,  2.31346610e-20,
        1.00000000e+00,  2.46663663e-14, -1.00000000e+00,  0.00000000e+00,
        9.37903083e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05258775, -0.01048152,  0.06172903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46909734e-06,-1.65982506e-05,-2.09777318e-05,-1.58482413e-05,
 -4.77921364e-06, 2.45218862e-05, 7.48143127e-06,-1.11647220e-04,
 -6.70792633e-06,-3.18507730e-05,-1.20345191e-05, 7.12750985e-06,
  9.30827878e-06, 3.55803632e-05,-3.26827971e-06, 7.23219206e-05,
 -4.90891113e-04,-1.93087290e-04,-1.21645699e+00, 7.53109928e-04,
 -2.46839010e-02,-1.35568613e-04]


--- Step 2084 ---
qpos:
[ 3.28822006e-03,-3.20720315e-03, 1.19492800e-02, 4.17780600e-02,
  6.14634834e-03, 7.64891757e-01,-2.99535013e-02, 8.70989926e-01,
  5.81665201e-03, 1.63859550e-02,-9.29363581e-03, 2.60214428e-02,
  1.37279606e+00,-1.21683001e-04, 1.16049044e+00, 6.30356830e-02,
  8.71966403e-03,-3.58025733e-02, 7.31818104e-02, 6.71301295e-01,
 -2.04816238e-01,-6.76373631e-01,-2.23435877e-01]

qacc:
[-2.96406813e+00, 4.21378766e-02, 2.98319201e-01,-2.81835393e+00,
  1.05187726e-01,-2.13728328e+00, 1.37763653e+01,-4.18965150e+01,
  2.51446167e+00,-2.61489658e+00, 9.74131316e+00,-1.50917285e+01,
 -1.90142476e-01, 4.52607153e-01,-1.47676372e+00, 5.17344467e+00,
  1.50701720e+00,-9.76882064e-02,-1.83307895e+00,-7.34327305e+00,
  8.17517602e+01, 1.18778798e+02]

qfrc_actuator:
[-2.25605574e-05, 7.34407440e-05, 9.58648027e-05, 4.25546714e-05,
 -4.98203610e-05, 2.56730591e-02, 8.62270779e-03, 2.12911288e-03,
 -6.86277566e-05, 4.11439031e-04, 1.05628672e-04, 5.66980131e-06,
  0.00000000e+00,-1.63024483e-03, 0.00000000e+00,-1.55870793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59083156,  0.88565791,  8.59083156,  8.78497635,
       -1.44153491,  0.88565791, -1.44153491, 22.61917056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022439142384605435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47385351e-14, -2.72683720e-07,  1.00000000e+00,  6.74579578e-21,
        1.00000000e+00,  2.72683720e-07, -1.00000000e+00,  7.52316385e-37,
        2.47385351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05292956, -0.01059682,  0.06173022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73644466e-05,-2.62763188e-05,-1.84541879e-05,-1.04900902e-05,
  1.71863460e-05, 7.42149129e-05,-9.41011644e-06,-1.21713014e-04,
  1.46880250e-05,-3.43207708e-05, 2.26761702e-05,-1.47365870e-05,
  1.32433585e-05, 2.60113644e-05, 3.54601997e-06, 2.62427488e-05,
 -1.17968129e-04,-4.38954871e-05,-1.21647018e+00, 6.94112407e-04,
 -2.46787383e-02,-1.36805589e-04]


--- Step 2085 ---
qpos:
[ 3.28759307e-03,-3.20676598e-03, 1.19493056e-02, 4.17776694e-02,
  6.14560982e-03, 7.64892498e-01,-2.99536013e-02, 8.70986340e-01,
  5.81721527e-03, 1.63854240e-02,-9.29273846e-03, 2.60210759e-02,
  1.37286963e+00,-1.21008760e-04, 1.16066108e+00, 6.30348225e-02,
  8.71976543e-03,-3.58075735e-02, 7.32023603e-02, 6.71432439e-01,
 -2.04977562e-01,-6.76207301e-01,-2.23397326e-01]

qacc:
[-1.78100371e+00,-1.26538029e+00, 2.95507296e+00, 3.76394076e-01,
  2.29179050e-01, 1.05848378e-01, 3.59992581e+00,-2.01195372e+01,
  1.06215043e+01, 5.21831770e-01,-2.77267114e+00, 6.25479704e+00,
 -4.04161828e-01, 6.71481010e-01, 1.31793036e+01,-4.49144632e+01,
  1.37414402e+00,-6.18756081e-02,-2.47341321e+00,-7.04213207e+00,
  7.54751320e+01, 1.09298550e+02]

qfrc_actuator:
[-3.26291762e-05, 6.60504223e-05, 1.24537688e-04, 5.54080876e-05,
 -2.01251759e-05, 2.56746208e-02, 8.58015516e-03, 2.05933558e-03,
 -6.34462086e-06, 4.21025447e-04, 1.05455783e-04, 1.59542950e-05,
  0.00000000e+00,-1.62211010e-03, 0.00000000e+00,-1.77707868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.56669464,  1.09476929,  8.56669464,  8.87349613,
       -1.85558886,  1.09476929, -1.85558886, 23.15655832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002213075560972179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.2550723e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.2550723e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05302714, -0.01056226,  0.06173393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05730735e-05,-2.63711041e-05, 2.06081204e-05, 1.08865254e-05,
  3.74208951e-05, 3.69325201e-05,-3.26682551e-05,-7.04539021e-05,
  6.26911832e-05,-5.54255012e-06,-4.98473212e-06, 9.31097017e-06,
  1.30361013e-05, 1.83308221e-05, 1.07291858e-06,-2.17275331e-04,
 -1.22856874e-05, 9.15673239e-06,-1.21644390e+00, 6.72958833e-04,
 -2.46697571e-02,-1.37515810e-04]


--- Step 2086 ---
qpos:
[ 3.28719480e-03,-3.20629233e-03, 1.19492532e-02, 4.17774259e-02,
  6.14505766e-03, 7.64893590e-01,-2.99542455e-02, 8.70982989e-01,
  5.81817562e-03, 1.63853602e-02,-9.29266895e-03, 2.60211677e-02,
  1.37294350e+00,-1.20979473e-04, 1.16083142e+00, 6.30337060e-02,
  8.72489920e-03,-3.58127263e-02, 7.32110538e-02, 6.71700799e-01,
 -2.05251753e-01,-6.75902174e-01,-2.23262188e-01]

qacc:
[ 2.00450680e+00, 5.65721849e-01,-2.57471834e+00, 5.22669113e+00,
  1.03141901e-01, 2.34003559e+00,-7.65747423e+00, 9.44076071e+00,
  3.43007804e+00, 3.86862966e+00,-1.48464018e+01, 2.37769881e+01,
  6.84058421e-01,-1.20858981e+00, 2.61672102e-01,-1.71413663e+00,
  1.25809368e+00,-3.81744186e-02,-2.96410207e+00,-6.67596294e+00,
  7.04834636e+01, 1.00138005e+02]

qfrc_actuator:
[-2.05437820e-05, 7.93901187e-05, 1.23700883e-04, 6.31433073e-05,
 -2.00127284e-05, 2.56927124e-02, 8.55507237e-03, 2.07298991e-03,
  1.23165722e-05, 4.62516952e-04, 6.95303914e-05, 3.99098766e-05,
  0.00000000e+00,-1.67087764e-03, 0.00000000e+00,-1.78102805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.50449242,  1.50345785,  8.50449242,  9.08759774,
       -2.55246067,  1.50345785, -2.55246067, 23.07466828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021629475641305623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.88308407e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.88308407e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05286546, -0.01038171,  0.06173959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17724067e-05, 3.29900711e-06,-3.37235310e-06, 7.53103797e-06,
  1.69133447e-05, 2.98488670e-05,-2.36867733e-05, 1.22499279e-05,
  2.04551818e-05, 3.77946325e-05,-3.73675060e-05, 2.37242902e-05,
  1.04812009e-05,-4.03738894e-05,-2.82092643e-05,-1.69790148e-05,
 -1.15221626e-04,-1.38216836e-05,-1.21638626e+00, 6.79910405e-04,
 -2.46576374e-02,-1.37734663e-04]


--- Step 2087 ---
qpos:
[ 3.28694416e-03,-3.20551182e-03, 1.19487761e-02, 4.17772661e-02,
  6.14459104e-03, 7.64895179e-01,-2.99553713e-02, 8.70981536e-01,
  5.81900771e-03, 1.63861056e-02,-9.29405311e-03, 2.60208544e-02,
  1.37301749e+00,-1.21465443e-04, 1.16100116e+00, 6.30358485e-02,
  8.72676460e-03,-3.58228771e-02, 7.32269634e-02, 6.71922380e-01,
 -2.05300449e-01,-6.75639793e-01,-2.23344823e-01]

qacc:
[ 1.27718924e+00, 1.76289058e+00,-6.05390722e+00, 7.95886256e+00,
  4.66407440e-02, 5.24789440e+00,-2.07598548e+01, 4.10269023e+01,
 -1.17821628e+00, 4.30065797e+00,-1.20672523e+01, 6.77754788e+00,
  7.07359006e-01,-1.21171717e+00,-1.07831025e+01, 3.62956666e+01,
 -8.17093803e-01,-1.24947899e+00, 1.80402388e+00, 2.10723542e+00,
  1.73561419e+01,-1.58953676e+02]

qfrc_actuator:
[-1.32704711e-05, 1.04935220e-04, 1.05513910e-04, 6.77934909e-05,
 -1.98362179e-05, 2.57384246e-02, 8.54060696e-03, 2.17114527e-03,
  5.13825277e-06, 5.04909774e-04,-4.81383981e-06, 1.84659896e-05,
  0.00000000e+00,-1.69976290e-03, 0.00000000e+00,-1.60527108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61136101,  0.65668744,  8.61136101,  9.1297581 ,
       -6.47004585,  0.65668744, -6.47004585, 93.48022825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021387596260738218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59548341e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.59548341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422112, -0.00696748,  0.06174246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60821492e-06, 2.70053056e-05,-1.76647698e-05, 4.82059741e-06,
  7.77153529e-06, 5.79512108e-05,-1.09402840e-05, 9.86739661e-05,
 -6.57840971e-06, 5.68371977e-05,-7.03190530e-05,-2.06563476e-05,
 -4.71051681e-06,-3.68636154e-05,-1.64581820e-05, 1.70790441e-04,
 -3.83165345e-04,-9.49390863e-05,-1.21630392e+00, 7.07433401e-04,
 -2.46430592e-02,-1.37493100e-04]


--- Step 2088 ---
qpos:
[ 3.28643771e-03,-3.20455100e-03, 1.19489146e-02, 4.17774520e-02,
  6.14436138e-03, 7.64896561e-01,-2.99564402e-02, 8.70982690e-01,
  5.81940262e-03, 1.63875061e-02,-9.29605088e-03, 2.60195575e-02,
  1.37309143e+00,-1.22046295e-04, 1.16117134e+00, 6.30353490e-02,
  8.72558199e-03,-3.58378362e-02, 7.32466279e-02, 6.72100669e-01,
 -2.05140859e-01,-6.75416941e-01,-2.23628876e-01]

qacc:
[-2.22874447e+00,-7.65936528e-01, 1.62574712e+00, 3.23008346e+00,
  1.31643171e-01, 4.09491015e+00,-1.97140414e+01, 4.90516261e+01,
 -3.84405270e+00, 5.63234015e-01, 3.41395421e+00,-1.99531924e+01,
 -1.76257726e-01, 1.50891332e-01, 8.64113302e+00,-2.92528424e+01,
 -7.62002214e-01,-1.20209940e+00, 9.38720470e-01, 1.90354455e+00,
  1.60299847e+01,-1.46924530e+02]

qfrc_actuator:
[-2.66474400e-05, 1.37518584e-04, 1.48305254e-04, 8.83499773e-05,
 -1.84234817e-06, 2.56939077e-02, 8.53266705e-03, 2.30049119e-03,
 -1.71772447e-05, 5.47314315e-04,-3.02418747e-05,-2.95371935e-05,
  0.00000000e+00,-1.69883789e-03, 0.00000000e+00,-1.75116612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56659045,  1.0955843 , -8.56659045,  8.94858034,
        2.44128417,  1.0955843 ,  2.44128417, 27.72524772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021069270397656367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63469737e-14,  2.63469737e-14,  1.00000000e+00, -6.94163021e-28,
        1.00000000e+00, -2.63469737e-14, -1.00000000e+00,  0.00000000e+00,
        2.63469737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421322, -0.00693478,  0.06174625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31522701e-05, 4.42236388e-05, 4.63572185e-05, 2.11952608e-05,
  2.14889070e-05,-1.14395949e-05, 5.19904415e-06, 1.33109848e-04,
 -2.24796444e-05, 5.87678994e-05,-2.30542457e-05,-4.84000230e-05,
 -1.13171678e-05,-1.00169119e-05, 9.94379799e-06,-1.38858493e-04,
 -2.85518298e-04, 1.24310864e-04,-1.21640282e+00, 6.53661836e-04,
 -2.46625153e-02,-1.37366589e-04]


--- Step 2089 ---
qpos:
[ 3.28577493e-03,-3.20350894e-03, 1.19499308e-02, 4.17775309e-02,
  6.14435668e-03, 7.64897074e-01,-2.99560627e-02, 8.70984680e-01,
  5.81918283e-03, 1.63884571e-02,-9.29737473e-03, 2.60180937e-02,
  1.37316540e+00,-1.22910996e-04, 1.16134147e+00, 6.30337955e-02,
  8.72152818e-03,-3.58574430e-02, 7.32671407e-02, 6.72238354e-01,
 -2.04787098e-01,-6.75230801e-01,-2.24100882e-01]

qacc:
[-1.34601478e+00,-2.56416566e+00, 9.75312217e+00,-1.30706349e+01,
  1.26791852e-01,-3.59584004e+00, 8.51751033e+00, 2.98603625e+00,
 -5.33288723e+00,-2.81055870e+00, 9.88190575e+00,-1.35354878e+01,
  1.53181162e-01,-3.72654304e-01, 3.08961196e+00,-1.09582723e+01,
 -7.17798798e-01,-1.16189273e+00, 2.12088643e-01, 1.71793461e+00,
  1.49403492e+01,-1.37039917e+02]

qfrc_actuator:
[-3.43175597e-05, 1.38823461e-04, 1.91307941e-04, 8.26494869e-05,
  8.90365586e-06, 2.56312643e-02, 8.59930701e-03, 2.34056866e-03,
 -4.82148345e-05, 4.83040718e-04,-8.82616242e-06,-3.94775501e-05,
  0.00000000e+00,-1.71574624e-03, 0.00000000e+00,-1.80141295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.54003901,  1.28627778, -8.54003901,  9.11911007,
        3.20511903,  1.28627778,  3.20511903, 29.91624737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020586774111294726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69644729e-14,  5.39289458e-14,  1.00000000e+00, -1.45416560e-27,
        1.00000000e+00, -5.39289458e-14, -1.00000000e+00,  0.00000000e+00,
        2.69644729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420149, -0.00688316,  0.06175186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.03529107e-06, 3.64781311e-05, 5.85682051e-05,-1.79167126e-06,
  2.03865100e-05,-6.37263072e-05, 6.89880175e-05, 4.28918567e-05,
 -3.16563431e-05,-3.82775891e-05, 2.90519201e-05,-9.15630689e-06,
 -8.84407742e-06,-2.20275788e-05,-1.56003737e-05,-5.78043168e-05,
 -1.72825145e-04, 3.68274414e-04,-1.21645938e+00, 6.08272494e-04,
 -2.46782708e-02,-1.38051430e-04]


--- Step 2090 ---
qpos:
[ 3.28502525e-03,-3.20226343e-03, 1.19506567e-02, 4.17772616e-02,
  6.14452229e-03, 7.64897678e-01,-2.99553825e-02, 8.70985381e-01,
  5.81859257e-03, 1.63890095e-02,-9.29843321e-03, 2.60175807e-02,
  1.37323927e+00,-1.23720874e-04, 1.16151137e+00, 6.30326292e-02,
  8.71474423e-03,-3.58815611e-02, 7.32860651e-02, 6.72337470e-01,
 -2.04250725e-01,-6.75078891e-01,-2.24749770e-01]

qacc:
[-7.75584222e-01, 3.64136248e-01, 5.63480737e-01,-6.27704659e+00,
  9.53388568e-02,-2.93718176e+00, 1.27301025e+01,-2.69377172e+01,
 -3.21567872e+00, 6.94942186e-01,-7.24607215e+00, 2.35591497e+01,
 -7.62132154e-02, 1.02564184e-01,-1.51002934e+00, 4.79228194e+00,
 -6.82536575e-01,-1.12786163e+00,-3.97121694e-01, 1.54757412e+00,
  1.40465325e+01,-1.28933034e+02]

qfrc_actuator:
[-3.85607167e-05, 1.21388194e-04, 1.62918628e-04, 6.15091410e-05,
  1.52181639e-05, 2.56650041e-02, 8.62051947e-03, 2.27455317e-03,
 -6.63806564e-05, 4.62118418e-04, 4.14845504e-06, 8.50178160e-06,
  0.00000000e+00,-1.70762243e-03, 0.00000000e+00,-1.77704929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.50682778,  1.49018722, -8.50682778,  9.37483791,
        4.21562697,  1.49018722,  4.21562697, 32.7015362 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001997756135324831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16801257e-14,  2.77867505e-14,  1.00000000e+00, -1.15815525e-27,
        1.00000000e+00, -2.77867505e-14, -1.00000000e+00,  0.00000000e+00,
        4.16801257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418681, -0.006817  ,  0.06175885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46594725e-06, 1.49335856e-05,-1.37260953e-05,-1.75903279e-05,
  1.54531459e-05, 1.33941103e-05, 1.78728753e-05,-6.50006235e-05,
 -1.90859737e-05,-3.67461025e-05, 8.33806952e-06, 4.71713772e-05,
 -1.05267789e-05, 4.49141313e-07,-1.64492760e-05, 1.84738475e-05,
 -4.82082031e-05, 6.31556351e-04,-1.21648169e+00, 5.71619257e-04,
 -2.46910002e-02,-1.39502420e-04]


--- Step 2091 ---
qpos:
[ 3.28423053e-03,-3.20106897e-03, 1.19514416e-02, 4.17767507e-02,
  6.14480424e-03, 7.64898487e-01,-2.99550849e-02, 8.70985313e-01,
  5.81778841e-03, 1.63897509e-02,-9.29954278e-03, 2.60172471e-02,
  1.37331299e+00,-1.24200607e-04, 1.16168127e+00, 6.30307265e-02,
  8.70100877e-03,-3.59003577e-02, 7.33042901e-02, 6.72273883e-01,
 -2.03665833e-01,-6.75090780e-01,-2.25434011e-01]

qacc:
[-3.92620009e-01,-7.29512510e-01, 3.52338242e+00,-7.76111758e+00,
  6.45360179e-02,-3.23678399e-02, 2.18352596e+00,-1.13148489e+01,
 -1.87039903e+00, 7.65662100e-01,-3.11868571e+00, 6.15954299e+00,
 -3.96726433e-01, 6.79737705e-01, 2.26183955e+00,-7.82576318e+00,
 -1.73787837e+00, 1.33040268e+00,-1.74824526e-01, 6.16843003e+00,
 -1.00919674e+02,-6.32732517e+01]

qfrc_actuator:
[-4.07545936e-05, 1.10306755e-04, 1.63521448e-04, 4.91416140e-05,
  1.88384435e-05, 2.56671995e-02, 8.59728808e-03, 2.23543739e-03,
 -7.68217599e-05, 5.02841209e-04, 1.21973954e-05, 1.91714920e-05,
  0.00000000e+00,-1.68470445e-03, 0.00000000e+00,-1.81545482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001980713277241532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46268415e-01,  1.46268415e-01,  9.78371658e-01,  2.16270496e-02,
        9.89244940e-01, -1.44660707e-01, -9.89008504e-01, -6.93889390e-18,
       -1.47858644e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05536432, -0.05742089,  0.06176574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31922122e-06,-6.37140427e-06, 1.36660216e-06,-1.25486970e-05,
  1.05581632e-05, 1.10480738e-05,-2.04973481e-05,-3.96261879e-05,
 -1.10027296e-05, 2.39029770e-05, 3.12493941e-06, 1.03044766e-05,
 -5.90935392e-06, 2.07833801e-05,-8.09063329e-06,-4.00841726e-05,
  8.62628404e-05, 9.10644195e-04,-1.21647549e+00, 5.43754675e-04,
 -2.47012116e-02,-1.41681399e-04]


--- Step 2092 ---
qpos:
[ 3.28341556e-03,-3.19999392e-03, 1.19527615e-02, 4.17771070e-02,
  6.14496472e-03, 7.64899169e-01,-2.99546535e-02, 8.70984434e-01,
  5.81686497e-03, 1.63907462e-02,-9.29973874e-03, 2.60162768e-02,
  1.37338654e+00,-1.24157202e-04, 1.16185052e+00, 6.30330509e-02,
  8.68111395e-03,-3.59148051e-02, 7.33188018e-02, 6.72059625e-01,
 -2.03038159e-01,-6.75253360e-01,-2.26150981e-01]

qacc:
[-1.58459160e-01, 1.33848463e-01,-4.36364083e+00, 1.85987322e+01,
 -6.73389290e-02,-1.93340916e+00, 7.99096609e+00,-1.67891276e+01,
 -1.01653218e+00,-3.52644462e+00, 1.57522939e+01,-2.84219860e+01,
 -1.78613949e-01, 5.14338821e-01,-1.36999894e+01, 4.65834784e+01,
 -1.53983684e+00, 1.08727666e+00,-9.28337301e-01, 4.97468697e+00,
 -9.33564839e+01,-5.77712855e+01]

qfrc_actuator:
[-4.17260172e-05, 1.20963367e-04, 1.99039074e-04, 9.53282976e-05,
  3.07539052e-06, 2.56503178e-02, 8.60121227e-03, 2.19470416e-03,
 -8.26364149e-05, 5.44617516e-04, 7.07591363e-05,-9.90615710e-06,
  0.00000000e+00,-1.65320723e-03, 0.00000000e+00,-1.58875833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.52726143, -1.36842588, -8.52726143,  8.54149372,
        0.59117604, -1.36842588,  0.59117604,  4.95248663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001970180826172816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45999689e-01,  1.45999689e-01,  9.78451931e-01,  2.15467910e-02,
        9.89284636e-01, -1.44400987e-01, -9.89049962e-01,  3.46944695e-18,
       -1.47581074e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05540716, -0.05745503,  0.0617672 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04372580e-06, 6.78888523e-06, 3.39145846e-05, 4.57137478e-05,
 -1.10222363e-05,-1.60898656e-05, 2.54160045e-06,-4.18975899e-05,
 -6.12110037e-06, 5.62105776e-05, 6.42453502e-05,-2.77427698e-05,
  1.33256024e-06, 3.59220415e-05,-1.15735479e-05, 2.22646437e-04,
  1.74694249e-04, 4.63831022e-04,-1.21647579e+00, 6.53853481e-04,
 -2.46997265e-02,-1.43370397e-04]


--- Step 2093 ---
qpos:
[ 3.28225010e-03,-3.19876122e-03, 1.19538326e-02, 4.17783773e-02,
  6.14477064e-03, 7.64900261e-01,-2.99545083e-02, 8.70985118e-01,
  5.81587853e-03, 1.63926292e-02,-9.29984172e-03, 2.60159757e-02,
  1.37346005e+00,-1.23741815e-04, 1.16202022e+00, 6.30333448e-02,
  8.65572941e-03,-3.59257020e-02, 7.33270334e-02, 6.71704722e-01,
 -2.02372271e-01,-6.75555587e-01,-2.26898388e-01]

qacc:
[ -3.08617884,  2.7939974 ,-13.50430588, 29.58891083, -0.19823504,
   4.02272565,-16.10905573, 32.8866603 , -0.56124481,  2.29188233,
  -9.293346  , 20.0708414 , -0.45544385,  0.81666869,  6.84428823,
 -22.86945872, -1.37243299,  0.8876467 , -1.57001812,  4.0778812 ,
 -86.99982985,-53.20963566]

qfrc_actuator:
[-5.97233557e-05, 1.26998959e-04, 1.83995372e-04, 1.40130108e-04,
 -2.41263796e-05, 2.57110026e-02, 8.60331402e-03, 2.27761751e-03,
 -8.56842659e-05, 6.22390681e-04, 8.76737611e-05, 2.66752877e-05,
  0.00000000e+00,-1.63464014e-03, 0.00000000e+00,-1.70474338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.46640024, -1.70494687, -8.46640024,  8.50239638,
        0.66525264, -1.70494687,  0.66525264,  5.33286181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019382615422861944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.14616366,  0.14616366,  0.97840297,  0.02159575,  0.98926042,
       -0.14455947, -0.98902468,  0.        , -0.14775044])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05552442, -0.05752426,  0.06177077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80327938e-05, 1.87423546e-05,-7.91030592e-06, 4.71501225e-05,
 -3.21502808e-05, 5.09097012e-05,-2.04866822e-06, 8.15240911e-05,
 -3.20236479e-06, 1.21251692e-04, 3.54710612e-05, 4.06737948e-05,
  9.35103982e-06, 2.84735503e-05, 1.75643615e-05,-1.05501449e-04,
  3.97391299e-05, 6.35097015e-05,-1.21646145e+00, 7.88869980e-04,
 -2.46977916e-02,-1.45608946e-04]


--- Step 2094 ---
qpos:
[ 3.28087796e-03,-3.19743230e-03, 1.19545546e-02, 4.17788088e-02,
  6.14404508e-03, 7.64901458e-01,-2.99539705e-02, 8.70987126e-01,
  5.81520861e-03, 1.63949159e-02,-9.30008086e-03, 2.60161933e-02,
  1.37353365e+00,-1.23340067e-04, 1.16219003e+00, 6.30319416e-02,
  8.63813964e-03,-3.59381668e-02, 7.33309601e-02, 6.71533106e-01,
 -2.01861372e-01,-6.75674734e-01,-2.27505887e-01]

qacc:
[-1.82720582e+00,-6.22211701e-01, 5.94782826e+00,-1.99814827e+01,
 -2.96024929e-01, 1.37400317e+00,-7.35407507e+00, 2.23868973e+01,
  2.74984792e+00, 1.97673661e+00,-8.47332526e+00, 1.73816198e+01,
 -3.02561479e-02, 6.33175575e-02, 5.28436330e+00,-1.82509920e+01,
  1.94869272e+00,-3.91975040e-01,-1.07624490e+00,-7.01988310e+00,
  9.16580313e+01, 1.38658782e+02]

qfrc_actuator:
[-6.98452875e-05, 1.12280018e-04, 1.56937335e-04, 9.49441013e-05,
 -5.79097099e-05, 2.57112253e-02, 8.62244136e-03, 2.34390741e-03,
 -6.93279736e-05, 5.96758349e-04, 6.23026869e-05, 4.83431023e-05,
  0.00000000e+00,-1.64164187e-03, 0.00000000e+00,-1.79098627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.32750978,  -2.28896432,  -8.32750978,
        14.14429339, -20.03846824,  -2.28896432, -20.03846824,
        81.53856595,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018970636627849632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46308087e-14, -5.85232350e-14,  1.00000000e+00,  8.56242257e-28,
        1.00000000e+00,  5.85232350e-14, -1.00000000e+00,  0.00000000e+00,
        1.46308087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05454383, -0.01043365,  0.06177073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06359320e-05,-3.91501265e-06,-2.25573380e-05,-4.37460384e-05,
 -4.82058451e-05, 3.06017394e-05, 3.13801131e-05, 6.97076300e-05,
  1.63094812e-05, 5.11718979e-05, 5.43048212e-06, 2.88795171e-05,
  1.14218779e-05, 3.00522333e-06,-8.59766040e-06,-9.10137520e-05,
 -2.72350329e-04,-2.97003013e-04,-1.21643713e+00, 9.43835921e-04,
 -2.46956981e-02,-1.48286227e-04]


--- Step 2095 ---
qpos:
[ 3.27905004e-03,-3.19612020e-03, 1.19550202e-02, 4.17780137e-02,
  6.14286433e-03, 7.64902559e-01,-2.99532847e-02, 8.70988564e-01,
  5.81474033e-03, 1.63971809e-02,-9.29981710e-03, 2.60166807e-02,
  1.37360748e+00,-1.23491610e-04, 1.16235911e+00, 6.30348578e-02,
  8.62749035e-03,-3.59518041e-02, 7.33276064e-02, 6.71529094e-01,
 -2.01492252e-01,-6.75626568e-01,-2.27987473e-01]

qacc:
[ -4.00877242, -1.82532715, 11.66254274,-32.47381367, -0.25327889,
  -1.51318955,  6.11400224,-12.24344864,  1.77499851, -0.88222424,
   1.95847971,  1.93061153,  0.88724091, -1.43741721,-14.21150448,
  47.94745366,  1.73512222, -0.29314671, -1.82007465, -7.18245049,
  83.96447451,126.12849102]

qfrc_actuator:
[-9.29982089e-05, 1.02859352e-04, 1.40623195e-04, 3.26580291e-05,
 -7.75705884e-05, 2.56753122e-02, 8.61571447e-03, 2.31107336e-03,
 -5.94361353e-05, 5.80221957e-04, 8.27626459e-05, 6.09454956e-05,
  0.00000000e+00,-1.68150068e-03, 0.00000000e+00,-1.55711033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.48823779,  1.59266948,  8.48823779,  8.68385133,
       -0.25308882,  1.59266948, -0.25308882,  9.98521733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019155636091706535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89790174e-14,  2.89790174e-14,  1.00000000e+00, -8.39783452e-28,
        1.00000000e+00, -2.89790174e-14, -1.00000000e+00,  0.00000000e+00,
        2.89790174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05449743, -0.01043518,  0.06176883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34595417e-05,-1.82000174e-05,-2.14380200e-05,-6.40907400e-05,
 -4.12922259e-05,-1.05785394e-05, 5.01108576e-06,-2.93268798e-05,
  1.03827967e-05, 1.43616768e-05, 3.26725867e-05, 1.55394039e-05,
  6.16108642e-06,-3.60368731e-05,-1.73577357e-05, 2.26929254e-04,
  4.07916961e-05, 7.37951475e-05,-1.21648976e+00, 8.80862842e-04,
 -2.46909694e-02,-1.51289206e-04]


--- Step 2096 ---
qpos:
[ 3.27730381e-03,-3.19509314e-03, 1.19553354e-02, 4.17771966e-02,
  6.14155332e-03, 7.64903254e-01,-2.99531068e-02, 8.70990356e-01,
  5.81473949e-03, 1.63994560e-02,-9.29956251e-03, 2.60176926e-02,
  1.37368149e+00,-1.24339158e-04, 1.16252827e+00, 6.30384936e-02,
  8.62308331e-03,-3.59662954e-02, 7.33144379e-02, 6.71679516e-01,
 -2.01253789e-01,-6.75424108e-01,-2.28354580e-01]

qacc:
[ 7.17074370e-01,-3.09362975e-03,-4.44693304e-01, 5.15313129e-01,
 -7.28844262e-02, 1.45221248e+00,-6.23332344e+00, 1.01114333e+01,
  4.07694297e+00, 1.11066937e+00,-6.16897767e+00, 1.52680604e+01,
  6.67737522e-01,-1.25723458e+00,-2.09723643e+00, 7.39132002e+00,
  1.56056064e+00,-2.13478649e-01,-2.45372526e+00,-7.22774725e+00,
  7.75491283e+01, 1.15724621e+02]

qfrc_actuator:
[-8.81327026e-05, 7.89395717e-05, 1.30802338e-04, 3.18455387e-05,
 -7.08690723e-05, 2.56178757e-02, 8.57580989e-03, 2.32664461e-03,
 -3.56820738e-05, 5.69407183e-04, 7.68787543e-05, 8.59026868e-05,
  0.00000000e+00,-1.72277601e-03, 0.00000000e+00,-1.52705871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47730788,  1.64985696,  8.47730788,  8.72543334,
       -0.45765864,  1.64985696, -0.45765864, 10.98790882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019080072168014897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.0003954e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.0003954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05452337, -0.01041774,  0.06176971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18998633e-06,-4.13242780e-05,-1.84545735e-05,-3.58240132e-06,
 -1.18314159e-05,-6.32852626e-05,-4.23091988e-05, 1.47185764e-05,
  2.40622541e-05, 4.54722250e-06, 1.61315103e-06, 2.69983214e-05,
 -5.23761478e-06,-4.94941302e-05, 1.62550824e-05, 4.02035579e-05,
  7.36627718e-05, 3.17109868e-04,-1.21650007e+00, 8.62140624e-04,
 -2.46829620e-02,-1.53725863e-04]


--- Step 2097 ---
qpos:
[ 3.27597417e-03,-3.19440750e-03, 1.19554918e-02, 4.17774198e-02,
  6.14043057e-03, 7.64903367e-01,-2.99530100e-02, 8.70991623e-01,
  5.81502402e-03, 1.64012552e-02,-9.29908728e-03, 2.60183526e-02,
  1.37375538e+00,-1.25164176e-04, 1.16269782e+00, 6.30398012e-02,
  8.61182477e-03,-3.59756300e-02, 7.33046489e-02, 6.71648774e-01,
 -2.00961099e-01,-6.75404128e-01,-2.28761503e-01]

qacc:
[ 3.65787352e+00, 2.12938489e+00,-1.26470078e+01, 3.11636107e+01,
  1.05153671e-01,-1.45365761e+00, 5.03032439e+00,-1.03912410e+01,
  2.50377885e+00,-1.97509862e+00, 7.60728062e+00,-1.36919394e+01,
 -2.84047173e-01, 3.45521166e-01, 7.61868331e+00,-2.57760796e+01,
 -1.71287427e+00, 1.28917028e+00, 8.44891767e-01, 7.37061857e+00,
 -1.12267378e+02,-7.07320609e+01]

qfrc_actuator:
[-6.68112849e-05, 6.43479001e-05, 1.24874027e-04, 8.49560326e-05,
 -4.84929785e-05, 2.55833800e-02, 8.56985338e-03, 2.29955321e-03,
 -2.17097674e-05, 5.08744314e-04, 7.32520776e-05, 6.46522945e-05,
  0.00000000e+00,-1.71127932e-03, 0.00000000e+00,-1.65293481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.89664937,  8.58969131, -0.89664937,  2.00507892,
       -0.69221781,  8.58969131, -0.69221781,  8.56410532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019378168312949105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40237581e-01,  1.40237581e-01,  9.80136134e-01,  1.98628663e-02,
        9.90117882e-01, -1.38823794e-01, -9.89918627e-01, -6.93889390e-18,
       -1.41637257e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05547665, -0.05754504,  0.06177066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14238271e-05,-4.16976192e-05,-1.68732417e-05, 5.06310274e-05,
  1.70572359e-05,-7.74591050e-05,-2.28754208e-05,-3.00533246e-05,
  1.46700800e-05,-5.67090452e-05,-1.58733606e-06,-2.04831817e-05,
 -1.44727919e-05,-3.03088051e-06, 8.14625273e-06,-1.22457788e-04,
 -1.10921606e-04, 4.61799117e-04,-1.21647594e+00, 8.75928392e-04,
 -2.46718790e-02,-1.55649359e-04]


--- Step 2098 ---
qpos:
[ 3.27491010e-03,-3.19375136e-03, 1.19557119e-02, 4.17782213e-02,
  6.13973949e-03, 7.64903484e-01,-2.99526562e-02, 8.70991791e-01,
  5.81547417e-03, 1.64025828e-02,-9.29835266e-03, 2.60190957e-02,
  1.37382918e+00,-1.25901983e-04, 1.16286718e+00, 6.30412801e-02,
  8.59447634e-03,-3.59807384e-02, 7.32945887e-02, 6.71452067e-01,
 -2.00620894e-01,-6.75550497e-01,-2.29204939e-01]

qacc:
[ 2.33367220e+00, 9.70658844e-01,-5.96463660e+00, 1.58989917e+01,
  2.40894440e-01,-2.59882562e+00, 1.10463713e+01,-2.30922979e+01,
  1.46069689e+00,-1.17980591e+00, 2.94604476e+00,-1.56800639e+00,
 -1.13558829e-01, 1.72709668e-01,-7.81721605e-01, 2.35776039e+00,
 -1.52247142e+00, 1.05655322e+00,-6.77910896e-02, 5.97686716e+00,
 -1.02807177e+02,-6.40062189e+01]

qfrc_actuator:
[-5.37365335e-05, 9.10287615e-05, 1.39102282e-04, 1.16108850e-04,
 -1.69785415e-05, 2.56339965e-02, 8.60179470e-03, 2.24760052e-03,
 -1.36114171e-05, 4.89665113e-04, 8.85062343e-05, 6.96019018e-05,
  0.00000000e+00,-1.70406481e-03, 0.00000000e+00,-1.63882354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62942767, -0.34605632, -8.62942767,  8.63196753,
        0.10962346, -0.34605632,  0.10962346,  5.90274005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001953684689709775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.13777878,  0.13777878,  0.98083333,  0.01916578,  0.99046303,
       -0.13643924, -0.99027758,  0.        , -0.13910543])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05539849, -0.0575167 ,  0.0617688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36666441e-05, 2.03161217e-06, 5.27934327e-06, 2.97654226e-05,
  3.91590031e-05, 2.22075342e-06, 1.31209360e-05,-5.57998808e-05,
  8.50629625e-06,-5.20630818e-05, 2.60749403e-06, 2.05872089e-06,
 -8.83621403e-06, 3.21363573e-06,-1.45110922e-05, 7.25630908e-06,
  4.70206977e-05, 1.76073614e-04,-1.21650219e+00, 9.29564660e-04,
 -2.46750520e-02,-1.55795571e-04]


--- Step 2099 ---
qpos:
[ 3.27435608e-03,-3.19314178e-03, 1.19560969e-02, 4.17793844e-02,
  6.13925516e-03, 7.64903476e-01,-2.99525121e-02, 8.70992063e-01,
  5.81601790e-03, 1.64038501e-02,-9.29818997e-03, 2.60202421e-02,
  1.37390291e+00,-1.26565169e-04, 1.16303618e+00, 6.30448952e-02,
  8.58463229e-03,-3.59872945e-02, 7.32796282e-02, 6.71435890e-01,
 -2.00432437e-01,-6.75517932e-01,-2.29512979e-01]

qacc:
[ 4.48295358e+00, 2.13726288e-01,-2.39135808e+00, 8.43284975e+00,
  1.15020351e-01, 5.83460150e-01,-2.35484836e+00, 3.44361176e+00,
  7.99684318e-01, 2.34736354e+00,-1.01904752e+01, 1.81307201e+01,
  6.16423987e-02,-5.22832447e-02,-6.98702295e+00, 2.36587408e+01,
  1.87609291e+00,-3.61944221e-01,-1.22509234e+00,-7.60950227e+00,
  9.00790545e+01, 1.35351264e+02]

qfrc_actuator:
[-2.78727572e-05, 8.90398859e-05, 1.47513044e-04, 1.34132921e-04,
 -1.58050837e-05, 2.56110597e-02, 8.58515847e-03, 2.25252706e-03,
 -9.03183585e-06, 4.95722133e-04, 6.17039785e-05, 8.99771252e-05,
  0.00000000e+00,-1.69949332e-03, 0.00000000e+00,-1.52453520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.44533844,  -1.80638742,  -8.44533844,
        11.83606019, -14.95942679,  -1.80638742, -14.95942679,
        78.57563636,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019254131742247327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44153868e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.44153868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05447839, -0.01039737,  0.06176764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62498623e-05, 1.49270300e-06, 1.04991304e-05, 1.88691036e-05,
  1.87488156e-05,-2.09011503e-05,-1.63710065e-05, 4.12457123e-06,
  4.81015259e-06,-2.24840625e-05,-3.71898625e-05, 1.82678610e-05,
 -4.35657020e-06, 3.58005979e-06,-8.60679647e-06, 1.12187356e-04,
 -7.29876222e-05,-6.97359885e-05,-1.21650511e+00, 1.01659346e-03,
 -2.46766681e-02,-1.56610060e-04]


--- Step 2100 ---
qpos:
[ 3.27411651e-03,-3.19263287e-03, 1.19563499e-02, 4.17807822e-02,
  6.13848071e-03, 7.64903483e-01,-2.99529423e-02, 8.70993089e-01,
  5.81592243e-03, 1.64053791e-02,-9.29854124e-03, 2.60215777e-02,
  1.37397654e+00,-1.26918366e-04, 1.16320539e+00, 6.30474809e-02,
  8.57817567e-03,-3.59921022e-02, 7.32852415e-02, 6.71455419e-01,
 -2.00344122e-01,-6.75453809e-01,-2.29721582e-01]

qacc:
[  2.75769177,  0.71458891, -3.74029849,  8.09714546, -0.16225991,
   2.88001284,-11.15790507, 19.0428785 , -5.59554281,  2.1826233 ,
  -8.06026101, 11.94259188, -0.38306768,  0.6605076 ,  3.43866341,
 -11.51871872,  0.84685908,  0.43711226,  5.14345213, -0.07675267,
   1.19802816, 74.46654782]

qfrc_actuator:
[-1.24389175e-05, 6.98780331e-05, 1.34553923e-04, 1.44265232e-04,
 -5.05365879e-05, 2.56151279e-02, 8.55749230e-03, 2.29081732e-03,
 -4.20629973e-05, 5.34390838e-04, 4.59007090e-05, 1.01501748e-04,
  0.00000000e+00,-1.67877728e-03, 0.00000000e+00,-1.58295849e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.33917452, -2.24609556,  8.33917452, 12.07131304,
       12.75308278, -2.24609556, 12.75308278, 55.98527654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019357560449035707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86767289e-14,  2.86767289e-14,  1.00000000e+00, -8.22354778e-28,
        1.00000000e+00, -2.86767289e-14, -1.00000000e+00,  0.00000000e+00,
        2.86767289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01235048, -0.02884516,  0.0617664 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61783131e-05,-1.53684852e-05,-1.07194203e-05, 1.09210741e-05,
 -2.63200144e-05,-1.06091549e-05,-3.35514838e-05, 3.72227782e-05,
 -3.28959827e-05, 1.91493040e-05,-2.44152145e-05, 9.62395831e-06,
 -1.56540139e-06, 2.07213031e-05, 6.05894048e-06,-5.38618278e-05,
  1.63200643e-05, 1.10328543e-04,-1.21649400e+00, 9.90490527e-04,
 -2.46662206e-02,-1.58437739e-04]


--- Step 2101 ---
qpos:
[ 3.27371917e-03,-3.19238336e-03, 1.19565916e-02, 4.17812673e-02,
  6.13754725e-03, 7.64903807e-01,-2.99538501e-02, 8.70994186e-01,
  5.81543172e-03, 1.64072992e-02,-9.29888814e-03, 2.60222965e-02,
  1.37405012e+00,-1.27034356e-04, 1.16337484e+00, 6.30473457e-02,
  8.57188128e-03,-3.59907655e-02, 7.32893063e-02, 6.71399244e-01,
 -2.00418941e-01,-6.75483117e-01,-2.29734328e-01]

qacc:
[-1.38123987e+00,-2.19007641e+00, 1.11657411e+01,-2.67537116e+01,
 -8.91442486e-02, 1.83068294e+00,-5.66635601e+00, 5.71616172e+00,
 -3.45420635e+00,-7.58296282e-01, 6.06965745e+00,-1.70520624e+01,
 -3.90455597e-01, 6.46952637e-01, 8.62070377e+00,-2.95385096e+01,
  4.05567035e-02, 1.53609939e+00,-3.87116743e-01, 1.45253583e+01,
 -9.52926694e+01, 1.02794486e+02]

qfrc_actuator:
[-2.10240948e-05, 4.04851316e-05, 1.26756493e-04, 9.63867331e-05,
 -5.31390056e-05, 2.56530631e-02, 8.54140928e-03, 2.29517571e-03,
 -6.14599817e-05, 5.74576096e-04, 5.46202604e-05, 7.22635116e-05,
  0.00000000e+00,-1.66639238e-03, 0.00000000e+00,-1.72494488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.97417488, -5.09388472,  6.97417488,  6.66524468,
       -2.69871209, -5.09388472, -2.69871209,  4.94148416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001947340216004921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42530696e-14,  2.85061392e-14,  1.00000000e+00, -4.06299986e-28,
        1.00000000e+00, -2.85061392e-14, -1.00000000e+00,  0.00000000e+00,
        1.42530696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03560634, -0.07557868,  0.06176531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.13187649e-06,-3.97514009e-05,-1.19266759e-05,-4.87005877e-05,
 -1.44164224e-05, 2.66269045e-05,-2.09157757e-05, 3.85495007e-06,
 -2.03279041e-05, 4.61967780e-05, 9.98532949e-06,-2.90793570e-05,
  3.77265703e-06, 1.77536248e-05,-7.36815017e-06,-1.45181591e-04,
 -1.11704157e-05, 7.78108472e-05,-1.21647265e+00, 1.00819616e-03,
 -2.46573229e-02,-1.58956419e-04]


--- Step 2102 ---
qpos:
[ 3.27322206e-03,-3.19225969e-03, 1.19566943e-02, 4.17808217e-02,
  6.13672612e-03, 7.64904291e-01,-2.99549270e-02, 8.70995324e-01,
  5.81540209e-03, 1.64093103e-02,-9.29900538e-03, 2.60223365e-02,
  1.37412370e+00,-1.26984176e-04, 1.16354403e+00, 6.30471768e-02,
  8.56547063e-03,-3.59838163e-02, 7.32888393e-02, 6.71273390e-01,
 -2.00645401e-01,-6.75597923e-01,-2.29566780e-01]

qacc:
[-8.78443606e-01,-1.69423645e+00, 9.72805645e+00,-2.55187207e+01,
  6.23491188e-02, 7.39217588e-01,-2.26627880e+00, 2.42107840e+00,
  4.02678294e+00,-1.92659150e+00, 9.89612416e+00,-2.20622477e+01,
 -1.07076468e-01, 2.44103744e-01,-2.79645955e-01, 4.33409375e-01,
 -2.90668200e-02, 1.40313443e+00,-1.13297220e+00, 1.28260352e+01,
 -8.77202476e+01, 9.51690169e+01]

qfrc_actuator:
[-2.59215984e-05, 4.06578585e-05, 1.21988094e-04, 5.02606202e-05,
 -3.64790347e-05, 2.56577515e-02, 8.53240906e-03, 2.29730939e-03,
 -3.71594772e-05, 5.62179311e-04, 5.99881345e-05, 3.70504956e-05,
  0.00000000e+00,-1.65905736e-03, 0.00000000e+00,-1.71968690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.5816744 ,  8.24146432, -2.5816744 ,  8.95432229,
        0.09960193,  8.24146432,  0.09960193,  8.66756437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019349206779191927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43445548e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43445548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03562891, -0.07562117,  0.06176665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14163072e-06,-2.66204177e-05,-1.61394855e-05,-4.91913706e-05,
  1.01940069e-05, 1.54367946e-05,-6.03647941e-06, 2.44261970e-06,
  2.37406182e-05, 1.41774549e-05, 1.51145039e-05,-3.34580823e-05,
  5.49369552e-06, 1.33692824e-05,-2.33606132e-05,-4.67016000e-06,
 -1.71731107e-05, 1.62440642e-05,-1.21643508e+00, 1.01758913e-03,
 -2.46466007e-02,-1.57851100e-04]


--- Step 2103 ---
qpos:
[ 3.27370485e-03,-3.19226992e-03, 1.19566658e-02, 4.17805176e-02,
  6.13626434e-03, 7.64904241e-01,-2.99547225e-02, 8.70997502e-01,
  5.81566390e-03, 1.64114480e-02,-9.29909351e-03, 2.60226546e-02,
  1.37419712e+00,-1.26306240e-04, 1.16371327e+00, 6.30453558e-02,
  8.56570339e-03,-3.59769998e-02, 7.32824563e-02, 6.71321521e-01,
 -2.01018832e-01,-6.75537945e-01,-2.29275662e-01]

qacc:
[ 8.59883081e+00, 4.64746691e-01,-2.53988378e+00, 5.32872499e+00,
  2.01321115e-01,-2.36121718e+00, 4.54217587e+00, 8.73380099e+00,
  2.54085926e+00, 6.53190736e-01,-3.26857830e+00, 7.94920206e+00,
 -6.69787389e-01, 1.22310389e+00, 5.12844061e+00,-1.76830687e+01,
  1.66085597e+00,-3.31928698e-02,-1.47896463e+00,-1.01952589e+01,
  8.81689361e+01, 1.28626196e+02]

qfrc_actuator:
[ 2.46565027e-05, 4.07875248e-05, 1.19169391e-04, 5.88268901e-05,
 -8.46936972e-06, 2.56247697e-02, 8.59855174e-03, 2.35136718e-03,
 -2.28439763e-05, 5.71634789e-04, 6.31179619e-05, 5.18191629e-05,
  0.00000000e+00,-1.61927086e-03, 0.00000000e+00,-1.80520751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019515839970084131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19996706e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.19996706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05441091, -0.01038259,  0.06176473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04246455e-05,-2.02021984e-05,-1.20082465e-05, 5.91071255e-06,
  3.25869936e-05,-2.55433564e-05, 6.85700620e-05, 5.44247355e-05,
  1.50079927e-05, 1.90085368e-05, 6.73913926e-06, 1.52427481e-05,
  5.49205484e-06, 4.49868133e-05,-1.34649236e-05,-8.92998567e-05,
 -5.39326495e-05, 1.97378073e-04,-1.21639709e+00, 9.79428744e-04,
 -2.46436805e-02,-1.56676547e-04]


--- Step 2104 ---
qpos:
[ 3.27479023e-03,-3.19268534e-03, 1.19567127e-02, 4.17803389e-02,
  6.13614877e-03, 7.64903712e-01,-2.99535968e-02, 8.70999288e-01,
  5.81609565e-03, 1.64136271e-02,-9.29882337e-03, 2.60231348e-02,
  1.37427059e+00,-1.25415189e-04, 1.16388262e+00, 6.30408293e-02,
  8.57195083e-03,-3.59702113e-02, 7.32673956e-02, 6.71529082e-01,
 -2.01527106e-01,-6.75317254e-01,-2.28871414e-01]

qacc:
[ 5.29830333e+00,-4.98429829e-01, 4.53478149e-01, 1.91218244e+00,
  1.93939934e-01,-3.79812759e+00, 1.25973474e+01,-1.56548003e+01,
  1.49276114e+00,-6.15586032e-01, 1.58460804e+00, 6.24535771e-01,
 -2.99682202e-01, 5.40179632e-01, 8.35340702e+00,-2.89301735e+01,
  1.50366808e+00,-6.98298840e-03,-2.16945509e+00,-9.44917266e+00,
  8.09666578e+01, 1.17949641e+02]

qfrc_actuator:
[ 5.42223054e-05, 5.44450190e-06, 1.17568271e-04, 6.40033303e-05,
  8.30553377e-06, 2.55875677e-02, 8.63738667e-03, 2.32904975e-03,
 -1.45342666e-05, 5.76377058e-04, 8.27662726e-05, 6.03863596e-05,
  0.00000000e+00,-1.61379943e-03, 0.00000000e+00,-1.94356331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.66773093,   3.97400041,   7.66773093,
        14.00384819, -10.35642251,   3.97400041, -10.35642251,
        28.6188128 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019512446860905086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20052352e-14, -2.84490980e-14,  1.00000000e+00,  9.10520072e-28,
        1.00000000e+00,  2.84490980e-14, -1.00000000e+00,  0.00000000e+00,
        3.20052352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05441029, -0.01037899,  0.06176464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09954278e-05,-4.88498214e-05,-7.04986914e-06, 4.00918102e-06,
  3.13945727e-05,-3.60865451e-05, 4.33312529e-05,-1.98330589e-05,
  8.75237088e-06, 1.73462218e-05, 2.49072527e-05, 9.90576556e-06,
  1.29215279e-05, 1.91931376e-05,-1.94890522e-05,-1.45832710e-04,
  2.50178002e-05, 7.72972215e-05,-1.21633350e+00, 9.67346553e-04,
 -2.46331148e-02,-1.55722319e-04]


--- Step 2105 ---
qpos:
[ 3.27587671e-03,-3.19301834e-03, 1.19565354e-02, 4.17801817e-02,
  6.13610179e-03, 7.64903689e-01,-2.99531731e-02, 8.70999753e-01,
  5.81627953e-03, 1.64152801e-02,-9.29798750e-03, 2.60230824e-02,
  1.37434419e+00,-1.24668229e-04, 1.16405147e+00, 6.30376666e-02,
  8.57094715e-03,-3.59583038e-02, 7.32553421e-02, 6.71557810e-01,
 -2.01983031e-01,-6.75276140e-01,-2.28506231e-01]

qacc:
[ 1.18594978e-03, 7.80188291e-01,-2.71384779e+00, 3.38224862e+00,
  3.76342202e-02, 2.70228943e-01, 2.93047886e+00,-1.88071368e+01,
 -2.13568781e+00,-3.36884940e+00, 1.32586572e+01,-2.30010069e+01,
  3.23012067e-01,-4.68686665e-01,-4.88102805e+00, 1.59418471e+01,
 -1.81277999e+00, 1.27974341e+00, 7.51815440e-01, 6.91644057e+00,
 -1.10752635e+02,-6.93530906e+01]

qfrc_actuator:
[ 5.34134494e-05, 3.79058648e-05, 1.16543571e-04, 6.71054390e-05,
  4.56350700e-07, 2.56367569e-02, 8.60642679e-03, 2.26192114e-03,
 -2.75757356e-05, 5.07315343e-04, 9.42322329e-05, 2.97320343e-05,
  0.00000000e+00,-1.62875348e-03, 0.00000000e+00,-1.86336924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.93498906,  8.58560262, -0.93498906,  2.67803509,
       -0.64887373,  8.58560262, -0.64887373,  8.56570001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001982278694803777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33234983e-01,  1.33234983e-01,  9.82088020e-01,  1.79112489e-02,
        9.91084476e-01, -1.32025558e-01, -9.90922614e-01,  3.46944695e-18,
       -1.34433528e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05519744, -0.05749309,  0.06176496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.83996088e-08, 3.88233021e-06,-1.18420663e-05, 8.43427703e-07,
  6.23510515e-06, 3.71159884e-05,-3.36892152e-05,-6.74279681e-05,
 -1.27786794e-05,-5.38708744e-05, 1.84300394e-05,-2.88631858e-05,
  1.05138397e-05,-6.29574803e-06,-2.82369253e-05, 6.88592854e-05,
 -1.35409883e-04,-1.16052362e-04,-1.21623259e+00, 9.85851925e-04,
 -2.46178953e-02,-1.54350660e-04]


--- Step 2106 ---
qpos:
[ 3.27694503e-03,-3.19288028e-03, 1.19560999e-02, 4.17803593e-02,
  6.13603345e-03, 7.64904055e-01,-2.99528717e-02, 8.70999390e-01,
  5.81596131e-03, 1.64161142e-02,-9.29708001e-03, 2.60227368e-02,
  1.37441777e+00,-1.23795485e-04, 1.16421992e+00, 6.30371076e-02,
  8.56353294e-03,-3.59421720e-02, 7.32426779e-02, 6.71422745e-01,
 -2.02393414e-01,-6.75398897e-01,-2.28176976e-01]

qacc:
[-1.75415905e-01, 2.03497190e+00,-7.76431202e+00, 1.36247229e+01,
 -1.20244182e-02,-5.97634375e-01, 4.47323537e+00,-1.42088650e+01,
 -4.36309143e+00,-1.87734986e+00, 6.37611628e+00,-1.09774747e+01,
  9.43415781e-02,-4.73109588e-02,-8.45343726e+00, 2.87070612e+01,
 -1.60263293e+00, 1.05606716e+00,-1.52685976e-01, 5.34278995e+00,
 -1.01495676e+02,-6.27038345e+01]

qfrc_actuator:
[ 5.24928850e-05, 9.29716912e-05, 1.16134268e-04, 8.67693975e-05,
 -4.27553100e-06, 2.56659752e-02, 8.60585522e-03, 2.22225067e-03,
 -5.30780686e-05, 4.30027615e-04, 8.26853990e-05, 1.16799794e-05,
  0.00000000e+00,-1.62018562e-03, 0.00000000e+00,-1.72604287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60197178, -0.76997301, -8.60197178,  8.61308657,
        0.2600463 , -0.76997301,  0.2600463 ,  5.73118263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001990913696582452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.13242987,  0.13242987,  0.98230579,  0.01769351,  0.99119238,
       -0.13124256, -0.99103444,  0.        , -0.13360663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05514576, -0.0574771 ,  0.06176377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.15839940e-07, 5.48379933e-05,-1.03157100e-06, 1.94381790e-05,
 -1.92686984e-06, 4.09834784e-05, 8.36380973e-07,-4.10304440e-05,
 -2.58808795e-05,-1.04915968e-04,-2.14315410e-05,-2.02895467e-05,
  3.59519377e-06, 9.60549153e-06,-6.67645947e-06, 1.37216641e-04,
  5.63931388e-05, 1.77355984e-04,-1.21629117e+00, 8.82831618e-04,
 -2.46302990e-02,-1.51577288e-04]


--- Step 2107 ---
qpos:
[ 3.27764927e-03,-3.19262594e-03, 1.19560580e-02, 4.17807709e-02,
  6.13572905e-03, 7.64904473e-01,-2.99524211e-02, 8.70997535e-01,
  5.81568449e-03, 1.64165104e-02,-9.29673155e-03, 2.60221732e-02,
  1.37449152e+00,-1.23343580e-04, 1.16438873e+00, 6.30344883e-02,
  8.56360135e-03,-3.59269164e-02, 7.32261142e-02, 6.71471894e-01,
 -2.02959575e-01,-6.75337029e-01,-2.27712107e-01]

qacc:
[-3.18496496e+00,-4.58353367e-01, 8.81314845e-01, 2.43844228e+00,
 -1.31097980e-01,-2.92383406e+00, 1.30818662e+01,-2.96453805e+01,
  3.50856590e-01, 5.34129405e-01,-1.82473205e+00,-7.31773829e-01,
  2.70451962e-01,-5.65180178e-01, 6.72879612e+00,-2.28247109e+01,
  1.87065667e+00,-2.19043030e-01,-9.74862041e-01,-8.92160374e+00,
  9.26932215e+01, 1.37833737e+02]

qfrc_actuator:
[ 3.37714854e-05, 9.01680570e-05, 1.33970345e-04, 9.82957509e-05,
 -2.48271303e-05, 2.56476216e-02, 8.60546499e-03, 2.14583305e-03,
 -5.01983024e-05, 4.19317885e-04, 5.75986990e-05, 1.16287587e-06,
  0.00000000e+00,-1.65097473e-03, 0.00000000e+00,-1.84026464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.22258342,  -2.64119267,  -8.22258342,
        16.60890496, -24.82018323,  -2.64119267, -24.82018323,
        85.90676848,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019830458783360455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79928729e-14,  2.79928729e-14,  1.00000000e+00, -7.83600933e-28,
        1.00000000e+00, -2.79928729e-14, -1.00000000e+00,  0.00000000e+00,
        2.79928729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05430916, -0.01038947,  0.06176048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87291463e-05, 2.84773741e-05, 2.97106703e-05, 1.42181496e-05,
 -2.14098550e-05, 3.19853447e-06, 6.55008055e-06,-7.60146508e-05,
  2.10651253e-06,-7.47259407e-05,-5.01192098e-05,-1.61517174e-05,
  4.16145595e-06,-2.73470797e-05, 9.85033750e-06,-1.07977926e-04,
 -2.46656855e-05, 4.63308071e-04,-1.21631992e+00, 8.20704708e-04,
 -2.46397074e-02,-1.49384224e-04]


--- Step 2108 ---
qpos:
[ 3.27812379e-03,-3.19242203e-03, 1.19563692e-02, 4.17809966e-02,
  6.13538150e-03, 7.64904696e-01,-2.99522132e-02, 8.70996205e-01,
  5.81544379e-03, 1.64167872e-02,-9.29661565e-03, 2.60214235e-02,
  1.37456527e+00,-1.22973705e-04, 1.16455770e+00, 6.30295339e-02,
  8.57035111e-03,-3.59122776e-02, 7.32025621e-02, 6.71688738e-01,
 -2.03667848e-01,-6.75106142e-01,-2.27124071e-01]

qacc:
[-2.00440052e+00,-1.43294844e+00, 5.80271036e+00,-9.55223178e+00,
 -2.42641529e-02, 1.31376981e+00,-5.82413844e+00, 1.16558837e+01,
  3.09716005e-01, 1.08406975e-01, 1.69362607e-01,-2.93001182e+00,
 -1.08388830e-01, 8.73290321e-02, 7.28217790e+00,-2.51317862e+01,
  1.67033542e+00,-1.54202153e-01,-1.74709885e+00,-8.34869693e+00,
  8.46923163e+01, 1.25583264e+02]

qfrc_actuator:
[ 2.24753952e-05, 7.05617489e-05, 1.44452639e-04, 8.71540134e-05,
 -1.91420679e-05, 2.56186590e-02, 8.58720856e-03, 2.17263011e-03,
 -4.83845482e-05, 4.48501553e-04, 6.04953424e-05,-4.79113837e-06,
  0.00000000e+00,-1.65162382e-03, 0.00000000e+00,-1.95977161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.80803374,  3.69071619,  7.80803374, 10.41167242,
       -3.7558214 ,  3.69071619, -3.7558214 , 16.58213317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001995152796280604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13008834e-14, -1.11292030e-13,  1.00000000e+00,  3.48353886e-27,
        1.00000000e+00,  1.11292030e-13, -1.00000000e+00,  0.00000000e+00,
        3.13008834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05426992, -0.0103933 ,  0.06175887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18222772e-05, 3.04575172e-06, 2.05124520e-05,-8.61778750e-06,
 -3.92218452e-06,-2.83441371e-05,-1.91659719e-05, 2.53700416e-05,
  1.85225846e-06,-2.36658299e-05,-1.92789585e-05,-1.12053965e-05,
 -4.68374580e-06,-6.81880662e-06,-1.16924439e-05,-1.25244041e-04,
  8.77298074e-05, 2.49606125e-04,-1.21622200e+00, 8.08741240e-04,
 -2.46248246e-02,-1.47901378e-04]


--- Step 2109 ---
qpos:
[ 3.27845880e-03,-3.19188773e-03, 1.19564313e-02, 4.17803896e-02,
  6.13544543e-03, 7.64904601e-01,-2.99518648e-02, 8.70994853e-01,
  5.81557159e-03, 1.64169338e-02,-9.29652403e-03, 2.60205940e-02,
  1.37463875e+00,-1.21848888e-04, 1.16472626e+00, 6.30258492e-02,
  8.57019853e-03,-3.58927161e-02, 7.31832956e-02, 6.71721340e-01,
 -2.04323691e-01,-6.75059734e-01,-2.26575872e-01]

qacc:
[  -1.23835545,  -0.58081582,   6.22071016, -20.47590856,   0.22948382,
   -0.83908681,   2.29516025,  -2.11566644,   3.21535236,  -0.27483667,
    1.05593593,  -2.28984426,  -0.6378725 ,   1.22075332,  -4.37845714,
   14.57795175,  -1.72558204,   1.23069616,   1.07138269,   6.34858377,
 -114.1375293 , -70.78587292]

qfrc_actuator:
[ 1.56457673e-05, 9.42519150e-05, 1.32653057e-04, 4.49849172e-05,
  1.99391455e-05, 2.56013080e-02, 8.59406974e-03, 2.17117224e-03,
 -2.94690589e-05, 4.48220028e-04, 6.23265049e-05,-7.95198870e-06,
  0.00000000e+00,-1.59885411e-03, 0.00000000e+00,-1.88607196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.54162082,  8.49765745, -1.54162082,  3.53178442,
       -0.92605823,  8.49765745, -0.92605823,  8.46836079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020337723543763023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28585369e-01,  1.28585369e-01,  9.83326805e-01,  1.66726058e-02,
        9.91698443e-01, -1.27499888e-01, -9.91558282e-01,  3.46944695e-18,
       -1.29661764e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05491116, -0.05738903,  0.06175804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.16679453e-06, 2.92439796e-05,-8.94872114e-06,-4.14978452e-05,
  3.73166953e-05,-3.60346778e-05,-1.76331814e-07,-2.36452346e-06,
  1.89624188e-05,-1.79879595e-05,-5.82291188e-06,-5.05950544e-06,
 -4.81865889e-06, 5.01845083e-05,-2.27182450e-05, 6.44367164e-05,
 -6.69495454e-05,-4.02464234e-05,-1.21608755e+00, 8.30616748e-04,
 -2.46059387e-02,-1.45897071e-04]


--- Step 2110 ---
qpos:
[ 3.27836433e-03,-3.19104146e-03, 1.19560043e-02, 4.17799919e-02,
  6.13575372e-03, 7.64904555e-01,-2.99516054e-02, 8.70993816e-01,
  5.81626998e-03, 1.64170525e-02,-9.29676813e-03, 2.60200866e-02,
  1.37471201e+00,-1.19873760e-04, 1.16489465e+00, 6.30230292e-02,
  8.56392576e-03,-3.58690903e-02, 7.31644780e-02, 6.71585750e-01,
 -2.04934198e-01,-6.75181111e-01,-2.26064199e-01]

qacc:
[  -3.79024314,   2.21880764,  -8.18243274,  12.34193858,   0.13595271,
    0.85326865,  -3.44215073,   6.83703244,   4.96683406,   1.55500892,
   -6.97451945,  13.12452133,  -0.68609041,   1.36859472,  -2.78559564,
    9.54919552,  -1.53005159,   1.01605673,   0.11225596,   4.72374448,
 -104.25402511, -63.76573464]

qfrc_actuator:
[-6.25494946e-06, 1.08054065e-04, 1.07945230e-04, 5.59311106e-05,
  2.53627767e-05, 2.56266323e-02, 8.59796280e-03, 2.18860506e-03,
 -6.39348277e-07, 4.48070700e-04, 4.56504946e-05, 8.28377745e-06,
  0.00000000e+00,-1.55034255e-03, 0.00000000e+00,-1.84114010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -8.63632204e+00, -2.68037982e-02, -8.63632204e+00,
        8.63633899e+00,  7.93962306e-03, -2.68037982e-02,  7.93962306e-03,
        6.07817613e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0020456692083653505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27197433e-01,  1.27197433e-01,  9.83687769e-01,  1.63116800e-02,
        9.91877418e-01, -1.26147200e-01, -9.91743284e-01,  3.46944695e-18,
       -1.28239066e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0548388 , -0.05736216,  0.06175632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20942021e-05, 2.65071598e-05,-2.12112017e-05, 1.10816493e-05,
  2.21660452e-05, 5.25151851e-06,-3.30871028e-06, 1.62216172e-05,
  2.93678254e-05,-1.16254346e-05,-2.12855186e-05, 1.51655159e-05,
  8.95192027e-06, 6.10618722e-05,-5.51998524e-06, 4.51099654e-05,
  1.35955763e-04, 4.11858860e-04,-1.21616106e+00, 6.85589884e-04,
 -2.46213534e-02,-1.42094174e-04]


--- Step 2111 ---
qpos:
[ 3.27800822e-03,-3.19017795e-03, 1.19553491e-02, 4.17804390e-02,
  6.13600905e-03, 7.64903889e-01,-2.99508221e-02, 8.70994752e-01,
  5.81661929e-03, 1.64167350e-02,-9.29731593e-03, 2.60198287e-02,
  1.37478548e+00,-1.18084729e-04, 1.16506267e+00, 6.30230942e-02,
  8.56545993e-03,-3.58467504e-02, 7.31432115e-02, 6.71641031e-01,
 -2.05706834e-01,-6.75110550e-01,-2.25408008e-01]

qacc:
[-2.30343276e+00, 2.40653433e+00,-1.21025238e+01, 2.70618351e+01,
 -2.91429014e-02, 1.19353378e+00,-9.40624810e+00, 3.25088646e+01,
 -3.04654552e+00, 7.91640629e-01,-4.70197974e+00, 9.81409482e+00,
  5.01723303e-01,-7.03967308e-01,-9.29685407e+00, 3.16348793e+01,
  1.95173853e+00,-3.21472543e-01,-6.12258428e-01,-7.79130599e+00,
  9.57532627e+01, 1.44503617e+02]

qfrc_actuator:
[-1.90998970e-05, 9.80570320e-05, 9.35848356e-05, 9.80376067e-05,
  1.05944017e-05, 2.55708050e-02, 8.61800095e-03, 2.28805327e-03,
 -1.94685008e-05, 3.94692358e-04, 1.81913285e-05, 1.80349009e-05,
  0.00000000e+00,-1.57579374e-03, 0.00000000e+00,-1.68930341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.3935118 ,  -2.03365102,  -8.3935118 ,
        13.26514   , -19.10440323,  -2.03365102, -19.10440323,
        87.48619217,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020537032797029245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35148908e-14,  2.70297817e-14,  1.00000000e+00, -3.65304548e-28,
        1.00000000e+00, -2.70297817e-14, -1.00000000e+00,  0.00000000e+00,
        1.35148908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05408323, -0.01041959,  0.06175139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34668095e-05, 8.87045688e-07,-1.11173550e-05, 4.27245741e-05,
 -4.81972938e-06,-5.30489766e-05, 2.11796159e-05, 9.98845648e-05,
 -1.79911369e-05,-6.36141222e-05,-3.19554513e-05, 8.81189554e-06,
  1.89973689e-05,-6.80762906e-06,-6.58948907e-07, 1.52932334e-04,
  5.08409557e-05, 8.44392960e-04,-1.21620152e+00, 5.85564395e-04,
 -2.46332709e-02,-1.38856412e-04]


--- Step 2112 ---
qpos:
[ 3.27750084e-03,-3.18957375e-03, 1.19549607e-02, 4.17810432e-02,
  6.13614221e-03, 7.64902582e-01,-2.99499893e-02, 8.70996901e-01,
  5.81639548e-03, 1.64160913e-02,-9.29818648e-03, 2.60189870e-02,
  1.37485908e+00,-1.16525347e-04, 1.16523059e+00, 6.30252938e-02,
  8.56325114e-03,-3.58329355e-02, 7.31420708e-02, 6.71635390e-01,
 -2.06198497e-01,-6.75093760e-01,-2.25025547e-01]

qacc:
[-1.31470443e+00,-7.62214208e-01, 1.56171819e+00, 9.17101455e-01,
 -6.79676909e-02, 1.12937382e+00,-7.50044558e+00, 2.17006629e+01,
 -5.00357100e+00,-7.21251444e-01, 4.42769436e+00,-1.37934949e+01,
  4.11938908e-01,-6.38138427e-01,-6.62779460e+00, 2.28894313e+01,
 -9.35741852e-01,-2.13125468e+00, 5.03145908e+00, 1.75154795e+00,
  2.11989147e+01,-1.99164864e+02]

qfrc_actuator:
[-2.65074332e-05, 7.39504337e-05, 1.03120239e-04, 1.04863171e-04,
  1.66301001e-06, 2.55201949e-02, 8.61164353e-03, 2.34616352e-03,
 -4.84488982e-05, 3.80806706e-04, 2.11716391e-06,-1.16661790e-05,
  0.00000000e+00,-1.59166841e-03, 0.00000000e+00,-1.58220576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021205386928013006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23557070e-14,  2.61778535e-14,  1.00000000e+00, -1.37056003e-27,
        1.00000000e+00, -2.61778535e-14, -1.00000000e+00,  0.00000000e+00,
        5.23557070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426981, -0.00690795,  0.06174387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.79430352e-06,-2.41049514e-05, 9.82520070e-06, 7.30973410e-06,
 -1.11037948e-05,-7.26256494e-05,-1.13752666e-05, 5.93216708e-05,
 -2.95189935e-05,-5.56689674e-05,-3.28338536e-05,-3.33580867e-05,
  8.52822409e-06,-1.32657782e-05, 1.44476640e-05, 1.14992437e-04,
  1.87903043e-04, 5.24230000e-04,-1.21606813e+00, 5.76055218e-04,
 -2.46145278e-02,-1.36782133e-04]


--- Step 2113 ---
qpos:
[ 3.27725375e-03,-3.18964720e-03, 1.19549594e-02, 4.17810803e-02,
  6.13616144e-03, 7.64901463e-01,-2.99501376e-02, 8.71000054e-01,
  5.81617018e-03, 1.64156784e-02,-9.29930601e-03, 2.60184091e-02,
  1.37493276e+00,-1.15148409e-04, 1.16539933e+00, 6.30224057e-02,
  8.55760960e-03,-3.58267519e-02, 7.31555193e-02, 6.71575132e-01,
 -2.06435916e-01,-6.75126088e-01,-2.24890683e-01]

qacc:
[ 2.30803860e+00,-3.15180202e+00, 1.23227653e+01,-2.22490469e+01,
 -6.45853602e-02, 4.63980387e+00,-1.72267466e+01, 2.73501319e+01,
 -2.44965563e-02, 1.54408273e+00,-6.17617311e+00, 1.09686957e+01,
 -1.94227483e-01, 1.60769965e-01, 1.65702140e+01,-5.61985641e+01,
 -8.58186135e-01,-1.90782992e+00, 3.64730195e+00, 1.69983330e+00,
  1.92021480e+01,-1.80175924e+02]

qfrc_actuator:
[-1.29056136e-05, 6.14248105e-06, 1.08836752e-04, 7.31172199e-05,
 -3.67577560e-06, 2.55617465e-02, 8.57196101e-03, 2.39719495e-03,
 -4.76511060e-05, 4.43939158e-04, 1.07671644e-05, 6.70537178e-06,
  0.00000000e+00,-1.60167918e-03, 0.00000000e+00,-1.85740776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.97763786,   6.23334761,   5.97763786,
        42.84955588, -32.80966924,   6.23334761, -32.80966924,
        40.1000864 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021537053839382828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.57747191e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.57747191e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427966, -0.0069412 ,  0.06174026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33690565e-05,-7.89647109e-05, 2.19759786e-06,-3.22976206e-05,
 -1.03333834e-05, 9.84926280e-07,-5.35285357e-05, 4.97156157e-05,
 -6.81612676e-08, 2.38145627e-05,-8.02705150e-06, 1.42070557e-05,
  1.56853201e-06,-1.16782374e-05, 1.60792303e-05,-2.67736040e-04,
  6.69575979e-05, 2.71969858e-04,-1.21626018e+00, 6.06160229e-04,
 -2.46374206e-02,-1.35585500e-04]


--- Step 2114 ---
qpos:
[ 3.27751652e-03,-3.19039600e-03, 1.19550816e-02, 4.17807558e-02,
  6.13609473e-03, 7.64900889e-01,-2.99506309e-02, 8.71001997e-01,
  5.81630056e-03, 1.64156553e-02,-9.30046194e-03, 2.60180188e-02,
  1.37500665e+00,-1.14416059e-04, 1.16556817e+00, 6.30159451e-02,
  8.54878748e-03,-3.58274745e-02, 7.31788920e-02, 6.71465206e-01,
 -2.06441042e-01,-6.75203479e-01,-2.24981856e-01]

qacc:
[ 4.49024149e+00,-1.99177166e+00, 7.31638296e+00,-1.32561883e+01,
 -4.81810441e-02,-4.50680215e-01, 5.10658493e+00,-1.94434916e+01,
  3.09452233e+00, 9.97064844e-01,-3.61006568e+00, 6.63917513e+00,
  3.63351495e-01,-8.18438737e-01, 1.09122599e+01,-3.80250438e+01,
 -7.95145529e-01,-1.72654832e+00, 2.48105196e+00, 1.63966868e+00,
  1.75537403e+01,-1.64550164e+02]

qfrc_actuator:
[ 1.29507703e-05,-3.41063181e-05, 1.12034908e-04, 5.43951766e-05,
 -6.81839011e-06, 2.56225173e-02, 8.56655211e-03, 2.33718762e-03,
 -2.93287887e-05, 4.81845216e-04, 1.65543660e-05, 1.78012217e-05,
  0.00000000e+00,-1.64363221e-03, 0.00000000e+00,-2.03607375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.39375815,   6.74493513,   5.39375815,
        52.74163991, -35.26990082,   6.74493513, -35.26990082,
        36.84083279,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021567934601633837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28689075e-14,  2.57378151e-14,  1.00000000e+00, -3.31217562e-28,
        1.00000000e+00, -2.57378151e-14, -1.00000000e+00,  0.00000000e+00,
        1.28689075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00428174, -0.00694122,  0.06174005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62111191e-05,-8.53274458e-05,-1.39587359e-05,-2.26576226e-05,
 -7.78011607e-06, 5.23741094e-05,-9.87347842e-06,-6.04581526e-05,
  1.83258375e-05, 5.02026356e-05, 1.02282893e-05, 1.21198219e-05,
 -2.64211466e-06,-4.43961171e-05,-2.78819857e-05,-1.92796647e-04,
 -8.69583545e-06, 1.04130871e-04,-1.21638371e+00, 6.33764145e-04,
 -2.46558549e-02,-1.35340966e-04]


--- Step 2115 ---
qpos:
[ 3.27739699e-03,-3.19124720e-03, 1.19549827e-02, 4.17801593e-02,
  6.13616517e-03, 7.64901108e-01,-2.99516383e-02, 8.71002846e-01,
  5.81664956e-03, 1.64157340e-02,-9.30031816e-03, 2.60177078e-02,
  1.37508034e+00,-1.13388158e-04, 1.16573633e+00, 6.30117098e-02,
  8.53698953e-03,-3.58345155e-02, 7.32082636e-02, 6.71309479e-01,
 -2.06231925e-01,-6.75322392e-01,-2.25281253e-01]

qacc:
[-3.36078590e+00,-7.16740203e-02, 1.21795107e+00,-5.50760691e+00,
  7.58027540e-02, 5.32558231e-01, 2.01500835e+00,-1.54645534e+01,
  1.94564149e+00,-3.33841777e+00, 1.17563446e+01,-1.25268030e+01,
 -1.71986363e-01, 3.48908495e-01,-7.72757446e+00, 2.55815444e+01,
 -7.43957481e-01,-1.57959447e+00, 1.49974125e+00, 1.57462468e+00,
  1.61908798e+01,-1.51674413e+02]

qfrc_actuator:
[-7.45168359e-06,-4.29296920e-06, 1.13830910e-04, 4.35086839e-05,
  9.12691905e-06, 2.56766353e-02, 8.54595841e-03, 2.28337879e-03,
 -1.86009579e-05, 5.04364188e-04, 9.15214298e-05, 2.45023160e-05,
  0.00000000e+00,-1.61545232e-03, 0.00000000e+00,-1.90776138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.56339424,   7.33227181,   4.56339424,
        66.39876294, -35.9496493 ,   7.33227181, -35.9496493 ,
        31.01038722,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021358197733415407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59905597e-14,  2.59905597e-14,  1.00000000e+00, -6.75509191e-28,
        1.00000000e+00, -2.59905597e-14, -1.00000000e+00,  0.00000000e+00,
        2.59905597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427766, -0.00691496,  0.06174255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96818075e-05,-2.17208812e-05,-1.83252932e-05,-1.54646219e-05,
  1.24621804e-05, 7.92766950e-05,-1.32126776e-05,-5.38055376e-05,
  1.12683982e-05, 5.32468056e-05, 8.70303544e-05, 9.44503491e-06,
 -1.30354822e-05, 1.61403476e-05,-3.68801498e-05, 1.13378443e-04,
 -4.96473230e-05, 1.29192542e-06,-1.21645471e+00, 6.62060400e-04,
 -2.46706057e-02,-1.35979018e-04]


--- Step 2116 ---
qpos:
[ 3.27668905e-03,-3.19203610e-03, 1.19547891e-02, 4.17790606e-02,
  6.13640138e-03, 7.64902129e-01,-2.99529747e-02, 8.71003378e-01,
  5.81712455e-03, 1.64160586e-02,-9.29928700e-03, 2.60178341e-02,
  1.37515390e+00,-1.12079206e-04, 1.16590394e+00, 6.30113160e-02,
  8.52238179e-03,-3.58473988e-02, 7.32403361e-02, 6.71110945e-01,
 -2.05823404e-01,-6.75479725e-01,-2.25774152e-01]

qacc:
[-5.16874734e+00,-6.77520260e-01, 4.67082451e+00,-1.32723951e+01,
  9.17685122e-02, 1.39007041e+00,-2.55543536e+00,-2.06323381e+00,
  1.12272943e+00,-1.25686799e+00, 3.10259795e+00, 2.87167094e+00,
 -9.45461082e-03, 1.51247816e-01,-1.23797740e+01, 4.21760053e+01,
 -7.02447552e-01,-1.46057346e+00, 6.75195003e-01, 1.50674678e+00,
  1.50636213e+01,-1.41064609e+02]

qfrc_actuator:
[-3.71685953e-05, 1.39969631e-05, 1.15080611e-04, 1.96259579e-05,
  1.85836512e-05, 2.57262949e-02, 8.53431365e-03, 2.26916316e-03,
 -1.24350263e-05, 5.17783096e-04, 1.35664331e-04, 4.63523715e-05,
  0.00000000e+00,-1.59913288e-03, 0.00000000e+00,-1.70614663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020958083429832297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64867498e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.64867498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426872, -0.00686811,  0.06174717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02808203e-05, 1.72282369e-06,-6.01570040e-06,-2.57440102e-05,
  1.50621420e-05, 8.92665659e-05, 8.56411721e-07,-1.33023063e-05,
  6.50394538e-06, 6.15781358e-05, 6.61861958e-05, 2.73268557e-05,
 -3.53853303e-06, 1.77992981e-05,-5.46195066e-06, 2.02957025e-04,
 -6.35625020e-05,-5.06841447e-05,-1.21648461e+00, 6.93190876e-04,
 -2.46822684e-02,-1.37440915e-04]


--- Step 2117 ---
qpos:
[ 3.27597534e-03,-3.19280720e-03, 1.19543198e-02, 4.17777023e-02,
  6.13657664e-03, 7.64904170e-01,-2.99548957e-02, 8.71004418e-01,
  5.81835946e-03, 1.64172129e-02,-9.29929149e-03, 2.60179349e-02,
  1.37522759e+00,-1.11107307e-04, 1.16607159e+00, 6.30123070e-02,
  8.51376848e-03,-3.58607491e-02, 7.32639173e-02, 6.71072109e-01,
 -2.05550639e-01,-6.75476051e-01,-2.26148766e-01]

qacc:
[-5.98682447e-02, 2.59271228e-01, 2.04845527e-01,-4.26809236e+00,
 -3.50115301e-02, 3.80267256e+00,-1.20078525e+01, 1.61649691e+01,
  6.58135192e+00, 3.92553580e+00,-1.23197050e+01, 1.29450729e+01,
  4.20112853e-01,-7.20841740e-01,-4.17210224e+00, 1.45762091e+01,
  1.49860527e+00,-1.16747980e-01,-2.12279827e+00,-7.34526920e+00,
  8.04653361e+01, 1.20138990e+02]

qfrc_actuator:
[-3.66098939e-05, 7.49646643e-06, 9.82121509e-05, 6.03712060e-06,
  6.31110362e-06, 2.57907071e-02, 8.51030613e-03, 2.29611702e-03,
  2.65042016e-05, 5.43309651e-04, 7.24420239e-05, 4.13968361e-05,
  0.00000000e+00,-1.62553869e-03, 0.00000000e+00,-1.64058296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002066437804686058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37264186e-14,  5.37264186e-14,  1.00000000e+00, -2.88652805e-27,
        1.00000000e+00, -5.37264186e-14, -1.00000000e+00,  0.00000000e+00,
        5.37264186e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0540781 , -0.01036855,  0.06175072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99000895e-07,-7.85745373e-06,-1.81284878e-05,-1.42183077e-05,
 -5.49956118e-06, 1.13607222e-04,-6.69917493e-06, 2.95301270e-05,
  3.91454462e-05, 7.47838527e-05,-4.14206395e-05, 5.01796577e-07,
  2.51137576e-06,-2.25437251e-05, 1.78568950e-05, 7.56664575e-05,
 -5.60128693e-05,-6.21358681e-05,-1.21648160e+00, 7.28577046e-04,
 -2.46912964e-02,-1.39677185e-04]


--- Step 2118 ---
qpos:
[ 3.27561862e-03,-3.19367941e-03, 1.19539838e-02, 4.17758335e-02,
  6.13664334e-03, 7.64906110e-01,-2.99564689e-02, 8.71008246e-01,
  5.82005197e-03, 1.64186694e-02,-9.29957998e-03, 2.60179926e-02,
  1.37530125e+00,-1.10174270e-04, 1.16623966e+00, 6.30110796e-02,
  8.51063794e-03,-3.58744062e-02, 7.32766393e-02, 6.71180974e-01,
 -2.05403439e-01,-6.75323457e-01,-2.26415008e-01]

qacc:
[ 3.13904255e+00,-1.56462723e+00, 7.52725802e+00,-1.64868142e+01,
 -6.06645171e-02, 3.76572946e+00,-1.88712850e+01, 5.03984970e+01,
  3.97720014e+00, 1.09653403e+00,-3.16139940e+00, 2.66032182e+00,
 -1.56621598e-01, 1.72898478e-01, 7.33404689e+00,-2.47221579e+01,
  1.37069594e+00,-7.67188066e-02,-2.71482500e+00,-7.18896122e+00,
  7.45159850e+01, 1.10776896e+02]

qfrc_actuator:
[-1.82330856e-05, 3.89392590e-06, 1.06196779e-04,-1.91697793e-05,
 -1.08595813e-06, 2.57391625e-02, 8.51477334e-03, 2.43583660e-03,
  4.89178290e-05, 5.39913408e-04, 5.28844542e-05, 3.83985325e-05,
  0.00000000e+00,-1.62381607e-03, 0.00000000e+00,-1.76224585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63075395,  0.31122846,  8.63075395,  8.64882578,
       -0.34559076,  0.31122846, -0.34559076, 18.22002722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002041773650681915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.07815660e-14, -2.71877107e-14,  1.00000000e+00,  1.10875742e-27,
        1.00000000e+00,  2.71877107e-14, -1.00000000e+00,  0.00000000e+00,
        4.07815660e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05415868, -0.01033857,  0.06175375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83700630e-05,-1.23113944e-05, 3.65505922e-06,-2.64416133e-05,
 -9.84903008e-06, 1.09924623e-05, 2.69936046e-05, 1.43819504e-04,
  2.35671251e-05, 2.98644468e-05,-9.20837954e-06,-1.22110793e-06,
 -3.86378161e-06,-3.84177010e-06, 1.28833001e-05,-1.16035731e-04,
  3.99830215e-05, 1.30278478e-04,-1.21649235e+00, 7.05102411e-04,
 -2.46850624e-02,-1.41619232e-04]


--- Step 2119 ---
qpos:
[ 3.27582982e-03,-3.19455774e-03, 1.19539535e-02, 4.17739981e-02,
  6.13680877e-03, 7.64907149e-01,-2.99571696e-02, 8.71012385e-01,
  5.82131110e-03, 1.64198722e-02,-9.29957253e-03, 2.60180457e-02,
  1.37537481e+00,-1.08982927e-04, 1.16640753e+00, 6.30104353e-02,
  8.51256746e-03,-3.58882388e-02, 7.32764891e-02, 6.71427442e-01,
 -2.05373201e-01,-6.75031916e-01,-2.26581004e-01]

qacc:
[ 4.99433613e+00,-8.03837687e-01, 2.69674116e+00,-2.58643540e+00,
  5.60949246e-02,-3.00211366e+00, 7.70484836e+00,-2.55976794e+00,
 -3.76640079e+00,-1.16437455e+00, 3.69673596e+00,-4.07449467e+00,
 -2.14574393e-01, 4.08174370e-01,-2.04004512e+00, 6.74800569e+00,
  1.26501388e+00,-4.38596723e-02,-3.21802665e+00,-7.00012722e+00,
  6.95566170e+01, 1.02983701e+02]

qfrc_actuator:
[ 1.04741150e-05, 1.98945840e-05, 1.28794621e-04,-1.54874803e-05,
  1.22668952e-05, 2.56365091e-02, 8.53562697e-03, 2.44545405e-03,
  2.59091652e-05, 5.01606469e-04, 5.91883378e-05, 3.66023839e-05,
  0.00000000e+00,-1.60537977e-03, 0.00000000e+00,-1.72690573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62650426,  0.41255431,  8.62650426,  8.6634416 ,
       -0.56619981,  0.41255431, -0.56619981, 20.47559298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019984579367055416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55539851e-14, -2.77769926e-14,  1.00000000e+00,  1.54312263e-27,
        1.00000000e+00,  2.77769926e-14, -1.00000000e+00,  0.00000000e+00,
        5.55539851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05428918, -0.01029479,  0.06175868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92305914e-05, 8.78567136e-06, 1.96080194e-05, 2.77285451e-06,
  8.93198330e-06,-8.66795597e-05, 3.04592217e-05, 1.40488454e-05,
 -2.23179484e-05,-2.35969128e-05, 1.12833343e-05,-8.62100498e-07,
 -3.32717162e-06, 1.66591836e-05,-1.16540382e-05, 2.94457075e-05,
 -6.92656884e-05, 2.35868433e-04,-1.21646909e+00, 7.11184716e-04,
 -2.46755146e-02,-1.43073428e-04]


--- Step 2120 ---
qpos:
[ 3.27672842e-03,-3.19513014e-03, 1.19537555e-02, 4.17725584e-02,
  6.13710543e-03, 7.64907513e-01,-2.99580132e-02, 8.71013536e-01,
  5.82228475e-03, 1.64211757e-02,-9.29986675e-03, 2.60177278e-02,
  1.37544850e+00,-1.08114715e-04, 1.16657571e+00, 6.30068421e-02,
  8.51920437e-03,-3.59021379e-02, 7.32617575e-02, 6.71803009e-01,
 -2.05452658e-01,-6.74609635e-01,-2.26653397e-01]

qacc:
[ 6.02295135e+00, 1.67728794e+00,-7.08338513e+00, 1.39964542e+01,
  7.38538880e-02,-5.68524365e+00, 2.43852466e+01,-5.72139223e+01,
 -2.50129860e+00, 2.17390365e-01, 9.93255590e-01,-7.01601281e+00,
  1.11107828e-01,-3.09620928e-01, 9.33773759e+00,-3.20464983e+01,
  1.17684628e+00,-1.66235110e-02,-3.64535559e+00,-6.78860906e+00,
  6.54246658e+01, 9.64977734e+01]

qfrc_actuator:
[ 4.50258365e-05, 4.76026217e-05, 1.24429422e-04, 5.18873006e-06,
  2.01531979e-05, 2.55750429e-02, 8.51239065e-03, 2.28960807e-03,
  1.18603504e-05, 5.13798711e-04, 4.50374960e-05, 1.77535145e-05,
  0.00000000e+00,-1.63045477e-03, 0.00000000e+00,-1.88332009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60728058,  0.70816509,  8.60728058,  8.73503715,
       -1.19931165,  0.70816509, -1.19931165, 23.21320734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019404984193903477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.72132919e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.72132919e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05445824, -0.01024033,  0.06176509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53896687e-05, 3.68356680e-05,-2.61204648e-08, 2.17898878e-05,
  1.18817801e-05,-1.03059684e-04,-3.64054117e-05,-1.57379770e-04,
 -1.46933671e-05, 1.24293157e-06,-1.76772436e-05,-1.94881046e-05,
  1.84771999e-06,-2.12161581e-05,-4.84528282e-06,-1.56907449e-04,
 -3.42721350e-04, 2.72361087e-04,-1.21641761e+00, 7.39445519e-04,
 -2.46630572e-02,-1.44066049e-04]


--- Step 2121 ---
qpos:
[ 3.27803446e-03,-3.19541797e-03, 1.19534811e-02, 4.17717193e-02,
  6.13711933e-03, 7.64907886e-01,-2.99591716e-02, 8.71012756e-01,
  5.82273705e-03, 1.64230293e-02,-9.30057406e-03, 2.60171359e-02,
  1.37552225e+00,-1.07523959e-04, 1.16674388e+00, 6.30010656e-02,
  8.51820128e-03,-3.59096425e-02, 7.32547221e-02, 6.71980805e-01,
 -2.05471087e-01,-6.74388325e-01,-2.26768200e-01]

qacc:
[ 3.56917028e+00, 1.82066186e+00,-8.49080279e+00, 1.88066856e+01,
 -1.57414893e-01,-2.48756940e+00, 1.25784278e+01,-3.44287089e+01,
 -4.56953346e+00, 1.32636710e+00,-2.50195260e+00,-2.00203058e+00,
  9.67579509e-02,-2.82694873e-01, 6.57422983e+00,-2.30353761e+01,
 -1.90999918e+00, 1.59863366e+00, 1.92404477e+00, 8.65402546e+00,
 -1.22942801e+02,-7.78880106e+01]

qfrc_actuator:
[ 6.49849952e-05, 6.42728427e-05, 1.21990112e-04, 3.56854659e-05,
 -1.08176896e-05, 2.56271858e-02, 8.51662466e-03, 2.19743300e-03,
 -1.45397386e-05, 5.73790052e-04, 3.68456708e-05, 6.79396034e-06,
  0.00000000e+00,-1.64565317e-03, 0.00000000e+00,-1.99171476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.33886187,   6.78847043,   5.33886187,
        44.01225063, -27.82172744,   6.78847043, -27.82172744,
        30.51704518,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002004135608301773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32166068e-01,  1.32166068e-01,  9.82376843e-01,  1.76224610e-02,
        9.91227588e-01, -1.30985947e-01, -9.91070925e-01, -3.46944695e-18,
       -1.33335744e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05494528, -0.05757807,  0.06176217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09814555e-05, 3.82324964e-05, 5.92989743e-06, 3.25011529e-05,
 -2.56508080e-05,-1.71772445e-05,-2.50235309e-05,-1.00140061e-04,
 -2.68155402e-05, 5.61546759e-05,-1.07962204e-05,-1.18979512e-05,
 -4.76788145e-06,-2.01343689e-05,-2.34248861e-05,-1.18633111e-04,
 -7.50559464e-04, 2.52767011e-04,-1.21634181e+00, 7.84596731e-04,
 -2.46480206e-02,-1.44617220e-04]


--- Step 2122 ---
qpos:
[ 3.27956991e-03,-3.19537062e-03, 1.19529011e-02, 4.17709163e-02,
  6.13680319e-03, 7.64908413e-01,-2.99599407e-02, 8.71012204e-01,
  5.82286957e-03, 1.64250379e-02,-9.30098698e-03, 2.60164182e-02,
  1.37559583e+00,-1.06599824e-04, 1.16691141e+00, 6.29980187e-02,
  8.51043449e-03,-3.59118959e-02, 7.32510683e-02, 6.71979081e-01,
 -2.05436988e-01,-6.74348788e-01,-2.26921729e-01]

qacc:
[   1.99820911,   1.36783925,  -4.39333698,   5.26815421,  -0.18362373,
   -0.45403094,   1.22288172,   1.52830482,  -2.78252127,  -0.87168344,
    3.94586273,  -6.71857816,  -0.14964837,   0.35124981,  -9.16848706,
   30.74023737,  -1.69092426,   1.31279057,   0.84538559,   6.75703203,
 -111.67310421, -69.75281862]

qfrc_actuator:
[ 7.61936109e-05, 7.42193656e-05, 1.02929521e-04, 3.62062070e-05,
 -2.92361283e-05, 2.56760690e-02, 8.55532254e-03, 2.21460930e-03,
 -3.02479020e-05, 5.73208130e-04, 5.02139993e-05, 6.19391071e-07,
  0.00000000e+00,-1.61933678e-03, 0.00000000e+00,-1.84009936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63030467,  0.32344734, -8.63030467,  8.63190546,
       -0.11895421,  0.32344734, -0.11895421,  5.46239711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020459323940122194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29789002e-01,  1.29789002e-01,  9.83010493e-01,  1.69888832e-02,
        9.91541636e-01, -1.28672308e-01, -9.91396083e-01,  3.46944695e-18,
       -1.30896169e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05477622, -0.05750699,  0.06175775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18193619e-05, 3.39618952e-05,-9.30223327e-06, 2.99831733e-06,
 -2.99313099e-05, 3.12236995e-05, 2.94179846e-05, 1.35993668e-05,
 -1.64512633e-05, 2.80146836e-05, 2.32158501e-05,-4.37324934e-06,
 -8.16042609e-06, 2.01822155e-05,-2.66202969e-05, 1.41386632e-04,
 -1.98478331e-04, 1.28040764e-04,-1.21642112e+00, 7.36838951e-04,
 -2.46583125e-02,-1.42819700e-04]


--- Step 2123 ---
qpos:
[ 3.28088320e-03,-3.19516951e-03, 1.19519110e-02, 4.17698119e-02,
  6.13622085e-03, 7.64908521e-01,-2.99597848e-02, 8.71013267e-01,
  5.82315771e-03, 1.64269167e-02,-9.30080341e-03, 2.60156478e-02,
  1.37566940e+00,-1.05660181e-04, 1.16707895e+00, 6.29950787e-02,
  8.49950780e-03,-3.59121615e-02, 7.32469075e-02, 6.71810929e-01,
 -2.05361372e-01,-6.74475488e-01,-2.27111425e-01]

qacc:
[-1.96556892e+00, 7.32692507e-01,-1.03931824e+00,-3.64006490e+00,
 -1.47609434e-01,-2.48287866e-01,-3.52743043e+00, 2.27986806e+01,
  1.37811177e+00,-1.94953522e+00, 6.92005131e+00,-8.68385929e+00,
 -7.44768759e-03, 1.82378493e-02,-3.07124945e-01, 1.09838215e+00,
 -7.89977032e-01, 4.96946664e-01,-1.26733602e-01, 3.52137925e+00,
 -1.03542918e+02,-6.21089719e+01]

qfrc_actuator:
[ 6.44143219e-05, 6.22145950e-05, 7.41558017e-05, 1.90655175e-05,
 -3.99627085e-05, 2.56340853e-02, 8.59636802e-03, 2.29600953e-03,
 -2.17813127e-05, 5.54209979e-04, 7.59761524e-05,-2.72273907e-06,
  0.00000000e+00,-1.62186926e-03, 0.00000000e+00,-1.83831226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.42658891, -7.41566501,  4.42658891, 46.08012044,
       22.35107955, -7.41566501, 22.35107955, 21.97826092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002020378016196006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74756262e-14, -5.49512525e-14,  1.00000000e+00,  1.50982007e-27,
        1.00000000e+00,  5.49512525e-14, -1.00000000e+00,  0.00000000e+00,
        2.74756262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05472965, -0.05749562,  0.06175676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14299237e-05, 5.19988937e-06,-2.27947762e-05,-1.59472549e-05,
 -2.41556605e-05,-1.84564615e-05, 5.10041559e-05, 8.35932108e-05,
  8.00984030e-06, 1.20435925e-06, 3.42409179e-05,-1.42464955e-06,
  2.04848175e-07, 1.10019998e-06, 2.01517103e-06, 5.92127824e-06,
 -1.18314205e-05, 3.38640746e-05,-1.21646332e+00, 7.35692720e-04,
 -2.46654982e-02,-1.41857506e-04]


--- Step 2124 ---
qpos:
[ 3.28204527e-03,-3.19491545e-03, 1.19508510e-02, 4.17691913e-02,
  6.13525658e-03, 7.64908564e-01,-2.99588554e-02, 8.71014236e-01,
  5.82354544e-03, 1.64283536e-02,-9.30066317e-03, 2.60149289e-02,
  1.37574298e+00,-1.04741013e-04, 1.16724630e+00, 6.29935198e-02,
  8.48256734e-03,-3.59083743e-02, 7.32393569e-02, 6.71491570e-01,
 -2.05244559e-01,-6.74754115e-01,-2.27333735e-01]

qacc:
[ -1.33014335,  1.26522557, -6.44530124, 14.88240234, -0.21202524,
  -2.3399245 ,  7.80081375, -8.08684164,  0.87473461, -0.35854187,
   0.21015754,  1.08026932,  0.12086422, -0.16789098, -4.46252827,
  15.17687867, -1.50344003,  1.01320902, -0.84744778,  4.56583483,
 -93.99903088,-57.6190031 ]

qfrc_actuator:
[ 5.69547240e-05, 7.25916718e-05, 7.52863685e-05, 4.49089809e-05,
 -6.37586275e-05, 2.56446087e-02, 8.63813053e-03, 2.29019761e-03,
 -1.69099911e-05, 4.88879459e-04, 5.54968614e-05,-4.38825826e-06,
  0.00000000e+00,-1.62377391e-03, 0.00000000e+00,-1.76511771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 5.28374111, 6.83146081, 5.28374111, 4.42887804,
       3.25424755, 6.83146081, 3.25424755, 6.11939076, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002036809209327172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29016591e-01,  1.29016591e-01,  9.83213831e-01,  1.67855672e-02,
        9.91642435e-01, -1.27919997e-01, -9.91500360e-01,  3.46944695e-18,
       -1.30103943e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05478278, -0.05753434,  0.0617585 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.78118649e-06, 7.89201318e-06,-1.14399230e-06, 2.49714349e-05,
 -3.46413474e-05, 1.30212236e-05, 4.65117866e-05,-2.96668044e-06,
  5.10601026e-06,-5.77099030e-05,-1.60847442e-05,-4.60024253e-07,
  1.48272985e-07,-1.45824118e-06,-1.85102406e-06, 7.29918525e-05,
 -1.04860495e-04,-3.33245808e-05,-1.21648084e+00, 7.70441954e-04,
 -2.46712858e-02,-1.41472422e-04]


--- Step 2125 ---
qpos:
[ 3.28276371e-03,-3.19443317e-03, 1.19497209e-02, 4.17688620e-02,
  6.13416606e-03, 7.64908470e-01,-2.99575888e-02, 8.71014122e-01,
  5.82398909e-03, 1.64290275e-02,-9.30118295e-03, 2.60153179e-02,
  1.37581664e+00,-1.04102258e-04, 1.16741342e+00, 6.29941737e-02,
  8.46026196e-03,-3.59012554e-02, 7.32257341e-02, 6.71031496e-01,
 -2.05091063e-01,-6.75173224e-01,-2.27586260e-01]

qacc:
[-3.89964032e+00, 1.10529970e+00,-4.71895942e+00, 9.68937844e+00,
 -6.97719822e-02,-2.96679880e+00, 1.19897273e+01,-2.36248214e+01,
  4.80820747e-01, 3.11581610e+00,-1.72518711e+01, 3.80432163e+01,
  4.18767252e-01,-6.94890797e-01,-7.04965495e+00, 2.40937098e+01,
 -1.34123149e+00, 8.32898133e-01,-1.51804225e+00, 3.64962553e+00,
 -8.73702511e+01,-5.29316416e+01]

qfrc_actuator:
[ 3.43522421e-05, 9.64371446e-05, 7.64307093e-05, 6.03730868e-05,
 -5.96686934e-05, 2.56154396e-02, 8.64459953e-03, 2.23312171e-03,
 -1.42020387e-05, 4.13866298e-04, 7.67392843e-06, 4.81269129e-05,
  0.00000000e+00,-1.64302472e-03, 0.00000000e+00,-1.65039549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48854535, -1.59102945, -8.48854535,  8.53929622,
        0.51787929, -1.59102945,  0.51787929,  5.87334636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019973372014456974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30096528e-01,  1.30096528e-01,  9.82929187e-01,  1.70701804e-02,
        9.91501333e-01, -1.28971763e-01, -9.91354378e-01, -3.46944695e-18,
       -1.31211652e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05491185, -0.05760988,  0.06176238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28219670e-05, 2.90902390e-05, 3.50758971e-06, 1.62519641e-05,
 -1.14556209e-05,-1.28864075e-05, 1.42986682e-05,-5.53260629e-05,
  2.83940444e-06,-1.10676188e-04,-6.17574551e-05, 4.94745041e-05,
 -3.77316691e-07,-1.95621609e-05, 4.39236152e-06, 1.17885301e-04,
 -4.07784620e-04,-7.85963357e-05,-1.21647822e+00, 8.32934779e-04,
 -2.46756872e-02,-1.41593492e-04]


--- Step 2126 ---
qpos:
[ 3.28286101e-03,-3.19418436e-03, 1.19488163e-02, 4.17687596e-02,
  6.13305167e-03, 7.64907984e-01,-2.99561706e-02, 8.71014743e-01,
  5.82411672e-03, 1.64292820e-02,-9.30267767e-03, 2.60159663e-02,
  1.37589025e+00,-1.03428904e-04, 1.16758068e+00, 6.29948501e-02,
  8.44647904e-03,-3.58959267e-02, 7.32141511e-02, 6.70787729e-01,
 -2.05119516e-01,-6.75377278e-01,-2.27673755e-01]

qacc:
[-5.44056370e+00,-4.60117689e-01, 2.53681649e-01, 3.46522367e+00,
 -1.31289767e-02, 3.47669321e-01,-3.44418358e+00, 1.21540736e+01,
 -2.77940025e+00, 2.70993121e+00,-1.15522569e+01, 1.78978464e+01,
 -7.09981529e-02, 9.72426562e-02, 1.45761344e-01,-1.94213252e-01,
  2.13061531e+00,-4.47510940e-01, 5.09937694e-01,-7.62514296e+00,
  1.07549502e+02, 1.63460921e+02]

qfrc_actuator:
[ 3.01691869e-06, 5.71567005e-05, 7.76112718e-05, 6.96084729e-05,
 -5.67027672e-05, 2.55803044e-02, 8.64777197e-03, 2.27058101e-03,
 -3.05409142e-05, 4.04551901e-04,-3.81685424e-05, 6.10630850e-05,
  0.00000000e+00,-1.63690982e-03, 0.00000000e+00,-1.65416193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020371140708505472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.44997966e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.44997966e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05417732, -0.01025513,  0.06175403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19763684e-05,-2.16062504e-05, 8.19215475e-06, 1.09222082e-05,
 -2.17662550e-06,-4.12317939e-05, 6.03287790e-07, 3.62214460e-05,
 -1.62939882e-05,-8.18586608e-05,-7.46013695e-05, 7.01797131e-06,
 -4.75843051e-06, 7.04911903e-07, 1.22657311e-05, 2.69038554e-06,
 -8.76231890e-04,-1.05347170e-04,-1.21646251e+00, 9.17830801e-04,
 -2.46794145e-02,-1.42122220e-04]


--- Step 2127 ---
qpos:
[ 3.28292687e-03,-3.19447643e-03, 1.19489184e-02, 4.17694453e-02,
  6.13175540e-03, 7.64907605e-01,-2.99549103e-02, 8.71015777e-01,
  5.82404740e-03, 1.64290805e-02,-9.30414236e-03, 2.60153179e-02,
  1.37596374e+00,-1.02448346e-04, 1.16774798e+00, 6.29954894e-02,
  8.44023447e-03,-3.58919492e-02, 7.32006386e-02, 6.70738585e-01,
 -2.05311937e-01,-6.75387598e-01,-2.27614481e-01]

qacc:
[-2.34516975e-01,-1.90521009e+00, 2.43235371e+00, 9.98806443e+00,
 -1.01581768e-01, 1.28434786e+00,-4.98602079e+00, 9.34674603e+00,
 -1.70984996e+00,-3.35308666e+00, 1.65622808e+01,-3.87251860e+01,
 -3.10899135e-01, 5.60181466e-01, 1.84895427e-01,-5.15333732e-01,
  1.88458712e+00,-3.37834294e-01,-4.82394173e-01,-7.52553381e+00,
  9.69806128e+01, 1.46620032e+02]

qfrc_actuator:
[ 2.30212361e-06, 3.36289814e-05, 1.31804170e-04, 1.10559691e-04,
 -7.22157693e-05, 2.56129118e-02, 8.64901726e-03, 2.29236788e-03,
 -4.02056787e-05, 3.99113062e-04,-2.89859081e-05,-2.60073860e-06,
  0.00000000e+00,-1.61577835e-03, 0.00000000e+00,-1.65670580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58828795,  0.9099928 ,  8.58828795,  8.67875662,
       -0.40009458,  0.9099928 , -0.40009458, 12.41235778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020950633368981147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64961685e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.64961685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05400931, -0.01029102,  0.06174756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63379062e-06,-3.34596459e-05, 5.11260891e-05, 4.05248045e-05,
 -1.64963982e-05, 1.10381430e-05,-5.73417310e-06, 2.13102203e-05,
 -1.01582703e-05,-6.63223664e-05,-1.66584674e-05,-6.96144899e-05,
 -2.43825852e-06, 2.02333073e-05, 1.87034100e-06,-1.76473011e-06,
 -2.44786282e-04, 4.85027606e-05,-1.21645487e+00, 8.19821524e-04,
 -2.46680167e-02,-1.43342854e-04]


--- Step 2128 ---
qpos:
[ 3.28332805e-03,-3.19493025e-03, 1.19495979e-02, 4.17702515e-02,
  6.13028163e-03, 7.64907841e-01,-2.99537683e-02, 8.71014250e-01,
  5.82420713e-03, 1.64287066e-02,-9.30513419e-03, 2.60141885e-02,
  1.37603736e+00,-1.01756459e-04, 1.16791561e+00, 6.29930750e-02,
  8.44072162e-03,-3.58889690e-02, 7.31817981e-02, 6.70865859e-01,
 -2.05653196e-01,-6.75221738e-01,-2.27423321e-01]

qacc:
[ 2.96410192e+00,-1.58561118e+00, 4.82464961e+00,-3.53321172e+00,
 -9.87603603e-02,-3.31602829e+00, 1.77081471e+01,-4.69903690e+01,
  2.01511986e+00,-2.54330928e+00, 1.07619430e+01,-1.97077390e+01,
  7.77609220e-02,-2.44164358e-01, 9.70847410e+00,-3.32618488e+01,
  1.68293197e+00,-2.49308809e-01,-1.33197476e+00,-7.31859134e+00,
  8.81833619e+01, 1.32655687e+02]

qfrc_actuator:
[ 1.96183954e-05, 3.77063471e-05, 1.63675019e-04, 1.16630717e-04,
 -8.08959309e-05, 2.56680686e-02, 8.64935504e-03, 2.16275770e-03,
 -2.81060073e-05, 4.31709337e-04, 1.25967943e-05,-2.20089305e-05,
  0.00000000e+00,-1.63918128e-03, 0.00000000e+00,-1.81823932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.57019847,  1.06699343,  8.57019847,  8.71562535,
       -0.63663806,  1.06699343, -0.63663806, 13.74990451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002116411523825093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24578047e-14,  2.62289024e-14,  1.00000000e+00, -1.37591064e-27,
        1.00000000e+00, -2.62289024e-14, -1.00000000e+00,  0.00000000e+00,
        5.24578047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05394493, -0.01029874,  0.06174505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72549930e-05,-2.33003548e-06, 3.26597288e-05, 7.19472615e-06,
 -1.60823256e-05, 6.08214720e-05, 2.49040481e-06,-1.28945704e-04,
  1.17866525e-05,-1.08938005e-05, 2.34435995e-05,-2.41760237e-05,
  3.27081961e-06,-1.84114823e-05,-2.98052518e-06,-1.62235683e-04,
 -1.94285061e-05, 5.65942091e-05,-1.21639543e+00, 7.82888433e-04,
 -2.46526258e-02,-1.43858157e-04]


--- Step 2129 ---
qpos:
[ 3.28358855e-03,-3.19515463e-03, 1.19497207e-02, 4.17704622e-02,
  6.12887423e-03, 7.64908401e-01,-2.99523193e-02, 8.71011877e-01,
  5.82451049e-03, 1.64281920e-02,-9.30571809e-03, 2.60138702e-02,
  1.37611096e+00,-1.01059228e-04, 1.16808333e+00, 6.29877404e-02,
  8.44727463e-03,-3.58867006e-02, 7.31547250e-02, 6.71154232e-01,
 -2.06130521e-01,-6.74894180e-01,-2.27112421e-01]

qacc:
[-1.25659209e+00, 6.34604066e-01, 6.93785324e-01,-1.02806532e+01,
  3.72599136e-02,-1.87155183e+00, 8.59746409e+00,-1.80763538e+01,
  1.26829216e+00, 3.41272779e-01,-4.91610952e+00, 1.84116223e+01,
 -2.16012513e-01, 2.77505195e-01, 8.96836906e+00,-3.11397272e+01,
  1.51646195e+00,-1.77944726e-01,-2.05814432e+00,-7.03675480e+00,
  8.08425335e+01, 1.21048200e+02]

qfrc_actuator:
[ 1.18938633e-05, 4.04313424e-05, 1.28921396e-04, 8.43732938e-05,
 -6.76553836e-05, 2.56829467e-02, 8.66692445e-03, 2.12264407e-03,
 -2.10475271e-05, 4.33767358e-04, 3.76594263e-05, 2.03444093e-05,
  0.00000000e+00,-1.63557396e-03, 0.00000000e+00,-1.96561937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.53450932,  1.32247026,  8.53450932,  8.79794889,
       -1.042784  ,  1.32247026, -1.042784  , 15.36592877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002108098663429564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05396292, -0.01028402,  0.06174569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.23488158e-06, 8.48766182e-06,-3.09688359e-05,-3.10901415e-05,
  6.03346971e-06, 4.49348509e-05, 2.59611897e-05,-4.10237784e-05,
  7.39018529e-06,-1.95029402e-07, 2.48816067e-05, 4.22322690e-05,
 -3.34010420e-06,-2.44383078e-07,-2.32825048e-05,-1.57708114e-04,
 -9.67784177e-05,-4.15950035e-05,-1.21629656e+00, 7.88816282e-04,
 -2.46338943e-02,-1.43735149e-04]


--- Step 2130 ---
qpos:
[ 3.28340978e-03,-3.19536427e-03, 1.19497468e-02, 4.17706263e-02,
  6.12778582e-03, 7.64908934e-01,-2.99508605e-02, 8.71010472e-01,
  5.82489591e-03, 1.64279081e-02,-9.30637284e-03, 2.60133563e-02,
  1.37618463e+00,-1.00593994e-04, 1.16825104e+00, 6.29796440e-02,
  8.45933923e-03,-3.58849137e-02, 7.31169403e-02, 6.71590783e-01,
 -2.06733106e-01,-6.74416877e-01,-2.26691683e-01]

qacc:
[-3.85872637e+00, 2.01771180e-01,-4.81846497e-01,-1.93152984e-01,
  1.77523314e-01, 1.61777266e+00,-7.56122524e+00, 1.84057133e+01,
  7.09530378e-01, 9.86114181e-02, 9.14795817e-01,-4.35626959e+00,
  3.05651472e-02,-1.66386872e-01, 8.29842705e+00,-2.90940309e+01,
  1.37789998e+00,-1.20379385e-01,-2.67792805e+00,-6.70309453e+00,
  7.47087157e+01, 1.11387435e+02]

qfrc_actuator:
[-1.05132739e-05, 4.20184207e-05, 1.26106698e-04, 8.30445413e-05,
 -4.14352903e-05, 2.56559494e-02, 8.65894978e-03, 2.17104340e-03,
 -1.70199548e-05, 4.53045100e-04, 3.49331792e-05, 9.89175480e-06,
  0.00000000e+00,-1.65144430e-03, 0.00000000e+00,-2.10341928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.45862319,  1.74312095,  8.45862319,  9.00409312,
       -1.78443449,  1.74312095, -1.78443449, 17.29546381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020759693306430516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.34797412e-14,  3.34248382e-14,  1.00000000e+00, -1.78755170e-27,
        1.00000000e+00, -3.34248382e-14, -1.00000000e+00,  0.00000000e+00,
        5.34797412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05404615, -0.01025149,  0.06174882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26071684e-05,-1.39223654e-06,-5.95099780e-06,-2.64201276e-06,
  2.89347429e-05, 1.68883495e-06, 2.62933606e-06, 4.96851171e-05,
  4.23429212e-06, 2.61478637e-05, 1.77301023e-06,-8.77526131e-06,
 -2.77916116e-06,-1.62599000e-05,-3.12187314e-05,-1.50257701e-04,
 -4.02950449e-04,-2.18295072e-04,-1.21616660e+00, 8.24852462e-04,
 -2.46124068e-02,-1.43021497e-04]


--- Step 2131 ---
qpos:
[ 3.28330889e-03,-3.19581629e-03, 1.19501023e-02, 4.17711217e-02,
  6.12682106e-03, 7.64909136e-01,-2.99490191e-02, 8.71008977e-01,
  5.82532625e-03, 1.64284007e-02,-9.30758129e-03, 2.60123388e-02,
  1.37625839e+00,-1.00568017e-04, 1.16841834e+00, 6.29715884e-02,
  8.46737455e-03,-3.58892769e-02, 7.30955759e-02, 6.71969903e-01,
 -2.07065430e-01,-6.73990966e-01,-2.26531531e-01]

qacc:
[ 6.98242117e-01,-5.59994542e-01, 1.31818426e-01, 5.25462563e+00,
  6.93795593e-02,-1.62677452e+00, 5.01906377e+00,-5.36518193e+00,
  3.60932075e-01, 1.53662103e+00,-1.86506117e+00,-6.53438311e+00,
  4.07670690e-01,-7.75785529e-01,-7.45454850e-01, 1.66840834e+00,
 -1.00732113e+00,-1.53752237e+00, 4.10508723e+00, 2.76967658e+00,
  2.09450874e+01,-1.90459426e+02]

qfrc_actuator:
[-5.86986060e-06, 2.52930539e-05, 1.42218170e-04, 9.99621842e-05,
 -4.32118932e-05, 2.56218013e-02, 8.67132808e-03, 2.16455852e-03,
 -1.48068230e-05, 5.17844799e-04, 1.58492148e-05,-1.38094434e-05,
  0.00000000e+00,-1.67876603e-03, 0.00000000e+00,-2.09244050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021166685514719813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62257174e-14,  1.31128587e-14,  1.00000000e+00,  3.43894126e-28,
        1.00000000e+00, -1.31128587e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62257174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00428531, -0.00689183,  0.0617442 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99993310e-06,-1.88466832e-05, 1.50023784e-05, 1.66016715e-05,
  1.12087942e-05,-3.11250391e-05, 1.44959536e-05,-5.22346612e-06,
  2.34225543e-06, 7.94337101e-05,-1.37556622e-05,-2.26869439e-05,
 -6.37018097e-06,-3.18541806e-05,-3.34545398e-05,-1.94473357e-06,
 -8.85017504e-04,-4.53964266e-04,-1.21601116e+00, 8.82079072e-04,
 -2.45886607e-02,-1.41751929e-04]


--- Step 2132 ---
qpos:
[ 3.28291929e-03,-3.19646906e-03, 1.19506444e-02, 4.17721659e-02,
  6.12551201e-03, 7.64909293e-01,-2.99471882e-02, 8.71008791e-01,
  5.82509015e-03, 1.64294653e-02,-9.30877535e-03, 2.60120675e-02,
  1.37633200e+00,-1.00346489e-04, 1.16858523e+00, 6.29653428e-02,
  8.46795396e-03,-3.58873673e-02, 7.30840663e-02, 6.72144147e-01,
 -2.07336102e-01,-6.73773157e-01,-2.26414925e-01]

qacc:
[-2.52434436e+00, 3.48902857e-01,-3.93482775e+00, 1.32680476e+01,
 -1.92032227e-01, 2.24238417e+00,-1.04182501e+01, 2.50722474e+01,
 -5.82139547e+00, 2.26307812e+00,-1.01030571e+01, 2.25512406e+01,
 -1.13938708e-01, 2.21977699e-01,-6.06719330e+00, 2.03590420e+01,
 -1.86397630e+00, 1.56819147e+00, 2.46372692e+00, 8.39867317e+00,
 -1.27469268e+02,-8.01580205e+01]

qfrc_actuator:
[-2.08428150e-05, 1.55840695e-05, 1.51545171e-04, 1.27468416e-04,
 -7.94714122e-05, 2.56369359e-02, 8.67778905e-03, 2.23233092e-03,
 -4.91832953e-05, 5.56061651e-04, 2.29670586e-05, 2.59367939e-05,
  0.00000000e+00,-1.65940064e-03, 0.00000000e+00,-1.99389224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.36524842, -4.509977  ,  7.36524842, 23.99898692,
       25.08871705, -4.509977  , 25.08871705, 49.60877514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022156998271176797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.11953594,  0.11953594,  0.98560759,  0.01439203,  0.99282987,
       -0.11866638, -0.99272556,  0.        , -0.12039921])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0539295 , -0.05721221,  0.06173709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48659213e-05,-1.64253065e-05, 7.85640041e-06, 2.75401997e-05,
 -3.12336734e-05, 5.63463719e-07, 1.81912463e-06, 6.70954050e-05,
 -3.42799918e-05, 7.88237631e-05, 2.10576725e-05, 4.22366778e-05,
 -1.16334722e-05, 9.61334955e-06,-1.70447396e-05, 9.38192890e-05,
 -7.50633263e-04,-1.39469411e-04,-1.21621567e+00, 7.86522218e-04,
 -2.46216993e-02,-1.40444972e-04]


--- Step 2133 ---
qpos:
[ 3.28235315e-03,-3.19708348e-03, 1.19512298e-02, 4.17731652e-02,
  6.12381655e-03, 7.64909677e-01,-2.99453915e-02, 8.71009048e-01,
  5.82444444e-03, 1.64303406e-02,-9.30924356e-03, 2.60123231e-02,
  1.37640552e+00,-9.99381337e-05, 1.16875203e+00, 6.29599520e-02,
  8.46193390e-03,-3.58803073e-02, 7.30777001e-02, 6.72133319e-01,
 -2.07554019e-01,-6.73742744e-01,-2.26337900e-01]

qacc:
[  -1.54886268,  -0.15985555,   0.83781415,  -1.71668511,  -0.2154583 ,
    1.15926193,  -4.44962   ,   9.14159819,  -3.54625857,  -1.18715983,
    1.65703345,   6.42891551,  -0.14186076,   0.27201369,  -2.71121943,
    9.30740663,  -1.64987003,   1.28760116,   1.28582895,   6.4240424 ,
 -115.25176854, -71.45319143]

qfrc_actuator:
[-2.94975263e-05, 2.78928699e-05, 1.56812608e-04, 1.25472636e-04,
 -1.00496919e-04, 2.56637335e-02, 8.68093954e-03, 2.25453001e-03,
 -6.93148703e-05, 5.07212245e-04, 4.54593938e-05, 4.94453816e-05,
  0.00000000e+00,-1.64798734e-03, 0.00000000e+00,-1.95110368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60715363,  0.70970648, -8.60715363,  8.61772249,
       -0.22607541,  0.70970648, -0.22607541,  5.89457408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002255754627673987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17477980e-01,  1.17477980e-01,  9.86102352e-01,  1.38973077e-02,
        9.93075488e-01, -1.16653078e-01, -9.92978242e-01,  1.73472348e-18,
       -1.18297129e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05376404, -0.05714236,  0.06173279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.08404286e-06, 5.93723360e-06, 3.79532975e-06,-1.89278054e-06,
 -3.50440080e-05, 2.95916365e-05, 5.47790255e-06, 2.37964978e-05,
 -2.10872132e-05, 1.35241541e-06, 4.28328634e-05, 2.84394079e-05,
 -4.11858630e-06, 1.13813140e-05, 4.27214682e-07, 4.53502722e-05,
 -1.88826146e-04,-5.67725317e-05,-1.21631944e+00, 6.85048814e-04,
 -2.46375053e-02,-1.37369504e-04]


--- Step 2134 ---
qpos:
[ 3.28203231e-03,-3.19736796e-03, 1.19514749e-02, 4.17737764e-02,
  6.12181864e-03, 7.64910207e-01,-2.99433183e-02, 8.71010941e-01,
  5.82425228e-03, 1.64306421e-02,-9.30915159e-03, 2.60129210e-02,
  1.37647925e+00,-1.00180733e-04, 1.16891881e+00, 6.29547708e-02,
  8.45004386e-03,-3.58690170e-02, 7.30724552e-02, 6.71953907e-01,
 -2.07726302e-01,-6.73882325e-01,-2.26297020e-01]

qacc:
[   2.13642624,   0.58318536,   0.18344943,  -6.58960665,  -0.1686149 ,
    2.28271885, -10.98355478,  29.35203454,   3.98323883,  -1.62709408,
    3.24229043,   2.2238386 ,   0.63312588,  -1.1653885 ,  -0.70628552,
    2.31185976,  -1.46749363,   1.05758244,   0.28029977,   4.90235381,
 -105.00484021, -64.23988848]

qfrc_actuator:
[-1.66053373e-05, 5.32535419e-05, 1.41960278e-04, 1.06149710e-04,
 -1.12202197e-04, 2.56795221e-02, 8.69988425e-03, 2.33849136e-03,
 -4.53845043e-05, 4.42160773e-04, 5.87065634e-05, 6.31321593e-05,
  0.00000000e+00,-1.69467270e-03, 0.00000000e+00,-1.94153980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62921649,  0.35128272, -8.62921649,  8.63232722,
       -0.099154  ,  0.35128272, -0.099154  ,  6.200658  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002259968270491737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16351795e-01,  1.16351795e-01,  9.86369363e-01,  1.36303165e-02,
        9.93208065e-01, -1.15550659e-01, -9.93114532e-01, -1.73472348e-18,
       -1.17147453e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05372939, -0.05713711,  0.06173216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26365883e-05, 2.93954380e-05,-1.32249467e-05,-1.89757934e-05,
 -2.74290640e-05, 3.39999520e-05, 2.61143420e-05, 8.56131266e-05,
  2.33258078e-05,-5.42649139e-05, 1.97811924e-05, 1.57795452e-05,
  3.82597378e-07,-4.45160439e-05, 1.98602012e-06, 1.14118180e-05,
 -1.58888461e-05, 4.06077787e-05,-1.21637966e+00, 6.36153969e-04,
 -2.46493089e-02,-1.35142486e-04]


--- Step 2135 ---
qpos:
[ 3.28186855e-03,-3.19753150e-03, 1.19515974e-02, 4.17741631e-02,
  6.11961829e-03, 7.64911336e-01,-2.99419979e-02, 8.71012803e-01,
  5.82469307e-03, 1.64306027e-02,-9.30919421e-03, 2.60136977e-02,
  1.37655324e+00,-1.01465385e-04, 1.16908556e+00, 6.29497386e-02,
  8.43571799e-03,-3.58565500e-02, 7.30646948e-02, 6.71617629e-01,
 -2.07862765e-01,-6.74177801e-01,-2.26289913e-01]

qacc:
[ 1.37260492e+00, 3.77877327e-02, 1.03937006e+00,-4.81063294e+00,
 -1.13683078e-01, 2.76726377e+00,-8.05737935e+00, 6.44066111e+00,
  5.52210342e+00, 2.83028787e-01,-2.43664502e+00, 6.01818551e+00,
  9.33774667e-01,-1.79048824e+00,-5.94110641e-01, 1.79081367e+00,
 -6.08956609e-01, 2.94160388e-01,-6.28845642e-01, 2.00189881e+00,
 -9.76707503e+01,-5.73574188e+01]

qfrc_actuator:
[-8.88886874e-06, 5.06331311e-05, 1.33154932e-04, 9.45443739e-05,
 -1.18244732e-04, 2.57064488e-02, 8.65699804e-03, 2.33387147e-03,
 -1.34689204e-05, 4.21106203e-04, 4.85293392e-05, 7.08997024e-05,
  0.00000000e+00,-1.75770157e-03, 0.00000000e+00,-1.93385468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.52441687, -7.35638694,  4.52441687, 45.83327211,
       22.87730672, -7.35638694, 22.87730672, 22.70665024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022048846456469984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.77646636e-14, -1.88823318e-14,  1.00000000e+00,  7.13084907e-28,
        1.00000000e+00,  1.88823318e-14, -1.00000000e+00,  0.00000000e+00,
        3.77646636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0537983 , -0.05718315,  0.06173444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08852887e-06, 1.02845416e-05,-5.02020853e-06,-1.11749327e-05,
 -1.83491771e-05, 5.36225826e-05,-3.06118275e-05,-8.01636278e-07,
  3.25649910e-05,-4.66433409e-05,-1.84110063e-05, 6.43038514e-06,
 -1.05670515e-05,-7.48487787e-05,-8.93168197e-07, 7.86076235e-06,
 -1.33115120e-04, 1.50220481e-04,-1.21640884e+00, 6.27364594e-04,
 -2.46586435e-02,-1.33545202e-04]


--- Step 2136 ---
qpos:
[ 3.28179895e-03,-3.19793116e-03, 1.19518122e-02, 4.17737485e-02,
  6.11749390e-03, 7.64912984e-01,-2.99416135e-02, 8.71011161e-01,
  5.82551293e-03, 1.64305193e-02,-9.30919776e-03, 2.60141657e-02,
  1.37662710e+00,-1.02980014e-04, 1.16925182e+00, 6.29485125e-02,
  8.41745188e-03,-3.58531367e-02, 7.30725946e-02, 6.71226843e-01,
 -2.07746545e-01,-6.74522598e-01,-2.26528506e-01]

qacc:
[ 8.32920205e-01,-2.22377033e+00, 1.08528105e+01,-2.46869924e+01,
  4.19455229e-02,-2.86931180e+00, 1.82255731e+01,-5.86856540e+01,
  3.30788190e+00,-8.09285011e-01, 4.09334593e+00,-9.45381557e+00,
  3.46332362e-01,-6.33277118e-01,-1.22524293e+01, 4.17288548e+01,
 -9.85059981e-01,-2.26340176e+00, 3.91504224e+00, 1.94611235e+00,
  1.91889337e+01,-1.78977623e+02]

qfrc_actuator:
[-4.28772919e-06, 1.35484852e-05, 1.27896431e-04, 5.20559158e-05,
 -1.03116014e-04, 2.57040408e-02, 8.59568457e-03, 2.15284747e-03,
  5.12434665e-06, 4.44199005e-04, 6.02734416e-05, 5.73895963e-05,
  0.00000000e+00,-1.75887453e-03, 0.00000000e+00,-1.73204121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.03434303,  6.17846915, -6.03434303, 52.12587895,
       42.47502852,  6.17846915, 42.47502852, 50.12057046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022174374383123543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.75508799e-14, -2.50339199e-14,  1.00000000e+00,  9.40045719e-28,
        1.00000000e+00,  2.50339199e-14, -1.00000000e+00,  0.00000000e+00,
        3.75508799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00431472, -0.00698536,  0.06173271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83611138e-06,-3.28421769e-05,-4.13974824e-06,-4.24402452e-05,
  6.90183823e-06, 2.12018870e-05,-5.43029245e-05,-1.80249871e-04,
  1.95109229e-05,-6.50496990e-06, 6.24317205e-08,-1.60236846e-05,
 -2.35886563e-05,-2.37485244e-05,-2.42066764e-06, 2.01461944e-04,
 -4.74889951e-04, 2.75659461e-04,-1.21641579e+00, 6.49210011e-04,
 -2.46664819e-02,-1.32304514e-04]


--- Step 2137 ---
qpos:
[ 3.28178496e-03,-3.19832355e-03, 1.19518653e-02, 4.17728148e-02,
  6.11570849e-03, 7.64914135e-01,-2.99405890e-02, 8.71009790e-01,
  5.82620450e-03, 1.64305168e-02,-9.30859569e-03, 2.60144116e-02,
  1.37670059e+00,-1.03803019e-04, 1.16941804e+00, 6.29493552e-02,
  8.39561272e-03,-3.58577382e-02, 7.30912416e-02, 6.70785945e-01,
 -2.07399000e-01,-6.74912405e-01,-2.26991445e-01]

qacc:
[   0.48264282,  -0.60907133,   4.37345427, -13.09929269,   0.18955174,
   -1.91000734,   4.85958365,  -0.75976347,  -1.10138707,  -2.0408756 ,
    8.37357719, -13.24963866,  -0.63438416,   1.14017581,  -6.22266172,
   21.85513897,  -0.89326379,  -2.00371659,   2.68681324,   1.86472068,
   17.49718595,-163.66188354]

qfrc_actuator:
[-1.55569824e-06, 2.71044897e-05, 1.24599917e-04, 2.72094385e-05,
 -7.54819730e-05, 2.56661206e-02, 8.63031491e-03, 2.17126080e-03,
 -2.02770530e-06, 4.75867078e-04, 1.02803143e-04, 4.92815310e-05,
  0.00000000e+00,-1.70557658e-03, 0.00000000e+00,-1.63049896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60993045, -0.67518474,  8.60993045,  8.74827631,
        1.42710625, -0.67518474,  1.42710625, 26.8347688 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022183993772249347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50230647e-14,  2.50230647e-14,  1.00000000e+00, -6.26153769e-28,
        1.00000000e+00, -2.50230647e-14, -1.00000000e+00,  0.00000000e+00,
        2.50230647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00431488, -0.00698006,  0.06173246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86138433e-06,-7.46759740e-06,-1.20556887e-05,-2.72215462e-05,
  3.07377945e-05,-4.26862912e-05, 2.71161822e-05, 1.33611456e-05,
 -6.59455277e-06, 2.73680886e-05, 4.06392886e-05,-8.69802096e-06,
 -1.78823515e-05, 4.12189846e-05, 1.89567426e-05, 1.11924569e-04,
 -6.20209001e-04,-7.87573285e-05,-1.21648499e+00, 7.49328060e-04,
 -2.46859596e-02,-1.34172348e-04]


--- Step 2138 ---
qpos:
[ 3.28214868e-03,-3.19853312e-03, 1.19517388e-02, 4.17719141e-02,
  6.11465506e-03, 7.64914799e-01,-2.99391968e-02, 8.71010391e-01,
  5.82646049e-03, 1.64303848e-02,-9.30743834e-03, 2.60156242e-02,
  1.37677399e+00,-1.04321823e-04, 1.16958453e+00, 6.29497494e-02,
  8.37049616e-03,-3.58695178e-02, 7.31164986e-02, 6.70298337e-01,
 -2.06837738e-01,-6.75343435e-01,-2.27661007e-01]

qacc:
[   3.30640413,   0.80541142,  -2.67092487,   3.4049566 ,   0.40789191,
    1.78525796, -11.13090252,  33.93169606,  -3.77897919,   0.27448822,
   -5.29606292,  21.22160637,  -0.3307928 ,   0.59031334,   1.75880193,
   -5.53735147,  -0.81935025,  -1.79453784,   1.65247491,   1.78830941,
   16.09508206,-150.99654248]

qfrc_actuator:
[ 1.78083767e-05, 5.31433172e-05, 1.22697790e-04, 3.07391050e-05,
 -2.28855147e-05, 2.56432057e-02, 8.65029916e-03, 2.27145676e-03,
 -2.42712338e-05, 4.59315131e-04, 1.27716761e-04, 9.77095329e-05,
  0.00000000e+00,-1.69143621e-03, 0.00000000e+00,-1.65991514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62303548, -0.47962066,  8.62303548,  8.7035694 ,
        1.20828346, -0.47962066,  1.20828346, 30.35992957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021945127335092768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.05908673e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.05908673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00430897, -0.00694879,  0.06173501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94459645e-05, 1.82234612e-05,-5.86547320e-06, 2.26543753e-06,
  6.63848654e-05,-4.08240322e-05, 1.50738621e-05, 9.99514270e-05,
 -2.24236302e-05, 6.76670725e-06, 3.52649154e-05, 5.08362452e-05,
  6.10646745e-07, 2.09286791e-05, 1.68707310e-05,-2.17186681e-05,
 -7.25204685e-04,-3.52626124e-04,-1.21650679e+00, 8.46645171e-04,
 -2.47014007e-02,-1.36895319e-04]


--- Step 2139 ---
qpos:
[ 3.28274179e-03,-3.19869311e-03, 1.19516190e-02, 4.17710663e-02,
  6.11427770e-03, 7.64915619e-01,-2.99388553e-02, 8.71010477e-01,
  5.82644791e-03, 1.64300416e-02,-9.30583888e-03, 2.60167357e-02,
  1.37684762e+00,-1.05436365e-04, 1.16975138e+00, 6.29471295e-02,
  8.35261589e-03,-3.58823964e-02, 7.31408217e-02, 6.70008083e-01,
 -2.06442804e-01,-6.75576571e-01,-2.28181581e-01]

qacc:
[  2.01269258,  0.15195391, -0.6771558 ,  1.55459463,  0.37571304,
   2.15258844, -5.65722639, -1.1857835 , -2.32496282, -1.71847821,
   6.15685055, -8.46612117,  0.37994895, -0.79343525,  9.61429722,
 -32.92093108,  1.80907379, -0.274736  , -0.23345294, -7.55231833,
  98.6231566 ,149.0287777 ]

qfrc_actuator:
[ 2.90547054e-05, 5.09881247e-05, 1.21714956e-04, 3.31974821e-05,
  8.65454972e-06, 2.56472365e-02, 8.59050173e-03, 2.24138861e-03,
 -3.74583883e-05, 4.31761783e-04, 1.41868829e-04, 9.01960043e-05,
  0.00000000e+00,-1.73618488e-03, 0.00000000e+00,-1.81947456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022502570272463635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46688047e-14,  2.46688047e-14,  1.00000000e+00, -6.08549928e-28,
        1.00000000e+00, -2.46688047e-14, -1.00000000e+00,  0.00000000e+00,
        2.46688047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05354448, -0.01028026,  0.06172937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18077047e-05, 6.93759920e-06, 2.14202702e-06, 3.08199866e-06,
  6.13262239e-05,-1.24398062e-05,-6.31195410e-05,-2.86492310e-05,
 -1.38300991e-05,-1.43248353e-05, 2.16388980e-05,-5.01799859e-06,
  5.19761040e-06,-3.88829929e-05, 8.52761609e-07,-1.59641714e-04,
 -7.98710465e-04,-5.62999869e-04,-1.21649187e+00, 9.43929510e-04,
 -2.47134067e-02,-1.40419423e-04]


--- Step 2140 ---
qpos:
[ 3.28312048e-03,-3.19904649e-03, 1.19519035e-02, 4.17699132e-02,
  6.11401834e-03, 7.64916054e-01,-2.99393576e-02, 8.71010590e-01,
  5.82662186e-03, 1.64298024e-02,-9.30435196e-03, 2.60160205e-02,
  1.37692129e+00,-1.06776320e-04, 1.16991847e+00, 6.29406150e-02,
  8.34122967e-03,-3.58960894e-02, 7.31606599e-02, 6.69896701e-01,
 -2.06198689e-01,-6.75630630e-01,-2.28568944e-01]

qacc:
[-1.86605265e+00,-2.01183081e+00, 8.09643356e+00,-1.38911548e+01,
  6.51653156e-02, 1.82097325e+00,-6.66627738e+00, 6.56288988e+00,
  1.62040253e+00,-3.31152914e+00, 1.97142756e+01,-5.12198112e+01,
 -9.28733215e-02,-1.44567887e-02, 1.21063746e+01,-4.18433038e+01,
  1.62351220e+00,-2.03591087e-01,-1.12122580e+00,-7.49491719e+00,
  8.94545603e+01, 1.34463450e+02]

qfrc_actuator:
[ 1.76749980e-05, 3.19766174e-05, 1.38921732e-04, 1.72271639e-05,
 -8.18137184e-06, 2.55959754e-02, 8.53736441e-03, 2.24137416e-03,
 -2.74518828e-05, 4.33246473e-04, 1.31702387e-04,-3.45919347e-06,
  0.00000000e+00,-1.74447819e-03, 0.00000000e+00,-2.01886946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.617459  , -0.57111922,  8.617459  ,  8.66105821,
        0.37260954, -0.57111922,  0.37260954, 14.25856525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022738836929262693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.44124849e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.44124849e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05348804, -0.01028654,  0.06172721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10403735e-05,-1.45462067e-05, 1.90143207e-05,-1.55371197e-05,
  1.06867770e-05,-7.15343485e-05,-6.37323535e-05,-2.96421113e-06,
  9.60517242e-06,-2.28469724e-06,-1.06504023e-05,-9.36227191e-05,
 -7.12490001e-06,-1.72263824e-05,-2.12444989e-05,-2.09095843e-04,
 -2.28338461e-04,-1.91302420e-04,-1.21653694e+00, 8.44580546e-04,
 -2.47052301e-02,-1.43390027e-04]


--- Step 2141 ---
qpos:
[ 3.28301534e-03,-3.19998601e-03, 1.19528477e-02, 4.17693016e-02,
  6.11350517e-03, 7.64916321e-01,-2.99407797e-02, 8.71014138e-01,
  5.82691448e-03, 1.64294888e-02,-9.30326547e-03, 2.60149230e-02,
  1.37699484e+00,-1.07968227e-04, 1.17008523e+00, 6.29334111e-02,
  8.33572864e-03,-3.59103665e-02, 7.31729845e-02, 6.69948686e-01,
 -2.06092353e-01,-6.75521124e-01,-2.28835993e-01]

qacc:
[ -4.21553053, -1.49490984,  1.93573824,  6.79484061, -0.14276605,
   8.22723641,-35.11775662, 72.78926345,  1.02350707,  0.23175303,
   0.6417825 , -6.56013274, -0.21523228,  0.33725396,  1.61051594,
  -6.30272274,  1.47129854, -0.14603247, -1.87840568, -7.35528582,
  81.82401122,122.376245  ]

qfrc_actuator:
[-6.92828717e-06,-1.46781557e-05, 1.66642059e-04, 4.37947382e-05,
 -3.60026143e-05, 2.56185332e-02, 8.50618926e-03, 2.41883106e-03,
 -2.16294753e-05, 4.16417917e-04, 1.07322642e-04,-2.27649623e-05,
  0.00000000e+00,-1.73103032e-03, 0.00000000e+00,-2.04480074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61706372, -0.57705253,  8.61706372,  8.66851004,
        0.48003876, -0.57705253,  0.48003876, 15.80473113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002266472903842409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44923075e-14, -9.79692299e-14,  1.00000000e+00,  2.39949250e-27,
        1.00000000e+00,  9.79692299e-14, -1.00000000e+00,  0.00000000e+00,
        2.44923075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05351728, -0.01026898,  0.06172832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49219074e-05,-5.15200897e-05, 2.65235177e-05, 2.63030974e-05,
 -2.30346219e-05,-2.97530362e-05,-5.27147356e-05, 1.73184216e-04,
  6.10189461e-06,-2.43215201e-05,-2.94161465e-05,-2.15957994e-05,
 -8.90150787e-06, 7.65336559e-06,-3.62904510e-05,-4.10581713e-05,
 -2.10776486e-06, 3.76501597e-05,-1.21653301e+00, 7.99491625e-04,
 -2.46934739e-02,-1.45729064e-04]


--- Step 2142 ---
qpos:
[ 3.28261583e-03,-3.20107243e-03, 1.19536558e-02, 4.17700480e-02,
  6.11289358e-03, 7.64916600e-01,-2.99420735e-02, 8.71018673e-01,
  5.82727479e-03, 1.64290452e-02,-9.30281656e-03, 2.60146624e-02,
  1.37706842e+00,-1.09278251e-04, 1.17025201e+00, 6.29238820e-02,
  8.33560988e-03,-3.59250411e-02, 7.31752162e-02, 6.70151005e-01,
 -2.06112806e-01,-6.75260850e-01,-2.28993287e-01]

qacc:
[-2.58465820e+00, 2.99071691e+00,-1.66638088e+01, 4.04745987e+01,
 -5.49067509e-02, 1.38009462e+00,-6.75742088e+00, 1.78707019e+01,
  5.73219620e-01, 3.33208589e+00,-1.56654939e+01, 3.12671648e+01,
 -5.92330828e-02, 7.15729647e-03, 7.05179306e+00,-2.46218586e+01,
  1.34556479e+00,-9.93711857e-02,-2.52322373e+00,-7.15924152e+00,
  7.54632975e+01, 1.12326544e+02]

qfrc_actuator:
[-2.13578980e-05,-6.43827053e-06, 1.64748080e-04, 1.12912858e-04,
 -3.45851737e-05, 2.56498144e-02, 8.52411014e-03, 2.46856649e-03,
 -1.83242785e-05, 4.06490889e-04, 7.47478242e-05, 1.95778549e-05,
  0.00000000e+00,-1.74032629e-03, 0.00000000e+00,-2.16358015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62124865, -0.51073329,  8.62124865,  8.6681352 ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022341423895339274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48467383e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.48467383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05361389, -0.0102326 ,  0.06173199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51575111e-05,-1.39489766e-05,-8.35620138e-06, 6.83434828e-05,
 -8.92667708e-06, 9.93094780e-06, 1.12040914e-05, 5.11316680e-05,
  3.47361165e-06,-3.05254003e-05,-4.19757564e-05, 3.98629468e-05,
 -3.72593549e-06,-8.88829596e-06,-2.30462010e-05,-1.26121403e-04,
 -3.70417372e-05, 1.58541244e-04,-1.21649122e+00, 7.93527889e-04,
 -2.46786054e-02,-1.47493155e-04]


--- Step 2143 ---
qpos:
[ 3.28239094e-03,-3.20191609e-03, 1.19540411e-02, 4.17705502e-02,
  6.11244624e-03, 7.64916797e-01,-2.99426299e-02, 8.71019600e-01,
  5.82732652e-03, 1.64292448e-02,-9.30366848e-03, 2.60141666e-02,
  1.37714200e+00,-1.10687160e-04, 1.17041894e+00, 6.29106268e-02,
  8.34045447e-03,-3.59399611e-02, 7.31651616e-02, 6.70492690e-01,
 -2.06250771e-01,-6.74860368e-01,-2.29049461e-01]

qacc:
[ 1.51508776e+00, 9.96309180e-01,-2.06156288e+00,-1.66110187e+00,
  9.28628177e-02,-8.36155368e+00, 3.55449659e+01,-7.50576985e+01,
 -2.74308579e+00, 4.00664545e+00,-1.20498031e+01, 9.57315802e+00,
 -1.82216728e-01, 1.74260080e-01, 1.14730516e+01,-3.98015877e+01,
  1.24083879e+00,-6.13553388e-02,-3.07159236e+00,-6.92500638e+00,
  7.01588046e+01, 1.03964627e+02]

qfrc_actuator:
[-1.19266072e-05, 1.67809975e-05, 1.45617589e-04, 1.00012481e-04,
 -1.56783902e-05, 2.56329592e-02, 8.55305584e-03, 2.28297050e-03,
 -3.42785326e-05, 4.71800536e-04, 1.99006580e-05, 9.08032608e-06,
  0.00000000e+00,-1.74530900e-03, 0.00000000e+00,-2.35390943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63071005, -0.31244344,  8.63071005,  8.65136844,
        0.41448169, -0.31244344,  0.41448169, 20.08570385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021820346949556965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.54400864e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.54400864e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05376312, -0.01018149,  0.06173768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.99463246e-06, 1.66446973e-05,-2.06734131e-05,-1.24569596e-05,
  1.49010743e-05,-7.50698082e-06, 3.37421234e-05,-1.83779476e-04,
 -1.58662964e-05, 4.12910222e-05,-6.49427671e-05,-1.24817805e-05,
 -4.95048288e-06,-7.80454736e-06,-2.73616691e-05,-2.00929444e-04,
 -2.73455811e-04, 1.96376660e-04,-1.21641917e+00, 8.15948441e-04,
 -2.46610442e-02,-1.48724075e-04]


--- Step 2144 ---
qpos:
[ 3.28228083e-03,-3.20261131e-03, 1.19539379e-02, 4.17705656e-02,
  6.11219856e-03, 7.64916991e-01,-2.99429402e-02, 8.71020043e-01,
  5.82753162e-03, 1.64299045e-02,-9.30551931e-03, 2.60138965e-02,
  1.37721556e+00,-1.12144192e-04, 1.17058499e+00, 6.29008509e-02,
  8.34990996e-03,-3.59550016e-02, 7.31409576e-02, 6.70964503e-01,
 -2.06498406e-01,-6.74328369e-01,-2.29011560e-01]

qacc:
[ 9.89163541e-01, 5.57145403e-01, 3.48095064e-01,-8.09357483e+00,
  1.11526540e-01,-1.50785728e+00, 6.05248333e+00,-1.12298414e+01,
  1.29871274e+00, 3.86173781e+00,-1.38437734e+01, 1.90105608e+01,
  2.92268620e-01,-4.16615879e-01,-1.18069020e+01, 3.93897559e+01,
  1.15272592e+00,-3.01229561e-02,-3.53733017e+00,-6.66515395e+00,
  6.57383626e+01, 9.70098973e+01]

qfrc_actuator:
[-6.28265327e-06, 1.31517406e-05, 1.16486130e-04, 7.44652929e-05,
 -4.25393234e-06, 2.56405697e-02, 8.57020337e-03, 2.26216980e-03,
 -2.59339969e-05, 4.92767976e-04,-2.96390029e-05, 2.08738979e-05,
  0.00000000e+00,-1.74767573e-03, 0.00000000e+00,-2.15877451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63573472,  0.10422443,  8.63573472,  8.63847257,
       -0.17474039,  0.10422443, -0.17474039, 23.11484703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002114471002145804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62529735e-14,  5.25059470e-14,  1.00000000e+00,  1.37843724e-27,
        1.00000000e+00, -5.25059470e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62529735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05395296, -0.01011898,  0.06174491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.90950327e-06, 9.03474788e-07,-2.86666890e-05,-2.57924964e-05,
  1.81131364e-05, 4.23444407e-06, 1.40213945e-05,-2.41994620e-05,
  7.90693865e-06, 3.01063783e-05,-4.94319570e-05, 1.10762999e-05,
 -5.57828679e-06,-5.06662497e-06,-3.78317935e-05, 1.79786106e-04,
 -6.68354739e-04, 1.69249851e-04,-1.21632201e+00, 8.59131121e-04,
 -2.46411461e-02,-1.49453436e-04]


--- Step 2145 ---
qpos:
[ 3.28223944e-03,-3.20329410e-03, 1.19534940e-02, 4.17706277e-02,
  6.11192013e-03, 7.64917190e-01,-2.99430979e-02, 8.71021273e-01,
  5.82783562e-03, 1.64301124e-02,-9.30736235e-03, 2.60145083e-02,
  1.37728908e+00,-1.13624007e-04, 1.17075071e+00, 6.28940783e-02,
  8.35160886e-03,-3.59623600e-02, 7.31280570e-02, 6.71224308e-01,
 -2.06674784e-01,-6.74013430e-01,-2.29018250e-01]

qacc:
[ 5.92287925e-01, 1.06387777e+00,-3.96812190e+00, 5.31358545e+00,
 -1.71520941e-02, 9.59131775e-01,-4.93030471e+00, 1.38422283e+01,
  8.71167590e-01, 1.19500112e+00,-8.85445393e+00, 2.44430516e+01,
  2.07781461e-01,-2.93871215e-01,-9.59306905e+00, 3.27818231e+01,
 -1.93914928e+00, 1.92052369e+00, 2.82585447e+00, 1.18355757e+01,
 -1.31538118e+02,-8.56721289e+01]

qfrc_actuator:
[-2.92109877e-06, 1.11632070e-05, 9.93417112e-05, 7.71754796e-05,
 -1.51726150e-05, 2.56450596e-02, 8.58046844e-03, 2.30306059e-03,
 -2.11013326e-05, 4.33797986e-04,-4.02704935e-05, 6.34279932e-05,
  0.00000000e+00,-1.74848408e-03, 0.00000000e+00,-2.00436543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.57711295,   7.32371585,   4.57711295,
        64.18360801, -34.71543912,   7.32371585, -34.71543912,
        30.33252024,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020990512668988114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.13199997,  0.13199997,  0.9824215 ,  0.0175778 ,  0.99124972,
       -0.13082436, -0.99109385,  0.        , -0.13316521])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05426174, -0.05762431,  0.06175045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53473423e-06,-8.48059721e-06,-2.13719612e-05, 1.25635892e-06,
 -2.78864941e-06, 8.82873016e-06, 1.19871445e-05, 4.08983714e-05,
  5.07149569e-06,-5.18687366e-05,-1.01035164e-05, 4.23524213e-05,
 -4.47020770e-06,-3.30300184e-06, 2.17529385e-06, 1.59497660e-04,
 -1.19081838e-03, 9.02650485e-05,-1.21620315e+00, 9.17687999e-04,
 -2.46192003e-02,-1.49705580e-04]


--- Step 2146 ---
qpos:
[ 3.28258369e-03,-3.20403453e-03, 1.19531897e-02, 4.17696614e-02,
  6.11136154e-03, 7.64917075e-01,-2.99435689e-02, 8.71023729e-01,
  5.82750570e-03, 1.64295844e-02,-9.30884082e-03, 2.60152926e-02,
  1.37736248e+00,-1.14851324e-04, 1.17091617e+00, 6.28908694e-02,
  8.34642836e-03,-3.59634249e-02, 7.31215710e-02, 6.71292934e-01,
 -2.06790607e-01,-6.73893498e-01,-2.29065483e-01]

qacc:
[ 3.38958823e+00,-2.59297084e+00, 1.34612045e+01,-3.14242010e+01,
 -1.56421369e-01, 2.56254030e+00,-1.17194685e+01, 2.54377030e+01,
 -5.50495960e+00,-1.62553828e+00, 3.67536743e+00,-7.51525942e-01,
 -1.50006049e-02, 1.42822589e-01,-1.11229263e+01, 3.83874647e+01,
 -1.71984763e+00, 1.57339016e+00, 1.60362732e+00, 9.23454402e+00,
 -1.18751428e+02,-7.60572940e+01]

qfrc_actuator:
[ 1.68237874e-05, 1.02357508e-05, 1.07189617e-04, 2.54908239e-05,
 -3.93466311e-05, 2.55944127e-02, 8.55109370e-03, 2.36213662e-03,
 -5.38879474e-05, 3.80851348e-04,-2.81642225e-05, 7.04338669e-05,
  0.00000000e+00,-1.73061086e-03, 0.00000000e+00,-1.82204987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.53706597,  1.30586429, -8.53706597,  8.55151083,
       -0.55472378,  1.30586429, -0.55472378,  5.00986621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021588112468085845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29457318e-01,  1.29457318e-01,  9.83097963e-01,  1.69014228e-02,
        9.91584995e-01, -1.28349286e-01, -9.91440944e-01,  3.46944695e-18,
       -1.30555947e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05402258, -0.05752223,  0.06174412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98460260e-05,-9.99931796e-06, 3.52026302e-06,-5.27607707e-05,
 -2.54249825e-05,-4.20873961e-05,-2.50213423e-05, 6.06482654e-05,
 -3.26618009e-05,-8.22085999e-05, 1.63090410e-06, 5.25986679e-06,
 -2.98100012e-06, 1.58773594e-05, 1.60954806e-05, 1.90892188e-04,
 -4.11666700e-04, 4.40311607e-05,-1.21633284e+00, 8.16612126e-04,
 -2.46383226e-02,-1.46262558e-04]


--- Step 2147 ---
qpos:
[ 3.28316187e-03,-3.20460341e-03, 1.19525632e-02, 4.17684310e-02,
  6.11071739e-03, 7.64916587e-01,-2.99446433e-02, 8.71027588e-01,
  5.82747463e-03, 1.64289766e-02,-9.31067934e-03, 2.60157756e-02,
  1.37743574e+00,-1.15611712e-04, 1.17108136e+00, 6.28922186e-02,
  8.33512209e-03,-3.59593353e-02, 7.31173280e-02, 6.71187694e-01,
 -2.06854419e-01,-6.73950088e-01,-2.29149748e-01]

qacc:
[ 2.03999656e+00, 5.79615191e-01,-6.31045022e-01,-3.53912292e+00,
 -4.82928535e-02, 3.57446902e+00,-1.55344333e+01, 3.09919021e+01,
  2.59648869e+00, 2.75181438e-01, 1.29408772e-01,-4.70190812e+00,
 -1.19277938e-01, 4.04695395e-01,-1.41365594e+01, 4.89248553e+01,
 -1.53144416e+00, 1.28859723e+00, 5.60774596e-01, 7.21984619e+00,
 -1.08047072e+02,-6.81197979e+01]

qfrc_actuator:
[ 2.83016320e-05, 2.77626614e-05, 9.41837072e-05, 1.32363356e-05,
 -3.57068861e-05, 2.55642599e-02, 8.51609259e-03, 2.43136834e-03,
 -3.75423236e-05, 4.02993888e-04,-3.82804398e-05, 5.64675631e-05,
  0.00000000e+00,-1.70179487e-03, 0.00000000e+00,-1.58924668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58560288,  0.93498666, -8.58560288,  8.59589206,
       -0.37163403,  0.93498666, -0.37163403,  5.22379922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021802924261135072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27935202e-01,  1.27935202e-01,  9.83496400e-01,  1.65030291e-02,
        9.91782529e-01, -1.26866331e-01, -9.91645216e-01, -3.46944695e-18,
       -1.28995217e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0539257 , -0.05748953,  0.06174179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20445550e-05, 1.04407466e-05,-1.64501949e-05,-1.35844777e-05,
 -7.77776882e-06,-5.64691703e-05,-4.43540335e-05, 6.85113574e-05,
  1.53773767e-05,-2.32445055e-05,-2.66919709e-05,-1.73264711e-05,
  2.61714497e-06, 3.22308740e-05, 2.52936311e-05, 2.44751552e-04,
 -7.02164903e-05, 2.22753756e-05,-1.21641058e+00, 7.73148101e-04,
 -2.46517079e-02,-1.43990085e-04]


--- Step 2148 ---
qpos:
[ 3.28387311e-03,-3.20471102e-03, 1.19516084e-02, 4.17670259e-02,
  6.11006218e-03, 7.64916089e-01,-2.99462164e-02, 8.71030480e-01,
  5.82729437e-03, 1.64283119e-02,-9.31241758e-03, 2.60160518e-02,
  1.37750895e+00,-1.16028485e-04, 1.17124691e+00, 6.28940178e-02,
  8.31833648e-03,-3.59510244e-02, 7.31117684e-02, 6.70923021e-01,
 -2.06873053e-01,-6.74167654e-01,-2.29267995e-01]

qacc:
[ 1.14949427e+00, 1.16518768e+00,-2.53663416e+00,-2.96662989e-01,
 -6.40271467e-03,-3.43341028e-01, 3.30855219e+00,-1.45461560e+01,
 -1.29722983e+00,-7.78402558e-01, 3.54345765e+00,-7.24380226e+00,
 -2.61864532e-01, 5.42895443e-01,-8.09863468e-01, 3.65420467e+00,
 -1.36983434e+00, 1.05534832e+00,-3.29159543e-01, 5.66445007e+00,
 -9.90560042e+01,-6.15442981e+01]

qfrc_actuator:
[ 3.48167055e-05, 7.39086868e-05, 8.68240845e-05, 6.53415014e-06,
 -3.32140372e-05, 2.55820922e-02, 8.49588372e-03, 2.38175958e-03,
 -4.56544691e-05, 4.16570490e-04,-2.56460965e-05, 4.80754356e-05,
  0.00000000e+00,-1.68448128e-03, 0.00000000e+00,-1.57710779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61712556,  0.57612834, -8.61712556,  8.62242288,
       -0.20851127,  0.57612834, -0.20851127,  5.51766994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021706376253819958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27227475e-01,  1.27227475e-01,  9.83679998e-01,  1.63194493e-02,
        9.91873565e-01, -1.26176487e-01, -9.91739303e-01,  3.46944695e-18,
       -1.28269851e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05394147, -0.05751189,  0.06174261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86570892e-06, 4.80377945e-05,-7.68361204e-06,-7.08382911e-06,
 -1.00650824e-06,-1.99995527e-05,-3.43817712e-05,-5.11924855e-05,
 -7.68137966e-06,-5.63027781e-06, 3.97255568e-06,-1.06452885e-05,
  9.70132860e-06, 2.63518612e-05, 3.52531940e-05, 2.81974556e-05,
 -5.49545336e-05, 2.16489102e-05,-1.21645140e+00, 7.73266252e-04,
 -2.46615097e-02,-1.42569145e-04]


--- Step 2149 ---
qpos:
[ 3.28465703e-03,-3.20443326e-03, 1.19508478e-02, 4.17651788e-02,
  6.10922585e-03, 7.64915067e-01,-2.99470396e-02, 8.71033425e-01,
  5.82667394e-03, 1.64268264e-02,-9.31282210e-03, 2.60162377e-02,
  1.37758218e+00,-1.16212901e-04, 1.17141273e+00, 6.28949906e-02,
  8.29662561e-03,-3.59392554e-02, 7.31018551e-02, 6.70510972e-01,
 -2.06851971e-01,-6.74533082e-01,-2.29417565e-01]

qacc:
[  0.63715842, -0.94583201,  5.97318714,-14.21153248, -0.10001565,
  -2.62013585,  7.64603847, -5.85509842, -3.78353038, -4.99092699,
  16.61543369,-19.71963621, -0.21865672,  0.43518358,  2.90960047,
  -9.55749478, -1.23131731,  0.86450395, -1.08843939,  4.47056727,
 -91.4878357 ,-56.08395706]

qfrc_actuator:
[ 3.83614201e-05, 1.01362589e-04, 1.00739829e-04,-1.45729061e-05,
 -4.92022398e-05, 2.55574915e-02, 8.53794477e-03, 2.38692319e-03,
 -6.81127712e-05, 3.54005929e-04, 3.58275290e-05, 4.30536788e-05,
  0.00000000e+00,-1.67413258e-03, 0.00000000e+00,-1.62407203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63369389,  0.21472474, -8.63369389,  8.6346617 ,
       -0.06843197,  0.21472474, -0.06843197,  5.88483782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002135886614660018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27214250e-01,  1.27214250e-01,  9.83683419e-01,  1.63160290e-02,
        9.91875262e-01, -1.26163595e-01, -9.91741056e-01,  3.46944695e-18,
       -1.28256299e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05404633, -0.05757788,  0.06174593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75923947e-06, 5.24444976e-05, 2.26611913e-05,-1.94480393e-05,
 -1.64417506e-05,-4.40775281e-05, 3.26294190e-05, 2.32633995e-06,
 -2.26839995e-05,-6.53081272e-05, 6.04591910e-05,-5.32772794e-06,
  1.16438483e-05, 1.96659589e-05, 1.42370815e-05,-4.20535557e-05,
 -2.86048434e-04, 3.92591694e-05,-1.21646626e+00, 8.06910881e-04,
 -2.46691035e-02,-1.41785946e-04]


--- Step 2150 ---
qpos:
[ 3.28547761e-03,-3.20412031e-03, 1.19509504e-02, 4.17634368e-02,
  6.10840324e-03, 7.64912894e-01,-2.99461031e-02, 8.71034687e-01,
  5.82613375e-03, 1.64247309e-02,-9.31240968e-03, 2.60153350e-02,
  1.37765543e+00,-1.16235538e-04, 1.17157817e+00, 6.28987592e-02,
  8.28360022e-03,-3.59298752e-02, 7.30935368e-02, 6.70311956e-01,
 -2.07008810e-01,-6.74687809e-01,-2.29402690e-01]

qacc:
[ 3.48358290e-01,-2.15103310e+00, 7.29183088e+00,-6.87799590e+00,
  9.99900476e-03,-9.19071770e+00, 3.21758825e+01,-4.82525278e+01,
  7.35028344e-01,-5.33159441e+00, 2.24336365e+01,-4.21259337e+01,
  1.16237147e-01,-3.79699698e-02,-8.99851411e+00, 3.06639835e+01,
  2.17137397e+00,-5.97178513e-01, 3.98766947e-01,-6.32338209e+00,
  1.05070790e+02, 1.61367265e+02]

qfrc_actuator:
[ 4.01310735e-05, 9.97399722e-05, 1.44782245e-04,-8.48047261e-06,
 -4.05993291e-05, 2.54724430e-02, 8.61631862e-03, 2.30004755e-03,
 -6.33228424e-05, 3.17553872e-04, 7.20732778e-05,-1.32374023e-05,
  0.00000000e+00,-1.66798901e-03, 0.00000000e+00,-1.47461753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57235115, -1.04955827, -8.57235115,  9.81072583,
       -9.59169711, -1.04955827, -9.59169711, 86.97731692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021415241130080323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59213291e-14, -5.18426581e-14,  1.00000000e+00,  1.34383060e-27,
        1.00000000e+00,  5.18426581e-14, -1.00000000e+00,  0.00000000e+00,
        2.59213291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05386923, -0.01006079,  0.06174121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89518763e-06, 3.15538713e-05, 5.70020254e-05, 8.74936040e-06,
  1.21693612e-06,-1.02933515e-04, 7.35207492e-05,-8.72486285e-05,
  4.10960964e-06,-6.06641697e-05, 3.00399032e-05,-5.70969229e-05,
  1.06271290e-05, 1.43323251e-05,-2.42156565e-06, 1.47936491e-04,
 -7.06113894e-04, 7.26657659e-05,-1.21646324e+00, 8.66839982e-04,
 -2.46753563e-02,-1.41496832e-04]


--- Step 2151 ---
qpos:
[ 3.28631306e-03,-3.20379870e-03, 1.19519369e-02, 4.17617832e-02,
  6.10784277e-03, 7.64910314e-01,-2.99452914e-02, 8.71034932e-01,
  5.82599924e-03, 1.64226602e-02,-9.31179002e-03, 2.60133803e-02,
  1.37772880e+00,-1.16411795e-04, 1.17174367e+00, 6.29032625e-02,
  8.27822674e-03,-3.59223214e-02, 7.30828801e-02, 6.70304639e-01,
 -2.07326072e-01,-6.74652388e-01,-2.29241675e-01]

qacc:
[  0.15827063, -2.27783959,  7.76425368, -7.65394708,  0.14629859,
  -1.96175178,  8.10356085,-19.1801022 ,  3.54376047, -2.71915989,
  14.17345264,-32.71949283,  0.24420779, -0.37487037, -2.15776915,
   7.61851559,  1.91297434, -0.45660148, -0.58460267, -6.43527223,
  94.8708254 ,144.76605833]

qfrc_actuator:
[ 4.08426404e-05, 9.86201090e-05, 1.88401340e-04,-4.19127703e-06,
 -1.73641288e-05, 2.54584799e-02, 8.60865462e-03, 2.24842774e-03,
 -4.25283165e-05, 3.50144739e-04, 9.31656008e-05,-6.37505278e-05,
  0.00000000e+00,-1.68214351e-03, 0.00000000e+00,-1.44138762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54570853,  1.24805555,  8.54570853,  8.67213427,
       -0.24492931,  1.24805555, -0.24492931, 10.31344804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021880087824187044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53706254e-14, -2.53706254e-14,  1.00000000e+00, -6.43668634e-28,
        1.00000000e+00,  2.53706254e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53706254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05373607, -0.01008409,  0.06173602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.73138870e-07, 2.86632771e-05, 5.74583895e-05, 7.78630750e-06,
  2.37666665e-05,-5.92397276e-05,-2.21188744e-05,-5.46774842e-05,
  2.08859333e-05, 2.49819303e-06, 1.03067180e-05,-5.31791387e-05,
  9.06569528e-06,-7.77123538e-06, 1.29191184e-05, 4.05820525e-05,
 -1.64697457e-04, 1.46010667e-04,-1.21641668e+00, 7.84923380e-04,
 -2.46586237e-02,-1.42518061e-04]


--- Step 2152 ---
qpos:
[ 3.28680544e-03,-3.20309688e-03, 1.19527848e-02, 4.17602173e-02,
  6.10755420e-03, 7.64908079e-01,-2.99458290e-02, 8.71035587e-01,
  5.82611473e-03, 1.64208234e-02,-9.31079909e-03, 2.60111414e-02,
  1.37780226e+00,-1.16729442e-04, 1.17190998e+00, 6.29017789e-02,
  8.27966024e-03,-3.59161423e-02, 7.30665190e-02, 6.70471107e-01,
 -2.07789015e-01,-6.74443759e-01,-2.28949419e-01]

qacc:
[ -3.0220506 ,  1.07662823, -3.46916482,  4.91718281,  0.15005314,
   4.81243724,-16.19745228, 19.2261149 ,  2.18787426, -1.31787715,
   6.33945951,-12.01428298, -0.28413438,  0.30173427, 19.29859008,
 -65.71754933,  1.70174546, -0.34368324, -1.42610539, -6.39320909,
  86.37028929,131.00238388]

qfrc_actuator:
[ 2.31738429e-05, 1.15566989e-04, 1.78142649e-04,-1.00933811e-06,
 -3.35611674e-06, 2.55046354e-02, 8.55054852e-03, 2.27122654e-03,
 -3.02412139e-05, 3.88265216e-04, 1.23201418e-04,-7.48925793e-05,
  0.00000000e+00,-1.69047354e-03, 0.00000000e+00,-1.76099186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52422537,  1.38721257,  8.52422537,  8.70941588,
       -0.44889573,  1.38721257, -0.44889573, 11.39476451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021990535567658342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52432011e-14, -2.52432011e-14,  1.00000000e+00,  6.37219203e-28,
        1.00000000e+00,  2.52432011e-14, -1.00000000e+00,  0.00000000e+00,
        2.52432011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05370215, -0.01008056,  0.06173464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76411224e-05, 4.51553254e-05, 2.99582202e-06, 6.55013164e-06,
  2.46669295e-05, 7.28061024e-06,-7.39730880e-05, 1.89971598e-05,
  1.28821541e-05, 3.94464776e-05, 3.00016442e-05,-1.17066205e-05,
  2.94196116e-06,-8.27570066e-06, 6.79660998e-06,-3.16558836e-04,
 -7.20786358e-06, 8.64623326e-05,-1.21632649e+00, 7.59564563e-04,
 -2.46392108e-02,-1.42756192e-04]


--- Step 2153 ---
qpos:
[ 3.28742730e-03,-3.20225469e-03, 1.19536164e-02, 4.17587247e-02,
  6.10728415e-03, 7.64905750e-01,-2.99463490e-02, 8.71035095e-01,
  5.82603154e-03, 1.64195895e-02,-9.30969540e-03, 2.60097915e-02,
  1.37787565e+00,-1.16874133e-04, 1.17207604e+00, 6.28988491e-02,
  8.28720525e-03,-3.59109756e-02, 7.30415779e-02, 6.70796276e-01,
 -2.08385190e-01,-6.74075903e-01,-2.28538062e-01]

qacc:
[ 1.13363930e+00, 3.80083532e-01,-1.39911616e+00, 2.59471739e+00,
  1.05924146e-02,-2.16240552e+00, 9.56067275e+00,-2.22577841e+01,
 -1.73908027e+00, 2.31541485e+00,-1.08472505e+01, 2.56034851e+01,
 -2.45292044e-01, 4.08525254e-01, 4.01670062e+00,-1.45415725e+01,
  1.52787964e+00,-2.53099058e-01,-2.14500386e+00,-6.23974735e+00,
  7.92703667e+01, 1.19565783e+02]

qfrc_actuator:
[ 3.03340954e-05, 1.07473620e-04, 1.71731398e-04, 1.47359187e-06,
 -1.27516506e-05, 2.54975108e-02, 8.55221467e-03, 2.21338636e-03,
 -4.08177793e-05, 4.47237264e-04, 1.40603772e-04,-2.72538710e-05,
  0.00000000e+00,-1.67750703e-03, 0.00000000e+00,-1.82430037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.4841894 ,  1.61409638,  8.4841894 ,  8.78306696,
       -0.77111802,  1.61409638, -0.77111802, 12.68959825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002181458752775589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86276534e-14, -2.54468030e-14,  1.00000000e+00,  7.28482258e-28,
        1.00000000e+00,  2.54468030e-14, -1.00000000e+00,  0.00000000e+00,
        2.86276534e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05374702, -0.01005567,  0.06173628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67033698e-06, 1.80173501e-05, 3.49698482e-06, 4.64902016e-06,
  1.67671826e-06,-1.70118233e-05,-4.82613250e-06,-5.94038259e-05,
 -1.01995050e-05, 8.67911163e-05, 2.88553334e-05, 5.01457837e-05,
 -1.35851012e-06, 1.19011793e-05,-3.73151458e-05,-8.12965694e-05,
 -1.36046779e-04,-6.91971618e-05,-1.21620255e+00, 7.73666397e-04,
 -2.46174009e-02,-1.42301481e-04]


--- Step 2154 ---
qpos:
[ 3.28813002e-03,-3.20139595e-03, 1.19544001e-02, 4.17579827e-02,
  6.10696135e-03, 7.64903277e-01,-2.99469084e-02, 8.71035303e-01,
  5.82582224e-03, 1.64189869e-02,-9.30842718e-03, 2.60093602e-02,
  1.37794885e+00,-1.16348601e-04, 1.17224180e+00, 6.28957934e-02,
  8.29088445e-03,-3.59123670e-02, 7.30327739e-02, 6.71063842e-01,
 -2.08715670e-01,-6.73759599e-01,-2.28383652e-01]

qacc:
[ 7.08436963e-01, 1.70167603e+00,-9.20403050e+00, 2.22582353e+01,
 -2.94870699e-02, 1.13268557e+00,-5.54298533e+00, 1.34545328e+01,
 -1.10490955e+00, 2.26753187e+00,-1.07493788e+01, 2.59157961e+01,
 -6.13093337e-01, 1.15220544e+00,-8.79824228e-03,-4.84101624e-01,
 -9.66454771e-01,-1.63953034e+00, 4.03427961e+00, 2.40211286e+00,
  2.04282250e+01,-1.87682078e+02]

qfrc_actuator:
[ 3.43038103e-05, 1.02196503e-04, 1.67561799e-04, 3.90216677e-05,
 -1.82920600e-05, 2.54942247e-02, 8.55341188e-03, 2.25057789e-03,
 -4.70112319e-05, 4.82752221e-04, 1.50536056e-04, 1.90885151e-05,
  0.00000000e+00,-1.63426776e-03, 0.00000000e+00,-1.82474058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00219655497876578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52719152e-14, -2.52719152e-14,  1.00000000e+00,  6.38669700e-28,
        1.00000000e+00,  2.52719152e-14, -1.00000000e+00,  0.00000000e+00,
        2.52719152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0043208 , -0.00694694,  0.06173447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16243830e-06, 5.68312497e-06, 1.26396189e-07, 3.85305584e-05,
 -4.78951113e-06,-1.55014749e-05,-4.48299197e-06, 3.51529725e-05,
 -6.46183018e-06, 9.21894688e-05, 3.31542885e-05, 5.20398077e-05,
  1.14613877e-06, 4.66282474e-05,-2.80809593e-05,-1.01955113e-05,
 -4.81444245e-04,-2.95247619e-04,-1.21605153e+00, 8.15289219e-04,
 -2.45935260e-02,-1.41217582e-04]


--- Step 2155 ---
qpos:
[ 3.28887464e-03,-3.20017353e-03, 1.19546870e-02, 4.17580282e-02,
  6.10658006e-03, 7.64900440e-01,-2.99471304e-02, 8.71037336e-01,
  5.82554061e-03, 1.64186440e-02,-9.30737957e-03, 2.60092176e-02,
  1.37802213e+00,-1.15833354e-04, 1.17240741e+00, 6.28923716e-02,
  8.29102129e-03,-3.59198083e-02, 7.30351850e-02, 6.71279284e-01,
 -2.08804883e-01,-6.73490423e-01,-2.28462895e-01]

qacc:
[ 3.46197083e-01, 3.49195248e+00,-1.50750841e+01, 2.92263019e+01,
 -3.24801004e-02, 1.77742024e+00,-1.05737087e+01, 3.16006411e+01,
 -6.42076315e-01, 1.55550049e+00,-6.26474056e+00, 1.14200628e+01,
  6.56316840e-02,-6.03324709e-02, 8.85486879e-01,-3.42149340e+00,
 -8.85588403e-01,-1.51246577e+00, 2.80379369e+00, 2.18134903e+00,
  1.85614046e+01,-1.70546669e+02]

qfrc_actuator:
[ 3.63560253e-05, 1.34182078e-04, 1.47022692e-04, 7.91495340e-05,
 -2.14555388e-05, 2.54755754e-02, 8.57213021e-03, 2.34340036e-03,
 -5.05679217e-05, 4.50665637e-04, 1.20384153e-04, 2.87626866e-05,
  0.00000000e+00,-1.64444181e-03, 0.00000000e+00,-1.84145952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.21075763,  2.67772964, -8.21075763, 13.66555613,
       15.42107908,  2.67772964, 15.42107908, 55.92222124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022058258295979544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.03314001e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.03314001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0043233 , -0.00695879,  0.06173354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16777272e-06, 3.68007811e-05,-1.80348243e-05, 4.11234164e-05,
 -5.31570050e-06,-2.69354764e-05, 1.62241693e-05, 9.29905689e-05,
 -3.71395002e-06, 2.85499709e-05,-5.23138694e-06, 1.57845382e-05,
  1.10021624e-05, 3.06322678e-06,-1.62437477e-05,-2.13869609e-05,
 -4.01459006e-04,-1.12014399e-04,-1.21625167e+00, 7.51977822e-04,
 -2.46262600e-02,-1.40211945e-04]


--- Step 2156 ---
qpos:
[ 3.28963813e-03,-3.19878056e-03, 1.19547828e-02, 4.17585576e-02,
  6.10634916e-03, 7.64897812e-01,-2.99469803e-02, 8.71039027e-01,
  5.82590842e-03, 1.64184457e-02,-9.30717713e-03, 2.60095976e-02,
  1.37809566e+00,-1.15901290e-04, 1.17257265e+00, 6.28907545e-02,
  8.28456218e-03,-3.59214594e-02, 7.30422954e-02, 6.71311828e-01,
 -2.08838805e-01,-6.73407507e-01,-2.28580647e-01]

qacc:
[ 1.57054703e-01, 1.75726565e+00,-7.98036158e+00, 1.65352169e+01,
  8.40714397e-02,-1.32572324e+00, 5.47022440e+00,-9.14850845e+00,
  5.63587799e+00, 3.61789162e+00,-1.48482815e+01, 2.51579612e+01,
  7.29606844e-01,-1.23526664e+00,-6.06385123e+00, 2.02613501e+01,
 -1.64898931e+00, 1.44752182e+00, 1.17480631e+00, 7.77240301e+00,
 -1.13770015e+02,-7.18825216e+01]

qfrc_actuator:
[ 3.72643791e-05, 1.34913605e-04, 1.34882512e-04, 1.02735624e-04,
 -5.41338201e-06, 2.55189964e-02, 8.60100022e-03, 2.32617515e-03,
 -1.70406132e-05, 4.31394944e-04, 6.65010739e-05, 5.22036451e-05,
  0.00000000e+00,-1.68625143e-03, 0.00000000e+00,-1.74338677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.03138532, -3.17547268,  8.03138532, 14.25431405,
       14.20888446, -3.17547268, 14.20888446, 44.57338385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002267176075941062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.11892777,  0.11892777,  0.98575472,  0.01424491,  0.99290291,
       -0.11807157, -0.99280072,  0.        , -0.11977784])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341377, -0.05736658,  0.06173076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.77782089e-07, 1.92976011e-05,-5.35575343e-06, 2.53352269e-05,
  1.36510901e-05, 3.47385666e-05, 2.82471822e-05,-1.54850802e-05,
  3.34303221e-05,-3.71126207e-06,-4.80919451e-05, 2.47894729e-05,
  5.99027502e-06,-3.81056375e-05,-1.22979448e-05, 9.42244212e-05,
 -2.97814426e-04, 1.09731833e-04,-1.21638679e+00, 6.95833775e-04,
 -2.46531584e-02,-1.40115567e-04]


--- Step 2157 ---
qpos:
[ 3.28971682e-03,-3.19746671e-03, 1.19548329e-02, 4.17597334e-02,
  6.10648757e-03, 7.64895509e-01,-2.99465869e-02, 8.71041530e-01,
  5.82702013e-03, 1.64180724e-02,-9.30636775e-03, 2.60098509e-02,
  1.37816911e+00,-1.15909406e-04, 1.17273779e+00, 6.28902933e-02,
  8.27222391e-03,-3.59183652e-02, 7.30501686e-02, 6.71177529e-01,
 -2.08825018e-01,-6.73493695e-01,-2.28733643e-01]

qacc:
[-6.01021959e+00, 1.36663981e+00,-7.72982124e+00, 1.90197656e+01,
  2.05630189e-01, 1.17810116e+00,-5.19355762e+00, 1.41666847e+01,
  6.51005290e+00,-2.20092975e+00, 8.02508561e+00,-1.10352476e+01,
 -1.38661186e-02, 3.31623322e-02,-3.64482358e+00, 1.25271081e+01,
 -1.46978884e+00, 1.18634855e+00, 1.90696262e-01, 6.05195975e+00,
 -1.03804503e+02,-6.46203875e+01]

qfrc_actuator:
[ 1.98740176e-06, 1.16940378e-04, 1.27674811e-04, 1.34137712e-04,
  2.19666684e-05, 2.55459753e-02, 8.61803888e-03, 2.36862664e-03,
  2.02916094e-05, 4.37577816e-04, 1.05607875e-04, 4.80499988e-05,
  0.00000000e+00,-1.67545485e-03, 0.00000000e+00,-1.68497904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61489339,  0.60859578, -8.61489339,  8.62047569,
       -0.22489961,  0.60859578, -0.22489961,  5.45282827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00227076065266503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.11822696,  0.11822696,  0.98592331,  0.01407634,  0.9929866 ,
       -0.11738599, -0.99288682,  0.        , -0.11906199])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.053393  , -0.05737205,  0.06173053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52478469e-05,-7.25782022e-06,-3.02409563e-06, 3.25318784e-05,
  3.35115833e-05, 5.13715957e-05, 2.66953055e-05, 4.40602467e-05,
  3.82897486e-05,-4.74741562e-06, 3.32725215e-05,-5.49645212e-06,
 -6.08050038e-06, 1.99379865e-06, 2.96824166e-06, 6.16313091e-05,
 -3.88554296e-05, 3.96033802e-05,-1.21644708e+00, 6.76738801e-04,
 -2.46635212e-02,-1.38475013e-04]


--- Step 2158 ---
qpos:
[ 3.28902711e-03,-3.19620269e-03, 1.19545304e-02, 4.17612942e-02,
  6.10657837e-03, 7.64893513e-01,-2.99461840e-02, 8.71043156e-01,
  5.82822626e-03, 1.64173669e-02,-9.30498051e-03, 2.60097290e-02,
  1.37824277e+00,-1.16600411e-04, 1.17290317e+00, 6.28881847e-02,
  8.25461868e-03,-3.59113804e-02, 7.30554473e-02, 6.70889780e-01,
 -2.08769584e-01,-6.73734543e-01,-2.28919045e-01]

qacc:
[-6.75429209e+00, 1.72716648e+00,-7.85507203e+00, 1.50941372e+01,
 -2.64745088e-02,-1.14475634e+00, 6.25321995e+00,-1.63397219e+01,
  8.46988549e-01,-2.82837990e+00, 1.10289220e+01,-1.81989913e+01,
  5.06071309e-01,-1.02184916e+00, 5.29840397e+00,-1.81070533e+01,
 -1.31673980e+00, 9.72657897e-01,-6.48630099e-01, 4.72936189e+00,
 -9.54289762e+01,-5.85972362e+01]

qfrc_actuator:
[-3.65520126e-05, 1.05678372e-04, 1.05604852e-04, 1.52120923e-04,
  2.61249108e-06, 2.55451368e-02, 8.61020616e-03, 2.32159831e-03,
  2.40472869e-05, 4.06036488e-04, 1.28384044e-04, 2.77798818e-05,
  0.00000000e+00,-1.72226745e-03, 0.00000000e+00,-1.77471186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63189679,  0.27773125, -8.63189679,  8.63341572,
       -0.0916214 ,  0.27773125, -0.0916214 ,  5.78876736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022458606509994537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.11813023,  0.11813023,  0.9859465 ,  0.01405315,  0.99299811,
       -0.11729135, -0.99289866,  0.        , -0.1189632 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05347309, -0.05742728,  0.06173314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95516340e-05,-1.46150472e-05,-2.28330868e-05, 1.81967481e-05,
 -4.30770934e-06, 3.43608903e-05, 6.71491683e-06,-4.35823326e-05,
  4.85015968e-06,-2.75383930e-05, 2.56974847e-05,-1.94321878e-05,
 -2.79956686e-06,-4.76728283e-05, 4.95528630e-06,-8.66717593e-05,
 -7.31571289e-05,-4.72378724e-06,-1.21647633e+00, 6.96119528e-04,
 -2.46713181e-02,-1.37561219e-04]


--- Step 2159 ---
qpos:
[ 3.28822540e-03,-3.19495384e-03, 1.19536850e-02, 4.17627223e-02,
  6.10671523e-03, 7.64892589e-01,-2.99469951e-02, 8.71042819e-01,
  5.82912312e-03, 1.64169320e-02,-9.30381470e-03, 2.60089978e-02,
  1.37831649e+00,-1.17821988e-04, 1.17306819e+00, 6.28880386e-02,
  8.23393430e-03,-3.59129703e-02, 7.30710873e-02, 6.70550800e-01,
 -2.08485543e-01,-6.74020905e-01,-2.29327763e-01]

qacc:
[-9.99979175e-01, 1.22601834e+00,-3.83663625e+00, 2.41478573e+00,
  2.45004184e-02, 1.28361608e+00, 1.96574102e+00,-2.60063023e+01,
 -2.70938317e+00,-2.72310884e-01, 4.07169554e+00,-1.44716713e+01,
  5.70231315e-01,-1.05090082e+00,-6.52893107e+00, 2.19156224e+01,
 -7.69787964e-01,-2.14367279e+00, 2.59033607e+00, 1.31950404e+00,
  1.69514421e+01,-1.62535312e+02]

qfrc_actuator:
[-4.11861045e-05, 9.84454614e-05, 7.49428487e-05, 1.44302789e-04,
  8.74485376e-06, 2.56162579e-02, 8.55208176e-03, 2.22224731e-03,
  8.00895759e-06, 4.40851196e-04, 1.23395497e-04,-1.86088977e-06,
  0.00000000e+00,-1.74966887e-03, 0.00000000e+00,-1.66694607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.52275563, -1.3962139 , -8.52275563,  9.92166356,
       -7.84571559, -1.3962139 , -7.84571559, 56.52810616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002169377932095415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.55885111e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.55885111e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00432015, -0.00689866,  0.06173773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.76962791e-06,-1.93997919e-05,-3.58758736e-05,-8.88388927e-06,
  4.20459528e-06, 9.01391451e-05,-5.18742290e-05,-9.90406589e-05,
 -1.59099727e-05, 2.39055983e-05,-8.19082934e-06,-3.03111480e-05,
 -1.31896818e-05,-4.07758004e-05,-1.11099238e-05, 1.02690893e-04,
 -3.30611145e-04,-2.70756535e-05,-1.21648373e+00, 7.45305759e-04,
 -2.46775846e-02,-1.37200599e-04]


--- Step 2160 ---
qpos:
[ 3.28771905e-03,-3.19402646e-03, 1.19528623e-02, 4.17640461e-02,
  6.10691257e-03, 7.64892107e-01,-2.99480807e-02, 8.71041648e-01,
  5.82947542e-03, 1.64172688e-02,-9.30244504e-03, 2.60078218e-02,
  1.37838994e+00,-1.18616971e-04, 1.17323294e+00, 6.28904935e-02,
  8.21035208e-03,-3.59221807e-02, 7.30930361e-02, 6.70164210e-01,
 -2.07989951e-01,-6.74349010e-01,-2.29942439e-01]

qacc:
[ 2.59863434e+00,-7.08464681e-01, 2.34094565e+00,-3.93669712e+00,
  3.34179567e-02,-1.24033525e-01, 3.01627781e+00,-1.30037228e+01,
 -4.75659373e+00,-4.56267576e-01, 5.00096719e+00,-1.36109689e+01,
 -3.24707341e-01, 6.00115320e-01,-8.21131958e+00, 2.82323093e+01,
 -7.24460660e-01,-1.90514489e+00, 1.57721563e+00, 1.34052532e+00,
  1.56861599e+01,-1.50158484e+02]

qfrc_actuator:
[-2.58260373e-05, 7.58626477e-05, 7.49621392e-05, 1.39120338e-04,
  1.23418988e-05, 2.56231519e-02, 8.53601255e-03, 2.18170136e-03,
 -1.95398471e-05, 5.32762090e-04, 1.55574172e-04,-1.89873170e-05,
  0.00000000e+00,-1.71204485e-03, 0.00000000e+00,-1.53239505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.38022006,  2.08774724,  8.38022006,  9.35175711,
       -2.8715903 ,  2.08774724, -2.8715903 , 20.16293077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021465750152856594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.5860336e-14,  2.5860336e-14,  1.0000000e+00, -6.6875698e-28,
        1.0000000e+00, -2.5860336e-14, -1.0000000e+00,  0.0000000e+00,
        2.5860336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00431652, -0.00686583,  0.06174021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51874022e-05,-4.12600369e-05,-8.72085163e-06,-7.43149457e-06,
  5.49911785e-06, 4.34741029e-05,-7.23354097e-06,-4.14772759e-05,
 -2.79952460e-05, 1.02289195e-04, 3.50536801e-05,-1.69744486e-05,
 -1.67768105e-05, 2.35411954e-05, 4.19484708e-06, 1.38345495e-04,
 -4.04113240e-04,-2.18929148e-04,-1.21652169e+00, 8.18300285e-04,
 -2.46946621e-02,-1.39473477e-04]


--- Step 2161 ---
qpos:
[ 3.28705570e-03,-3.19352944e-03, 1.19526723e-02, 4.17649234e-02,
  6.10676826e-03, 7.64891742e-01,-2.99492062e-02, 8.71039328e-01,
  5.82983980e-03, 1.64180606e-02,-9.30090193e-03, 2.60068366e-02,
  1.37846324e+00,-1.19035435e-04, 1.17339829e+00, 6.28895101e-02,
  8.19407316e-03,-3.59329247e-02, 7.31118409e-02, 6.69965025e-01,
 -2.07651111e-01,-6.74490033e-01,-2.30415010e-01]

qacc:
[-1.35105418e+00,-3.25519631e+00, 1.26680134e+01,-2.10910171e+01,
 -1.90180063e-01,-1.73428889e+00, 8.49840596e+00,-2.14755027e+01,
  1.03218723e-01, 5.09244677e-01,-1.74962621e+00, 4.44139036e+00,
 -6.35135951e-01, 1.01095084e+00, 1.13096391e+01,-3.81664129e+01,
  1.82582649e+00,-3.83398704e-01,-7.86014903e-01,-6.62959789e+00,
  9.30757944e+01, 1.41471643e+02]

qfrc_actuator:
[-3.43373132e-05, 6.21348818e-05, 1.10794455e-04, 1.17791341e-04,
 -2.11203637e-05, 2.56094625e-02, 8.52696999e-03, 2.12283734e-03,
 -1.81306844e-05, 5.34052983e-04, 1.56458562e-04,-1.07732276e-05,
  0.00000000e+00,-1.68940841e-03, 0.00000000e+00,-1.72049650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002169149079075963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.55912108e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.55912108e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05380882, -0.00992586,  0.06173802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.09476433e-06,-3.89400792e-05, 2.59743334e-05,-2.35465379e-05,
 -3.09873194e-05, 7.66875433e-06,-2.53827979e-06,-5.86348799e-05,
  6.43917448e-07, 6.49707923e-05, 2.57280640e-05, 1.34802070e-05,
 -3.11517970e-06, 2.49977592e-05, 1.40846496e-05,-1.80594867e-04,
 -4.48594977e-04,-3.55574508e-04,-1.21652294e+00, 8.92953867e-04,
 -2.47085327e-02,-1.42558980e-04]


--- Step 2162 ---
qpos:
[ 3.28560578e-03,-3.19349696e-03, 1.19529190e-02, 4.17662467e-02,
  6.10625236e-03, 7.64890991e-01,-2.99502964e-02, 8.71038091e-01,
  5.83021872e-03, 1.64185072e-02,-9.29896377e-03, 2.60063918e-02,
  1.37853649e+00,-1.19183533e-04, 1.17356323e+00, 6.28899933e-02,
  8.18433033e-03,-3.59448253e-02, 7.31242955e-02, 6.69936526e-01,
 -2.07455123e-01,-6.74460692e-01,-2.30760044e-01]

qacc:
[-6.88168326e+00,-9.02485579e-01, 4.69173136e-01, 6.86416869e+00,
 -2.07004432e-01, 1.27947094e+00,-7.28745987e+00, 1.97840894e+01,
  1.45302589e-01,-4.48259933e-01,-1.34557381e+00, 1.03204951e+01,
 -1.10858077e-01, 2.96783210e-01,-5.00082232e+00, 1.66729737e+01,
  1.63402314e+00,-2.89128965e-01,-1.58756114e+00,-6.74801540e+00,
  8.49331274e+01, 1.28251157e+02]

qfrc_actuator:
[-7.45897936e-05, 3.62050045e-05, 1.31990268e-04, 1.40416093e-04,
 -4.09350092e-05, 2.55658203e-02, 8.52201857e-03, 2.17789988e-03,
 -1.74381940e-05, 4.63227334e-04, 1.56267887e-04, 1.21874036e-05,
  0.00000000e+00,-1.67588507e-03, 0.00000000e+00,-1.63562207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62335606,  0.47382179,  8.62335606,  8.64451047,
       -0.14826889,  0.47382179, -0.14826889, 11.33479472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002179579140173721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54687477e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.54687477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0537887 , -0.00991965,  0.06173719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04982613e-05,-4.33671803e-05, 1.55324781e-05, 2.13949926e-05,
 -3.37195947e-05,-4.17549362e-05,-5.48589064e-06, 5.38994983e-05,
  7.35912559e-07,-2.86445482e-05, 1.68405651e-05, 2.68945010e-05,
  3.77560306e-06, 1.98347835e-05,-1.88204621e-05, 7.54202562e-05,
 -6.83915366e-05,-5.35808436e-05,-1.21654100e+00, 8.23742034e-04,
 -2.46978257e-02,-1.45291192e-04]


--- Step 2163 ---
qpos:
[ 3.28402933e-03,-3.19356694e-03, 1.19530375e-02, 4.17674780e-02,
  6.10544351e-03, 7.64889307e-01,-2.99508441e-02, 8.71036858e-01,
  5.83025820e-03, 1.64187872e-02,-9.29757960e-03, 2.60062701e-02,
  1.37860964e+00,-1.18893685e-04, 1.17372824e+00, 6.28897731e-02,
  8.18049546e-03,-3.59575789e-02, 7.31276678e-02, 6.70064674e-01,
 -2.07390286e-01,-6.74274780e-01,-2.30989444e-01]

qacc:
[-1.11291131e+00, 3.51911847e-02, 7.02522798e-02,-1.38707595e+00,
 -1.62297279e-01,-2.68674853e+00, 7.31765240e+00,-5.88331914e+00,
 -2.97481495e+00, 1.99926025e+00,-8.80224428e+00, 1.53922818e+01,
 -4.23287095e-01, 7.94635203e-01, 2.25712213e+00,-7.66731612e+00,
  1.47698737e+00,-2.13267106e-01,-2.27056917e+00,-6.75225307e+00,
  7.81457431e+01, 1.17276563e+02]

qfrc_actuator:
[-7.99367468e-05, 3.86654399e-05, 1.26594439e-04, 1.35441428e-04,
 -5.23944778e-05, 2.54869083e-02, 8.53721536e-03, 2.17527677e-03,
 -3.49356184e-05, 4.38513032e-04, 1.19635922e-04, 2.58175297e-05,
  0.00000000e+00,-1.65012141e-03, 0.00000000e+00,-1.67453383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62132106,  0.50950963,  8.62132106,  8.65003766,
       -0.23137576,  0.50950963, -0.23137576, 12.55143131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021625966788260467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13374979e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.13374979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05384376, -0.00989266,  0.06173925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51778217e-06,-1.76823255e-05,-1.17031414e-05,-5.87995546e-06,
 -2.65993360e-05,-1.01387791e-04, 7.96492939e-06,-2.89797553e-06,
 -1.74848109e-05,-3.61377020e-05,-3.95705840e-05, 1.35044117e-05,
  6.36227588e-06, 3.22179473e-05,-2.30001841e-06,-3.76023222e-05,
  1.59130003e-05, 1.25263068e-04,-1.21651857e+00, 8.00188584e-04,
 -2.46844222e-02,-1.47391148e-04]


--- Step 2164 ---
qpos:
[ 3.28309047e-03,-3.19366445e-03, 1.19530801e-02, 4.17679361e-02,
  6.10462830e-03, 7.64887717e-01,-2.99515913e-02, 8.71035546e-01,
  5.83008749e-03, 1.64191985e-02,-9.29709097e-03, 2.60066440e-02,
  1.37868278e+00,-1.18286280e-04, 1.17389341e+00, 6.28874080e-02,
  8.18205057e-03,-3.59709408e-02, 7.31196328e-02, 6.70337660e-01,
 -2.07446725e-01,-6.73943684e-01,-2.31112933e-01]

qacc:
[ 5.59376954e+00,-1.42859231e+00, 8.28292344e+00,-2.14971265e+01,
 -3.74948255e-03, 5.26311287e-01,-1.40003851e+00, 2.49864635e-01,
 -1.86314157e+00, 3.70006297e+00,-1.50270904e+01, 2.49312276e+01,
 -3.81317364e-01, 6.88726455e-01, 6.75293802e+00,-2.31908974e+01,
  1.34749584e+00,-1.52071973e-01,-2.85181834e+00,-6.67382842e+00,
  7.24823533e+01, 1.08153384e+02]

qfrc_actuator:
[-4.69331549e-05, 4.02311667e-05, 1.23386401e-04, 9.65141120e-05,
 -4.10182265e-05, 2.55473107e-02, 8.54622687e-03, 2.17419428e-03,
 -4.52461997e-05, 4.59177636e-04, 7.96828429e-05, 5.16030020e-05,
  0.00000000e+00,-1.63504192e-03, 0.00000000e+00,-1.78613393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61378764,  0.62405076,  8.61378764,  8.66468487,
       -0.39091865,  0.62405076, -0.39091865, 14.03222315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021236921908115228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.61389817e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.61389817e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05395783, -0.00984931,  0.06174356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28123482e-05,-1.09903233e-05,-8.50675395e-06,-4.02064479e-05,
 -5.76192004e-07, 5.74105519e-06,-1.01415344e-05,-4.14840030e-06,
 -1.08210696e-05,-7.17098209e-06,-5.18429545e-05, 2.31277490e-05,
  1.06066354e-05, 2.55273129e-05,-8.77205126e-06,-1.14808399e-04,
 -1.27059116e-04, 2.10063839e-04,-1.21646377e+00, 8.09768547e-04,
 -2.46684993e-02,-1.48921608e-04]


--- Step 2165 ---
qpos:
[ 3.28255468e-03,-3.19413309e-03, 1.19531816e-02, 4.17686499e-02,
  6.10428039e-03, 7.64886517e-01,-2.99519954e-02, 8.71037279e-01,
  5.82979449e-03, 1.64194812e-02,-9.29675885e-03, 2.60073056e-02,
  1.37875602e+00,-1.17721539e-04, 1.17405806e+00, 6.28873948e-02,
  8.17679690e-03,-3.59778458e-02, 7.31175765e-02, 6.70420719e-01,
 -2.07442025e-01,-6.73806459e-01,-2.31276288e-01]

qacc:
[   3.54607099,  -0.13507829,  -1.32065777,   5.93677575,   0.25985093,
    4.86895177, -22.29118976,  56.21502669,  -1.06906196,   0.8620378 ,
   -4.53140246,   9.85242112,   0.29543197,  -0.37440931,  -7.90352722,
   26.4621539 ,  -1.70219508,   1.61423635,   1.49469582,   9.76113509,
 -117.77961884, -76.02083014]

qfrc_actuator:
[-2.71380102e-05, 5.72086241e-06, 1.21490090e-04, 1.08943638e-04,
  1.64269736e-06, 2.56196371e-02, 8.58755772e-03, 2.33389050e-03,
 -5.12381493e-05, 4.53580541e-04, 7.38054977e-05, 6.66273882e-05,
  0.00000000e+00,-1.64418036e-03, 0.00000000e+00,-1.65558201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.6764832 ,  8.21116402, -2.6764832 ,  6.67676618,
       -0.63874375,  8.21116402, -0.63874375,  8.42816089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021133354930491844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.12325173,  0.12325173,  0.98469184,  0.0153077 ,  0.99237544,
       -0.12229744, -0.99225737,  0.        , -0.12419869])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05392389, -0.05778867,  0.06174821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07281450e-05,-4.41190246e-05,-6.60618550e-06, 1.08796272e-05,
  4.24033462e-05, 7.34192572e-05, 4.11867377e-05, 1.59479944e-04,
 -6.30162997e-06,-1.93506664e-05,-1.29550194e-05, 1.33709407e-05,
  1.09774406e-05, 6.31611599e-07,-2.02807351e-05, 1.22223184e-04,
 -4.47811559e-04, 2.21849530e-04,-1.21638216e+00, 8.43579767e-04,
 -2.46502688e-02,-1.49927930e-04]


--- Step 2166 ---
qpos:
[ 3.28260542e-03,-3.19472095e-03, 1.19529079e-02, 4.17691596e-02,
  6.10442300e-03, 7.64885057e-01,-2.99513278e-02, 8.71041278e-01,
  5.82977668e-03, 1.64196950e-02,-9.29648023e-03, 2.60070911e-02,
  1.37882926e+00,-1.16969167e-04, 1.17422309e+00, 6.28845458e-02,
  8.16546120e-03,-3.59794570e-02, 7.31174143e-02, 6.70330845e-01,
 -2.07384760e-01,-6.73844885e-01,-2.31476111e-01]

qacc:
[   5.13814536,   0.46078666,  -1.02778921,  -1.79708876,   0.27386097,
    0.6940702 ,  -7.84563604,  34.35914818,   2.39910802,  -1.75002214,
    9.79891036, -24.8181612 ,  -0.3485811 ,   0.564223  ,   9.15701822,
  -31.14262462,  -1.52050573,   1.32344604,   0.47348416,   7.70937463,
 -107.28040916, -68.14955156]

qfrc_actuator:
[ 2.46418632e-06, 3.17744279e-06, 1.02523730e-04, 9.82097427e-05,
  2.70980356e-05, 2.55745158e-02, 8.63006457e-03, 2.44494029e-03,
 -3.68901181e-05, 4.50186273e-04, 7.02401408e-05, 2.19468078e-05,
  0.00000000e+00,-1.63211108e-03, 0.00000000e+00,-1.80944101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57050188,  1.06455364, -8.57050188,  8.58186474,
       -0.43875936,  1.06455364, -0.43875936,  5.10400247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021361591722355256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22136048e-01,  1.22136048e-01,  9.84969833e-01,  1.50297364e-02,
        9.92513368e-01, -1.21207761e-01, -9.92399563e-01,  3.46944695e-18,
       -1.23057333e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05382737, -0.05775714,  0.06174586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01782836e-05,-2.80901950e-05,-2.85141084e-05,-1.26420850e-05,
  4.44936497e-05, 8.82173824e-06, 6.65456124e-05, 1.18258467e-04,
  1.41619757e-05,-1.63370427e-05,-8.70425468e-06,-4.57005179e-05,
  5.69210767e-06, 1.49610493e-05, 2.78470245e-06,-1.50010558e-04,
 -7.71528442e-05, 9.79057088e-05,-1.21645255e+00, 8.21435816e-04,
 -2.46614201e-02,-1.48132640e-04]


--- Step 2167 ---
qpos:
[ 3.28370089e-03,-3.19567615e-03, 1.19521953e-02, 4.17699189e-02,
  6.10455876e-03, 7.64883906e-01,-2.99512495e-02, 8.71043507e-01,
  5.82958656e-03, 1.64192823e-02,-9.29628298e-03, 2.60064174e-02,
  1.37890249e+00,-1.16065495e-04, 1.17438790e+00, 6.28815598e-02,
  8.14866816e-03,-3.59767273e-02, 7.31156614e-02, 6.70082205e-01,
 -2.07281781e-01,-6.74043645e-01,-2.31709443e-01]

qacc:
[ 9.16218142e+00, 1.23807756e+00,-6.20197213e+00, 1.15249823e+01,
 -4.13169480e-03,-1.07287904e+00, 8.04261710e+00,-2.86263284e+01,
 -1.49502109e+00,-1.54291339e+00, 6.24367408e+00,-1.36045737e+01,
 -9.93382520e-02, 2.25073743e-01, 1.13507397e-01,-8.25068062e-01,
 -1.36433703e+00, 1.08521296e+00,-3.97657240e-01, 6.12572377e+00,
 -9.84652878e+01,-6.16337655e+01]

qfrc_actuator:
[ 5.53585493e-05,-3.35471891e-05, 7.37259056e-05, 1.09440601e-04,
  6.51461045e-06, 2.55659352e-02, 8.58364816e-03, 2.34883740e-03,
 -4.61919220e-05, 3.77095076e-04, 5.02689569e-05,-4.25001690e-06,
  0.00000000e+00,-1.62528305e-03, 0.00000000e+00,-1.81015217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60668306,  0.71539053, -8.60668306,  8.61394815,
       -0.26967511,  0.71539053, -0.26967511,  5.39197042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021283129092194244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.12169771,  0.12169771,  0.98507834,  0.01492124,  0.99256721,
       -0.12077951, -0.99245505,  0.        , -0.12260904])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05384192, -0.05778017,  0.06174663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37478887e-05,-5.88301987e-05,-3.85417927e-05, 8.79434679e-06,
 -6.16206011e-07, 1.32515716e-05,-3.34459331e-05,-9.11313022e-05,
 -8.89838238e-06,-8.59890517e-05,-2.60050912e-05,-2.80887329e-05,
  5.95366475e-06, 1.25256847e-05,-1.96620137e-05,-9.69544455e-06,
 -3.16239787e-05, 4.01370494e-06,-1.21648776e+00, 8.41456509e-04,
 -2.46691796e-02,-1.47224368e-04]


--- Step 2168 ---
qpos:
[ 3.28507724e-03,-3.19711476e-03, 1.19514636e-02, 4.17707931e-02,
  6.10455472e-03, 7.64883129e-01,-2.99520063e-02, 8.71043196e-01,
  5.82894160e-03, 1.64184669e-02,-9.29695826e-03, 2.60054624e-02,
  1.37897581e+00,-1.15314130e-04, 1.17455187e+00, 6.28842425e-02,
  8.13945220e-03,-3.59758299e-02, 7.31107679e-02, 6.70022537e-01,
 -2.07335922e-01,-6.74055206e-01,-2.31799900e-01]

qacc:
[ 2.47305808e+00,-3.53886830e-01,-1.57628263e-01, 2.53855434e+00,
 -7.82732983e-02,-1.66060485e+00, 1.18316723e+01,-4.13094051e+01,
 -3.98763609e+00, 1.33495605e+00,-4.33038609e+00, 1.13674231e+00,
  5.97916014e-01,-8.37903209e-01,-1.84131639e+01, 6.24860664e+01,
  1.89427029e+00,-4.58077618e-01,-7.85151158e-01,-6.59213234e+00,
  9.33966661e+01, 1.42116339e+02]

qfrc_actuator:
[ 6.82775133e-05,-5.49794857e-05, 7.47482337e-05, 1.15725640e-04,
 -5.88562687e-06, 2.55788150e-02, 8.53836793e-03, 2.22033507e-03,
 -6.93462026e-05, 3.51533982e-04, 2.75090214e-06,-1.94231459e-05,
  0.00000000e+00,-1.63939111e-03, 0.00000000e+00,-1.50750743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.54884314,  -1.22640032,  -8.54884314,
        10.11233146, -10.28849814,  -1.22640032, -10.28849814,
        80.35418309,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002102005859331131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30108209e-15, -2.64086568e-14,  1.00000000e+00,  8.71771439e-29,
        1.00000000e+00,  2.64086568e-14, -1.00000000e+00,  0.00000000e+00,
        3.30108209e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0540266 , -0.00977911,  0.06174588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44341991e-05,-6.18579273e-05,-1.55575821e-05, 2.60213023e-06,
 -1.26732261e-05, 1.07410923e-05,-4.92548123e-05,-1.31156020e-04,
 -2.34383702e-05,-8.02116985e-05,-6.94510708e-05,-2.03022615e-05,
  5.55524937e-06,-9.03114098e-06,-1.24492370e-05, 2.99041560e-04,
 -2.32654753e-04,-6.41202131e-05,-1.21649827e+00, 8.93925353e-04,
 -2.46748742e-02,-1.46981633e-04]


--- Step 2169 ---
qpos:
[ 3.28590796e-03,-3.19843448e-03, 1.19505016e-02, 4.17709815e-02,
  6.10479846e-03, 7.64882032e-01,-2.99525881e-02, 8.71042739e-01,
  5.82836847e-03, 1.64175486e-02,-9.29785023e-03, 2.60042484e-02,
  1.37904934e+00,-1.15223155e-04, 1.17471583e+00, 6.28894779e-02,
  8.13698823e-03,-3.59763156e-02, 7.30995212e-02, 6.70134718e-01,
 -2.07533125e-01,-6.73896013e-01,-2.31762003e-01]

qacc:
[-4.79862993e+00,-6.03110714e-01, 5.28682739e+00,-1.68870113e+01,
  1.38350299e-01,-1.14388188e+00, 3.57606039e+00,-4.73276458e+00,
  6.21340391e-01,-6.46921666e-02, 1.12459482e+00,-5.18204312e+00,
  7.93187511e-01,-1.37154878e+00,-7.80054171e+00, 2.70900991e+01,
  1.68799951e+00,-3.45755652e-01,-1.58828542e+00,-6.64396964e+00,
  8.52350508e+01, 1.28835218e+02]

qfrc_actuator:
[ 3.98045586e-05,-1.37154886e-05, 7.56657564e-05, 8.35728703e-05,
  2.22649846e-05, 2.55511242e-02, 8.54750877e-03, 2.21589314e-03,
 -6.49552485e-05, 3.90022966e-04, 1.05389599e-05,-2.79761965e-05,
  0.00000000e+00,-1.68357037e-03, 0.00000000e+00,-1.38365290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55807603,  1.16022045,  8.55807603,  8.67223194,
       -0.26457358,  1.16022045, -0.26457358, 10.58792445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021138104444749714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84794155e-15, -2.62611775e-14,  1.00000000e+00,  2.58618541e-28,
        1.00000000e+00,  2.62611775e-14, -1.00000000e+00,  0.00000000e+00,
        9.84794155e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05399369, -0.00977553,  0.06174454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80777441e-05, 3.63035211e-06,-1.36641989e-05,-3.52881385e-05,
  2.24669277e-05,-3.56233120e-05, 1.64842052e-06,-8.56103934e-06,
  3.69129945e-06,-2.15526779e-05,-1.80177747e-05,-1.47823453e-05,
  1.08466570e-06,-4.54686487e-05, 2.65377336e-05, 1.38668865e-04,
 -2.90595616e-05, 1.54515696e-05,-1.21645029e+00, 8.56646874e-04,
 -2.46591984e-02,-1.48160207e-04]


--- Step 2170 ---
qpos:
[ 3.28673594e-03,-3.19946239e-03, 1.19496659e-02, 4.17710803e-02,
  6.10514116e-03, 7.64880658e-01,-2.99528626e-02, 8.71043947e-01,
  5.82785210e-03, 1.64164620e-02,-9.29843011e-03, 2.60032568e-02,
  1.37912296e+00,-1.15643588e-04, 1.17488017e+00, 6.28938397e-02,
  8.13990229e-03,-3.59758470e-02, 7.30966854e-02, 6.70359318e-01,
 -2.07857139e-01,-6.73625732e-01,-2.31607788e-01]

qacc:
[-2.52057362e-02,-1.51694505e-01, 1.47828770e+00,-3.44480024e+00,
  5.51962970e-02, 1.69220658e+00,-9.79158262e+00, 2.89190329e+01,
  5.07719159e-01,-6.37811178e-01, 1.01062826e+00, 2.46562510e+00,
  3.39359915e-01,-7.34494663e-01, 3.16593988e+00,-1.03372533e+01,
  1.34450522e+00, 2.38556309e-01, 2.10270130e+00,-4.50471657e+00,
  4.83369268e+01, 1.06257041e+02]

qfrc_actuator:
[ 4.04685028e-05, 2.92521013e-05, 9.44918037e-05, 8.23698935e-05,
  2.11565525e-05, 2.55528920e-02, 8.57087374e-03, 2.30226118e-03,
 -6.21345248e-05, 3.95792803e-04, 3.34512348e-05,-1.47144311e-05,
  0.00000000e+00,-1.70971808e-03, 0.00000000e+00,-1.43723431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.34686716, -2.21733747,  8.34686716, 10.92197858,
        8.6038885 , -2.21733747,  8.6038885 , 41.02453883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002098017422039788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32294305e-14,  2.07784716e-07,  1.00000000e+00,  2.74887345e-21,
        1.00000000e+00, -2.07784716e-07, -1.00000000e+00,  0.00000000e+00,
       -1.32294305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03042617, -0.0204915 ,  0.06174612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27418900e-07, 4.07098995e-05, 1.66983728e-05,-2.20155673e-06,
  8.96938276e-06,-1.78858673e-05, 1.62817373e-05, 8.50843749e-05,
  2.91629498e-06,-1.05919959e-05, 1.57526620e-05, 1.14335034e-05,
 -9.77914869e-06,-3.84542005e-05, 2.39225786e-05,-4.33383051e-05,
 -1.08095134e-04,-9.09762384e-06,-1.21636670e+00, 8.60053579e-04,
 -2.46409188e-02,-1.48685100e-04]


--- Step 2171 ---
qpos:
[ 3.28756532e-03,-3.20029409e-03, 1.19490597e-02, 4.17715134e-02,
  6.10512716e-03, 7.64879684e-01,-2.99534532e-02, 8.71047185e-01,
  5.82771825e-03, 1.64155315e-02,-9.29972501e-03, 2.60028064e-02,
  1.37919641e+00,-1.15887980e-04, 1.17504473e+00, 6.28965565e-02,
  8.13637143e-03,-3.59698359e-02, 7.30979070e-02, 6.70402229e-01,
 -2.08126249e-01,-6.73539834e-01,-2.31491702e-01]

qacc:
[ 1.63783826e-02, 3.06575284e-01,-2.12722186e+00, 7.40040424e+00,
 -1.99547882e-01, 4.90217240e+00,-2.00790317e+01, 4.20616885e+01,
  3.31172272e+00, 3.31236681e+00,-1.38072689e+01, 2.42137638e+01,
 -3.75929279e-01, 5.40801378e-01, 5.33072363e+00,-1.80921943e+01,
 -1.61122910e+00, 1.38563447e+00, 1.01437925e+00, 8.02995419e+00,
 -1.12676304e+02,-7.14750909e+01]

qfrc_actuator:
[ 4.05373277e-05, 3.75161090e-05, 1.06046020e-04, 9.94149786e-05,
 -1.52102278e-05, 2.56079271e-02, 8.56706539e-03, 2.40585796e-03,
 -4.25169577e-05, 3.99790306e-04,-6.01460226e-06, 1.12584554e-05,
  0.00000000e+00,-1.68942643e-03, 0.00000000e+00,-1.52386166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.3818043 , -5.81887882,  6.3818043 , 35.50292327,
       29.46566356, -5.81887882, 29.46566356, 40.95257164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021657080027765565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18144000e-01,  1.18144000e-01,  9.85943198e-01,  1.40564496e-02,
        9.92996473e-01, -1.17304821e-01, -9.92896979e-01,  1.73472348e-18,
       -1.18977261e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0536372 , -0.05773744,  0.06174229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.29107740e-08, 3.44279346e-05, 2.19642689e-05, 1.93276467e-05,
 -3.23453731e-05, 5.10922085e-05,-2.88766930e-06, 1.05448080e-04,
  1.96921238e-05, 1.86601809e-06,-3.92968210e-05, 2.62922566e-05,
 -1.43113325e-05, 7.55582634e-06, 1.48535389e-06,-8.70821732e-05,
 -2.89675096e-04,-9.40683755e-05,-1.21627197e+00, 8.76164853e-04,
 -2.46232738e-02,-1.48171010e-04]


--- Step 2172 ---
qpos:
[ 3.28804457e-03,-3.20132684e-03, 1.19485503e-02, 4.17718631e-02,
  6.10471467e-03, 7.64879936e-01,-2.99547020e-02, 8.71050543e-01,
  5.82782059e-03, 1.64145800e-02,-9.30117810e-03, 2.60030007e-02,
  1.37926967e+00,-1.15688805e-04, 1.17520949e+00, 6.28965424e-02,
  8.12707915e-03,-3.59592660e-02, 7.30993694e-02, 6.70279199e-01,
 -2.08347980e-01,-6.73621598e-01,-2.31410583e-01]

qacc:
[-3.06667644e+00,-7.02116278e-01, 2.48019579e+00,-3.94213913e+00,
 -2.23119295e-01, 3.59714601e+00,-1.01158820e+01, 9.66250355e+00,
  2.05584073e+00, 1.73719113e+00,-8.96312683e+00, 2.03951274e+01,
 -6.44156561e-01, 1.05014833e+00, 8.58403279e+00,-2.94875933e+01,
 -1.44035410e+00, 1.13970275e+00, 6.01736206e-02, 6.24344741e+00,
 -1.02961834e+02,-6.43310248e+01]

qfrc_actuator:
[ 2.24933958e-05,-1.05684360e-05, 9.53306349e-05, 9.15155402e-05,
 -3.68106725e-05, 2.57121088e-02, 8.54745369e-03, 2.41224485e-03,
 -3.09223967e-05, 4.02467317e-04,-1.09945016e-05, 4.44502315e-05,
  0.00000000e+00,-1.65950667e-03, 0.00000000e+00,-1.66470088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59665941,  0.82717827, -8.59665941,  8.60753615,
       -0.29959699,  0.82717827, -0.29959699,  5.52272619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002170808115160095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.11744691,  0.11744691,  0.98610975,  0.01388991,  0.99307916,
       -0.11662267, -0.99298202,  0.        , -0.11826541])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05360555, -0.05773627,  0.06174175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80280784e-05,-2.34340638e-05,-2.15059622e-07,-5.28635498e-06,
 -3.61106084e-05, 1.35317088e-04,-6.67947942e-06, 1.03285910e-05,
  1.21558054e-05,-3.21378235e-06,-8.49884424e-06, 3.24288494e-05,
 -6.19063901e-06, 2.88106524e-05,-1.31053648e-05,-1.46455606e-04,
 -3.18916920e-05, 1.83414060e-05,-1.21634572e+00, 8.09838499e-04,
 -2.46373603e-02,-1.45547892e-04]


--- Step 2173 ---
qpos:
[ 3.28830389e-03,-3.20261946e-03, 1.19486047e-02, 4.17710556e-02,
  6.10418092e-03, 7.64880320e-01,-2.99549363e-02, 8.71054308e-01,
  5.82771598e-03, 1.64139302e-02,-9.30230441e-03, 2.60038603e-02,
  1.37934285e+00,-1.15150413e-04, 1.17537382e+00, 6.28975034e-02,
  8.11261056e-03,-3.59449422e-02, 7.30978169e-02, 6.70003370e-01,
 -2.08528361e-01,-6.73856942e-01,-2.31361682e-01]

qacc:
[-1.90875407e+00,-4.30159173e+00, 1.97257294e+01,-4.04637541e+01,
 -6.68105115e-02,-1.86093159e+00, 5.40352160e+00,-5.31083492e-02,
 -1.79950800e+00, 8.58908899e-01,-5.28746080e+00, 1.60534877e+01,
 -2.11200819e-01, 4.60165280e-01,-3.53965545e+00, 1.15360706e+01,
 -1.29408011e+00, 9.38459816e-01,-7.53716888e-01, 4.85922710e+00,
 -9.47944090e+01,-5.84035170e+01]

qfrc_actuator:
[ 1.16854165e-05,-2.11328014e-05, 1.24552452e-04, 3.34281829e-05,
 -3.16142206e-05, 2.56850178e-02, 8.58983907e-03, 2.43241500e-03,
 -4.19009429e-05, 4.57724704e-04, 2.21989769e-05, 8.16534744e-05,
  0.00000000e+00,-1.64190063e-03, 0.00000000e+00,-1.60553917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62221452,  0.49415956, -8.62221452,  8.62729299,
       -0.15826678,  0.49415956, -0.15826678,  5.8748869 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002148147595538405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.11739784,  0.11739784,  0.98612144,  0.01387822,  0.99308496,
       -0.11657465, -0.99298799,  0.        , -0.11821531])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05367296, -0.05778439,  0.06174399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13257234e-05,-2.39048136e-05, 2.41894966e-05,-5.91981939e-05,
 -1.09898445e-05, 4.69016100e-05, 6.86264065e-05, 2.45286536e-05,
 -1.06366989e-05, 5.31499604e-05, 3.26321883e-05, 3.74070156e-05,
  2.78079799e-06, 2.43634877e-05,-2.59783448e-05, 4.84732038e-05,
 -6.26461875e-05, 1.41113241e-04,-1.21638623e+00, 7.84155322e-04,
 -2.46481217e-02,-1.43647285e-04]


--- Step 2174 ---
qpos:
[ 3.28877624e-03,-3.20378441e-03, 1.19488240e-02, 4.17698812e-02,
  6.10382640e-03, 7.64879688e-01,-2.99543502e-02, 8.71058753e-01,
  5.82748075e-03, 1.64134387e-02,-9.30294446e-03, 2.60048202e-02,
  1.37941601e+00,-1.14386256e-04, 1.17553790e+00, 6.28997849e-02,
  8.10591936e-03,-3.59327762e-02, 7.30943505e-02, 6.69923232e-01,
 -2.08871393e-01,-6.73898601e-01,-2.31162888e-01]

qacc:
[ 1.87255721e+00,-1.05207733e+00, 5.53712038e+00,-1.22358406e+01,
  1.00876918e-01,-2.37224724e+00, 4.61751237e+00, 4.68944666e+00,
 -1.12681279e+00,-9.41237277e-01, 3.24022028e+00,-2.40331473e+00,
 -6.88307150e-02, 2.25587144e-01,-4.36004096e+00, 1.47179994e+01,
  1.94434901e+00,-5.39422798e-01,-4.78473078e-01,-5.98728129e+00,
  9.63748648e+01, 1.47848069e+02]

qfrc_actuator:
[ 2.29814865e-05, 8.70682073e-06, 1.41725420e-04, 1.73457130e-05,
 -1.04574536e-05, 2.55442622e-02, 8.59700257e-03, 2.46051865e-03,
 -4.83220580e-05, 4.55452734e-04, 4.23695166e-05, 8.54796587e-05,
  0.00000000e+00,-1.63175589e-03, 0.00000000e+00,-1.53550642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58693586, -0.92266425, -8.58693586,  9.49115068,
       -7.95522482, -0.92266425, -7.95522482, 82.67305214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021193210477402427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.27411173e-15, -2.61928938e-14,  1.00000000e+00,  8.57584610e-29,
        1.00000000e+00,  2.61928938e-14, -1.00000000e+00,  0.00000000e+00,
        3.27411173e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05397835, -0.00970709,  0.06174362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09708075e-05, 1.89758915e-05, 1.31827425e-05,-1.74168061e-05,
  1.62303889e-05,-1.00454925e-04, 2.50566670e-05, 3.22264262e-05,
 -6.71338242e-06, 3.58242330e-05, 3.64822377e-05, 7.96346149e-06,
  6.74873442e-06, 1.76695040e-05,-8.38510512e-06, 6.89676772e-05,
 -3.13884227e-04, 2.72963675e-04,-1.21640309e+00, 7.90254780e-04,
 -2.46567840e-02,-1.42294704e-04]


--- Step 2175 ---
qpos:
[ 3.28938032e-03,-3.20477240e-03, 1.19486115e-02, 4.17692485e-02,
  6.10369247e-03, 7.64878762e-01,-2.99542989e-02, 8.71061090e-01,
  5.82717036e-03, 1.64130253e-02,-9.30348622e-03, 2.60051659e-02,
  1.37948927e+00,-1.13741290e-04, 1.17570218e+00, 6.29005203e-02,
  8.10614532e-03,-3.59222538e-02, 7.30855643e-02, 6.70020333e-01,
 -2.09362073e-01,-6.73763964e-01,-2.30829800e-01]

qacc:
[ 1.13986735e+00, 2.55559933e+00,-1.10611832e+01, 2.09985895e+01,
  1.22954843e-01,-2.59822903e+00, 1.28488788e+01,-3.65658578e+01,
 -6.54065247e-01,-1.43457546e+00, 7.86038144e+00,-1.87073778e+01,
  4.72013386e-02,-1.03812637e-01, 4.96148599e+00,-1.69349789e+01,
  1.72929054e+00,-4.10916856e-01,-1.32996376e+00,-6.07279925e+00,
  8.76824459e+01, 1.33630488e+02]

qfrc_actuator:
[ 2.94423693e-05, 9.24733603e-06, 1.16337311e-04, 4.38914213e-05,
  2.27087370e-06, 2.55316810e-02, 8.56506878e-03, 2.35092719e-03,
 -5.20022514e-05, 4.36438513e-04, 3.66834745e-05, 5.18260240e-05,
  0.00000000e+00,-1.64386280e-03, 0.00000000e+00,-1.61946006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.57682139,  1.01237924,  8.57682139,  8.66012385,
       -0.20129526,  1.01237924, -0.20129526, 10.34172605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002139554017901363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.18903947e-14, -2.59451973e-14,  1.00000000e+00,  1.34630653e-27,
        1.00000000e+00,  2.59451973e-14, -1.00000000e+00,  0.00000000e+00,
        5.18903947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05391976, -0.00970941,  0.06174131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78388850e-06, 1.31733150e-05,-2.04347905e-05, 2.74798463e-05,
  1.99969163e-05,-6.22592353e-05,-4.78923203e-05,-1.11315241e-04,
 -3.86395647e-06, 8.91614181e-06, 6.49417224e-06,-3.07004939e-05,
  7.53450687e-06,-5.60572379e-06, 1.25798398e-06,-8.17921848e-05,
 -1.11796387e-05, 2.11522665e-04,-1.21632322e+00, 7.46385785e-04,
 -2.46391403e-02,-1.42412455e-04]


--- Step 2176 ---
qpos:
[ 3.29005748e-03,-3.20581509e-03, 1.19482122e-02, 4.17686069e-02,
  6.10354497e-03, 7.64878062e-01,-2.99548757e-02, 8.71061016e-01,
  5.82681791e-03, 1.64130503e-02,-9.30423752e-03, 2.60050812e-02,
  1.37956268e+00,-1.13473079e-04, 1.17586677e+00, 6.28975671e-02,
  8.11258218e-03,-3.59129629e-02, 7.30685479e-02, 6.70279153e-01,
 -2.09987739e-01,-6.73467381e-01,-2.30375113e-01]

qacc:
[ 6.36424518e-01, 4.30083308e-01,-1.60238880e+00, 1.78776154e+00,
 -7.73944988e-03,-2.18918294e+00, 1.30374392e+01,-4.07401464e+01,
 -3.81129907e-01, 2.79684573e-01, 1.66188831e+00,-9.10003458e+00,
  1.13645649e-01,-3.37430044e-01, 1.15782401e+01,-3.98748630e+01,
  1.55272548e+00,-3.07893367e-01,-2.05753357e+00,-6.01902052e+00,
  8.04252726e+01, 1.21829039e+02]

qfrc_actuator:
[ 3.29982301e-05,-7.89197071e-06, 1.01448521e-04, 4.19942250e-05,
 -7.92354484e-06, 2.55779380e-02, 8.54620894e-03, 2.23224369e-03,
 -5.40411249e-05, 4.78406351e-04, 3.34295770e-05, 3.18640890e-05,
  0.00000000e+00,-1.66906605e-03, 0.00000000e+00,-1.81121974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55480807,  1.18407592,  8.55480807,  8.69186653,
       -0.40100179,  1.18407592, -0.40100179, 11.53355402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021301968673693855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60591648e-14, -5.21183296e-14,  1.00000000e+00,  1.35816014e-27,
        1.00000000e+00,  5.21183296e-14, -1.00000000e+00,  0.00000000e+00,
        2.60591648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05394317, -0.00968936,  0.06174214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75684120e-06,-1.27764312e-05,-1.37192634e-05,-1.50139623e-06,
 -1.22707628e-06,-1.22112957e-06,-4.00023525e-05,-1.24644082e-04,
 -2.14730064e-06, 4.69978144e-05,-1.66428137e-06,-1.99511577e-05,
  2.18735104e-06,-2.47263193e-05,-1.21868020e-05,-1.97021846e-04,
 -1.79594078e-05, 5.08186539e-05,-1.21620837e+00, 7.45337041e-04,
 -2.46191084e-02,-1.41805562e-04]


--- Step 2177 ---
qpos:
[ 3.29146207e-03,-3.20705077e-03, 1.19479791e-02, 4.17679412e-02,
  6.10312913e-03, 7.64877043e-01,-2.99553181e-02, 8.71060566e-01,
  5.82678873e-03, 1.64132494e-02,-9.30468805e-03, 2.60051013e-02,
  1.37963598e+00,-1.12970356e-04, 1.17603124e+00, 6.28926635e-02,
  8.11512545e-03,-3.59105776e-02, 7.30671407e-02, 6.70480314e-01,
 -2.10351288e-01,-6.73222348e-01,-2.30174184e-01]

qacc:
[ 6.39327864e+00,-7.81699538e-01, 2.49643492e+00,-3.01156988e+00,
 -1.49154475e-01,-1.43494303e+00, 5.05795831e+00,-8.82986567e+00,
  2.82600976e+00,-4.00190656e-01, 1.30858833e+00,-9.27435728e-02,
 -3.71774565e-01, 5.90937723e-01, 5.75215226e+00,-2.02939208e+01,
 -9.73399813e-01,-1.72637595e+00, 3.90229077e+00, 2.28057958e+00,
  2.01435887e+01,-1.85362578e+02]

qfrc_actuator:
[ 7.03223044e-05,-1.77256591e-05, 1.10539647e-04, 4.11179741e-05,
 -3.17256887e-05, 2.55525783e-02, 8.55325320e-03, 2.21576790e-03,
 -3.73456017e-05, 4.85561448e-04, 4.96561156e-05, 3.79316746e-05,
  0.00000000e+00,-1.64856396e-03, 0.00000000e+00,-1.90512858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021562483388199577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00433721, -0.00683345,  0.06173922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74310768e-05,-1.98333372e-05, 4.72781915e-06,-1.92313161e-06,
 -2.43508550e-05,-3.78889780e-05,-1.54793703e-06,-2.05507994e-05,
  1.66505609e-05, 3.22439973e-05, 2.50476758e-05, 7.63760341e-06,
 -5.62221808e-06, 1.47428518e-05,-3.09984122e-05,-1.07268984e-04,
 -2.59312235e-04,-1.82269893e-04,-1.21606547e+00, 7.74316750e-04,
 -2.45969382e-02,-1.40550375e-04]


--- Step 2178 ---
qpos:
[ 3.29295812e-03,-3.20828816e-03, 1.19477579e-02, 4.17676015e-02,
  6.10243898e-03, 7.64875717e-01,-2.99551423e-02, 8.71060583e-01,
  5.82661487e-03, 1.64138658e-02,-9.30527071e-03, 2.60045019e-02,
  1.37970929e+00,-1.12504614e-04, 1.17619503e+00, 6.28906427e-02,
  8.11410228e-03,-3.59145183e-02, 7.30765222e-02, 6.70629246e-01,
 -2.10476350e-01,-6.73024563e-01,-2.30204383e-01]

qacc:
[ 8.03308854e-01, 6.34905615e-01,-3.64437893e+00, 9.26836478e+00,
 -1.52217821e-01,-1.26250174e+00, 2.59115157e+00, 3.49179911e+00,
 -1.27355161e+00,-3.52101145e-01, 4.67613484e+00,-1.55000374e+01,
  2.64421781e-01,-3.59558890e-01,-9.73872185e+00, 3.25459943e+01,
 -8.91607548e-01,-1.58150018e+00, 2.69719011e+00, 2.09506386e+00,
  1.83354280e+01,-1.68740763e+02]

qfrc_actuator:
[ 7.39658172e-05,-5.26317034e-06, 1.15987827e-04, 5.86254855e-05,
 -4.56796295e-05, 2.55557137e-02, 8.59308129e-03, 2.24179379e-03,
 -4.52632079e-05, 5.07423036e-04, 4.16391573e-05, 5.99602007e-06,
  0.00000000e+00,-1.65435714e-03, 0.00000000e+00,-1.74531055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021653057562400074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56366340e-14,  1.92274755e-14,  1.00000000e+00, -4.92927753e-28,
        1.00000000e+00, -1.92274755e-14, -1.00000000e+00,  0.00000000e+00,
        2.56366340e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00433957, -0.00684302,  0.06173836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70695463e-06, 2.32341099e-06, 1.88301068e-06, 1.67870334e-05,
 -2.48874872e-05,-1.87971195e-05, 3.15678334e-05, 2.43018763e-05,
 -7.43023544e-06, 4.53976098e-05, 1.99509951e-06,-2.95387307e-05,
 -3.99098373e-07,-2.65647867e-06,-2.85733037e-05, 1.49320407e-04,
 -2.24807179e-04,-9.90881662e-05,-1.21625924e+00, 7.32782666e-04,
 -2.46271684e-02,-1.39527885e-04]


--- Step 2179 ---
qpos:
[ 3.29379659e-03,-3.20932072e-03, 1.19474820e-02, 4.17677971e-02,
  6.10173383e-03, 7.64874769e-01,-2.99552825e-02, 8.71059862e-01,
  5.82565792e-03, 1.64149543e-02,-9.30654564e-03, 2.60035568e-02,
  1.37978269e+00,-1.12352955e-04, 1.17635870e+00, 6.28898206e-02,
  8.10692562e-03,-3.59132015e-02, 7.30878373e-02, 6.70606124e-01,
 -2.10551000e-01,-6.73001670e-01,-2.30270396e-01]

qacc:
[-5.77650628e+00, 1.53796256e+00,-7.32898817e+00, 1.65056529e+01,
 -8.66446380e-03, 6.84635295e-02, 2.06347577e+00,-1.09653424e+01,
 -6.85987047e+00, 1.86050449e+00,-4.24572253e+00,-1.00307909e+00,
  3.74226446e-01,-6.50853082e-01,-3.83385485e+00, 1.30700124e+01,
 -1.53837513e+00, 1.31436556e+00, 4.83377788e-01, 6.87587139e+00,
 -1.06970799e+02,-6.71821061e+01]

qfrc_actuator:
[ 3.99933672e-05, 2.04629377e-05, 1.19338153e-04, 8.68229611e-05,
 -3.58587262e-05, 2.55938152e-02, 8.58103166e-03, 2.20386363e-03,
 -8.53626784e-05, 5.20043012e-04, 1.63605846e-06,-1.25538470e-05,
  0.00000000e+00,-1.67574979e-03, 0.00000000e+00,-1.68584640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.40272473, -1.99524282,  8.40272473, 10.33679355,
        7.1611557 , -1.99524282,  7.1611557 , 38.79470807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002211573605564453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13256079e-01,  1.13256079e-01,  9.87089723e-01,  1.29100046e-02,
        9.93565831e-01, -1.12517871e-01, -9.93481954e-01,  1.73472348e-18,
       -1.13989507e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05334383, -0.0577069 ,  0.06173679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38341326e-05, 2.81784375e-05, 4.65914173e-06, 2.86924669e-05,
 -1.35168213e-06, 3.47170688e-05,-1.13815521e-05,-3.70279896e-05,
 -4.02942243e-05, 3.71355422e-05,-3.14008603e-05,-1.71086892e-05,
 -1.11793791e-06,-2.20736432e-05, 2.45456956e-06, 6.38790747e-05,
 -1.62840858e-04, 3.03510166e-05,-1.21639009e+00, 6.96429346e-04,
 -2.46520067e-02,-1.39402097e-04]


--- Step 2180 ---
qpos:
[ 3.29491105e-03,-3.20976814e-03, 1.19470997e-02, 4.17675923e-02,
  6.10128585e-03, 7.64874103e-01,-2.99558521e-02, 8.71058707e-01,
  5.82422830e-03, 1.64157096e-02,-9.30776362e-03, 2.60038305e-02,
  1.37985595e+00,-1.11929773e-04, 1.17652226e+00, 6.28903821e-02,
  8.09423311e-03,-3.59075617e-02, 7.30975849e-02, 6.70425121e-01,
 -2.10581925e-01,-6.73138450e-01,-2.30369349e-01]

qacc:
[  2.40874683,  0.24139714,  1.94182786, -9.11944847,  0.1428529 ,
   0.77904442, -1.12177925, -4.37663763, -4.11436127,  1.91773341,
 -12.60913822, 33.84357591, -0.19788913,  0.38182028, -4.31390026,
  14.91020476, -1.37895947,  1.08076434, -0.39185692,  5.3395209 ,
 -98.16332918,-60.74617848]

qfrc_actuator:
[ 5.51743181e-05, 7.16939946e-05, 1.21491436e-04, 6.78367836e-05,
 -1.19224803e-05, 2.55990758e-02, 8.55629500e-03, 2.18183760e-03,
 -1.08569732e-04, 4.73638479e-04,-3.68783204e-06, 4.79121879e-05,
  0.00000000e+00,-1.65295233e-03, 0.00000000e+00,-1.61505299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61622621,  0.58942577, -8.61622621,  8.62165614,
       -0.21499423,  0.58942577, -0.21499423,  5.49357781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00220015895857844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.11324216,  0.11324216,  0.98709292,  0.01290681,  0.99356742,
       -0.11250422, -0.99348358,  0.        , -0.11397531])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338021, -0.05774154,  0.06173815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42291755e-05, 6.92055915e-05, 9.55573265e-06,-1.70556533e-05,
  2.33353373e-05, 2.10940993e-05,-2.03067556e-05,-2.21004634e-05,
 -2.43451639e-05,-3.28970537e-05,-2.10775171e-06, 6.06420026e-05,
 -5.89249139e-06, 1.65628062e-05, 5.26158331e-06, 7.39715257e-05,
 -2.23681709e-05, 1.62520598e-05,-1.21643840e+00, 6.80473080e-04,
 -2.46614790e-02,-1.37891252e-04]


--- Step 2181 ---
qpos:
[ 3.29619864e-03,-3.20981111e-03, 1.19467925e-02, 4.17671720e-02,
  6.10091628e-03, 7.64873372e-01,-2.99562928e-02, 8.71056954e-01,
  5.82322097e-03, 1.64161600e-02,-9.30872021e-03, 2.60048091e-02,
  1.37992922e+00,-1.11524672e-04, 1.17668555e+00, 6.28937928e-02,
  8.07753915e-03,-3.59038779e-02, 7.31160338e-02, 6.70097857e-01,
 -2.10503118e-01,-6.73414392e-01,-2.30586982e-01]

qacc:
[ 1.51486068e+00,-1.22637325e-01, 2.11648148e+00,-6.25669691e+00,
  4.39289869e-02,-1.47095340e+00, 6.08721269e+00,-1.25777903e+01,
  3.69693486e+00, 3.10036125e-01,-4.67881907e+00, 1.66974302e+01,
  2.21991981e-01,-2.94471742e-01,-9.01488701e+00, 3.09215575e+01,
 -1.00036400e+00,-4.89028542e-01, 2.17532724e+00,-2.53128015e+00,
 -7.07410293e+01,-1.08214247e+02]

qfrc_actuator:
[ 6.36715117e-05, 8.45078702e-05, 1.23000247e-04, 5.67672120e-05,
 -1.52884858e-05, 2.55845765e-02, 8.55969101e-03, 2.15159119e-03,
 -8.61332523e-05, 4.63446115e-04, 1.13234793e-05, 8.33509789e-05,
  0.00000000e+00,-1.65735867e-03, 0.00000000e+00,-1.46711597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.96899632, -3.32894495, -7.96899632, 11.78858442,
       -7.54594509, -3.32894495, -7.54594509, 26.7002276 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002135545659177195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54031367e-07, -1.29969479e-14,  1.00000000e+00,  1.23994959e-20,
        1.00000000e+00,  1.29969479e-14, -1.00000000e+00,  0.00000000e+00,
        9.54031367e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02691601, -0.03436481,  0.06174198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.92882310e-06, 5.27794560e-05, 1.63987290e-05,-8.10498739e-06,
  7.11014299e-06,-7.49856045e-06, 4.56101047e-06,-3.06862116e-05,
  2.17259206e-05,-2.64519566e-05, 1.00589473e-05, 3.51374323e-05,
  8.24006292e-07,-1.29461311e-06, 7.24925240e-06, 1.51951388e-04,
 -1.33795446e-04, 2.28939543e-05,-1.21646024e+00, 6.98553480e-04,
 -2.46688379e-02,-1.37002128e-04]


--- Step 2182 ---
qpos:
[ 3.29688898e-03,-3.21029917e-03, 1.19471293e-02, 4.17677289e-02,
  6.10056060e-03, 7.64873132e-01,-2.99575283e-02, 8.71055542e-01,
  5.82283492e-03, 1.64165332e-02,-9.30978458e-03, 2.60051651e-02,
  1.38000249e+00,-1.11160580e-04, 1.17684878e+00, 6.28992784e-02,
  8.05737993e-03,-3.59078844e-02, 7.31422048e-02, 6.69722050e-01,
 -2.10206210e-01,-6.73733794e-01,-2.31016233e-01]

qacc:
[-5.21369313e+00,-3.64562365e-01,-3.65803012e+00, 1.98432378e+01,
  6.76701653e-03, 3.38106585e+00,-1.10937512e+01, 1.36857989e+01,
  5.41630918e+00,-1.09293783e+00, 6.35954007e+00,-1.68861335e+01,
  1.76269636e-01,-2.49525138e-01,-6.36125968e+00, 2.21010214e+01,
 -8.66315453e-01,-1.92255559e+00, 1.93050519e+00, 1.72295893e+00,
  1.65130456e+01,-1.54510063e+02]

qfrc_actuator:
[ 3.26456521e-05, 2.09601933e-05, 1.41735946e-04, 1.03680784e-04,
 -1.72072991e-05, 2.56294664e-02, 8.52632239e-03, 2.17000824e-03,
 -5.47691717e-05, 4.57333573e-04, 2.80344177e-06, 5.05420493e-05,
  0.00000000e+00,-1.66015367e-03, 0.00000000e+00,-1.36367484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.88713148,  6.31889704, -5.88713148, 27.5287256 ,
       17.60146086,  6.31889704, 17.60146086, 25.03512971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021235296560604203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61409823e-14,  5.22819647e-14,  1.00000000e+00, -1.36670192e-27,
        1.00000000e+00, -5.22819647e-14, -1.00000000e+00,  0.00000000e+00,
        2.61409823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00433106, -0.00677566,  0.06174332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07529050e-05,-3.09881950e-05, 3.13802054e-05, 4.95851637e-05,
  1.27137473e-06, 4.06759307e-05,-3.52383446e-05, 1.76174747e-05,
  3.19763751e-05,-1.73239515e-05,-1.15274636e-05,-3.29127817e-05,
  3.36136165e-07,-3.05598499e-06, 1.73336910e-05, 1.12152260e-04,
 -4.25042988e-04,-4.76287140e-05,-1.21649503e+00, 7.63522076e-04,
 -2.46827898e-02,-1.36994203e-04]


--- Step 2183 ---
qpos:
[ 3.29720203e-03,-3.21100613e-03, 1.19479889e-02, 4.17684782e-02,
  6.10039552e-03, 7.64873800e-01,-2.99597860e-02, 8.71056404e-01,
  5.82248277e-03, 1.64173018e-02,-9.31115933e-03, 2.60047330e-02,
  1.38007560e+00,-1.10314743e-04, 1.17701219e+00, 6.29049704e-02,
  8.04410688e-03,-3.59134934e-02, 7.31643589e-02, 6.69531231e-01,
 -2.10063257e-01,-6.73868980e-01,-2.31304900e-01]

qacc:
[-3.29105151e+00,-1.34808647e+00, 3.58626361e+00,-9.45040270e-01,
  1.04445960e-01, 7.90494577e+00,-2.96849794e+01, 5.32702957e+01,
  2.78741040e-01,-2.32818393e-01, 4.91472277e+00,-1.83475896e+01,
 -4.55949520e-01, 8.38383244e-01,-3.23235833e-01, 1.60499902e+00,
  1.72154317e+00,-4.00611242e-01,-1.00420801e+00,-6.03124448e+00,
  9.14438024e+01, 1.39667603e+02]

qfrc_actuator:
[ 1.41123568e-05, 1.87991304e-05, 1.70208895e-04, 1.13267210e-04,
 -4.72019787e-07, 2.57094601e-02, 8.48951956e-03, 2.28793570e-03,
 -5.39217028e-05, 5.06820923e-04,-1.81816407e-06, 1.33352244e-05,
  0.00000000e+00,-1.62644643e-03, 0.00000000e+00,-1.35830725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021051288715444594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88855456e-15, -2.63694788e-14,  1.00000000e+00,  2.60756030e-28,
        1.00000000e+00,  2.63694788e-14, -1.00000000e+00,  0.00000000e+00,
        9.88855456e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05403804, -0.0095634 ,  0.06174547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94223228e-05,-1.08844152e-05, 2.76541337e-05, 1.03103864e-05,
  1.73119545e-05, 9.61601886e-05,-3.22970622e-05, 1.18566354e-04,
  1.76000056e-06, 3.60161525e-05,-1.07531698e-05,-3.89892877e-05,
 -3.00314035e-07, 3.28322349e-05, 1.68048193e-05, 1.29781516e-05,
 -5.03995969e-04,-2.54320163e-04,-1.21653135e+00, 8.41635721e-04,
 -2.46998343e-02,-1.39422594e-04]


--- Step 2184 ---
qpos:
[ 3.29763485e-03,-3.21145610e-03, 1.19490401e-02, 4.17686072e-02,
  6.10042622e-03, 7.64874761e-01,-2.99610549e-02, 8.71056893e-01,
  5.82214341e-03, 1.64190050e-02,-9.31320250e-03, 2.60041580e-02,
  1.38014873e+00,-1.09348627e-04, 1.17717565e+00, 6.29107017e-02,
  8.03704458e-03,-3.59203163e-02, 7.31794384e-02, 6.69509139e-01,
 -2.10060881e-01,-6.73835952e-01,-2.31467166e-01]

qacc:
[ 1.05238995e+00,-1.47652905e+00, 8.36953549e+00,-1.95914281e+01,
  1.09866027e-01,-2.93612907e+00, 1.09712907e+01,-1.45202556e+01,
  7.47442736e-02, 2.80884822e+00,-7.61900264e+00, 5.52394513e+00,
 -6.69264790e-02, 1.68860026e-01,-3.68708244e-02, 2.54008774e-01,
  1.55268821e+00,-3.03498335e-01,-1.76865164e+00,-6.20399510e+00,
  8.36286558e+01, 1.26861833e+02]

qfrc_actuator:
[ 2.08461534e-05, 5.34218770e-05, 1.86635175e-04, 8.30986750e-05,
  9.52082213e-06, 2.57211382e-02, 8.53996487e-03, 2.26821873e-03,
 -5.32926996e-05, 5.89226595e-04,-2.16076271e-05, 9.40940605e-06,
  0.00000000e+00,-1.62460211e-03, 0.00000000e+00,-1.35748742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62991686, -0.3336342 ,  8.62991686,  8.63979378,
        0.08872549, -0.3336342 ,  0.08872549, 10.93137292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021135284364255935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62646815e-14,  2.62646815e-14,  1.00000000e+00, -6.89833494e-28,
        1.00000000e+00, -2.62646815e-14, -1.00000000e+00,  0.00000000e+00,
        2.62646815e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05402195, -0.00955516,  0.06174485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17643657e-06, 3.46959976e-05, 1.79379586e-05,-2.94784068e-05,
  1.77749322e-05, 6.23830579e-05, 6.92746342e-05,-1.49233381e-05,
  6.95018397e-07, 9.86427650e-05,-1.50157544e-05,-3.51106493e-06,
  7.62563089e-06, 1.07051370e-05, 4.79589656e-06, 2.67608554e-06,
 -1.19553140e-04,-5.51886893e-05,-1.21651903e+00, 7.76795062e-04,
 -2.46862046e-02,-1.41494726e-04]


--- Step 2185 ---
qpos:
[ 3.29814488e-03,-3.21165714e-03, 1.19500105e-02, 4.17680482e-02,
  6.10041387e-03, 7.64875649e-01,-2.99611720e-02, 8.71056478e-01,
  5.82181506e-03, 1.64205599e-02,-9.31476057e-03, 2.60032540e-02,
  1.38022198e+00,-1.08590479e-04, 1.17733898e+00, 6.29174034e-02,
  8.03563824e-03,-3.59280412e-02, 7.31848376e-02, 6.69642121e-01,
 -2.10187812e-01,-6.73647909e-01,-2.31514597e-01]

qacc:
[ 6.70484593e-01,-8.64557835e-01, 6.45977047e+00,-1.84154363e+01,
 -2.27798993e-02,-4.77781114e+00, 1.76415280e+01,-2.66152712e+01,
  1.13447518e-01,-2.22901670e+00, 9.05129245e+00,-1.54083418e+01,
  3.07225202e-01,-4.88452549e-01,-3.15648990e+00, 1.06893816e+01,
  1.41398712e+00,-2.25481663e-01,-2.42009313e+00,-6.24944810e+00,
  7.71123965e+01, 1.16235672e+02]

qfrc_actuator:
[ 2.46414505e-05, 5.64686891e-05, 1.78202840e-04, 4.75654380e-05,
 -2.36585924e-06, 2.56920799e-02, 8.58789896e-03, 2.22091156e-03,
 -5.27872353e-05, 5.30912120e-04,-1.45103559e-05,-1.03828854e-05,
  0.00000000e+00,-1.64170676e-03, 0.00000000e+00,-1.30605366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63133703, -0.29461495,  8.63133703,  8.6405157 ,
        0.12164301, -0.29461495,  0.12164301, 12.20014001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020957279531928358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29755316e-14, -2.64877658e-14,  1.00000000e+00,  1.40320348e-27,
        1.00000000e+00,  2.64877658e-14, -1.00000000e+00,  0.00000000e+00,
        5.29755316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05407799, -0.00952693,  0.06174698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98416445e-06, 2.48957810e-05,-8.44060905e-08,-3.40021262e-05,
 -3.90112863e-06, 1.86851114e-05, 6.77704606e-05,-4.35668701e-05,
  5.63746558e-07,-6.44233848e-06, 2.55071893e-05,-1.61509752e-05,
  6.35451033e-06,-1.22974310e-05,-1.03645183e-06, 5.13524609e-05,
 -2.35716565e-05, 3.33395513e-05,-1.21647023e+00, 7.54818740e-04,
 -2.46703433e-02,-1.42903845e-04]


--- Step 2186 ---
qpos:
[ 3.29835160e-03,-3.21162093e-03, 1.19506117e-02, 4.17667444e-02,
  6.10030381e-03, 7.64876991e-01,-2.99615164e-02, 8.71057598e-01,
  5.82149562e-03, 1.64215904e-02,-9.31511940e-03, 2.60017746e-02,
  1.38029529e+00,-1.08015072e-04, 1.17750271e+00, 6.29209748e-02,
  8.03942847e-03,-3.59364168e-02, 7.31783383e-02, 6.69918686e-01,
 -2.10434536e-01,-6.73315743e-01,-2.31456627e-01]

qacc:
[-2.67824891e+00,-1.84113285e-01, 4.26201219e+00,-1.67415989e+01,
 -5.51218779e-02, 3.87215716e+00,-1.54816113e+01, 3.19625814e+01,
  1.23695025e-01,-5.22979103e+00, 2.00709734e+01,-3.15616198e+01,
 -5.40069598e-02,-2.54940148e-02, 1.00600269e+01,-3.43064686e+01,
  1.29914480e+00,-1.62701392e-01,-2.97460287e+00,-6.20075227e+00,
  7.16741362e+01, 1.07407408e+02]

qfrc_actuator:
[ 8.91565933e-06, 5.82278332e-05, 1.55051117e-04, 9.12931615e-06,
 -9.46709245e-06, 2.57275912e-02, 8.58050990e-03, 2.29975164e-03,
 -5.23592190e-05, 4.95390476e-04, 4.33380694e-05,-3.94520032e-05,
  0.00000000e+00,-1.65214802e-03, 0.00000000e+00,-1.47373525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63471277, -0.16885571,  8.63471277,  8.63834618,
        0.10138041, -0.16885571,  0.10138041, 13.82061666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020569830073239176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34933422e-14, -5.39733688e-14,  1.00000000e+00, -7.28281135e-28,
        1.00000000e+00,  5.39733688e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34933422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05419062, -0.00948298,  0.06175128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56024456e-05, 1.42039141e-05,-1.92048134e-05,-3.80352632e-05,
 -8.84947200e-06, 5.78191054e-05, 2.78464963e-06, 8.04882546e-05,
  4.44726093e-07,-3.45844201e-05, 5.91022765e-05,-2.87750132e-05,
  2.71836973e-07,-1.22173775e-05, 2.38895931e-06,-1.65649287e-04,
 -1.50517089e-04, 3.75905369e-05,-1.21639194e+00, 7.63996053e-04,
 -2.46523293e-02,-1.43719628e-04]


--- Step 2187 ---
qpos:
[ 3.29836849e-03,-3.21164767e-03, 1.19510194e-02, 4.17653624e-02,
  6.10029967e-03, 7.64879144e-01,-2.99623877e-02, 8.71059635e-01,
  5.82152847e-03, 1.64224439e-02,-9.31462018e-03, 2.60006276e-02,
  1.38036864e+00,-1.07569383e-04, 1.17766687e+00, 6.29191715e-02,
  8.03957512e-03,-3.59497499e-02, 7.31797655e-02, 6.70144946e-01,
 -2.10450407e-01,-6.73028978e-01,-2.31621182e-01]

qacc:
[-1.67113470e+00, 3.00288977e-01,-8.56087509e-01,-1.45917966e-01,
  5.80064317e-02, 4.08225661e+00,-1.41934932e+01, 2.31715371e+01,
  3.10275037e+00,-1.95343887e+00, 5.21101267e+00,-6.84930334e-01,
 -2.69354502e-01, 2.72333262e-01, 1.68555794e+01,-5.80367672e+01,
 -9.10896075e-01,-1.23935477e+00, 1.98160761e+00, 2.37249100e+00,
  1.79860175e+01,-1.62854417e+02]

qfrc_actuator:
[-4.20519329e-07, 4.13738516e-05, 1.41141071e-04, 4.78867195e-06,
  4.12744588e-06, 2.57835948e-02, 8.55859797e-03, 2.34568715e-03,
 -3.42273419e-05, 5.09485195e-04, 9.52237413e-05,-2.04510809e-05,
  0.00000000e+00,-1.65853330e-03, 0.00000000e+00,-1.75142093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62520986,  0.43878443,  8.62520986,  8.82056556,
       -3.62086738,  0.43878443, -3.62086738, 79.81195506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002028141264414862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.7370456e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.7370456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00430283, -0.00666945,  0.06175445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.77376159e-06,-1.45187566e-05,-1.46618694e-05,-5.13508303e-06,
  9.63034900e-06, 9.11320413e-05,-7.76949326e-06, 4.96956892e-05,
  1.81339810e-05, 5.69948877e-06, 5.10209341e-05, 1.90055433e-05,
 -3.39085959e-06,-9.34294869e-06,-2.15404260e-05,-2.87610338e-04,
 -4.52985960e-04,-2.35308912e-05,-1.21628896e+00, 7.96011429e-04,
 -2.46323032e-02,-1.43992258e-04]


--- Step 2188 ---
qpos:
[ 3.29861813e-03,-3.21175270e-03, 1.19514967e-02, 4.17646136e-02,
  6.10043242e-03, 7.64881628e-01,-2.99630203e-02, 8.71061520e-01,
  5.82177832e-03, 1.64234000e-02,-9.31386036e-03, 2.59997221e-02,
  1.38044199e+00,-1.07205011e-04, 1.17783078e+00, 6.29150401e-02,
  8.03319172e-03,-3.59567676e-02, 7.31849796e-02, 6.70190476e-01,
 -2.10408829e-01,-6.72927124e-01,-2.31823070e-01]

qacc:
[ 2.04667300e+00, 1.00263609e+00,-6.40199122e+00, 1.73080975e+01,
  7.63469567e-02,-4.74775794e-01, 2.43999016e+00,-4.24028272e+00,
  1.89913154e+00,-9.94948665e-02,-4.74610459e-01, 4.16856222e+00,
 -8.64998381e-02, 5.89893837e-02, 6.68034857e+00,-2.38726002e+01,
 -1.63251002e+00, 1.57885903e+00, 9.46751338e-01, 9.08356231e+00,
 -1.12194899e+02,-7.22296366e+01]

qfrc_actuator:
[ 1.18375393e-05, 4.90625697e-05, 1.50500766e-04, 3.82891989e-05,
  1.22222776e-05, 2.57803436e-02, 8.56386814e-03, 2.33637762e-03,
 -2.35727384e-05, 5.17706780e-04, 1.07887995e-04,-8.79126887e-06,
  0.00000000e+00,-1.66246491e-03, 0.00000000e+00,-1.86082829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.91740687, -5.17071165,  6.91740687, 26.2825851 ,
       23.60721344, -5.17071165, 23.60721344, 40.21822537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002089221545311264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22779111e-01,  1.22779111e-01,  9.84809921e-01,  1.51896345e-02,
        9.92434023e-01, -1.21835894e-01, -9.92317774e-01, -1.73472348e-18,
       -1.23715137e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05376294, -0.058105  ,  0.06175159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19753364e-05,-3.68279306e-06, 4.37622393e-06, 3.22739383e-05,
  1.24294530e-05, 4.72572114e-05, 2.38387679e-05,-5.50224485e-06,
  1.11765325e-05, 2.27345679e-05, 2.07695206e-05, 1.40381055e-05,
 -5.25450524e-06,-6.66767314e-06,-4.55230738e-05,-1.29048653e-04,
 -3.28409069e-04, 2.35658102e-04,-1.21641247e+00, 7.35862946e-04,
 -2.46593861e-02,-1.44156660e-04]


--- Step 2189 ---
qpos:
[ 3.29935768e-03,-3.21210308e-03, 1.19524218e-02, 4.17646120e-02,
  6.10048306e-03, 7.64884071e-01,-2.99631065e-02, 8.71063298e-01,
  5.82215430e-03, 1.64243247e-02,-9.31286407e-03, 2.59989826e-02,
  1.38051533e+00,-1.06896864e-04, 1.17799480e+00, 6.29065477e-02,
  8.02373397e-03,-3.59608883e-02, 7.31900367e-02, 6.70068641e-01,
 -2.10321668e-01,-6.72994089e-01,-2.32059838e-01]

qacc:
[ 4.31865775e+00,-4.43677573e-02,-3.47920210e+00, 1.58889623e+01,
 -4.52278305e-02,-1.71529153e+00, 5.81701816e+00,-6.47615815e+00,
  1.10811065e+00,-3.62740951e-01, 5.28537974e-01, 1.99386339e+00,
 -2.66192997e-01, 3.02276788e-01, 1.33514124e+01,-4.64226755e+01,
 -7.68590322e-01, 7.24227142e-01,-3.92681775e-02, 5.49976567e+00,
 -1.03929623e+02,-6.41848806e+01]

qfrc_actuator:
[ 3.67055064e-05, 3.60121467e-05, 1.73636517e-04, 7.60618716e-05,
 -8.08690339e-07, 2.57594483e-02, 8.58489266e-03, 2.33012909e-03,
 -1.74101115e-05, 5.04443171e-04, 1.15026260e-04,-1.57805035e-06,
  0.00000000e+00,-1.66492084e-03, 0.00000000e+00,-2.08319704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.87589922, -7.7177835 ,  3.87589922, 44.69601829,
       18.10929101, -7.7177835 , 18.10929101, 17.7309161 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020680054862695224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68428452e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.68428452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05371695, -0.05810003,  0.06175066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52062586e-05,-1.28201732e-05, 2.40274286e-05, 3.83949054e-05,
 -7.44616842e-06, 9.76224812e-06, 3.29129371e-05,-4.14551412e-06,
  6.49313485e-06, 4.30473286e-06, 1.48601017e-05, 9.17711679e-06,
 -5.53187657e-06,-4.93503932e-06,-3.68652540e-05,-2.35770331e-04,
 -4.26342550e-05, 9.78170658e-05,-1.21647231e+00, 7.29613281e-04,
 -2.46692268e-02,-1.42678726e-04]


--- Step 2190 ---
qpos:
[ 3.30004463e-03,-3.21259096e-03, 1.19536373e-02, 4.17647147e-02,
  6.10001957e-03, 7.64886582e-01,-2.99634846e-02, 8.71064679e-01,
  5.82260161e-03, 1.64249928e-02,-9.31170626e-03, 2.59994061e-02,
  1.38058848e+00,-1.06106447e-04, 1.17815846e+00, 6.28967511e-02,
  8.01118259e-03,-3.59625451e-02, 7.31917909e-02, 6.69792728e-01,
 -2.10194451e-01,-6.73215694e-01,-2.32328695e-01]

qacc:
[ -0.450055  , -0.77807656,  2.07191781, -0.63221272, -0.28660496,
   0.18769109,  0.39429838, -5.16205849,  0.63231537,  1.60228943,
 -11.11765809, 31.17846794, -0.54523691,  0.94469333,  3.45243021,
 -12.74061171, -0.77340478,  0.6159997 , -0.82572311,  4.36214623,
 -95.63395342,-58.36963852]

qfrc_actuator:
[ 3.32838930e-05, 2.84692543e-05, 1.86879278e-04, 8.05250728e-05,
 -4.41035239e-05, 2.57459577e-02, 8.56170871e-03, 2.30798036e-03,
 -1.39386045e-05, 4.78381304e-04, 1.18768825e-04, 5.62039742e-05,
  0.00000000e+00,-1.63097866e-03, 0.00000000e+00,-2.13959418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.11102504,  6.10263466, -6.11102504,  7.91474826,
       -0.72260751,  6.10263466, -0.72260751,  7.91276263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020510149167441635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35326054e-14,  6.76630272e-15,  1.00000000e+00, -9.15657050e-29,
        1.00000000e+00, -6.76630272e-15, -1.00000000e+00,  0.00000000e+00,
        1.35326054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05377207, -0.05814634,  0.06175249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71051505e-06,-8.09599895e-06, 1.48742227e-05, 5.49041506e-06,
 -4.66354602e-05,-1.78236925e-06,-1.76089111e-05,-2.09396191e-05,
  3.66195459e-06,-2.02318231e-05, 6.75894820e-06, 5.86564431e-05,
 -5.41042362e-06, 3.19402890e-05,-4.57558246e-05,-7.48501276e-05,
 -5.03472626e-05,-8.77396678e-06,-1.21650273e+00, 7.61282573e-04,
 -2.46766649e-02,-1.41980149e-04]


--- Step 2191 ---
qpos:
[ 3.30034024e-03,-3.21283263e-03, 1.19548728e-02, 4.17644942e-02,
  6.09904450e-03, 7.64888846e-01,-2.99636750e-02, 8.71064752e-01,
  5.82239702e-03, 1.64259992e-02,-9.31097711e-03, 2.59997922e-02,
  1.38066161e+00,-1.05186187e-04, 1.17832110e+00, 6.28923084e-02,
  7.99554415e-03,-3.59620893e-02, 7.31875591e-02, 6.69373829e-01,
 -2.10031562e-01,-6.73579990e-01,-2.32627208e-01]

qacc:
[ -3.43856064, -0.38998313,  3.23792024, -9.05728672, -0.28445636,
  -3.1008365 , 12.76413491,-26.94995786, -5.7049662 ,  1.57944426,
  -4.80615089,  4.57582669,  0.31359847, -0.32395075,-17.68903374,
  59.64640508, -0.77176862,  0.52814036, -1.49651519,  3.51200324,
 -88.65671737,-53.54491715]

qfrc_actuator:
[ 1.32350681e-05, 5.97264389e-05, 1.94164421e-04, 6.53466757e-05,
 -6.95865529e-05, 2.57190661e-02, 8.56587742e-03, 2.24111953e-03,
 -4.75826906e-05, 5.15888782e-04, 1.02701694e-04, 5.45007609e-05,
  0.00000000e+00,-1.62897151e-03, 0.00000000e+00,-1.84918385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.1122175 ,  6.10144033, -6.1122175 ,  8.39638118,
       -0.24040635,  6.10144033, -0.24040635,  8.39553265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002011899237688755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75914172e-14, -6.89785430e-15,  1.00000000e+00,  1.90321576e-28,
        1.00000000e+00,  6.89785430e-15, -1.00000000e+00,  0.00000000e+00,
        2.75914172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05390683, -0.05823309,  0.06175652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01294065e-05, 3.00375089e-05, 7.62557186e-06,-1.49054898e-05,
 -4.64120728e-05,-3.20881009e-05, 1.14417895e-06,-6.79228934e-05,
 -3.35455072e-05, 3.00675672e-05,-1.74062037e-05,-1.19990004e-06,
  3.67482628e-06, 9.94385716e-06,-3.08866682e-05, 2.80046009e-04,
 -2.83610295e-04,-8.64733524e-05,-1.21651243e+00, 8.22125499e-04,
 -2.46827646e-02,-1.41823424e-04]


--- Step 2192 ---
qpos:
[ 3.30073811e-03,-3.21270149e-03, 1.19558479e-02, 4.17637509e-02,
  6.09807039e-03, 7.64890843e-01,-2.99637873e-02, 8.71063685e-01,
  5.82179057e-03, 1.64277245e-02,-9.31094969e-03, 2.60001245e-02,
  1.38073501e+00,-1.04992088e-04, 1.17848359e+00, 6.28906340e-02,
  7.98665013e-03,-3.59631112e-02, 7.31832873e-02, 6.69163240e-01,
 -2.10041317e-01,-6.73737275e-01,-2.32768743e-01]

qacc:
[ 8.82567021e-01, 1.41974959e-01, 2.41029640e+00,-1.13074274e+01,
  9.43555549e-04,-2.53673524e+00, 1.04953490e+01,-2.28773489e+01,
 -3.53917013e+00, 2.80727095e+00,-8.39085575e+00, 8.03608871e+00,
  8.98548889e-01,-1.52767863e+00,-8.66995160e+00, 2.98059572e+01,
  1.68610849e+00,-3.69439253e-01,-9.97620463e-03,-7.11539351e+00,
  1.02874894e+02, 1.56651445e+02]

qfrc_actuator:
[ 1.90749608e-05, 7.84296843e-05, 1.80276714e-04, 3.87692401e-05,
 -4.86741284e-05, 2.57021740e-02, 8.56834217e-03, 2.18400598e-03,
 -6.72961640e-05, 5.73293040e-04, 7.52743197e-05, 5.33467308e-05,
  0.00000000e+00,-1.68147112e-03, 0.00000000e+00,-1.71187828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020634819865476828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38033786e-14, -2.69016893e-14,  1.00000000e+00,  1.44740177e-27,
        1.00000000e+00,  2.69016893e-14, -1.00000000e+00,  0.00000000e+00,
        5.38033786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.054169  , -0.00941394,  0.06175073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27686282e-06, 3.64236902e-05,-7.27050875e-06,-2.53180033e-05,
  7.95761540e-08,-3.66793894e-05,-5.79219350e-06,-5.96467703e-05,
 -2.06597870e-05, 7.05131331e-05,-2.34219772e-05,-4.94508953e-07,
  4.30182720e-06,-4.89313442e-05, 1.67225982e-05, 1.48903074e-04,
 -6.92301369e-04,-1.39803729e-04,-1.21650760e+00, 9.06140981e-04,
 -2.46880517e-02,-1.42103894e-04]


--- Step 2193 ---
qpos:
[ 3.30085777e-03,-3.21221966e-03, 1.19563535e-02, 4.17627125e-02,
  6.09743497e-03, 7.64892982e-01,-2.99648800e-02, 8.71061272e-01,
  5.82095239e-03, 1.64300344e-02,-9.31130523e-03, 2.60011255e-02,
  1.38080852e+00,-1.05387187e-04, 1.17864636e+00, 6.28886192e-02,
  7.98387844e-03,-3.59652474e-02, 7.31753234e-02, 6.69140663e-01,
 -2.10207112e-01,-6.73707430e-01,-2.32770362e-01]

qacc:
[ -2.4627367 ,  1.17269184, -2.2553288 , -2.36697823,  0.18800997,
   0.49743825,  1.65223846,-17.71770363, -2.04259982,  3.22353908,
 -13.18941023, 24.9375474 ,  0.45700611, -0.92223768,  1.40127033,
  -4.39796256,  1.53057965, -0.27857703, -0.92303165, -7.10856184,
  93.09057121,140.91269972]

qfrc_actuator:
[ 4.60576851e-06, 8.93754984e-05, 1.53957704e-04, 2.34336841e-05,
 -1.79849801e-05, 2.57091521e-02, 8.51656118e-03, 2.11534239e-03,
 -7.86405490e-05, 6.06614084e-04, 5.92279599e-05, 8.80590462e-05,
  0.00000000e+00,-1.71261283e-03, 0.00000000e+00,-1.73700189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.29414481, -2.40706018,  8.29414481,  8.92454745,
        0.99301143, -2.40706018,  0.99301143, 12.05803988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021050119473688678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63709435e-14, -7.91128306e-14,  1.00000000e+00,  2.08627999e-27,
        1.00000000e+00,  7.91128306e-14, -1.00000000e+00,  0.00000000e+00,
        2.63709435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05404561, -0.00943838,  0.06174615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43060944e-05, 2.87138047e-05,-2.05790326e-05,-1.45208806e-05,
  3.07203805e-05,-1.64443728e-05,-6.14925350e-05,-7.13650782e-05,
 -1.19054643e-05, 6.78204324e-05,-4.40394504e-06, 3.69101436e-05,
 -9.01068565e-06,-4.36272003e-05, 2.12398428e-05,-1.53906756e-05,
 -1.77636151e-04, 1.08719607e-05,-1.21647756e+00, 8.23697372e-04,
 -2.46717978e-02,-1.43747834e-04]


--- Step 2194 ---
qpos:
[ 3.30045838e-03,-3.21168128e-03, 1.19566417e-02, 4.17615192e-02,
  6.09695937e-03, 7.64895224e-01,-2.99663747e-02, 8.71058026e-01,
  5.81998500e-03, 1.64324931e-02,-9.31167098e-03, 2.60025647e-02,
  1.38088196e+00,-1.05922266e-04, 1.17880938e+00, 6.28850079e-02,
  7.98671010e-03,-3.59682042e-02, 7.31605422e-02, 6.69289063e-01,
 -2.10514972e-01,-6.73506834e-01,-2.32645959e-01]

qacc:
[-4.56367526e+00, 3.72049865e-01,-5.48865592e-01,-1.84309116e+00,
  8.87933248e-02,-2.22447313e-01, 2.78626727e+00,-1.25387095e+01,
 -1.12944287e+00, 1.12970206e+00,-5.58935801e+00, 1.30775220e+01,
 -8.13200811e-02,-8.25265873e-03, 5.18168738e+00,-1.75990330e+01,
  1.40084019e+00,-2.05128971e-01,-1.70432965e+00,-6.98254262e+00,
  8.49432000e+01, 1.27863947e+02]

qfrc_actuator:
[-2.17093238e-05, 7.77872072e-05, 1.38245746e-04, 1.48247863e-05,
 -1.72731633e-05, 2.57301510e-02, 8.50427047e-03, 2.07591803e-03,
 -8.49728687e-05, 5.89826777e-04, 4.99721412e-05, 1.08084794e-04,
  0.00000000e+00,-1.71303367e-03, 0.00000000e+00,-1.82207648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.31517199, -2.3333863 ,  8.31517199,  9.01702154,
        1.3564989 , -2.3333863 ,  1.3564989 , 13.47033463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002113236735554566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.25366139e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.25366139e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05401647, -0.00943595,  0.06174514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67129751e-05,-4.30609254e-07,-1.28269416e-05,-8.37301925e-06,
  1.44980357e-05,-2.56445500e-06,-2.47732938e-05,-4.34230858e-05,
 -6.64413514e-06, 2.17218330e-05, 5.46265280e-06, 2.34918292e-05,
 -1.50848009e-05,-1.44429819e-05, 3.74427946e-06,-8.42074094e-05,
 -3.04064571e-05, 3.16012581e-05,-1.21640273e+00, 7.96072073e-04,
 -2.46525308e-02,-1.44670135e-04]


--- Step 2195 ---
qpos:
[ 3.29974664e-03,-3.21121413e-03, 1.19567527e-02, 4.17609366e-02,
  6.09616983e-03, 7.64897385e-01,-2.99674727e-02, 8.71055342e-01,
  5.81963909e-03, 1.64351423e-02,-9.31264664e-03, 2.60035793e-02,
  1.38095525e+00,-1.06251371e-04, 1.17897234e+00, 6.28807451e-02,
  7.99470811e-03,-3.59717441e-02, 7.31362737e-02, 6.69594109e-01,
 -2.10953100e-01,-6.73148995e-01,-2.32406860e-01]

qacc:
[ -2.74548422,  1.66550011, -8.64161227, 19.53439631, -0.17460397,
  -0.20344823, -0.73413793,  7.43492444,  5.39772868,  1.07158099,
  -1.68019968, -4.81658536, -0.30556871,  0.4714373 ,  1.91988036,
  -6.76159095,  1.29158524, -0.14577493, -2.3718359 , -6.77170087,
  78.14542142,117.02327605]

qfrc_actuator:
[-3.70271890e-05, 7.05849485e-05, 1.28833728e-04, 4.57350440e-05,
 -5.22569869e-05, 2.57417922e-02, 8.53324050e-03, 2.10731887e-03,
 -5.28025223e-05, 5.78681604e-04, 9.06580805e-06, 8.37562951e-05,
  0.00000000e+00,-1.69523552e-03, 0.00000000e+00,-1.85296610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.35810983, -2.17457513,  8.35810983,  9.0909725 ,
        1.74731642, -2.17457513,  1.74731642, 15.35227902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020945708078593667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65023990e-14, -5.30047979e-14,  1.00000000e+00,  1.40475430e-27,
        1.00000000e+00,  5.30047979e-14, -1.00000000e+00,  0.00000000e+00,
        2.65023990e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05406205, -0.00941214,  0.06174697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60798135e-05,-1.04794328e-05,-1.13760881e-05, 3.02869739e-05,
 -2.84767629e-05, 3.90283107e-06, 2.42979402e-05, 2.95862416e-05,
  3.19939673e-05, 3.04357665e-06,-3.49621162e-05,-2.27592177e-05,
 -1.17577862e-05, 1.04963768e-05,-1.16604833e-05,-3.60198701e-05,
 -1.59024418e-04,-4.32734515e-05,-1.21629330e+00, 8.07141746e-04,
 -2.46306409e-02,-1.44944251e-04]


--- Step 2196 ---
qpos:
[ 3.29885662e-03,-3.21093322e-03, 1.19570428e-02, 4.17614095e-02,
  6.09501377e-03, 7.64898823e-01,-2.99676973e-02, 8.71054470e-01,
  5.81968214e-03, 1.64371565e-02,-9.31339343e-03, 2.60029626e-02,
  1.38102827e+00,-1.05882862e-04, 1.17913488e+00, 6.28788021e-02,
  7.99834937e-03,-3.59807569e-02, 7.31249627e-02, 6.69843777e-01,
 -2.11136426e-01,-6.72841100e-01,-2.32412519e-01]

qacc:
[-1.55541103e+00, 1.43164921e+00,-9.90836459e+00, 2.80146003e+01,
 -2.03446945e-01,-1.65567763e-01,-4.74062206e+00, 2.64689589e+01,
  3.40940684e+00,-4.84378154e+00, 2.29289255e+01,-5.10470314e+01,
 -5.06086034e-01, 1.00654366e+00,-7.57652748e+00, 2.57163102e+01,
 -1.08918609e+00,-1.36824426e+00, 3.23938996e+00, 2.88983380e+00,
  2.00652652e+01,-1.79407174e+02]

qfrc_actuator:
[-4.57458048e-05, 6.61194666e-05, 1.41001052e-04, 9.96530237e-05,
 -7.27431092e-05, 2.56769497e-02, 8.56857629e-03, 2.19790702e-03,
 -3.37348297e-05, 4.99809936e-04, 3.03085286e-06,-2.00232804e-06,
  0.00000000e+00,-1.64904331e-03, 0.00000000e+00,-1.72738284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63287751,  0.24536233,  8.63287751,  8.69829807,
       -2.17911372,  0.24536233, -2.17911372, 85.30673975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002057931439342478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69742471e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.69742471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00428794, -0.0067092 ,  0.06175066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.18257402e-06,-1.13982856e-05, 9.64552259e-06, 5.36658422e-05,
 -3.32663111e-05,-5.69916517e-05, 3.97876892e-05, 9.21169100e-05,
  1.99958018e-05,-8.54436333e-05,-1.05235582e-05,-8.72882478e-05,
 -4.18645222e-06, 4.65254001e-05,-1.24445066e-05, 1.21384530e-04,
 -4.97927691e-04,-1.89520305e-04,-1.21615609e+00, 8.45598058e-04,
 -2.46065126e-02,-1.44622787e-04]


--- Step 2197 ---
qpos:
[ 3.29786873e-03,-3.21076673e-03, 1.19578267e-02, 4.17611120e-02,
  6.09376132e-03, 7.64898485e-01,-2.99673403e-02, 8.71057916e-01,
  5.81995403e-03, 1.64382365e-02,-9.31354252e-03, 2.60023730e-02,
  1.38110118e+00,-1.04985503e-04, 1.17929714e+00, 6.28796835e-02,
  7.99778685e-03,-3.59854997e-02, 7.31193548e-02, 6.69902321e-01,
 -2.11264497e-01,-6.72727032e-01,-2.32457593e-01]

qacc:
[-8.41869053e-01,-3.11836378e+00, 1.41509997e+01,-2.81885379e+01,
 -5.32245510e-02, 3.58811826e+00,-2.44654974e+01, 7.49009297e+01,
  2.03047033e+00,-2.85324835e+00, 8.26053416e+00,-8.05099756e+00,
 -2.44211410e-01, 6.13277654e-01,-8.91630191e+00, 3.06509090e+01,
 -1.05094622e+00, 1.06750763e+00, 1.42577992e+00, 7.59336234e+00,
 -1.18632810e+02,-7.44615787e+01]

qfrc_actuator:
[-5.05139907e-05, 6.34395606e-05, 1.65830584e-04, 6.01708116e-05,
 -6.65998042e-05, 2.55136351e-02, 8.57159087e-03, 2.41129445e-03,
 -2.25448154e-05, 4.52062342e-04, 3.50765424e-05, 1.02582691e-06,
  0.00000000e+00,-1.62189396e-03, 0.00000000e+00,-1.58163704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.95131877, -6.25848079,  5.95131877, 31.0749815 ,
       21.33734561, -6.25848079, 21.33734561, 28.92648669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002105952691703404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31795817e-14, -3.95387452e-14,  1.00000000e+00,  5.21104124e-28,
        1.00000000e+00,  3.95387452e-14, -1.00000000e+00,  0.00000000e+00,
        1.31795817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346323, -0.05811872,  0.06174562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.03762264e-06,-4.77772797e-06, 2.55137550e-05,-3.85937786e-05,
 -8.79634625e-06,-1.84141977e-04,-8.79209026e-07, 2.14857162e-04,
  1.17429354e-05,-1.01498365e-04, 1.00654581e-05,-2.69864233e-06,
  8.70764223e-06, 3.89151640e-05, 5.40600467e-06, 1.50381802e-04,
 -3.90117870e-04, 4.04032294e-05,-1.21633015e+00, 7.81400484e-04,
 -2.46393701e-02,-1.44201431e-04]


--- Step 2198 ---
qpos:
[ 3.29683136e-03,-3.21080518e-03, 1.19589677e-02, 4.17603652e-02,
  6.09270799e-03, 7.64896970e-01,-2.99675319e-02, 8.71062518e-01,
  5.82070248e-03, 1.64391092e-02,-9.31336828e-03, 2.60024391e-02,
  1.38117433e+00,-1.04515172e-04, 1.17945945e+00, 6.28816251e-02,
  7.99321613e-03,-3.59866797e-02, 7.31154019e-02, 6.69787086e-01,
 -2.11344923e-01,-6.72788498e-01,-2.32538641e-01]

qacc:
[  -0.41981815,  -2.1941253 ,   9.32628646, -17.52092483,   0.11073808,
    1.94192964, -10.9071736 ,  24.44337427,   4.1704448 ,   0.16398598,
   -3.76455959,  14.76294158,   0.55378304,  -0.90082637,  -3.17691749,
   11.10639053,  -1.00204797,   0.89069462,   0.41373749,   5.90398042,
 -107.9105346 , -66.81588086]

qfrc_actuator:
[-5.29210309e-05, 4.40810422e-05, 1.80118394e-04, 3.70627329e-05,
 -4.46023849e-05, 2.54523524e-02, 8.53740268e-03, 2.46434726e-03,
  1.67576357e-06, 4.94552801e-04, 7.17575977e-05, 3.85675476e-05,
  0.00000000e+00,-1.65953849e-03, 0.00000000e+00,-1.53174199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.49303839,  4.29431631, -7.49303839,  8.14717961,
       -0.8535642 ,  4.29431631, -0.8535642 ,  7.14700215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002125481626418485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91754630e-14, -3.26462192e-14,  1.00000000e+00,  1.27893075e-27,
        1.00000000e+00,  3.26462192e-14, -1.00000000e+00,  0.00000000e+00,
        3.91754630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338028, -0.05809468,  0.06174354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55289035e-06,-1.84265986e-05, 1.50987371e-05,-2.31822179e-05,
  1.80198278e-05,-1.56622664e-04,-6.41423374e-05, 5.20225484e-05,
  2.45246382e-05,-1.23356260e-05, 1.68517953e-05, 3.34866426e-05,
  1.39818870e-05,-2.50573763e-05, 1.62633967e-05, 5.82878105e-05,
 -6.71665858e-05, 2.26015709e-05,-1.21640697e+00, 7.38486042e-04,
 -2.46528024e-02,-1.41870359e-04]


--- Step 2199 ---
qpos:
[ 3.29577317e-03,-3.21098330e-03, 1.19599538e-02, 4.17600654e-02,
  6.09189262e-03, 7.64894883e-01,-2.99682721e-02, 8.71064901e-01,
  5.82139069e-03, 1.64398505e-02,-9.31306514e-03, 2.60026115e-02,
  1.38124762e+00,-1.04430386e-04, 1.17962192e+00, 6.28831600e-02,
  7.98481726e-03,-3.59848670e-02, 7.31096489e-02, 6.69512537e-01,
 -2.11383754e-01,-6.73010109e-01,-2.32652669e-01]

qacc:
[ -0.18500679,  1.16978635, -6.32326304, 14.40629562,  0.1327668 ,
  -3.11804419, 14.36616277,-39.07823319, -0.51911743, -0.31398119,
   0.41981327,  1.31067525,  0.33483347, -0.62941641,  1.44225579,
  -4.76170672, -0.95704064,  0.74820366, -0.45000742,  4.6210163 ,
 -98.90271631,-60.48347126]

qfrc_actuator:
[-5.39206181e-05, 3.26042800e-05, 1.70267916e-04, 5.92714311e-05,
 -3.11020640e-05, 2.54524002e-02, 8.51729551e-03, 2.35162386e-03,
 -2.12983825e-06, 4.84317053e-04, 7.57499029e-05, 4.29201509e-05,
  0.00000000e+00,-1.68205713e-03, 0.00000000e+00,-1.55647567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.4954801 ,  4.29005302, -7.4954801 ,  8.33302581,
       -0.52998474,  4.29005302, -0.52998474,  7.71038672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002114615473936425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62511799e-14, -2.62511799e-14,  1.00000000e+00,  6.89124446e-28,
        1.00000000e+00,  2.62511799e-14, -1.00000000e+00,  0.00000000e+00,
        2.62511799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05340872, -0.05812757,  0.06174455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07927510e-06,-1.96631331e-05,-1.26091164e-05, 2.14900917e-05,
  2.15646159e-05,-9.76887436e-05,-5.68104538e-05,-1.18478462e-04,
 -3.10602299e-06,-1.22407486e-05, 4.66592219e-06, 5.05540457e-06,
  1.49933045e-06,-2.60950090e-05, 1.04650935e-05,-2.02339154e-05,
 -6.54853710e-05, 3.10270326e-05,-1.21644938e+00, 7.38204123e-04,
 -2.46632081e-02,-1.40301711e-04]


--- Step 2200 ---
qpos:
[ 3.29436599e-03,-3.21098415e-03, 1.19606704e-02, 4.17600011e-02,
  6.09127540e-03, 7.64892036e-01,-2.99689459e-02, 8.71065208e-01,
  5.82133896e-03, 1.64399143e-02,-9.31273689e-03, 2.60032587e-02,
  1.38132079e+00,-1.04093858e-04, 1.17978438e+00, 6.28847337e-02,
  7.97146221e-03,-3.59903422e-02, 7.31158809e-02, 6.69185801e-01,
 -2.11181169e-01,-6.73279077e-01,-2.32998202e-01]

qacc:
[-3.07441230e+00, 1.47904709e+00,-5.91587405e+00, 1.02777990e+01,
  1.11172248e-01,-4.77940692e+00, 1.91966595e+01,-4.15653689e+01,
 -6.44088433e+00, 2.41696765e-02,-3.36780880e+00, 1.20182535e+01,
 -2.68599910e-01, 4.62742286e-01,-1.13787148e-01, 4.23925805e-01,
 -1.23904268e+00,-1.82201060e+00, 2.99622348e+00, 2.90539645e+00,
  1.91367698e+01,-1.69811140e+02]

qfrc_actuator:
[-7.18372288e-05, 6.13785322e-05, 1.64056029e-04, 7.24483553e-05,
 -2.28185081e-05, 2.54181011e-02, 8.52360909e-03, 2.24886294e-03,
 -4.01575978e-05, 4.06947473e-04, 6.01940633e-05, 6.31515253e-05,
  0.00000000e+00,-1.65986564e-03, 0.00000000e+00,-1.55393319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.6411038 ,  5.52109746, -6.6411038 , 38.12188574,
       35.46693647,  5.52109746, 35.46693647, 51.29810043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020893809354112503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65682290e-14, -7.97046871e-14,  1.00000000e+00,  2.11761238e-27,
        1.00000000e+00,  7.97046871e-14, -1.00000000e+00,  0.00000000e+00,
        2.65682290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042791 , -0.00674927,  0.06174693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79549845e-05, 1.60932461e-05,-1.10904584e-05, 1.23157878e-05,
  1.79496052e-05,-1.03363099e-04,-2.30465955e-05,-1.10285104e-04,
 -3.81187689e-05,-8.30638994e-05,-1.73464760e-05, 1.99641867e-05,
 -5.56857399e-06, 1.55082872e-05,-1.19357525e-06, 1.86956353e-06,
 -3.06466626e-04, 6.11784524e-05,-1.21646735e+00, 7.70798877e-04,
 -2.46717303e-02,-1.39316514e-04]


--- Step 2201 ---
qpos:
[ 3.29275520e-03,-3.21115736e-03, 1.19617127e-02, 4.17600984e-02,
  6.09099883e-03, 7.64888974e-01,-2.99695380e-02, 8.71064227e-01,
  5.82083170e-03, 1.64394501e-02,-9.31254966e-03, 2.60031006e-02,
  1.38139379e+00,-1.03268013e-04, 1.17994676e+00, 6.28866523e-02,
  7.96419869e-03,-3.59969347e-02, 7.31193936e-02, 6.69052155e-01,
 -2.11138613e-01,-6.73355526e-01,-2.33199562e-01]

qacc:
[ -1.77384785, -0.80151367,  1.85097478,  0.54653692,  0.19017138,
  -2.73870622, 11.57846097,-25.66642759, -3.96885126, -1.95343514,
   9.36576955,-22.70168621, -0.43023803,  0.81083895, -1.11971321,
   3.83940921,  1.52288326, -0.27930892, -0.67980954, -7.05013763,
  95.55154931,144.93409757]

qfrc_actuator:
[-8.18149353e-05, 4.30317999e-05, 1.77956578e-04, 8.02390247e-05,
  3.22578170e-08, 2.54523745e-02, 8.54537959e-03, 2.18832898e-03,
 -6.25095966e-05, 3.78659316e-04, 5.07141889e-05, 2.14887969e-05,
  0.00000000e+00,-1.62908376e-03, 0.00000000e+00,-1.53530773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021269430413049586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.21980609e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.21980609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05393404, -0.00937872,  0.06174289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04843024e-05,-1.11206168e-05, 1.62787810e-05, 8.33557829e-06,
  3.08930948e-05,-3.09951530e-05,-4.56872040e-06,-6.70367689e-05,
 -2.34731245e-05,-7.74866611e-05,-2.80882218e-05,-4.54347795e-05,
  4.84816907e-07, 3.38269958e-05,-3.74381914e-06, 1.77859095e-05,
 -3.87519809e-04,-1.56382589e-04,-1.21653041e+00, 8.44159528e-04,
 -2.46924408e-02,-1.41450855e-04]


--- Step 2202 ---
qpos:
[ 3.29138225e-03,-3.21159782e-03, 1.19626796e-02, 4.17610195e-02,
  6.09122077e-03, 7.64886227e-01,-2.99701940e-02, 8.71063175e-01,
  5.82040425e-03, 1.64393973e-02,-9.31319706e-03, 2.60020260e-02,
  1.38146676e+00,-1.02087574e-04, 1.18010950e+00, 6.28854175e-02,
  7.96251963e-03,-3.60043559e-02, 7.31169237e-02, 6.69093834e-01,
 -2.11241501e-01,-6.73256897e-01,-2.33271559e-01]

qacc:
[  2.09025331,  1.55138203, -9.52516405, 24.10126163,  0.27752306,
   0.46308107, -0.85051622, -0.31180132,  0.66238002,  0.98814054,
   1.1334127 ,-15.9633112 , -0.50991808,  0.8623145 , 10.09226809,
 -34.43509247,  1.39611314, -0.20716293, -1.49564751, -7.00591892,
  86.97979141,131.16914102]

qfrc_actuator:
[-6.92824409e-05, 1.44438254e-05, 1.67931982e-04, 1.20282723e-04,
  3.14015938e-05, 2.55097982e-02, 8.55862963e-03, 2.18867877e-03,
 -5.76919458e-05, 4.50952029e-04, 2.72833609e-05,-2.07151423e-05,
  0.00000000e+00,-1.61123857e-03, 0.00000000e+00,-1.70263321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.12563489, -2.92589037,  8.12563489,  9.15946073,
        1.45271882, -2.92589037,  1.45271882, 12.67078094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021432047062872397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59010029e-14,  7.77030086e-14,  1.00000000e+00, -2.01258585e-27,
        1.00000000e+00, -7.77030086e-14, -1.00000000e+00,  0.00000000e+00,
        2.59010029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05388573, -0.00938199,  0.06174118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22284408e-05,-3.10918186e-05,-1.00364410e-05, 4.02915015e-05,
  4.52303446e-05, 3.72895393e-05, 4.61672466e-06,-2.30172562e-06,
  4.11946930e-06, 2.12177869e-05,-4.44644977e-05,-4.73788381e-05,
  8.00894541e-06, 2.73194077e-05,-2.97233142e-06,-1.67564551e-04,
 -6.93815855e-05,-7.52405654e-06,-1.21649559e+00, 7.88716792e-04,
 -2.46761072e-02,-1.43232406e-04]


--- Step 2203 ---
qpos:
[ 3.29085958e-03,-3.21176712e-03, 1.19630209e-02, 4.17623822e-02,
  6.09186955e-03, 7.64884115e-01,-2.99708291e-02, 8.71061062e-01,
  5.82003792e-03, 1.64392887e-02,-9.31411763e-03, 2.60018554e-02,
  1.38153974e+00,-1.00675055e-04, 1.18027233e+00, 6.28811846e-02,
  7.96599914e-03,-3.60123721e-02, 7.31056837e-02, 6.69295912e-01,
 -2.11477545e-01,-6.72997576e-01,-2.33226268e-01]

qacc:
[  7.43888365,  3.00300645,-12.07477063, 20.5437813 ,  0.23770974,
  -1.06233205,  6.9246957 ,-19.35269383,  0.52611412,  2.54973345,
 -13.01698727, 29.14261054, -0.35320116,  0.60349341,  9.21847774,
 -31.98027068,  1.28964246, -0.14877913, -2.19252894, -6.86543847,
  79.83560372,119.74260707]

qfrc_actuator:
[-2.58512085e-05, 5.08854661e-05, 1.43823119e-04, 1.43446269e-04,
  4.98353036e-05, 2.55629144e-02, 8.56688047e-03, 2.13609462e-03,
 -5.46782563e-05, 4.40844102e-04, 1.39845959e-05, 2.59527900e-05,
  0.00000000e+00,-1.60121639e-03, 0.00000000e+00,-1.85390050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.14867194, -2.86110512,  8.14867194,  9.32106325,
        1.95008303, -2.86110512,  1.95008303, 14.19036678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021309030650678226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.60505286e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.60505286e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05391721, -0.00936223,  0.06174249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37676570e-05, 1.87191078e-05,-3.03802572e-05, 2.22652928e-05,
  3.87380535e-05, 7.46955972e-05, 1.60920825e-05,-5.13065305e-05,
  3.14190242e-06,-9.44598619e-06,-1.60220517e-05, 4.51203239e-05,
  9.96731279e-06, 1.97168631e-05,-2.40704179e-05,-1.61928559e-04,
 -5.64494026e-05, 2.93263687e-05,-1.21642156e+00, 7.78226474e-04,
 -2.46570112e-02,-1.44351946e-04]


--- Step 2204 ---
qpos:
[ 3.29120634e-03,-3.21139531e-03, 1.19626479e-02, 4.17632921e-02,
  6.09282641e-03, 7.64881763e-01,-2.99709304e-02, 8.71062881e-01,
  5.81971084e-03, 1.64387726e-02,-9.31503016e-03, 2.60022712e-02,
  1.38161283e+00,-9.93709179e-05, 1.18043480e+00, 6.28768127e-02,
  7.97427584e-03,-3.60207941e-02, 7.30832959e-02, 6.69645830e-01,
 -2.11836364e-01,-6.72589431e-01,-2.33073539e-01]

qacc:
[ 7.59889010e+00, 1.76450714e+00,-3.36898688e+00,-3.69342286e+00,
  1.71434411e-01, 5.06145020e+00,-2.59527549e+01, 7.05410694e+01,
  3.49867702e-01, 6.45363540e-01,-5.55917143e+00, 1.59950313e+01,
  1.74920276e-01,-2.55581917e-01,-1.20491397e-01,-3.76772099e-01,
  1.19929976e+00,-1.01438866e-01,-2.78694545e+00,-6.65650230e+00,
  7.38740783e+01, 1.10244397e+02]

qfrc_actuator:
[ 1.76590590e-05, 9.04081139e-05, 1.11843904e-04, 1.21029041e-04,
  6.03799200e-05, 2.55242370e-02, 8.58982503e-03, 2.33680951e-03,
 -5.27601885e-05, 3.99350996e-04, 6.53746566e-06, 5.34793593e-05,
  0.00000000e+00,-1.61365996e-03, 0.00000000e+00,-1.85240560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.20454049, -2.69671879,  8.20454049,  9.46223684,
        2.51264987, -2.69671879,  2.51264987, 16.28088991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020957091761628216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31100039e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.31100039e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05401158, -0.00932425,  0.06174619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.47637111e-05, 4.46849973e-05,-3.10904325e-05,-2.22383603e-05,
  2.79411748e-05, 4.31030949e-06, 3.80057470e-05, 2.02420324e-04,
  2.00228144e-06,-4.81363238e-05,-9.79866058e-06, 2.74479808e-05,
  8.92058194e-06,-4.23063057e-06,-3.19130346e-05,-1.12728117e-05,
 -2.75708809e-04,-1.78553787e-05,-1.21631654e+00, 7.99811403e-04,
 -2.46354913e-02,-1.44869425e-04]


--- Step 2205 ---
qpos:
[ 3.29207243e-03,-3.21080910e-03, 1.19622669e-02, 4.17635738e-02,
  6.09398497e-03, 7.64879364e-01,-2.99706928e-02, 8.71066391e-01,
  5.81975406e-03, 1.64378103e-02,-9.31510233e-03, 2.60022703e-02,
  1.38168607e+00,-9.84349282e-05, 1.18059682e+00, 6.28744455e-02,
  7.97792101e-03,-3.60242142e-02, 7.30699409e-02, 6.69791225e-01,
 -2.12134180e-01,-6.72389208e-01,-2.32962565e-01]

qacc:
[ 4.55395476e+00,-9.98157254e-01, 6.60432021e+00,-1.76015718e+01,
  1.12347525e-01, 1.95805836e+00,-1.03535578e+01, 2.95890280e+01,
  3.26319210e+00,-3.80243993e+00, 1.44496212e+01,-2.26614720e+01,
  5.25492337e-01,-8.58695164e-01,-6.76841535e+00, 2.25961730e+01,
 -1.15788544e+00, 1.25047998e+00, 2.25818817e+00, 8.95165369e+00,
 -1.26865793e+02,-8.03527931e+01]

qfrc_actuator:
[ 4.31048681e-05, 9.58956740e-05, 1.10986852e-04, 8.97338142e-05,
  6.61390959e-05, 2.55198688e-02, 8.60331211e-03, 2.41864738e-03,
 -3.37494340e-05, 3.92658634e-04, 5.56872734e-05, 3.39719500e-05,
  0.00000000e+00,-1.63933537e-03, 0.00000000e+00,-1.74316079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.87425537, -3.54723544,  7.87425537, 19.25293546,
       23.56697184, -3.54723544, 23.56697184, 60.95100634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002153588276764415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57761206e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.57761206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319361, -0.05814046,  0.06173999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67376711e-05, 2.31044031e-05, 3.76975222e-06,-3.08938241e-05,
  1.82962568e-05, 1.20489463e-05, 2.48265189e-05, 8.77177922e-05,
  1.90481189e-05,-3.44301844e-05, 3.89647630e-05,-2.13730023e-05,
  2.95835355e-06,-2.43807446e-05,-1.74220592e-05, 1.04169781e-04,
 -6.74739082e-04,-1.29153176e-04,-1.21618604e+00, 8.44404858e-04,
 -2.46118680e-02,-1.44828557e-04]


--- Step 2206 ---
qpos:
[ 3.29289238e-03,-3.21022964e-03, 1.19619876e-02, 4.17631539e-02,
  6.09487399e-03, 7.64877942e-01,-2.99713738e-02, 8.71067374e-01,
  5.82036954e-03, 1.64364679e-02,-9.31402426e-03, 2.60020050e-02,
  1.38175936e+00,-9.77835430e-05, 1.18075837e+00, 6.28760437e-02,
  7.97721174e-03,-3.60234854e-02, 7.30610475e-02, 6.69751808e-01,
 -2.12379908e-01,-6.72376197e-01,-2.32889544e-01]

qacc:
[  -0.40201976,  -1.73837541,   9.14563338, -21.44291793,  -0.1508917 ,
   -0.61874787,   9.35012536, -39.33728937,   5.03331215,  -4.27137086,
   15.60069606, -21.71845835,   0.52593247,  -0.83644028, -12.70945912,
   43.35057294,  -1.08860757,   1.03724392,   1.11540678,   6.88833449,
 -114.73603   , -71.60611502]

qfrc_actuator:
[ 3.99616832e-05, 8.10724574e-05, 1.10629765e-04, 5.34683147e-05,
  3.35048956e-05, 2.55892460e-02, 8.55784802e-03, 2.28780462e-03,
 -4.82981435e-06, 3.89295954e-04, 1.20207079e-04, 2.25177863e-05,
  0.00000000e+00,-1.65489411e-03, 0.00000000e+00,-1.53584871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.74513397,  3.82095233, -7.74513397,  8.171557  ,
       -0.94217079,  3.82095233, -0.94217079,  6.72656776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021915792987230315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53292916e-14, -2.53292916e-14,  1.00000000e+00,  6.41573015e-28,
        1.00000000e+00,  2.53292916e-14, -1.00000000e+00,  0.00000000e+00,
        2.53292916e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05303892, -0.05808001,  0.06173589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37390903e-06,-2.45871668e-06, 3.80551396e-06,-3.57491351e-05,
 -2.44228253e-05, 8.38148184e-05,-3.75716888e-05,-1.27717747e-04,
  2.94498191e-05,-1.54409880e-05, 6.14789588e-05,-1.19958518e-05,
 -4.46589536e-06,-2.14150341e-05, 1.96294862e-06, 2.10497534e-04,
 -1.59445410e-04,-3.74721582e-05,-1.21629744e+00, 7.45458093e-04,
 -2.46306088e-02,-1.41330942e-04]


--- Step 2207 ---
qpos:
[ 3.29332369e-03,-3.20982841e-03, 1.19620314e-02, 4.17630003e-02,
  6.09542420e-03, 7.64877056e-01,-2.99728251e-02, 8.71067507e-01,
  5.82132708e-03, 1.64348707e-02,-9.31302287e-03, 2.60020189e-02,
  1.38183256e+00,-9.70749961e-05, 1.18092000e+00, 6.28790915e-02,
  7.97239484e-03,-3.60192936e-02, 7.30527122e-02, 6.69544007e-01,
 -2.12580635e-01,-6.72532994e-01,-2.32851174e-01]

qacc:
[-3.39780131e+00,-5.83291346e-01, 6.25888564e-01, 3.58409037e+00,
 -1.89484208e-01, 1.31070813e+00,-1.51477093e+00,-9.18714539e+00,
  2.98547459e+00, 4.46674436e-01,-3.27030250e+00, 8.42434094e+00,
 -1.21568279e-02, 2.50509224e-02,-4.25840737e+00, 1.50712788e+01,
 -1.02690863e+00, 8.65720288e-01, 1.39525622e-01, 5.31299485e+00,
 -1.04553692e+02,-6.43719067e+01]

qfrc_actuator:
[ 2.00228399e-05, 7.19507975e-05, 1.28218896e-04, 6.78032033e-05,
  1.37304850e-05, 2.55953494e-02, 8.51364053e-03, 2.24592746e-03,
  1.19324101e-05, 3.52538064e-04, 1.04539691e-04, 3.36627876e-05,
  0.00000000e+00,-1.64656652e-03, 0.00000000e+00,-1.46773788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.74710606,  3.81695225, -7.74710606,  8.29966381,
       -0.68338534,  3.81695225, -0.68338534,  7.24932539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021945139125766414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26477100e-14, -2.52954201e-14,  1.00000000e+00,  3.19929138e-28,
        1.00000000e+00,  2.52954201e-14, -1.00000000e+00,  0.00000000e+00,
        1.26477100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05301348, -0.0580859 ,  0.06173539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00074559e-05,-1.12620629e-05, 1.63096418e-05, 1.36655455e-05,
 -3.07206748e-05, 4.10910952e-05,-3.58325514e-05,-4.32309262e-05,
  1.75958383e-05,-3.31585122e-05,-1.16964468e-05, 1.23771393e-05,
 -7.13204581e-06, 1.26689988e-06, 2.20950024e-05, 7.95664704e-05,
 -2.61066246e-05, 7.28866497e-05,-1.21636420e+00, 6.98700304e-04,
 -2.46448187e-02,-1.38745233e-04]


--- Step 2208 ---
qpos:
[ 3.29351276e-03,-3.20986601e-03, 1.19629693e-02, 4.17633585e-02,
  6.09588712e-03, 7.64876455e-01,-2.99741771e-02, 8.71067113e-01,
  5.82247807e-03, 1.64334928e-02,-9.31325462e-03, 2.60025319e-02,
  1.38190579e+00,-9.65594921e-05, 1.18108170e+00, 6.28829550e-02,
  7.96369142e-03,-3.60121917e-02, 7.30416020e-02, 6.69181542e-01,
 -2.12742001e-01,-6.72844934e-01,-2.32844580e-01]

qacc:
[-2.09012812e+00,-2.02110990e+00, 4.21245562e+00, 3.52820235e+00,
 -4.85694245e-02,-8.08213771e-01, 4.31471711e+00,-1.03858658e+01,
  1.64529684e+00, 4.76036018e+00,-1.86656859e+01, 2.91187753e+01,
  2.08452209e-01,-3.78272942e-01,-2.37805834e+00, 8.42482648e+00,
 -9.71631228e-01, 7.27543439e-01,-6.93712960e-01, 4.11556465e+00,
 -9.59859054e+01,-5.83702510e+01]

qfrc_actuator:
[ 8.12020004e-06, 4.86716177e-05, 1.74066301e-04, 9.40584021e-05,
  1.96016756e-05, 2.56167973e-02, 8.52366389e-03, 2.22125769e-03,
  2.14014921e-05, 3.66780285e-04, 4.15268133e-05, 5.79293140e-05,
  0.00000000e+00,-1.65964032e-03, 0.00000000e+00,-1.42896037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.76559688,  3.77919066, -7.76559688,  8.45529549,
       -0.37206439,  3.77919066, -0.37206439,  7.87183431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002169059308157896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55922699e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.55922699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0530904 , -0.05814446,  0.06173773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24789827e-05,-2.56457933e-05, 4.59983934e-05, 2.66032713e-05,
 -7.90877221e-06, 3.57955337e-05, 1.27168933e-05,-2.54172599e-05,
  9.95782519e-06,-6.13061167e-06,-7.08674234e-05, 2.26824671e-05,
 -3.20237246e-06,-1.45454537e-05, 1.48587388e-05, 4.50807512e-05,
 -1.77408678e-04, 1.98384461e-04,-1.21639920e+00, 6.91739239e-04,
 -2.46561595e-02,-1.36838761e-04]


--- Step 2209 ---
qpos:
[ 3.29355751e-03,-3.21018074e-03, 1.19639196e-02, 4.17637239e-02,
  6.09654374e-03, 7.64876677e-01,-2.99753707e-02, 8.71066370e-01,
  5.82373329e-03, 1.64327547e-02,-9.31444166e-03, 2.60018766e-02,
  1.38197912e+00,-9.64619990e-05, 1.18124355e+00, 6.28862615e-02,
  7.94952567e-03,-3.60129638e-02, 7.30467449e-02, 6.68763105e-01,
 -2.12644465e-01,-6.73208056e-01,-2.33086152e-01]

qacc:
[-1.26161131e+00,-3.83904749e-01, 8.11604073e-01,-5.09036161e-01,
  1.07748135e-01, 4.80579679e-02, 1.96087905e+00,-6.49883287e+00,
  8.67554663e-01, 1.10883715e+00, 2.20332702e+00,-2.13641824e+01,
  3.14842667e-01,-6.36780572e-01, 1.88423198e+00,-6.32374041e+00,
 -1.36558087e+00,-1.96851089e+00, 4.06325656e+00, 3.14222535e+00,
  2.05844002e+01,-1.82095556e+02]

qfrc_actuator:
[ 1.04832576e-06, 1.72298078e-05, 1.65157804e-04, 9.16084896e-05,
  4.07442352e-05, 2.57007457e-02, 8.54791190e-03, 2.20692989e-03,
  2.65064732e-05, 4.29003148e-04, 4.55166401e-06, 9.74023520e-07,
  0.00000000e+00,-1.68532760e-03, 0.00000000e+00,-1.46098644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.66342774,  5.49413393, -6.66342774, 42.16384981,
       40.66300243,  5.49413393, 40.66300243, 57.95350474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002205150056247787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.51734122e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.51734122e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426825, -0.00689961,  0.06173345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.44015444e-06,-3.51576107e-05,-7.63064183e-06,-1.44121595e-06,
  1.75986349e-05, 1.05503056e-04, 3.20218778e-05,-1.33783101e-05,
  5.38569791e-06, 4.51865596e-05,-4.61670418e-05,-5.92264010e-05,
 -5.07439164e-06,-3.04558571e-05, 8.05541749e-06,-2.85028650e-05,
 -5.43639950e-04, 3.36271180e-04,-1.21641197e+00, 7.15647796e-04,
 -2.46656927e-02,-1.35456878e-04]


--- Step 2210 ---
qpos:
[ 3.29317185e-03,-3.21038456e-03, 1.19643459e-02, 4.17636998e-02,
  6.09742294e-03, 7.64877718e-01,-2.99759858e-02, 8.71064747e-01,
  5.82504024e-03, 1.64321118e-02,-9.31538662e-03, 2.60005304e-02,
  1.38205248e+00,-9.66782727e-05, 1.18140571e+00, 6.28868233e-02,
  7.94172887e-03,-3.60148986e-02, 7.30522012e-02, 6.68552358e-01,
 -2.12718894e-01,-6.73363954e-01,-2.33172473e-01]

qacc:
[-3.79635251e+00, 8.16293434e-01,-1.04167447e+00,-4.95515620e+00,
  1.24298977e-01,-2.01557600e+00, 9.94674019e+00,-2.00389152e+01,
  4.56713093e-01,-1.97424066e+00, 1.01378471e+01,-2.25526532e+01,
  3.56991384e-02,-2.35960049e-01, 8.72281191e+00,-2.98890034e+01,
  1.59223727e+00,-2.90669865e-01, 7.83468195e-02,-7.31257365e+00,
  1.02653300e+02, 1.56034353e+02]

qfrc_actuator:
[-2.08787339e-05, 3.41621629e-05, 1.41672492e-04, 7.22354798e-05,
  5.30508953e-05, 2.57505322e-02, 8.58059564e-03, 2.16333381e-03,
  2.90048407e-05, 4.30742956e-04, 1.89198349e-05,-3.22361039e-05,
  0.00000000e+00,-1.70052816e-03, 0.00000000e+00,-1.60545902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002241622454194403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95276545e-14, -9.90553090e-14,  1.00000000e+00,  4.90597712e-27,
        1.00000000e+00,  9.90553090e-14, -1.00000000e+00,  0.00000000e+00,
        4.95276545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05354454, -0.00939419,  0.06172942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21509361e-05,-4.36895388e-06,-3.17449739e-05,-2.11730281e-05,
  2.02197443e-05, 1.14142629e-04, 5.67863087e-05,-3.95644675e-05,
  2.66916474e-06, 1.49817912e-05, 1.59913836e-05,-3.40179818e-05,
 -1.01015878e-05,-2.46228569e-05,-3.19369734e-06,-1.45912967e-04,
 -7.03222651e-04,-5.22128878e-05,-1.21649925e+00, 8.23495125e-04,
 -2.46889626e-02,-1.37525554e-04]


--- Step 2211 ---
qpos:
[ 3.29252616e-03,-3.21026438e-03, 1.19640537e-02, 4.17634295e-02,
  6.09808686e-03, 7.64879080e-01,-2.99762679e-02, 8.71063021e-01,
  5.82602219e-03, 1.64314726e-02,-9.31619169e-03, 2.60001965e-02,
  1.38212573e+00,-9.68417877e-05, 1.18156780e+00, 6.28859843e-02,
  7.93974454e-03,-3.60177027e-02, 7.30542256e-02, 6.68528863e-01,
 -2.12948582e-01,-6.73332734e-01,-2.33120333e-01]

qacc:
[-2.31054368e+00, 1.93453733e+00,-5.22988591e+00, 1.87375552e+00,
 -1.19761576e-01,-6.57608893e-01, 2.91398046e+00,-4.07329087e+00,
 -2.82963356e+00, 1.70365100e+00,-1.03322156e+01, 2.76169865e+01,
 -2.07489869e-01, 2.64952568e-01, 4.13740194e+00,-1.45930521e+01,
  1.45311751e+00,-2.17346884e-01,-8.57959228e-01,-7.18108223e+00,
  9.27659632e+01, 1.40290105e+02]

qfrc_actuator:
[-3.36224564e-05, 6.20891834e-05, 1.09972554e-04, 6.08550455e-05,
  2.44443984e-05, 2.57262383e-02, 8.58235222e-03, 2.15610620e-03,
  1.21974097e-05, 4.31986931e-04, 2.77734708e-05, 1.98014668e-05,
  0.00000000e+00,-1.69162110e-03, 0.00000000e+00,-1.67296775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.96647855, -3.33496573,  7.96647855,  9.49234081,
        2.04473578, -3.33496573,  2.04473578, 13.52077475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022742613468066247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.4408431e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.4408431e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05344947, -0.00941183,  0.06172595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33738228e-05, 1.80158358e-05,-3.72462575e-05,-1.30776683e-05,
 -1.95158210e-05, 4.88736659e-05, 2.96171100e-05,-2.76908714e-06,
 -1.67281832e-05, 1.15097189e-05, 1.27637573e-05, 5.25775675e-05,
 -1.17950957e-05, 1.08041545e-07,-2.15338374e-05,-7.69498679e-05,
 -1.82936904e-04, 6.24143005e-05,-1.21645700e+00, 7.42295076e-04,
 -2.46710798e-02,-1.39011813e-04]


--- Step 2212 ---
qpos:
[ 3.29207748e-03,-3.20982130e-03, 1.19630325e-02, 4.17630255e-02,
  6.09846364e-03, 7.64880263e-01,-2.99765780e-02, 8.71062327e-01,
  5.82713988e-03, 1.64307941e-02,-9.31656029e-03, 2.60004734e-02,
  1.38219892e+00,-9.69332942e-05, 1.18172975e+00, 6.28843084e-02,
  7.94310668e-03,-3.60211386e-02, 7.30496142e-02, 6.68675467e-01,
 -2.13319464e-01,-6.73130960e-01,-2.32943422e-01]

qacc:
[ 1.70066100e+00, 2.18606661e+00,-6.61650001e+00, 5.23745479e+00,
 -1.60097823e-01, 1.63059392e+00,-7.99060578e+00, 1.96493242e+01,
  1.19860716e+00,-1.68423593e-02,-2.59844880e+00, 1.25054500e+01,
 -1.54231267e-01, 2.19357981e-01, 2.33410663e+00,-8.43491117e+00,
  1.33661755e+00,-1.57923783e-01,-1.65895958e+00,-6.95824391e+00,
  8.45341435e+01, 1.27228369e+02]

qfrc_actuator:
[-2.31017680e-05, 7.86029306e-05, 7.37479906e-05, 5.42825730e-05,
  7.14410458e-06, 2.56754194e-02, 8.56556660e-03, 2.20577986e-03,
  1.96678029e-05, 4.32986706e-04, 5.10763831e-05, 5.05501400e-05,
  0.00000000e+00,-1.68624311e-03, 0.00000000e+00,-1.71229699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.97518214, -3.31409818,  7.97518214,  9.74913322,
        2.67781448, -3.31409818,  2.67781448, 15.08036651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002273462697141626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44170055e-14, -2.44170055e-14,  1.00000000e+00,  5.96190159e-28,
        1.00000000e+00,  2.44170055e-14, -1.00000000e+00,  0.00000000e+00,
        2.44170055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0534481 , -0.00940198,  0.06172603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01480528e-05, 1.83317179e-05,-3.75396015e-05,-7.34250665e-06,
 -2.60518377e-05,-1.80178754e-05,-3.82490890e-06, 5.20646708e-05,
  6.98928367e-06, 1.23563592e-05, 2.90910805e-05, 3.27116548e-05,
 -6.89692405e-06, 2.97952332e-06,-2.11580762e-05,-4.70062505e-05,
 -2.94999340e-05, 5.30843093e-05,-1.21637028e+00, 7.15112723e-04,
 -2.46501971e-02,-1.39776390e-04]


--- Step 2213 ---
qpos:
[ 3.29175821e-03,-3.20909725e-03, 1.19618186e-02, 4.17625138e-02,
  6.09840170e-03, 7.64881131e-01,-2.99769566e-02, 8.71061904e-01,
  5.82868318e-03, 1.64299306e-02,-9.31623801e-03, 2.60007724e-02,
  1.38227214e+00,-9.72282540e-05, 1.18189147e+00, 6.28828081e-02,
  7.95142127e-03,-3.60250137e-02, 7.30356308e-02, 6.68977738e-01,
 -2.13819667e-01,-6.72772295e-01,-2.32652907e-01]

qacc:
[ 1.12480842e+00, 6.86002404e-01,-1.45637843e+00,-3.02186361e-01,
 -2.44365691e-01, 2.42332584e-01,-1.92166388e+00, 5.19397734e+00,
  3.73684165e+00,-2.13693527e+00, 7.15817782e+00,-7.72807459e+00,
  1.96560346e-01,-3.66454359e-01,-8.81267686e-01, 2.55597480e+00,
  1.23811231e+00,-1.09792517e-01,-2.34300428e+00,-6.67225793e+00,
  7.76675531e+01, 1.16371400e+02]

qfrc_actuator:
[-1.67280949e-05, 1.05892830e-04, 7.06117384e-05, 5.05809073e-05,
 -2.09671316e-05, 2.56445621e-02, 8.55563605e-03, 2.21749038e-03,
  4.13741475e-05, 4.16128939e-04, 8.26963131e-05, 5.07694835e-05,
  0.00000000e+00,-1.70077555e-03, 0.00000000e+00,-1.69921672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.0143564 , -3.21820888,  8.0143564 , 10.02054808,
        3.44705638, -3.21820888,  3.44705638, 17.2206226 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022457459253106757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26938416e-15, -4.94367155e-14,  1.00000000e+00,  4.58247908e-28,
        1.00000000e+00,  4.94367155e-14, -1.00000000e+00,  0.00000000e+00,
        9.26938416e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05352081, -0.00937035,  0.06172892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67067277e-06, 2.94743021e-05,-4.21982358e-06,-4.35648990e-06,
 -3.98060937e-05,-3.99630392e-05,-1.23633068e-05, 1.22026062e-05,
  2.19059972e-05,-2.50277640e-06, 3.88998338e-05, 2.39371493e-06,
 -3.56909299e-06,-1.50228879e-05,-1.74683485e-05, 7.16438332e-06,
 -1.50596517e-04,-4.69636429e-05,-1.21624967e+00, 7.25874217e-04,
 -2.46268120e-02,-1.39886939e-04]


--- Step 2214 ---
qpos:
[ 3.29117309e-03,-3.20835827e-03, 1.19609209e-02, 4.17623054e-02,
  6.09776436e-03, 7.64881809e-01,-2.99776797e-02, 8.71059556e-01,
  5.83012952e-03, 1.64294215e-02,-9.31626207e-03, 2.60007294e-02,
  1.38234530e+00,-9.74339651e-05, 1.18205344e+00, 6.28784293e-02,
  7.95531345e-03,-3.60339501e-02, 7.30354659e-02, 6.69224295e-01,
 -2.14063585e-01,-6.72464831e-01,-2.32608417e-01]

qacc:
[  -2.3234501 ,  -0.23465986,  -0.4064976 ,   5.12964037,  -0.32037612,
   -2.65674523,  12.79682794, -34.40329682,  -0.86278958,   0.73355399,
   -0.48853622,  -5.14351253,  -0.32215881,   0.44537469,   9.08224134,
  -31.180607  ,  -1.10560399,  -1.26533931,   3.45463543,   2.9651146 ,
   20.24764988,-180.45757476]

qfrc_actuator:
[-3.06064540e-05, 1.04055940e-04, 8.70838397e-05, 6.63818912e-05,
 -5.52984973e-05, 2.56258898e-02, 8.53211761e-03, 2.11800724e-03,
  3.57726331e-05, 4.41975916e-04, 6.56195747e-05, 3.30155133e-05,
  0.00000000e+00,-1.69150232e-03, 0.00000000e+00,-1.85064747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63505806,  0.15016385,  8.63505806,  8.65902682,
       -1.30322908,  0.15016385, -1.30322908, 83.57756113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002262047482531976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45402237e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.45402237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042616 , -0.00697791,  0.06172717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36786622e-05, 1.35793898e-05, 2.18965638e-05, 1.68347177e-05,
 -5.22014623e-05,-4.28902653e-05,-3.24607313e-05,-1.00854790e-04,
 -4.97846912e-06, 3.26246510e-05,-1.27132014e-05,-1.64687368e-05,
 -5.90906251e-06, 4.56054049e-06,-9.49402879e-06,-1.53803279e-04,
 -4.80208160e-04,-2.14336930e-04,-1.21610227e+00, 7.63323608e-04,
 -2.46013664e-02,-1.39393139e-04]


--- Step 2215 ---
qpos:
[ 3.29077128e-03,-3.20773618e-03, 1.19603370e-02, 4.17619598e-02,
  6.09723552e-03, 7.64882094e-01,-2.99786185e-02, 8.71055703e-01,
  5.83149730e-03, 1.64297390e-02,-9.31704371e-03, 2.60007868e-02,
  1.38241841e+00,-9.75472701e-05, 1.18221530e+00, 6.28725956e-02,
  7.95521809e-03,-3.60477351e-02, 7.30445515e-02, 6.69420044e-01,
 -2.14074241e-01,-6.72204286e-01,-2.32788365e-01]

qacc:
[ 1.62067588e+00,-1.31801763e+00, 5.04804022e+00,-7.83107523e+00,
  6.07163960e-02,-2.54585500e+00, 1.11547703e+01,-2.77793720e+01,
 -7.22828501e-01, 3.41814137e+00,-1.10236638e+01, 1.33611106e+01,
 -1.89046911e-01, 2.85642622e-01, 4.24659033e+00,-1.50547353e+01,
 -9.96881708e-01,-1.21215392e+00, 2.31263002e+00, 2.60726754e+00,
  1.83679314e+01,-1.64461308e+02]

qfrc_actuator:
[-2.07872847e-05, 8.48966222e-05, 9.71364436e-05, 5.80112049e-05,
 -2.20392484e-05, 2.55967764e-02, 8.51850250e-03, 2.04265829e-03,
  3.18913693e-05, 5.10733100e-04, 3.78383244e-05, 4.03382635e-05,
  0.00000000e+00,-1.68590965e-03, 0.00000000e+00,-1.92027469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.43139352, -1.87039573, -8.43139352,  9.40141468,
       -3.44870677, -1.87039573, -3.44870677, 24.18248761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022564530852835774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92021320e-14,  1.23005330e-14,  1.00000000e+00, -6.05212447e-28,
        1.00000000e+00, -1.23005330e-14, -1.00000000e+00,  0.00000000e+00,
        4.92021320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425745, -0.00697718,  0.06172796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.43131722e-06,-6.34048741e-06, 1.61404537e-05,-6.70210099e-06,
  9.82763580e-06,-6.25253892e-05,-2.88498843e-05,-7.99874533e-05,
 -4.01303083e-06, 8.36909049e-05,-2.31698990e-05, 7.96223229e-06,
 -2.78045965e-06, 5.82198897e-06,-2.51319943e-05,-8.02529211e-05,
 -3.85177167e-04,-1.33220394e-05,-1.21629503e+00, 7.02007439e-04,
 -2.46364320e-02,-1.38810847e-04]


--- Step 2216 ---
qpos:
[ 3.29049005e-03,-3.20716136e-03, 1.19601592e-02, 4.17615016e-02,
  6.09736842e-03, 7.64881892e-01,-2.99794428e-02, 8.71051312e-01,
  5.83315295e-03, 1.64305265e-02,-9.31783390e-03, 2.60016153e-02,
  1.38249150e+00,-9.75884209e-05, 1.18237659e+00, 6.28692807e-02,
  7.95148408e-03,-3.60661850e-02, 7.30590418e-02, 6.69568818e-01,
 -2.13870536e-01,-6.71986929e-01,-2.33174953e-01]

qacc:
[ 1.07185845e+00,-1.43173083e+00, 5.48545613e+00,-8.04487904e+00,
  3.69046960e-01,-1.88103995e+00, 6.61669736e+00,-1.20352443e+01,
  2.50290880e+00, 2.22750532e+00,-1.03055620e+01, 2.33285074e+01,
  1.28559543e-01,-1.27568087e-01,-8.46245161e+00, 2.83496641e+01,
 -9.09665202e-01,-1.16621656e+00, 1.35117422e+00, 2.29607075e+00,
  1.68248671e+01,-1.51302093e+02]

qfrc_actuator:
[-1.48450416e-05, 9.09749700e-05, 1.20965832e-04, 5.32093161e-05,
  3.35680028e-05, 2.55794298e-02, 8.52859100e-03, 2.01764659e-03,
  4.68152635e-05, 5.33611719e-04, 3.96894141e-05, 8.01539518e-05,
  0.00000000e+00,-1.68256417e-03, 0.00000000e+00,-1.78131825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48082414, -1.63168586, -8.48082414,  9.29062734,
       -3.40059049, -1.63168586, -3.40059049, 26.31121795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002227387463498938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49220902e-14,  2.49220902e-14,  1.00000000e+00, -6.21110579e-28,
        1.00000000e+00, -2.49220902e-14, -1.00000000e+00,  0.00000000e+00,
        2.49220902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424757, -0.00694919,  0.06173137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.20699780e-06, 5.56916577e-06, 2.42761712e-05,-4.64506957e-06,
  6.00100274e-05,-6.02395611e-05,-7.97166067e-06,-2.96958825e-05,
  1.48388846e-05, 6.52346859e-05, 1.65671023e-05, 4.27567969e-05,
 -8.71940760e-07, 4.67678772e-06,-2.28978110e-05, 1.30711438e-04,
 -2.68278449e-04, 2.22637365e-04,-1.21642512e+00, 6.48118034e-04,
 -2.46652272e-02,-1.39098234e-04]


--- Step 2217 ---
qpos:
[ 3.29062733e-03,-3.20674682e-03, 1.19603017e-02, 4.17617004e-02,
  6.09757395e-03, 7.64881411e-01,-2.99803412e-02, 8.71048718e-01,
  5.83497509e-03, 1.64310665e-02,-9.31771608e-03, 2.60032886e-02,
  1.38256457e+00,-9.75854304e-05, 1.18253795e+00, 6.28655957e-02,
  7.94419386e-03,-3.60806684e-02, 7.30758028e-02, 6.69541600e-01,
 -2.13616284e-01,-6.71948233e-01,-2.33597305e-01]

qacc:
[ 3.68648057e+00, 2.39277596e-01,-3.94443577e+00, 1.49310215e+01,
  4.01792854e-02, 2.94871672e+00,-1.42237404e+01, 3.44732323e+01,
  1.48524682e+00,-1.12867157e+00,-2.19899986e-02, 1.33786647e+01,
 -6.80362862e-02, 1.11164051e-01, 1.23564889e+00,-4.14556381e+00,
 -8.89052814e-01, 9.91600263e-01, 5.67673375e-01, 6.91527660e+00,
 -1.09227193e+02,-6.85803006e+01]

qfrc_actuator:
[ 6.51307992e-06, 7.66677669e-05, 1.35091058e-04, 8.60843312e-05,
  1.32242581e-05, 2.55871473e-02, 8.53490515e-03, 2.11123385e-03,
  5.49346227e-05, 4.93484067e-04, 7.66265378e-05, 1.21001909e-04,
  0.00000000e+00,-1.68058372e-03, 0.00000000e+00,-1.80464553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.06023165, -6.15307803,  6.06023165, 32.04434077,
       23.05476431, -6.15307803, 23.05476431, 31.3432449 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002201364393149219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26083513e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.26083513e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05289089, -0.05824823,  0.06173457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15345325e-05,-6.39221091e-06, 1.81013012e-05, 3.38631150e-05,
  6.57948213e-06,-2.81648677e-05,-7.37423751e-06, 9.07465002e-05,
  8.56687324e-06, 1.59576123e-06, 5.39315462e-05, 4.50467591e-05,
  4.07345060e-07, 3.18112247e-06, 2.58950749e-06,-1.93060342e-05,
 -1.35154463e-04, 4.83946838e-04,-1.21650640e+00, 6.02772138e-04,
 -2.46890639e-02,-1.40203427e-04]


--- Step 2218 ---
qpos:
[ 3.29170942e-03,-3.20639654e-03, 1.19603164e-02, 4.17626559e-02,
  6.09728471e-03, 7.64880617e-01,-2.99811905e-02, 8.71048296e-01,
  5.83653616e-03, 1.64307538e-02,-9.31620386e-03, 2.60054834e-02,
  1.38263763e+00,-9.75507810e-05, 1.18269900e+00, 6.28640038e-02,
  7.93342215e-03,-3.60918376e-02, 7.30912991e-02, 6.69353188e-01,
 -2.13318098e-01,-6.72072279e-01,-2.34052453e-01]

qacc:
[   8.29011983,   1.81601272,  -9.8176624 ,  23.19122829,  -0.2758557 ,
    3.22763313, -16.04798056,  40.64554118,  -2.21862609,  -3.94599498,
   10.23934807,  -2.8202514 ,   0.13028068,  -0.14830939,  -6.78633674,
   23.05373422,  -0.87037088,   0.82857026,  -0.31620298,   5.48048439,
 -100.00404309, -61.94938601]

qfrc_actuator:
[ 5.45271986e-05, 6.80138058e-05, 1.25564290e-04, 1.23088216e-04,
 -3.46130500e-05, 2.55743858e-02, 8.53909741e-03, 2.22060419e-03,
  4.12248517e-05, 4.16082005e-04, 1.33702137e-04, 1.44334555e-04,
  0.00000000e+00,-1.67942313e-03, 0.00000000e+00,-1.69267742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.19268237,  4.78038671, -7.19268237,  7.95304354,
       -1.0281395 ,  4.78038671, -1.0281395 ,  7.08940075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002194260921096425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52983365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.52983365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05292048, -0.0582857 ,  0.06173568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.86216444e-05,-7.04909938e-06,-7.45378838e-06, 3.80130238e-05,
 -4.48897880e-05,-2.69037774e-05, 5.29295342e-07, 1.10309349e-04,
 -1.34655355e-05,-6.34548563e-05, 6.55967901e-05, 2.61385972e-05,
  6.98666618e-07, 2.26470010e-06,-4.46250201e-06, 1.10421160e-04,
  3.37042488e-05, 2.02965362e-04,-1.21654594e+00, 6.51275985e-04,
 -2.46957991e-02,-1.39794068e-04]


--- Step 2219 ---
qpos:
[ 3.29266896e-03,-3.20631702e-03, 1.19606454e-02, 4.17633530e-02,
  6.09685296e-03, 7.64879321e-01,-2.99807449e-02, 8.71049483e-01,
  5.83757594e-03, 1.64298864e-02,-9.31453300e-03, 2.60076441e-02,
  1.38271069e+00,-9.74964084e-05, 1.18286002e+00, 6.28634090e-02,
  7.91924884e-03,-3.61002176e-02, 7.31025161e-02, 6.69015931e-01,
 -2.12981213e-01,-6.72345674e-01,-2.34537803e-01]

qacc:
[-1.06122810e+00,-1.76752657e+00, 6.87636268e+00,-1.16552544e+01,
 -7.83529654e-02,-1.36759122e+00, 3.40563082e-02, 1.95797647e+01,
 -4.53219920e+00,-1.23796041e+00, 3.50946452e+00,-3.96135986e+00,
  5.27111517e-02,-5.56738515e-02,-3.06286472e+00, 1.06352954e+01,
 -8.50399787e-01, 6.97311564e-01,-1.06978426e+00, 4.40490582e+00,
 -9.22508598e+01,-5.64601704e+01]

qfrc_actuator:
[ 4.68306857e-05, 4.49672406e-05, 1.37671707e-04, 1.08949055e-04,
 -2.73976131e-05, 2.55672340e-02, 8.61293357e-03, 2.30284387e-03,
  1.47785738e-05, 3.70277465e-04, 1.31000710e-04, 1.39390635e-04,
  0.00000000e+00,-1.67875963e-03, 0.00000000e+00,-1.64386830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.17474782,  4.80726227, -7.17474782,  8.18523486,
       -0.67330115,  4.80726227, -0.67330115,  7.63147443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00216179640289952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.28391256e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.28391256e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05304051, -0.0583694 ,  0.0617393 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.31661773e-06,-2.69011829e-05, 1.10392312e-05,-1.39642353e-05,
 -1.29357814e-05,-1.84111710e-05, 7.19238226e-05, 8.39021279e-05,
 -2.68571448e-05,-6.66298260e-05,-6.84163849e-06,-4.89152487e-06,
  8.58112885e-07, 1.47635426e-06, 7.76668542e-06, 5.38201070e-05,
 -6.15855212e-05,-3.20714309e-05,-1.21656135e+00, 7.31627942e-04,
 -2.47009189e-02,-1.40062427e-04]


--- Step 2220 ---
qpos:
[ 3.29352945e-03,-3.20670165e-03, 1.19609802e-02, 4.17635770e-02,
  6.09660323e-03, 7.64878454e-01,-2.99793505e-02, 8.71049504e-01,
  5.83829046e-03, 1.64286637e-02,-9.31350971e-03, 2.60097602e-02,
  1.38278376e+00,-9.74306845e-05, 1.18302112e+00, 6.28627362e-02,
  7.90175693e-03,-3.61062319e-02, 7.31068848e-02, 6.68540142e-01,
 -2.12609764e-01,-6.72757130e-01,-2.35051082e-01]

qacc:
[-8.61451531e-01,-1.60302125e+00, 6.82387699e+00,-1.46800762e+01,
  1.02253520e-01,-4.02573851e+00, 1.65716984e+01,-2.91361309e+01,
 -2.85106699e+00, 1.25399762e+00,-4.95453399e+00, 5.46848575e+00,
 -1.65968306e-02, 2.87284218e-02, 3.56263657e-01,-1.06911889e+00,
 -8.29651568e-01, 5.91417094e-01,-1.71211040e+00, 3.61079501e+00,
 -8.57257665e+01,-5.19095029e+01]

qfrc_actuator:
[ 4.19024916e-05,-4.23531682e-06, 1.26863273e-04, 8.25891647e-05,
 -5.05750897e-06, 2.56347725e-02, 8.67403271e-03, 2.24423212e-03,
 -1.19233013e-06, 3.43474564e-04, 9.31110523e-05, 1.35580461e-04,
  0.00000000e+00,-1.67839511e-03, 0.00000000e+00,-1.65044840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.17974814,  4.79979098, -7.17974814,  8.4893891 ,
       -0.21985127,  4.79979098, -0.21985127,  8.3075    ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021090731820407604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63201636e-14, -2.63201636e-14,  1.00000000e+00,  6.92751013e-28,
        1.00000000e+00,  2.63201636e-14, -1.00000000e+00,  0.00000000e+00,
        2.63201636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323137, -0.05848929,  0.06174487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11809887e-06,-6.25772139e-05,-1.54955607e-05,-2.74044435e-05,
  1.65300781e-05, 7.42321542e-05, 6.82836191e-05,-5.51283413e-05,
 -1.67641351e-05,-6.56845974e-05,-5.26769852e-05,-7.00276245e-06,
  7.80670590e-07, 9.85368989e-07, 6.16261662e-06,-3.37141047e-06,
 -3.59754356e-04,-2.28531835e-04,-1.21655983e+00, 8.36752636e-04,
 -2.47050880e-02,-1.40861502e-04]


--- Step 2221 ---
qpos:
[ 3.29432420e-03,-3.20752244e-03, 1.19608947e-02, 4.17638557e-02,
  6.09658266e-03, 7.64878800e-01,-2.99783375e-02, 8.71047094e-01,
  5.83880772e-03, 1.64268478e-02,-9.31204066e-03, 2.60117689e-02,
  1.38285681e+00,-9.73528601e-05, 1.18318184e+00, 6.28650068e-02,
  7.89056522e-03,-3.61137210e-02, 7.31114412e-02, 6.68273837e-01,
 -2.12410626e-01,-6.72960222e-01,-2.35406764e-01]

qacc:
[-5.82801642e-01, 7.12484409e-01,-3.60494610e+00, 5.54113856e+00,
  1.27255794e-01,-1.59264011e+00, 1.27156241e+01,-4.13689669e+01,
 -1.69646416e+00,-2.24753292e+00, 7.33561172e+00,-9.47673555e+00,
  2.06220942e-01,-2.56652896e-01,-9.45784923e+00, 3.22421449e+01,
  1.57505229e+00,-3.68716291e-01, 4.69508766e-02,-6.80488251e+00,
  1.03111184e+02, 1.57411240e+02]

qfrc_actuator:
[ 3.86608041e-05,-3.33245070e-05, 1.02488224e-04, 8.47201219e-05,
  8.33723607e-06, 2.57108914e-02, 8.65630732e-03, 2.12099324e-03,
 -1.08655221e-05, 3.28095119e-04, 1.23614387e-04, 1.32474663e-04,
  0.00000000e+00,-1.67820950e-03, 0.00000000e+00,-1.49430689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002137630596488131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59685426e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.59685426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05382902, -0.00917445,  0.06174168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40671666e-06,-6.84519664e-05,-4.01580560e-05,-1.61956554e-06,
  2.08239298e-05, 1.28974230e-04, 3.11764155e-06,-1.20062970e-04,
 -1.01766427e-05,-6.32679347e-05, 1.02037022e-05,-7.88306189e-06,
  4.60579732e-07, 7.32977171e-07,-1.14346371e-06, 1.55908307e-04,
 -8.16610750e-04,-3.92418930e-04,-1.21654671e+00, 9.61606081e-04,
 -2.47086790e-02,-1.42092752e-04]


--- Step 2222 ---
qpos:
[ 3.29472885e-03,-3.20875188e-03, 1.19610359e-02, 4.17641090e-02,
  6.09675224e-03, 7.64880069e-01,-2.99781496e-02, 8.71045350e-01,
  5.83885934e-03, 1.64252199e-02,-9.31080849e-03, 2.60129796e-02,
  1.38292994e+00,-9.75247815e-05, 1.18334238e+00, 6.28701148e-02,
  7.88513945e-03,-3.61223301e-02, 7.31124918e-02, 6.68196544e-01,
 -2.12367130e-01,-6.72975258e-01,-2.35622331e-01]

qacc:
[-3.40969613e+00,-1.21987618e+00, 3.68421033e+00,-4.19751326e+00,
  1.04674459e-01, 4.59694876e+00,-1.51378574e+01, 2.09364179e+01,
 -4.07234177e+00,-7.24329889e-01, 6.32619490e+00,-1.99118163e+01,
  4.32403114e-01,-6.84305612e-01,-8.87920636e+00, 3.05758833e+01,
  1.44148248e+00,-2.79990752e-01,-8.76445564e-01,-6.92091235e+00,
  9.32349901e+01, 1.41407822e+02]

qfrc_actuator:
[ 1.86847116e-05,-3.24353728e-05, 1.23654879e-04, 8.58544305e-05,
  1.62448135e-05, 2.57379426e-02, 8.60999041e-03, 2.15598841e-03,
 -3.45106202e-05, 3.73207535e-04, 1.23308678e-04, 9.43669090e-05,
  0.00000000e+00,-1.69588915e-03, 0.00000000e+00,-1.35003831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.95380605, -3.36507744,  7.95380605,  9.05613007,
        0.99217354, -3.36507744,  0.99217354, 10.98149716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021773331501525883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54950196e-14, -2.54950196e-14,  1.00000000e+00,  6.49996022e-28,
        1.00000000e+00,  2.54950196e-14, -1.00000000e+00,  0.00000000e+00,
        2.54950196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05371357, -0.00919663,  0.06173746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00927022e-05,-4.57270479e-05, 2.03468460e-06,-3.21758979e-06,
  1.72733578e-05, 9.52843357e-05,-2.41423527e-05, 3.64831344e-05,
 -2.39628208e-05, 1.15446674e-05,-1.23900231e-05,-4.06225967e-05,
  5.26597479e-07,-1.74203557e-05, 1.44052908e-05, 1.52240153e-04,
 -2.35934124e-04,-1.14976682e-04,-1.21654516e+00, 8.63645696e-04,
 -2.46931142e-02,-1.44682660e-04]


--- Step 2223 ---
qpos:
[ 3.29489085e-03,-3.21027812e-03, 1.19616449e-02, 4.17643417e-02,
  6.09725337e-03, 7.64881490e-01,-2.99776329e-02, 8.71043704e-01,
  5.83828179e-03, 1.64242714e-02,-9.31069704e-03, 2.60133763e-02,
  1.38300311e+00,-9.78974705e-05, 1.18350315e+00, 6.28752437e-02,
  7.88503160e-03,-3.61317721e-02, 7.31068776e-02, 6.68291103e-01,
 -2.12465261e-01,-6.72818963e-01,-2.35712022e-01]

qacc:
[ -2.11001291, -1.73817306,  5.72168291, -6.61403009,  0.18489047,
  -0.51915792,  1.73322079, -0.49824857, -5.53450246,  2.36500848,
  -3.67374823, -9.14503256,  0.15101458, -0.3092529 ,  0.26536488,
  -0.46399235,  1.32948195, -0.20820426, -1.66621266, -6.89840642,
  85.01617755,128.14980524]

qfrc_actuator:
[ 6.77124745e-06,-3.11649367e-05, 1.53914929e-04, 8.64489022e-05,
  3.85600657e-05, 2.57176079e-02, 8.61812543e-03, 2.15953024e-03,
 -6.61915724e-05, 4.18566005e-04, 6.95166179e-05, 5.37441311e-05,
  0.00000000e+00,-1.70627833e-03, 0.00000000e+00,-1.35598605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.96016419, -3.3500094 ,  7.96016419,  9.24631405,
        1.44934083, -3.3500094 ,  1.44934083, 12.08023187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002183454038197856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54235492e-14,  2.54235492e-14,  1.00000000e+00, -6.46356855e-28,
        1.00000000e+00, -2.54235492e-14, -1.00000000e+00,  0.00000000e+00,
        2.54235492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05369299, -0.00919109,  0.06173684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24979983e-05,-2.39837144e-05, 2.09667741e-05,-1.35386854e-06,
  3.00808684e-05, 2.88381190e-05, 2.52376899e-05, 6.68848423e-06,
 -3.23652793e-05, 4.75477726e-05,-5.43360798e-05,-4.13481405e-05,
 -3.54092247e-06,-1.51831484e-05, 2.04216568e-05, 3.63431543e-06,
 -3.16527114e-05, 2.16726934e-05,-1.21649732e+00, 8.23802279e-04,
 -2.46748926e-02,-1.46535158e-04]


--- Step 2224 ---
qpos:
[ 3.29456361e-03,-3.21178688e-03, 1.19619293e-02, 4.17645940e-02,
  6.09804638e-03, 7.64883392e-01,-2.99767593e-02, 8.71040354e-01,
  5.83767354e-03, 1.64239838e-02,-9.31133543e-03, 2.60132593e-02,
  1.38307627e+00,-9.84055751e-05, 1.18366424e+00, 6.28782787e-02,
  7.88986230e-03,-3.61418144e-02, 7.30919011e-02, 6.68543096e-01,
 -2.12693205e-01,-6.72505135e-01,-2.35687445e-01]

qacc:
[-4.30454206e+00, 9.78916790e-01,-3.52421777e+00, 4.35161918e+00,
  1.63017332e-01,-3.29018622e+00, 1.54593169e+01,-3.46147192e+01,
 -3.02845807e-01, 1.91256970e+00,-3.38179258e+00,-4.79760754e+00,
 -6.35148797e-02,-3.98692611e-03, 6.79994910e+00,-2.30915102e+01,
  1.23463607e+00,-1.50107050e-01,-2.34057835e+00,-6.77672160e+00,
  7.81631422e+01, 1.17142157e+02]

qfrc_actuator:
[-1.80486683e-05,-2.96140936e-05, 1.36041503e-04, 8.67247862e-05,
  5.15498378e-05, 2.57580043e-02, 8.64035508e-03, 2.07349248e-03,
 -6.68389982e-05, 4.63505558e-04, 3.78692284e-05, 2.97002291e-05,
  0.00000000e+00,-1.71224230e-03, 0.00000000e+00,-1.46813455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.98962942, -3.27911551,  7.98962942,  9.45688103,
        1.99920678, -3.27911551,  1.99920678, 13.50747026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021624871246109095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13400987e-14,  5.13400987e-14,  1.00000000e+00, -2.63580574e-27,
        1.00000000e+00, -5.13400987e-14, -1.00000000e+00,  0.00000000e+00,
        5.13400987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05374745, -0.00916354,  0.06173905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51809062e-05,-7.54534285e-06,-2.02812126e-05,-5.02870854e-08,
  2.64933095e-05, 6.15338144e-05, 3.10120920e-05,-8.42046862e-05,
 -1.55747814e-06, 5.85517832e-05,-2.99394440e-05,-2.46888457e-05,
 -5.42604077e-06,-1.09681569e-05, 5.50584152e-06,-1.10339802e-04,
 -1.09858109e-04, 5.38943949e-05,-1.21641371e+00, 8.25220672e-04,
 -2.46542260e-02,-1.47732887e-04]


--- Step 2225 ---
qpos:
[ 3.29394129e-03,-3.21313786e-03, 1.19619118e-02, 4.17648281e-02,
  6.09865976e-03, 7.64885046e-01,-2.99763578e-02, 8.71040258e-01,
  5.83740650e-03, 1.64246080e-02,-9.31227709e-03, 2.60127906e-02,
  1.38314944e+00,-9.90021236e-05, 1.18382592e+00, 6.28752688e-02,
  7.89930673e-03,-3.61522686e-02, 7.30652624e-02, 6.68940391e-01,
 -2.13040980e-01,-6.72045158e-01,-2.35558058e-01]

qacc:
[-2.60216585e+00, 1.02035293e+00,-3.24970301e+00, 3.29188533e+00,
 -1.00986866e-01, 6.59733876e+00,-2.94778312e+01, 6.56127233e+01,
  2.95079428e+00, 1.32285637e+00,-1.49337180e+00,-4.76903630e+00,
 -3.81507724e-01, 4.28123102e-01, 1.91427211e+01,-6.56458584e+01,
  1.15343329e+00,-1.02952076e-01,-2.91555355e+00,-6.58427914e+00,
  7.24441928e+01, 1.07993242e+02]

qfrc_actuator:
[-3.25161805e-05,-1.03379421e-05, 1.25398351e-04, 8.67777103e-05,
  2.33461093e-05, 2.56924303e-02, 8.59987151e-03, 2.23726380e-03,
 -4.92130949e-05, 5.43445570e-04, 3.73386896e-05, 1.56288582e-05,
  0.00000000e+00,-1.71553619e-03, 0.00000000e+00,-1.78391807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.05811314, -3.10702259,  8.05811314,  9.65552523,
        2.64321201, -3.10702259,  2.64321201, 15.49157655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021198960528112654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23715785e-14, -2.61857892e-14,  1.00000000e+00,  1.37139112e-27,
        1.00000000e+00,  2.61857892e-14, -1.00000000e+00,  0.00000000e+00,
        5.23715785e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05386095, -0.00911863,  0.06174351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51821448e-05, 1.09084641e-05,-1.46863145e-05,-9.69776153e-07,
 -1.63043050e-05,-2.80999237e-05,-2.73295383e-05, 1.64758451e-04,
  1.76023344e-05, 1.05455768e-04, 7.03273803e-06,-1.30763255e-05,
 -5.89763124e-06,-7.35117826e-06,-1.38770480e-05,-3.22199919e-04,
 -4.03344633e-04, 7.53116772e-06,-1.21630145e+00, 8.56043297e-04,
 -2.46313790e-02,-1.48334827e-04]


--- Step 2226 ---
qpos:
[ 3.29384051e-03,-3.21493313e-03, 1.19625859e-02, 4.17647240e-02,
  6.09900507e-03, 7.64884471e-01,-2.99750150e-02, 8.71043965e-01,
  5.83666372e-03, 1.64252151e-02,-9.31259920e-03, 2.60125573e-02,
  1.38322242e+00,-9.91277534e-05, 1.18398724e+00, 6.28708387e-02,
  7.89952205e-03,-3.61537215e-02, 7.30497149e-02, 6.69129208e-01,
 -2.13319214e-01,-6.71799595e-01,-2.35470422e-01]

qacc:
[   4.60668834,  -3.22668013,  12.06274949, -18.67444041,  -0.14825716,
    1.12651782, -15.93315716,  61.37903027,  -4.12959923,  -1.26158181,
    3.48572285,  -0.40521714,  -0.54563383,   0.93255599,   3.81223213,
  -13.98544676,  -2.30727761,   2.25032538,   2.77279447,  12.27645229,
 -129.13067788, -84.72489501]

qfrc_actuator:
[-5.26544644e-06,-5.15844192e-05, 1.54705892e-04, 6.89741344e-05,
  6.28629356e-06, 2.54750469e-02, 8.61120924e-03, 2.42237511e-03,
 -7.42407298e-05, 5.01849713e-04, 5.53316277e-05, 2.53371312e-05,
  0.00000000e+00,-1.68171558e-03, 0.00000000e+00,-1.84428894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.09718795,  8.63581677, -0.09718795,  1.79375403,
       -0.0770071 ,  8.63581677, -0.0770071 ,  8.63549699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002256002005772556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83119452e-01,  1.83119452e-01,  9.65885362e-01,  3.41095027e-02,
        9.83090670e-01, -1.79914634e-01, -9.82498757e-01,  6.93889390e-18,
       -1.86269139e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529049 , -0.05844577,  0.06173717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68269760e-05,-3.81762357e-05, 2.97350082e-05,-1.78600963e-05,
 -2.43828909e-05,-2.33125905e-04, 7.59412150e-06, 1.87133312e-04,
 -2.44850952e-05, 1.82627423e-05, 4.01938381e-05, 1.42173215e-05,
 -6.07240176e-06, 3.10285580e-05,-4.64308273e-05,-8.10832314e-05,
 -8.63933467e-04,-9.90075291e-05,-1.21616531e+00, 9.07934203e-04,
 -2.46066133e-02,-1.48384024e-04]


--- Step 2227 ---
qpos:
[ 3.29441199e-03,-3.21704512e-03, 1.19633321e-02, 4.17644346e-02,
  6.09931309e-03, 7.64882104e-01,-2.99735894e-02, 8.71045379e-01,
  5.83562744e-03, 1.64252686e-02,-9.31265880e-03, 2.60128830e-02,
  1.38329521e+00,-9.86090333e-05, 1.18414779e+00, 6.28696641e-02,
  7.89172005e-03,-3.61478358e-02, 7.30403534e-02, 6.69129838e-01,
 -2.13538578e-01,-6.71746679e-01,-2.35420761e-01]

qacc:
[ 5.90819390e+00,-1.01412548e+00, 3.77062391e+00,-6.83968131e+00,
 -1.94634099e-02,-6.55296542e+00, 2.38527638e+01,-4.76206958e+01,
 -2.54180542e+00,-3.09838505e-01,-2.30868794e+00, 1.19617655e+01,
 -3.23406590e-01, 7.61193957e-01,-1.09223866e+01, 3.66512496e+01,
 -2.00432890e+00, 1.83463525e+00, 1.54652964e+00, 9.54949507e+00,
 -1.16683269e+02,-7.51839689e+01]

qfrc_actuator:
[ 2.85650219e-05,-7.53476273e-05, 1.53853239e-04, 5.85364619e-05,
  1.38257558e-05, 2.53639364e-02, 8.59915725e-03, 2.29889381e-03,
 -8.86747475e-05, 4.23401694e-04, 4.81318687e-05, 4.88668618e-05,
  0.00000000e+00,-1.64390288e-03, 0.00000000e+00,-1.66485568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63606452, -0.0718786 , -8.63606452,  8.63606153,
        0.03629755, -0.0718786 ,  0.03629755,  4.2752885 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023031167604806663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.18000288,  0.18000288,  0.96705632,  0.03293906,  0.98366608,
       -0.17696343, -0.98311443,  0.        , -0.18299185])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05270904, -0.05836084,  0.06173203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45858539e-05,-3.96675110e-05,-5.68134157e-06,-1.13900751e-05,
 -3.43970853e-06,-2.32811536e-04,-5.15324108e-05,-1.26451489e-04,
 -1.51301669e-05,-5.93521072e-05, 2.01273229e-06, 2.59805652e-05,
  3.08853217e-06, 4.54203557e-05,-3.18774546e-05, 1.68619578e-04,
 -2.42120210e-04,-4.24342118e-05,-1.21629572e+00, 8.01438993e-04,
 -2.46283037e-02,-1.44617588e-04]


--- Step 2228 ---
qpos:
[ 3.29503965e-03,-3.21904804e-03, 1.19636012e-02, 4.17640059e-02,
  6.09945711e-03, 7.64879089e-01,-2.99735858e-02, 8.71043553e-01,
  5.83442596e-03, 1.64248414e-02,-9.31274883e-03, 2.60135005e-02,
  1.38336803e+00,-9.78892087e-05, 1.18430821e+00, 6.28699110e-02,
  7.87693170e-03,-3.61359781e-02, 7.30329900e-02, 6.68959173e-01,
 -2.13707596e-01,-6.71868142e-01,-2.35405794e-01]

qacc:
[ 4.76021079e-01, 1.19019228e+00,-3.44831119e+00, 1.72298886e+00,
 -9.16771183e-02,-2.63187099e+00, 1.49659377e+01,-5.18084496e+01,
 -1.43339552e+00, 5.35891308e-02,-2.34026145e+00, 7.78934527e+00,
 -1.21086969e-02, 1.51826266e-01,-4.49363537e+00, 1.54307713e+01,
 -1.74659004e+00, 1.49299376e+00, 4.99509869e-01, 7.42810253e+00,
 -1.06244666e+02,-6.72986869e+01]

qfrc_actuator:
[ 3.04787095e-05,-5.30654599e-05, 1.35247246e-04, 5.25008951e-05,
  4.95966365e-07, 2.53703025e-02, 8.53804835e-03, 2.13685099e-03,
 -9.67445516e-05, 3.94396383e-04, 4.36783514e-05, 6.25190668e-05,
  0.00000000e+00,-1.63956199e-03, 0.00000000e+00,-1.59418448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62366288, -0.46820439, -8.62366288,  8.62393496,
        0.22891861, -0.46820439,  0.22891861,  4.42000644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002312623665277292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78150351e-01,  1.78150351e-01,  9.67742168e-01,  3.22534979e-02,
        9.84003279e-01, -1.75206334e-01, -9.83474537e-01,  3.46944695e-18,
       -1.81046502e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05264804, -0.05834444,  0.06173074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89168118e-06,-1.48268154e-06,-2.78787318e-05,-8.15091429e-06,
 -1.49050221e-05,-1.36798614e-04,-1.16767795e-04,-1.73907136e-04,
 -8.52520716e-06,-6.06767630e-05,-1.55677565e-05, 1.16836979e-05,
  1.21101608e-05, 1.76598332e-05, 3.12498620e-06, 7.57584728e-05,
 -2.98597983e-05, 3.46700760e-05,-1.21637292e+00, 7.51089456e-04,
 -2.46437381e-02,-1.42010474e-04]


--- Step 2229 ---
qpos:
[ 3.29534097e-03,-3.22110817e-03, 1.19636294e-02, 4.17642036e-02,
  6.09924379e-03, 7.64876082e-01,-2.99736738e-02, 8.71040007e-01,
  5.83313676e-03, 1.64241479e-02,-9.31299866e-03, 2.60146037e-02,
  1.38344099e+00,-9.73343126e-05, 1.18446893e+00, 6.28683183e-02,
  7.85603275e-03,-3.61192697e-02, 7.30240494e-02, 6.68631313e-01,
 -2.13833091e-01,-6.72148605e-01,-2.35422661e-01]

qacc:
[-2.87051080e+00, 1.89448962e+00,-9.49675209e+00, 2.07514623e+01,
 -1.98819253e-01,-2.72635923e+00, 1.28794292e+01,-3.21627785e+01,
 -7.65285792e-01, 1.09578355e+00,-6.46579174e+00, 1.53194196e+01,
  8.18738705e-02,-1.64100403e-01, 5.99185452e+00,-2.03323913e+01,
 -1.52764856e+00, 1.21269421e+00,-3.94320342e-01, 5.78185476e+00,
 -9.74641031e+01,-6.07602698e+01]

qfrc_actuator:
[ 1.35895276e-05,-5.67130563e-05, 1.24262301e-04, 8.46398800e-05,
 -2.52137535e-05, 2.54644801e-02, 8.57324530e-03, 2.06005337e-03,
 -1.01006727e-04, 3.95205025e-04, 4.10605071e-05, 8.80408686e-05,
  0.00000000e+00,-1.65511868e-03, 0.00000000e+00,-1.69475448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59549199, -0.8392224 , -8.59549199,  8.59816595,
        0.39122877, -0.8392224 ,  0.39122877,  4.62931638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002291647141601349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77314151e-01,  1.77314151e-01,  9.68049267e-01,  3.19465232e-02,
        9.84154303e-01, -1.74412522e-01, -9.83635660e-01,  3.46944695e-18,
       -1.80169056e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05269389, -0.05838249,  0.06173251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67997162e-05,-1.05149625e-05,-1.49865549e-05, 3.09566908e-05,
 -3.24150585e-05,-1.01440576e-05,-1.04506676e-05,-8.86359042e-05,
 -4.52890510e-06,-3.58288542e-05,-1.66609150e-05, 2.26101661e-05,
  1.04973463e-05,-7.83558158e-06, 6.87463835e-06,-9.66461516e-05,
 -1.22048839e-04, 1.29120848e-04,-1.21641265e+00, 7.43270013e-04,
 -2.46552161e-02,-1.40241744e-04]


--- Step 2230 ---
qpos:
[ 3.29578247e-03,-3.22305226e-03, 1.19634562e-02, 4.17644142e-02,
  6.09889875e-03, 7.64873859e-01,-2.99735553e-02, 8.71035819e-01,
  5.83215120e-03, 1.64233151e-02,-9.31386909e-03, 2.60153289e-02,
  1.38351403e+00,-9.69295583e-05, 1.18462986e+00, 6.28638703e-02,
  7.82976639e-03,-3.60986293e-02, 7.30104808e-02, 6.68158052e-01,
 -2.13920520e-01,-6.72575084e-01,-2.35468860e-01]

qacc:
[ 1.22203512e+00, 7.41051640e-01,-2.47826305e+00, 2.94331045e+00,
 -7.34189358e-02,-6.42188966e-01, 4.83385451e+00,-1.25672650e+01,
  2.63105367e+00, 7.67307818e-01,-1.41592266e+00,-4.02123528e+00,
 -3.62977210e-02,-2.25744424e-02, 8.94133555e+00,-3.08133965e+01,
 -1.34185131e+00, 9.82989650e-01,-1.15697476e+00, 4.51019154e+00,
 -9.00648482e+01,-5.53266030e+01]

qfrc_actuator:
[ 2.12839246e-05,-4.02906184e-05, 1.17804520e-04, 8.57156861e-05,
 -2.25872125e-05, 2.55754429e-02, 8.61220622e-03, 2.03417774e-03,
 -8.52430838e-05, 3.78374819e-04, 4.18035480e-06, 6.71160346e-05,
  0.00000000e+00,-1.66457569e-03, 0.00000000e+00,-1.84211880e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.55294092, -1.19748837, -8.55294092,  8.56300281,
        0.52397233, -1.19748837,  0.52397233,  4.89394364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00224621732015056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77347381e-01,  1.77347381e-01,  9.68037093e-01,  3.19586926e-02,
        9.84148315e-01, -1.74444075e-01, -9.83629274e-01, -3.46944695e-18,
       -1.80203917e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05282424, -0.05846373,  0.0617367 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.21797361e-06, 8.83997841e-06,-9.38067025e-06, 7.14163690e-07,
 -1.19210074e-05, 1.00518043e-04, 3.31094572e-05,-2.85277742e-05,
  1.56188111e-05,-3.93186139e-05,-4.55434731e-05,-2.25971250e-05,
  3.23437804e-06,-8.92628899e-06,-1.15046520e-05,-1.52784031e-04,
 -4.43514478e-04, 2.38312975e-04,-1.21642636e+00, 7.68199765e-04,
 -2.46642218e-02,-1.39096396e-04]


--- Step 2231 ---
qpos:
[ 3.29665741e-03,-3.22469794e-03, 1.19636500e-02, 4.17645725e-02,
  6.09871006e-03, 7.64872553e-01,-2.99737134e-02, 8.71032401e-01,
  5.83136216e-03, 1.64222314e-02,-9.31484843e-03, 2.60150865e-02,
  1.38358711e+00,-9.66270539e-05, 1.18479072e+00, 6.28576770e-02,
  7.81342672e-03,-3.60813103e-02, 7.30013428e-02, 6.67911560e-01,
 -2.14193736e-01,-6.72777664e-01,-2.35341043e-01]

qacc:
[ 3.81076548e+00,-7.47191541e-01, 3.44400359e+00,-5.14218809e+00,
  8.63024714e-02, 3.28904606e+00,-1.10807932e+01, 1.85392753e+01,
  1.71423961e+00,-2.02276024e+00, 1.08112078e+01,-2.71945953e+01,
 -1.68878631e-02,-3.28255030e-02, 5.14817056e+00,-1.81868432e+01,
  2.48166957e+00,-8.30341349e-01, 1.10763606e+00,-5.65406025e+00,
  1.10573407e+02, 1.71259903e+02]

qfrc_actuator:
[ 4.33924881e-05, 5.77613334e-06, 1.49625325e-04, 8.62691551e-05,
 -3.04161171e-06, 2.56246868e-02, 8.59990615e-03, 2.07397053e-03,
 -7.55728588e-05, 3.68693325e-04, 5.25419464e-07, 1.89925188e-05,
  0.00000000e+00,-1.67032172e-03, 0.00000000e+00,-1.92704497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.38948757,  -2.05018908,  -8.38948757,
        12.54841668, -16.00833832,  -2.05018908, -16.00833832,
        74.14337309,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022595721973504637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45671067e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45671067e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05345466, -0.00914677,  0.06172716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23238893e-05, 4.91761263e-05, 3.25395936e-05, 6.25299369e-07,
  1.42103046e-05, 1.10615142e-04, 1.04965330e-05, 4.33540181e-05,
  1.01035999e-05,-4.20036805e-05,-1.81516020e-05,-5.18227725e-05,
 -1.21333642e-06,-7.04508228e-06,-2.55995908e-05,-9.56843365e-05,
 -9.40327317e-04, 3.60163386e-04,-1.21642248e+00, 8.18820914e-04,
 -2.46717031e-02,-1.38430072e-04]


--- Step 2232 ---
qpos:
[ 3.29744555e-03,-3.22584940e-03, 1.19644001e-02, 4.17646965e-02,
  6.09872062e-03, 7.64872101e-01,-2.99737024e-02, 8.71029123e-01,
  5.83069486e-03, 1.64212948e-02,-9.31584892e-03, 2.60149018e-02,
  1.38366020e+00,-9.63932477e-05, 1.18495158e+00, 6.28491346e-02,
  7.80572209e-03,-3.60665741e-02, 7.29922418e-02, 6.67868004e-01,
 -2.14633654e-01,-6.72779148e-01,-2.35059444e-01]

qacc:
[-7.52864809e-01,-9.71145869e-01, 4.55685974e+00,-6.40485893e+00,
  1.10734101e-01, 9.05321190e-01,-1.91423320e+00, 2.79597060e+00,
  1.05870331e+00, 3.70298310e-01,-1.28574249e+00, 2.21474735e+00,
 -1.05267464e-01, 9.26219000e-02, 7.10371894e+00,-2.48284119e+01,
  2.15876247e+00,-6.45691595e-01, 9.26303645e-03,-5.86926478e+00,
  9.93374413e+01, 1.52849304e+02]

qfrc_actuator:
[ 3.82949515e-05, 5.16480346e-05, 1.86172673e-04, 8.65693477e-05,
  8.66741252e-06, 2.56719579e-02, 8.61050806e-03, 2.08099842e-03,
 -6.95730148e-05, 4.16726389e-04, 1.65421777e-05, 2.63012846e-05,
  0.00000000e+00,-1.67382898e-03, 0.00000000e+00,-2.04548669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.37546373,  2.1067473 ,  8.37546373,  8.68126042,
       -0.17848909,  2.1067473 , -0.17848909,  9.34595462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023189787687938335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39377574e-14,  4.78755148e-14,  1.00000000e+00, -1.14603246e-27,
        1.00000000e+00, -4.78755148e-14, -1.00000000e+00,  0.00000000e+00,
        2.39377574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05328837, -0.0091805 ,  0.06172057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44085360e-06, 8.01811891e-05, 5.07491891e-05, 3.54659845e-06,
  1.81017639e-05, 1.12057027e-04, 3.49454619e-05, 1.18634613e-05,
  6.27320873e-06, 1.86263170e-05, 3.33489745e-06, 3.87667996e-06,
 -3.14466991e-06,-5.31861016e-06,-2.47571757e-05,-1.27594292e-04,
 -2.37093341e-04, 3.76074168e-04,-1.21636304e+00, 7.18116494e-04,
 -2.46530268e-02,-1.39224712e-04]


--- Step 2233 ---
qpos:
[ 3.29782192e-03,-3.22650207e-03, 1.19648280e-02, 4.17638476e-02,
  6.09889676e-03, 7.64872372e-01,-2.99738914e-02, 8.71028404e-01,
  5.83010462e-03, 1.64206403e-02,-9.31731627e-03, 2.60148185e-02,
  1.38373327e+00,-9.62008605e-05, 1.18511199e+00, 6.28415475e-02,
  7.80560337e-03,-3.60538275e-02, 7.29794146e-02, 6.68007391e-01,
 -2.15224202e-01,-6.72598319e-01,-2.34640510e-01]

qacc:
[-3.63330797e+00,-4.38190915e-01, 6.63478810e+00,-2.33321781e+01,
  9.12492156e-02, 5.93229530e+00,-2.41461627e+01, 5.18339665e+01,
  6.52830388e-01, 1.88525750e+00,-6.61101525e+00, 8.90642736e+00,
  1.08018725e-01,-1.67351777e-01,-3.54753616e+00, 1.14371101e+01,
  1.89647710e+00,-4.97436191e-01,-9.31559835e-01,-5.89676554e+00,
  8.99785279e+01, 1.37597683e+02]

qfrc_actuator:
[ 1.72206240e-05, 4.38299628e-05, 1.54209384e-04, 3.34625242e-05,
  1.55690558e-05, 2.56999891e-02, 8.59901064e-03, 2.21071142e-03,
 -6.57792343e-05, 4.28080017e-04,-8.94014850e-06, 3.07257697e-05,
  0.00000000e+00,-1.67598565e-03, 0.00000000e+00,-1.98745698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.3419933 ,  2.23560386,  8.3419933 ,  8.74830033,
       -0.41768364,  2.23560386, -0.41768364, 10.19491978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002338701950263658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.3735881e-14, -4.7471762e-14,  1.0000000e+00,  1.1267841e-27,
        1.0000000e+00,  4.7471762e-14, -1.0000000e+00,  0.0000000e+00,
        2.3735881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05323213, -0.00918246,  0.06171824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11721796e-05, 4.76822804e-05,-9.02433460e-06,-4.78464638e-05,
  1.50411167e-05, 9.74107248e-05, 1.49909573e-05, 1.34615505e-04,
  3.97577290e-06, 2.26706827e-05,-2.10677720e-05, 5.41788257e-06,
 -3.81253696e-06,-3.91895862e-06,-2.81542988e-05, 4.71624507e-05,
  2.60360240e-05, 2.56481707e-04,-1.21625820e+00, 6.81766085e-04,
 -2.46320757e-02,-1.39130468e-04]


--- Step 2234 ---
qpos:
[ 3.29828795e-03,-3.22680386e-03, 1.19643435e-02, 4.17631214e-02,
  6.09899536e-03, 7.64873051e-01,-2.99740426e-02, 8.71029262e-01,
  5.82990930e-03, 1.64200912e-02,-9.31821397e-03, 2.60150848e-02,
  1.38380632e+00,-9.60374745e-05, 1.18527225e+00, 6.28343253e-02,
  7.81221324e-03,-3.60425956e-02, 7.29596439e-02, 6.68312899e-01,
 -2.15951805e-01,-6.72250687e-01,-2.34097633e-01]

qacc:
[ 7.52227227e-01, 3.26660320e+00,-1.14937058e+01, 1.48205267e+01,
 -4.36402895e-02, 3.16928166e+00,-1.33413463e+01, 3.05818887e+01,
  3.46060005e+00,-7.39870474e-01, 1.35197678e+00, 3.72412818e+00,
  3.98272002e-02,-7.42680882e-02,-1.32887358e+00, 4.31545922e+00,
  1.68214740e+00,-3.78633469e-01,-1.73586461e+00,-5.78799571e+00,
  8.21619441e+01, 1.24929041e+02]

qfrc_actuator:
[ 2.24251659e-05, 3.91009182e-05, 9.95482511e-05, 3.80270137e-05,
  1.78761073e-06, 2.56985126e-02, 8.59230784e-03, 2.28729073e-03,
 -4.55604793e-05, 4.52737258e-04, 2.98954080e-05, 5.11055720e-05,
  0.00000000e+00,-1.67733175e-03, 0.00000000e+00,-1.96793001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.28633617,  2.4338056 ,  8.28633617,  8.8575071 ,
       -0.75292336,  2.4338056 , -0.75292336, 11.19982889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002326290551083847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54500739e-14,  5.96562962e-15,  1.00000000e+00, -5.69419788e-28,
        1.00000000e+00, -5.96562962e-15, -1.00000000e+00,  0.00000000e+00,
        9.54500739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05326334, -0.0091591 ,  0.06171931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62226284e-06, 1.80333393e-05,-4.75743353e-05, 5.36650038e-06,
 -7.01911908e-06, 5.97571410e-05, 1.82910145e-05, 8.32014715e-05,
  2.03376595e-05, 3.32557251e-05, 4.11352573e-05, 2.07324523e-05,
 -3.44379611e-06,-3.06997585e-06,-9.21935096e-06, 1.82067303e-05,
 -3.53120851e-05, 4.14167896e-05,-1.21611885e+00, 6.89740810e-04,
 -2.46090250e-02,-1.38263692e-04]


--- Step 2235 ---
qpos:
[ 3.29846784e-03,-3.22710730e-03, 1.19635457e-02, 4.17634958e-02,
  6.09896794e-03, 7.64874576e-01,-2.99742567e-02, 8.71027543e-01,
  5.83030244e-03, 1.64198368e-02,-9.31789356e-03, 2.60158677e-02,
  1.38387945e+00,-9.61515901e-05, 1.18543234e+00, 6.28280406e-02,
  7.81501554e-03,-3.60384503e-02, 7.29585720e-02, 6.68556114e-01,
 -2.16406527e-01,-6.71959379e-01,-2.33819440e-01]

qacc:
[-2.52063651e+00, 3.14704875e+00,-1.58574780e+01, 3.53927576e+01,
 -7.01390464e-02,-3.19099351e+00, 1.77096157e+01,-4.73553863e+01,
  5.16586980e+00,-1.96155729e+00, 5.36041366e+00, 1.43556778e+00,
  3.15159042e-01,-5.54775798e-01,-3.11729782e+00, 1.04632996e+01,
 -9.51893980e-01,-1.77167723e+00, 4.67469977e+00, 2.08463999e+00,
  2.07604328e+01,-1.93541735e+02]

qfrc_actuator:
[ 7.55505636e-06, 3.61736754e-05, 8.52455241e-05, 9.42404492e-05,
 -6.47418137e-06, 2.57503686e-02, 8.58832394e-03, 2.15442241e-03,
 -1.58354125e-05, 5.03193310e-04, 1.06471925e-04, 8.07697783e-05,
  0.00000000e+00,-1.69594000e-03, 0.00000000e+00,-1.91803866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023661734603504098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69206101e-14,  4.69206101e-14,  1.00000000e+00, -2.20154366e-27,
        1.00000000e+00, -4.69206101e-14, -1.00000000e+00,  0.00000000e+00,
        4.69206101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427733, -0.00706147,  0.06171495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47288667e-05,-2.42142334e-06,-1.62416793e-05, 5.54472315e-05,
 -1.14044739e-05, 9.12191276e-05, 1.24117532e-05,-1.28517672e-04,
  3.03145078e-05, 7.84746504e-05, 8.92452926e-05, 3.29179127e-05,
 -2.86341244e-06,-2.01031241e-05,-4.88056614e-06, 4.91245918e-05,
 -3.38774962e-04,-2.41450080e-04,-1.21595234e+00, 7.28123002e-04,
 -2.45841578e-02,-1.36706010e-04]


--- Step 2236 ---
qpos:
[ 3.29812326e-03,-3.22749638e-03, 1.19629132e-02, 4.17641729e-02,
  6.09902604e-03, 7.64876896e-01,-2.99751714e-02, 8.71025668e-01,
  5.83070385e-03, 1.64203316e-02,-9.31706281e-03, 2.60166440e-02,
  1.38395259e+00,-9.64840459e-05, 1.18559261e+00, 6.28203755e-02,
  7.81431540e-03,-3.60407549e-02, 7.29708097e-02, 6.68743380e-01,
 -2.16614518e-01,-6.71719418e-01,-2.33780807e-01]

qacc:
[-4.59655244e+00, 5.74334974e-02,-1.62994551e+00, 6.64749845e+00,
  4.67099590e-02, 2.66609545e+00,-7.12645296e+00, 3.97487390e+00,
  7.52901480e-02,-4.49911634e-01, 3.06810560e+00,-4.54830175e+00,
  6.35130837e-02,-2.12027242e-01, 4.42001798e+00,-1.51039627e+01,
 -8.75607413e-01,-1.61247274e+00, 3.32738944e+00, 1.93845099e+00,
  1.88054832e+01,-1.75073191e+02]

qfrc_actuator:
[-1.90199162e-05, 3.45396955e-05, 9.49235463e-05, 1.09405697e-04,
  6.40795805e-06, 2.57803640e-02, 8.55055165e-03, 2.14794631e-03,
 -1.62633381e-05, 5.51144511e-04, 1.33806182e-04, 8.01925875e-05,
  0.00000000e+00,-1.70689280e-03, 0.00000000e+00,-1.99266833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.12381255,  6.95221704, -5.12381255, 53.39014798,
       32.98372311,  6.95221704, 32.98372311, 32.94550322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023788056341941394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33357238e-14,  4.66714476e-14,  1.00000000e+00, -1.08911201e-27,
        1.00000000e+00, -4.66714476e-14, -1.00000000e+00,  0.00000000e+00,
        2.33357238e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00428191, -0.00707422,  0.06171377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69953072e-05,-3.95395567e-06, 9.10850870e-06, 1.55810769e-05,
  7.77893107e-06, 7.88452231e-05,-2.22284734e-05,-6.10639862e-06,
  4.63105416e-07, 1.11695768e-04, 5.56723788e-05, 6.51131321e-06,
 -6.46154063e-06,-1.70479051e-05, 6.04625338e-07,-7.31128410e-05,
 -3.00854400e-04,-1.50232315e-04,-1.21618116e+00, 6.78174760e-04,
 -2.46182961e-02,-1.35337142e-04]


--- Step 2237 ---
qpos:
[ 3.29780750e-03,-3.22768012e-03, 1.19620233e-02, 4.17646730e-02,
  6.09920736e-03, 7.64878549e-01,-2.99756826e-02, 8.71024498e-01,
  5.83075288e-03, 1.64211375e-02,-9.31594549e-03, 2.60174800e-02,
  1.38402564e+00,-9.67007435e-05, 1.18575264e+00, 6.28135498e-02,
  7.81036053e-03,-3.60489892e-02, 7.29918196e-02, 6.68879691e-01,
 -2.16597248e-01,-6.71526490e-01,-2.33961031e-01]

qacc:
[ 2.41284003e-01, 6.25753336e-01,-1.09145105e+00,-1.70945478e+00,
  6.91505043e-02,-7.42031284e-01,-2.43540585e-01, 9.14351997e+00,
 -3.06970767e+00,-2.60729804e-01, 1.28476194e+00,-9.50003536e-01,
 -8.76564193e-02, 1.52938622e-01,-2.87043007e+00, 9.56067731e+00,
 -8.13686302e-01,-1.48240017e+00, 2.19305537e+00, 1.79490091e+00,
  1.71931790e+01,-1.59885469e+02]

qfrc_actuator:
[-1.67597453e-05, 5.15189607e-05, 8.31315689e-05, 1.00299812e-04,
  1.40626880e-05, 2.56726880e-02, 8.54642726e-03, 2.18041000e-03,
 -3.44382487e-05, 5.26009980e-04, 1.31815591e-04, 7.95396884e-05,
  0.00000000e+00,-1.69544786e-03, 0.00000000e+00,-1.94478859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.26018124,  6.84961825, -5.26018124, 51.29417414,
       32.75917087,  6.84961825, 32.75917087, 33.79384976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023630828124111755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.34909885e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.34909885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427844, -0.00705555,  0.06171576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49058517e-06, 1.73286731e-05,-1.09357685e-05,-8.65480065e-06,
  1.11575780e-05,-6.86157329e-05, 8.67410096e-06, 3.41752884e-05,
 -1.81226124e-05, 4.90774368e-05, 2.81474019e-05, 6.18214720e-06,
 -7.84676031e-06, 5.44893671e-06,-1.14513705e-05, 4.30692008e-05,
 -2.33147934e-04,-1.10098276e-05,-1.21634036e+00, 6.33464644e-04,
 -2.46466107e-02,-1.34894694e-04]


--- Step 2238 ---
qpos:
[ 3.29717598e-03,-3.22751657e-03, 1.19609240e-02, 4.17646930e-02,
  6.09949306e-03, 7.64879338e-01,-2.99756904e-02, 8.71022015e-01,
  5.83023942e-03, 1.64218002e-02,-9.31540758e-03, 2.60184225e-02,
  1.38409878e+00,-9.73174080e-05, 1.18591227e+00, 6.28096653e-02,
  7.80335112e-03,-3.60627284e-02, 7.30177879e-02, 6.68968953e-01,
 -2.16372362e-01,-6.71376858e-01,-2.34343028e-01]

qacc:
[-2.78421369e+00, 6.08347554e-02, 2.48323007e+00,-1.07188982e+01,
  5.92177722e-02,-4.77328454e+00, 1.72829415e+01,-3.06576576e+01,
 -4.92157524e+00, 1.65891773e+00,-6.62257488e+00, 9.47913601e+00,
  5.72902917e-01,-9.48558971e-01,-9.52325304e+00, 3.23354665e+01,
 -7.63630779e-01,-1.37625410e+00, 1.23959245e+00, 1.65601849e+00,
  1.58624178e+01,-1.47383931e+02]

qfrc_actuator:
[-3.30472653e-05, 7.94094354e-05, 7.65667523e-05, 7.69898189e-05,
  1.85090688e-05, 2.56078222e-02, 8.56166755e-03, 2.11116870e-03,
 -6.29040125e-05, 4.57162276e-04, 7.67444751e-05, 7.87777447e-05,
  0.00000000e+00,-1.72406894e-03, 0.00000000e+00,-1.78956578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.39277771,  6.74571904, -5.39277771, 49.05625532,
       32.31315884,  6.74571904, 32.31315884, 34.46869991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023248533268021496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77545405e-14,  2.98465878e-14,  1.00000000e+00, -1.42531009e-27,
        1.00000000e+00, -2.98465878e-14, -1.00000000e+00,  0.00000000e+00,
        4.77545405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426866, -0.0070122 ,  0.06172025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62368165e-05, 3.49685905e-05,-4.62023536e-06,-2.31133271e-05,
  9.44312638e-06,-1.00120007e-04, 3.72545252e-06,-7.03967948e-05,
 -2.89656457e-05,-3.53744168e-05,-4.12762128e-05, 2.43008209e-06,
 -3.11539622e-06,-2.88289586e-05,-3.01197726e-06, 1.55589438e-04,
 -1.43344488e-04, 1.63530628e-04,-1.21644571e+00, 5.95712413e-04,
 -2.46702104e-02,-1.35313399e-04]


--- Step 2239 ---
qpos:
[ 3.29600913e-03,-3.22688003e-03, 1.19596754e-02, 4.17640675e-02,
  6.09985276e-03, 7.64880212e-01,-2.99758029e-02, 8.71016593e-01,
  5.82938897e-03, 1.64218971e-02,-9.31528655e-03, 2.60190486e-02,
  1.38417196e+00,-9.82588718e-05, 1.18607192e+00, 6.28069785e-02,
  7.79344823e-03,-3.60816265e-02, 7.30455143e-02, 6.69014196e-01,
 -2.15954350e-01,-6.71267265e-01,-2.34912713e-01]

qacc:
[-4.71183686e+00,-2.78922704e-01, 4.64039971e+00,-1.59361316e+01,
  4.16635980e-02,-4.70593409e+00, 2.22782785e+01,-5.52524437e+01,
 -2.94267214e+00,-2.28229053e-01, 1.07451813e+00,-5.47807363e+00,
  3.27980278e-01,-6.11416018e-01,-3.63148954e+00, 1.26548569e+01,
 -7.23371826e-01,-1.28971745e+00, 4.39520004e-01, 1.52257378e+00,
  1.47644964e+01,-1.37098195e+02]

qfrc_actuator:
[-6.01303510e-05, 1.13622562e-04, 7.31933078e-05, 4.55312016e-05,
  2.09999921e-05, 2.56578677e-02, 8.57051288e-03, 1.96488995e-03,
 -7.94405910e-05, 3.97921866e-04, 4.38342852e-05, 6.01270356e-05,
  0.00000000e+00,-1.74075494e-03, 0.00000000e+00,-1.73214821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.48543163,  6.67059343, -5.48543163, 47.67065335,
       32.09908233,  6.67059343, 32.09908233, 35.03241424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002268995572683896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44650769e-14,  3.05813462e-14,  1.00000000e+00, -7.48174986e-28,
        1.00000000e+00, -3.05813462e-14, -1.00000000e+00,  0.00000000e+00,
        2.44650769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425396, -0.00694967,  0.06172668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75316189e-05, 5.18264205e-05, 2.49279197e-06,-3.05676970e-05,
  6.71516513e-06,-6.96676587e-06,-1.26000972e-05,-1.50965576e-04,
 -1.73748069e-05,-8.74881559e-05,-4.52327214e-05,-2.15512337e-05,
 -8.37238341e-06,-2.53714270e-05, 1.38046944e-05, 6.52133464e-05,
 -3.67469913e-05, 3.64675727e-04,-1.21650855e+00, 5.65873957e-04,
 -2.46899514e-02,-1.36537791e-04]


--- Step 2240 ---
qpos:
[ 3.29487171e-03,-3.22595358e-03, 1.19581262e-02, 4.17637945e-02,
  6.10006445e-03, 7.64880988e-01,-2.99762188e-02, 8.71011906e-01,
  5.82869150e-03, 1.64214253e-02,-9.31530839e-03, 2.60197737e-02,
  1.38424496e+00,-9.89005668e-05, 1.18623151e+00, 6.28056819e-02,
  7.77647446e-03,-3.60941539e-02, 7.30728380e-02, 6.68898364e-01,
 -2.15487703e-01,-6.71321802e-01,-2.35514472e-01]

qacc:
[ 2.44088708e-01, 1.94971411e+00,-7.88356108e+00, 1.42521545e+01,
 -8.28169624e-02, 1.96603922e+00,-8.28777368e+00, 1.63010483e+01,
  1.33947284e+00,-1.51379973e-01,-9.72858339e-01, 3.33622372e+00,
 -2.54022323e-01, 4.53216002e-01,-4.24676609e+00, 1.48059696e+01,
 -1.76772111e+00, 1.59269142e+00,-1.00660723e-01, 7.38921908e+00,
 -9.97888681e+01,-6.36940808e+01]

qfrc_actuator:
[-5.78396311e-05, 1.15859404e-04, 5.40056068e-05, 6.27988813e-05,
  4.55362912e-06, 2.56519898e-02, 8.55817516e-03, 2.00532310e-03,
 -7.10675423e-05, 3.80430992e-04, 4.20425279e-05, 6.66286035e-05,
  0.00000000e+00,-1.71468981e-03, 0.00000000e+00,-1.66183629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.09208993, -3.01742562,  8.09208993, 14.30125583,
       15.19202885, -3.01742562, 15.19202885, 49.37813464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022931032847168823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.16565944,  0.16565944,  0.97216969,  0.02782754,  0.98618302,
       -0.16330547, -0.98579033,  0.        , -0.16798042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05249216, -0.05846165,  0.06173148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52515334e-06, 3.04107743e-05,-9.22259988e-06, 1.89830257e-05,
 -1.34315368e-05,-1.70684781e-05,-1.97145096e-05, 3.64015194e-05,
  7.84775631e-06,-7.66968694e-05,-2.61848210e-05, 7.66484138e-07,
 -1.02967607e-05, 1.70838848e-05, 1.00342450e-05, 7.48967827e-05,
  8.30191311e-05, 5.86499247e-04,-1.21653704e+00, 5.44406643e-04,
 -2.47064934e-02,-1.38520977e-04]


--- Step 2241 ---
qpos:
[ 3.29446041e-03,-3.22508448e-03, 1.19568111e-02, 4.17633932e-02,
  6.09990550e-03, 7.64880916e-01,-2.99766082e-02, 8.71010900e-01,
  5.82844414e-03, 1.64208211e-02,-9.31559931e-03, 2.60208679e-02,
  1.38431793e+00,-9.95301156e-05, 1.18639102e+00, 6.28059105e-02,
  7.75329231e-03,-3.61015053e-02, 7.30966118e-02, 6.68633579e-01,
 -2.14978719e-01,-6.71526926e-01,-2.36145875e-01]

qacc:
[ 6.38140578e+00,-1.00708240e+00, 4.00037732e+00,-6.52967579e+00,
 -2.06774437e-01, 5.20278094e+00,-2.68318637e+01, 6.87656405e+01,
  3.91986383e+00, 1.32946151e+00,-6.56600203e+00, 1.34970381e+01,
  8.38019159e-02,-1.04742816e-01,-4.72959846e+00, 1.63592380e+01,
 -1.55209257e+00, 1.29397614e+00,-8.87476098e-01, 5.89321986e+00,
 -9.21818872e+01,-5.78901138e+01]

qfrc_actuator:
[-2.05226265e-05, 9.89043377e-05, 6.10455637e-05, 5.53044824e-05,
 -2.30626828e-05, 2.55772007e-02, 8.55112096e-03, 2.19079118e-03,
 -4.81038757e-05, 4.05971663e-04, 4.10619249e-05, 8.79328253e-05,
  0.00000000e+00,-1.71672655e-03, 0.00000000e+00,-1.58445938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56442615, -1.11237653, -8.56442615,  8.56072375,
        0.58236779, -1.11237653,  0.58236779,  4.15258875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022646205931780043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66081254e-01,  1.66081254e-01,  9.72025737e-01,  2.79714483e-02,
        9.86112071e-01, -1.63708830e-01, -9.85715281e-01, -6.93889390e-18,
       -1.68420262e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05259968, -0.0585369 ,  0.06173493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73693494e-05,-1.05184517e-06, 1.28513537e-05,-6.13918584e-06,
 -3.36468928e-05,-8.69910499e-05,-1.15980593e-05, 1.85155858e-04,
  2.31615041e-05,-2.27084299e-05,-2.00189705e-05, 1.71253527e-05,
 -1.26810651e-06, 1.98414075e-07, 9.30704429e-06, 8.20112816e-05,
  9.99700234e-05, 2.21879261e-04,-1.21654206e+00, 6.41361504e-04,
 -2.47074579e-02,-1.39469195e-04]


--- Step 2242 ---
qpos:
[ 3.29449959e-03,-3.22437065e-03, 1.19559594e-02, 4.17625569e-02,
  6.09959642e-03, 7.64879744e-01,-2.99757793e-02, 8.71012773e-01,
  5.82881870e-03, 1.64202474e-02,-9.31600407e-03, 2.60218307e-02,
  1.38439091e+00,-1.00176439e-04, 1.18655091e+00, 6.28040530e-02,
  7.72463137e-03,-3.61046593e-02, 7.31141551e-02, 6.68229963e-01,
 -2.14432408e-01,-6.71871232e-01,-2.36804785e-01]

qacc:
[ 3.97094548e+00,-2.40519747e+00, 1.00988724e+01,-1.82367274e+01,
 -8.26405701e-02, 2.59034462e-01,-9.16347022e+00, 4.34683948e+01,
  5.42010288e+00, 7.71911012e-02, 3.19591338e-01,-2.41467290e+00,
 -1.48054118e-01, 1.78019280e-01, 6.86191034e+00,-2.31763920e+01,
 -1.36969957e+00, 1.04936000e+00,-1.55762477e+00, 4.75385570e+00,
 -8.57808274e+01,-5.30824266e+01]

qfrc_actuator:
[ 1.59643265e-06, 8.84180789e-05, 8.34078224e-05, 3.32927520e-05,
 -2.15938780e-05, 2.55328651e-02, 8.61803890e-03, 2.33577078e-03,
 -1.67441643e-05, 4.21617116e-04, 4.07513801e-05, 8.23035350e-05,
  0.00000000e+00,-1.71770406e-03, 0.00000000e+00,-1.69881355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.51736021, -1.42875885, -8.51736021,  8.51839939,
        0.7032285 , -1.42875885,  0.7032285 ,  4.44415832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022147801274898446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.16689652,  0.16689652,  0.97174642,  0.02825068,  0.98597442,
       -0.16448814, -0.98556961,  0.        , -0.16927064])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05277764, -0.05864738,  0.0617404 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31815338e-05,-8.68377963e-06, 2.35204661e-05,-2.17311833e-05,
 -1.36463948e-05,-8.89104478e-05, 5.40016872e-05, 1.46056572e-04,
  3.20137953e-05,-4.24409451e-07,-6.86765191e-06,-6.96328875e-06,
 -5.42178212e-07,-1.24397930e-06, 1.00698895e-05,-1.09363072e-04,
 -9.68154554e-05,-9.60757612e-05,-1.21653056e+00, 7.63477091e-04,
 -2.47075874e-02,-1.41044211e-04]


--- Step 2243 ---
qpos:
[ 3.29445884e-03,-3.22370060e-03, 1.19556153e-02, 4.17617911e-02,
  6.09962306e-03, 7.64878768e-01,-2.99748204e-02, 8.71014923e-01,
  5.82956659e-03, 1.64195678e-02,-9.31694564e-03, 2.60231109e-02,
  1.38446372e+00,-1.00317342e-04, 1.18671103e+00, 6.27991838e-02,
  7.69110806e-03,-3.61044159e-02, 7.31231859e-02, 6.67695966e-01,
 -2.13852732e-01,-6.72345097e-01,-2.37489321e-01]

qacc:
[ -0.68473018, -1.33059395,  4.36486722, -3.92704822,  0.18699434,
   0.38623666, -1.58548575,  4.61279808,  3.24147295,  2.00749208,
  -8.71184502, 15.15272974, -0.69038322,  1.14343083,  9.50861913,
 -32.60614968, -1.21559294,  0.84933827, -2.1281359 ,  3.90012891,
 -80.39009976,-49.09838946]

qfrc_actuator:
[-3.17072687e-06, 9.96865832e-05, 1.14640457e-04, 3.84338551e-05,
  1.50063796e-05, 2.55961549e-02, 8.63937438e-03, 2.34927136e-03,
  1.54869289e-06, 3.95710401e-04, 5.28999476e-06, 9.63723198e-05,
  0.00000000e+00,-1.68251671e-03, 0.00000000e+00,-1.85419449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.45566167, -1.75743067, -8.45566167,  8.471158  ,
        0.79486661, -1.75743067,  0.79486661,  4.81196066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021481014164330056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.16812373,  0.16812373,  0.97132323,  0.02867373,  0.9857659 ,
       -0.16566051, -0.98534879,  0.        , -0.17055137])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05301026, -0.05878515,  0.06174745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11115574e-06, 1.03338539e-05, 3.15864801e-05, 5.16118325e-06,
  3.04604038e-05, 2.93635094e-05, 1.44176417e-05, 1.56031889e-05,
  1.92088905e-05,-2.78253461e-05,-3.66274989e-05, 1.36762273e-05,
 -9.67771735e-07, 3.49222746e-05,-1.18636057e-05,-1.61183704e-04,
 -4.61600370e-04,-3.74145315e-04,-1.21650811e+00, 9.05550720e-04,
 -2.47073476e-02,-1.43108448e-04]


--- Step 2244 ---
qpos:
[ 3.29436139e-03,-3.22291130e-03, 1.19553001e-02, 4.17614500e-02,
  6.09984421e-03, 7.64878782e-01,-2.99747870e-02, 8.71016165e-01,
  5.83052823e-03, 1.64187649e-02,-9.31856650e-03, 2.60242173e-02,
  1.38453663e+00,-1.00562669e-04, 1.18687057e+00, 6.27964938e-02,
  7.66687317e-03,-3.61071116e-02, 7.31332440e-02, 6.67372258e-01,
 -2.13444560e-01,-6.72610530e-01,-2.38014211e-01]

qacc:
[-4.98571575e-01, 9.53544083e-01,-4.96107876e+00, 1.21743729e+01,
  1.07281312e-01, 2.22639782e+00,-3.65514646e+00,-8.28864301e+00,
  1.84501456e+00, 1.37412992e+00,-4.40833545e+00, 2.58336622e+00,
  3.23575070e-01,-4.47090920e-01,-7.46943765e+00, 2.48130091e+01,
  2.32210759e+00,-7.34747919e-01, 2.56832426e-01,-5.85191111e+00,
  1.02842717e+02, 1.58209861e+02]

qfrc_actuator:
[-5.96677069e-06, 1.06205930e-04, 1.15460439e-04, 5.95351713e-05,
  1.90018066e-05, 2.56699078e-02, 8.59845627e-03, 2.30308708e-03,
  1.20012445e-05, 3.80501716e-04,-3.30407500e-05, 8.63584257e-05,
  0.00000000e+00,-1.69715645e-03, 0.00000000e+00,-1.73063680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.36569969,  -2.14519128,  -8.36569969,
        13.13770536, -17.55408639,  -2.14519128, -17.55408639,
        77.09283016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021496370762420502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.58234992e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.58234992e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05385272, -0.00882538,  0.06174069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91265027e-06, 1.90236021e-05, 7.02163656e-06, 2.27385942e-05,
  1.76694469e-05, 9.33885337e-05,-3.29958286e-05,-4.44576064e-05,
  1.09914986e-05,-3.77067876e-05,-4.81006015e-05,-1.22074070e-05,
  6.95469366e-06,-4.86410032e-06,-2.70622482e-05, 1.12220408e-04,
 -9.61265760e-04,-6.17963231e-04,-1.21647872e+00, 1.06388942e-03,
 -2.47069626e-02,-1.45569029e-04]


--- Step 2245 ---
qpos:
[ 3.29388629e-03,-3.22203845e-03, 1.19544534e-02, 4.17617538e-02,
  6.09958978e-03, 7.64879374e-01,-2.99749205e-02, 8.71017877e-01,
  5.83160743e-03, 1.64182494e-02,-9.32085433e-03, 2.60247960e-02,
  1.38460966e+00,-1.01186913e-04, 1.18702947e+00, 6.27989302e-02,
  7.65076702e-03,-3.61120929e-02, 7.31404903e-02, 6.67238385e-01,
 -2.13191399e-01,-6.72687863e-01,-2.38397574e-01]

qacc:
[ -3.33248674,  2.93183527,-13.00127468, 24.93344208, -0.26541988,
   2.02539083, -6.79489551, 11.33729325,  0.99931949,  1.15560131,
  -1.34392878, -6.93256223,  0.74383955, -1.14118661,-16.50020679,
  56.18103203,  2.03218371, -0.57142895, -0.70292664, -6.2549353 ,
  93.05766403,142.02271232]

qfrc_actuator:
[-2.53240291e-05, 9.19776410e-05, 8.05559825e-05, 8.98301545e-05,
 -3.20639940e-05, 2.56958062e-02, 8.59220004e-03, 2.32868297e-03,
  1.77598750e-05, 4.25029556e-04,-5.49832817e-05, 6.22591549e-05,
  0.00000000e+00,-1.72353214e-03, 0.00000000e+00,-1.46145472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.47062868, 1.68381314, 8.47062868, 8.63202139,
       0.0218442 , 1.68381314, 0.0218442 , 8.52647371, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021929350013118534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05374094, -0.00884405,  0.06173619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94369246e-05,-1.19075569e-06,-2.93279497e-05, 3.17953217e-05,
 -4.31214743e-05, 6.97199886e-05, 7.02565191e-06, 2.65768495e-05,
  6.05900505e-06, 1.30354288e-05,-3.60519673e-05,-2.76144015e-05,
  2.13632244e-06,-2.58841303e-05,-1.06120346e-06, 2.71701102e-04,
 -2.95225516e-04,-2.27485984e-04,-1.21652512e+00, 9.49145995e-04,
 -2.46972693e-02,-1.48631413e-04]


--- Step 2246 ---
qpos:
[ 3.29318291e-03,-3.22121137e-03, 1.19532499e-02, 4.17624236e-02,
  6.09917981e-03, 7.64880646e-01,-2.99754499e-02, 8.71019540e-01,
  5.83240237e-03, 1.64179586e-02,-9.32317988e-03, 2.60250447e-02,
  1.38468249e+00,-1.01331878e-04, 1.18718846e+00, 6.28032083e-02,
  7.64184917e-03,-3.61188358e-02, 7.31416486e-02, 6.67277207e-01,
 -2.13079387e-01,-6.72593856e-01,-2.38654162e-01]

qacc:
[-2.01391600e+00, 1.69538409e+00,-7.66901252e+00, 1.45969273e+01,
 -8.72837275e-02, 1.87715316e+00,-4.96057377e+00, 3.38833816e+00,
 -2.48449401e+00,-2.72055885e-01, 2.80206685e+00,-8.62604542e+00,
 -3.68917055e-01, 7.06352201e-01,-5.36973827e+00, 1.90943486e+01,
  1.79707478e+00,-4.40377071e-01,-1.52204265e+00,-6.46481831e+00,
  8.49085428e+01, 1.28618532e+02]

qfrc_actuator:
[-3.65217510e-05, 8.30413935e-05, 6.02708255e-05, 1.07498734e-04,
 -2.68110900e-05, 2.57285148e-02, 8.57084708e-03, 2.32532051e-03,
  2.96020302e-06, 4.51779939e-04,-4.90808590e-05, 4.78847785e-05,
  0.00000000e+00,-1.68562262e-03, 0.00000000e+00,-1.37500642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.46425252,  1.71557752,  8.46425252,  8.66360672,
       -0.13441093,  1.71557752, -0.13441093,  9.2995153 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022019671277599406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.04196003e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.04196003e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05372356, -0.00883517,  0.06173536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17538787e-05,-1.43256225e-05,-2.30428847e-05, 1.72218429e-05,
 -1.40895362e-05, 7.35574855e-05,-5.99362972e-06,-3.18359143e-07,
 -1.46226998e-05, 2.54591088e-05, 3.23137512e-06,-1.55956859e-05,
 -4.61531635e-06, 3.11186523e-05, 2.81432579e-05, 1.01064221e-04,
 -1.35130621e-05, 1.18396327e-05,-1.21652414e+00, 8.95519775e-04,
 -2.46852598e-02,-1.50951122e-04]


--- Step 2247 ---
qpos:
[ 3.29304036e-03,-3.22045452e-03, 1.19523825e-02, 4.17629093e-02,
  6.09932473e-03, 7.64882554e-01,-2.99759072e-02, 8.71020092e-01,
  5.83266908e-03, 1.64175306e-02,-9.32498598e-03, 2.60247814e-02,
  1.38475532e+00,-1.01329083e-04, 1.18734810e+00, 6.28041677e-02,
  7.63935276e-03,-3.61269194e-02, 7.31339265e-02, 6.67474323e-01,
 -2.13096838e-01,-6.72342350e-01,-2.38796001e-01]

qacc:
[  4.93422514, -1.42149189,  5.69255774, -9.34271956,  0.30910461,
  -1.28714274,  7.77973399,-20.72486209, -4.58895273, -2.67826098,
  11.46425235,-21.07320493, -0.36342767,  0.55292171, 10.99242094,
 -37.01427438,  1.6053599 , -0.33519379, -2.22007835, -6.53332223,
  78.10782265,117.49144482]

qfrc_actuator:
[-7.31679429e-06, 9.51289103e-05, 8.43005058e-05, 9.98597932e-05,
  2.98558638e-05, 2.57649760e-02, 8.57623737e-03, 2.26940980e-03,
 -2.38196532e-05, 4.32306514e-04,-2.68339128e-05, 2.16059643e-05,
  0.00000000e+00,-1.68085911e-03, 0.00000000e+00,-1.55673793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44937237,  1.78742367,  8.44937237,  8.70754538,
       -0.3364849 ,  1.78742367, -0.3364849 , 10.22696928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002183339943103199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54248778e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.54248778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05378078, -0.00880442,  0.06173744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88638533e-05, 3.54775259e-08, 1.88325423e-05,-8.71471805e-06,
  5.03546232e-05, 7.59990288e-05, 1.91949232e-05,-5.37473257e-05,
 -2.71928535e-05,-5.20280239e-06, 2.73957090e-05,-2.53734447e-05,
  5.34001218e-06, 1.20486213e-05, 1.96897472e-05,-1.73526917e-04,
 -2.13031674e-05, 1.38213801e-04,-1.21648590e+00, 8.85639889e-04,
 -2.46708382e-02,-1.52626150e-04]


--- Step 2248 ---
qpos:
[ 3.29359372e-03,-3.21983198e-03, 1.19523759e-02, 4.17636161e-02,
  6.09969803e-03, 7.64884201e-01,-2.99753684e-02, 8.71020350e-01,
  5.83261254e-03, 1.64170403e-02,-9.32678600e-03, 2.60242317e-02,
  1.38482825e+00,-1.01502069e-04, 1.18750765e+00, 6.28043180e-02,
  7.64264838e-03,-3.61360055e-02, 7.31149479e-02, 6.67817617e-01,
 -2.13233880e-01,-6.71944781e-01,-2.38832898e-01]

qacc:
[  6.13749469, -2.14049054,  6.42074096, -3.85168527,  0.12825998,
  -3.54460166, 11.89824585,-14.02021552, -2.81830566, -0.68328249,
   3.5354522 , -8.46563432,  0.1521946 , -0.27090843,  2.30725951,
  -8.28114952,  1.44800768, -0.25061724, -2.81412893, -6.49841559,
  72.42734691,108.24231226]

qfrc_actuator:
[ 2.76793248e-05, 1.02120811e-04, 1.34368816e-04, 1.12945111e-04,
  2.79598675e-05, 2.57146972e-02, 8.61511635e-03, 2.25406155e-03,
 -3.96773129e-05, 4.20875914e-04,-3.08276128e-05, 6.25128622e-06,
  0.00000000e+00,-1.69584342e-03, 0.00000000e+00,-1.59315880e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.41761707,  1.93145018,  8.41761707,  8.77715102,
       -0.61357747,  1.93145018, -0.61357747, 11.31044771,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021426091719291343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59082020e-14,  2.59082020e-14,  1.00000000e+00, -6.71234931e-28,
        1.00000000e+00, -2.59082020e-14, -1.00000000e+00,  0.00000000e+00,
        2.59082020e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05389665, -0.00875644,  0.06174179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58162912e-05, 1.05205554e-05, 5.20928463e-05, 1.35668471e-05,
  2.07138323e-05,-6.13389937e-06, 5.44516427e-05,-1.35629627e-05,
 -1.66422394e-05,-9.73987300e-06,-2.54391248e-06,-1.51167729e-05,
  5.22757195e-06,-1.01975027e-05,-1.54319547e-05,-4.47706292e-05,
 -2.50546318e-04, 1.78959514e-04,-1.21641742e+00, 9.07226261e-04,
 -2.46540840e-02,-1.53724597e-04]


--- Step 2249 ---
qpos:
[ 3.29387258e-03,-3.21927317e-03, 1.19527131e-02, 4.17645006e-02,
  6.09976683e-03, 7.64885330e-01,-2.99742232e-02, 8.71021850e-01,
  5.83202071e-03, 1.64170133e-02,-9.32858577e-03, 2.60234347e-02,
  1.38490106e+00,-1.01305912e-04, 1.18766689e+00, 6.28056773e-02,
  7.63826739e-03,-3.61382107e-02, 7.31045461e-02, 6.67959878e-01,
 -2.13310190e-01,-6.71751704e-01,-2.38910053e-01]

qacc:
[-2.39728200e+00,-6.74722172e-01, 1.54192072e+00, 1.02070231e+00,
 -1.69111368e-01,-1.64446891e-01,-3.11492773e+00, 1.80267519e+01,
 -4.67684407e+00, 1.11634211e-01, 1.55013728e+00,-6.18814370e+00,
 -2.47946576e-01, 5.09232460e-01,-4.08858698e+00, 1.36872908e+01,
 -1.91915198e+00, 1.72024786e+00, 2.14421586e+00, 9.74017136e+00,
 -1.24278701e+02,-7.96558582e+01]

qfrc_actuator:
[ 1.25328489e-05, 8.83949001e-05, 1.46143397e-04, 1.20380967e-04,
 -8.96934505e-06, 2.56662751e-02, 8.63763066e-03, 2.31593623e-03,
 -6.67279742e-05, 4.85261554e-04,-1.47548362e-05,-2.56982177e-06,
  0.00000000e+00,-1.66915407e-03, 0.00000000e+00,-1.52582287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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Contact:
<MjContact
  H: array([ 8.63636364, -0.18057315,  8.63447568, -0.18057315,  1.49455662,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021410185053427925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58415016e-01,  1.58415016e-01,  9.74581636e-01,  2.54162581e-02,
        9.87372616e-01, -1.56362819e-01, -9.87045438e-01, -6.93889390e-18,
       -1.60440966e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05293215, -0.05883193,  0.0617477 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41273809e-05, 3.48502139e-06, 2.08225071e-05, 9.94863672e-06,
 -2.76345559e-05,-4.15553388e-05, 2.71517029e-05, 6.30099846e-05,
 -2.75338659e-05, 5.77997893e-05, 1.32531034e-05,-9.61370235e-06,
 -2.62927273e-07, 2.54128959e-05,-1.45935666e-05, 6.22605407e-05,
 -6.52291055e-04, 1.53702584e-04,-1.21632349e+00, 9.51591619e-04,
 -2.46351523e-02,-1.54294721e-04]


--- Step 2250 ---
qpos:
[ 3.29327823e-03,-3.21881430e-03, 1.19530344e-02, 4.17644618e-02,
  6.09926047e-03, 7.64886795e-01,-2.99736420e-02, 8.71023373e-01,
  5.83145406e-03, 1.64172212e-02,-9.33012478e-03, 2.60225486e-02,
  1.38497390e+00,-1.01062947e-04, 1.18782604e+00, 6.28074644e-02,
  7.62713897e-03,-3.61347887e-02, 7.30982300e-02, 6.67919960e-01,
 -2.13334453e-01,-6.71743188e-01,-2.39023906e-01]

qacc:
[-7.66345824e+00,-1.97557637e+00, 1.07726163e+01,-2.66764615e+01,
 -3.21037550e-01, 2.00311367e+00,-6.09453527e+00, 5.50609024e+00,
  2.23728930e-01,-6.02130847e-01, 2.97284320e+00,-5.10367994e+00,
  2.43406674e-02, 8.09096854e-03,-1.40813135e+00, 4.75631238e+00,
 -1.68685965e+00, 1.40676431e+00, 1.02141656e+00, 7.67282382e+00,
 -1.12697919e+02,-7.11842454e+01]

qfrc_actuator:
[-3.20071442e-05, 6.22214286e-05, 1.35114305e-04, 7.11241719e-05,
 -4.87243184e-05, 2.57080913e-02, 8.61481201e-03, 2.31621074e-03,
 -6.46478300e-05, 4.88120542e-04,-4.39141878e-06,-7.39533621e-06,
  0.00000000e+00,-1.67119305e-03, 0.00000000e+00,-1.50444299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63339193,  0.22654045, -8.63339193,  8.63399719,
       -0.09018465,  0.22654045, -0.09018465,  5.1994522 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021785645727526175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.15467769,  0.15467769,  0.97578154,  0.02421664,  0.98796498,
       -0.15277023, -0.98766815,  0.        , -0.15656192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05277159, -0.05875946,  0.06174355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49447261e-05,-1.95294861e-05,-7.41248230e-06,-4.81967601e-05,
 -5.21641241e-05, 2.61189300e-05,-2.60067609e-05, 1.19587365e-06,
  1.30885783e-06, 3.75189323e-05, 2.36261663e-05,-2.07019001e-06,
  5.58398815e-06, 5.03856205e-06,-2.11481723e-06, 2.24333625e-05,
 -1.52275791e-04, 6.66609087e-05,-1.21640991e+00, 8.98123301e-04,
 -2.46483116e-02,-1.52009593e-04]


--- Step 2251 ---
qpos:
[ 3.29215463e-03,-3.21855652e-03, 1.19532560e-02, 4.17641981e-02,
  6.09804338e-03, 7.64888586e-01,-2.99739534e-02, 8.71024906e-01,
  5.83126201e-03, 1.64168889e-02,-9.33141792e-03, 2.60217137e-02,
  1.38504677e+00,-1.00818238e-04, 1.18798528e+00, 6.28084791e-02,
  7.61005246e-03,-3.61267687e-02, 7.30921674e-02, 6.67713568e-01,
 -2.13313611e-01,-6.71902489e-01,-2.39171360e-01]

qacc:
[-4.64519533e+00,-4.41714631e-01, 2.15350060e+00,-5.75356563e+00,
 -3.96839967e-01, 2.86095901e+00,-8.90050140e+00, 7.89060923e+00,
  3.28420882e+00,-1.30224217e+00, 3.38028519e+00,-2.47850293e+00,
 -3.21717056e-02, 5.21383363e-02, 2.44948817e+00,-8.39631417e+00,
 -1.48951866e+00, 1.14951745e+00, 6.33540555e-02, 6.07602510e+00,
 -1.02983744e+02,-6.41675172e+01]

qfrc_actuator:
[-5.79694830e-05, 4.63937664e-05, 1.28377951e-04, 5.98922747e-05,
 -8.97822983e-05, 2.57146419e-02, 8.56572147e-03, 2.31575313e-03,
 -4.54355607e-05, 4.00848664e-04,-1.54668486e-05,-9.88275034e-06,
  0.00000000e+00,-1.67254170e-03, 0.00000000e+00,-1.54584455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63496469, -0.15544037, -8.63496469,  8.63533068,
        0.05738241, -0.15544037,  0.05738241,  5.44867735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021820056221055852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52268636e-01,  1.52268636e-01,  9.76539054e-01,  2.34592931e-02,
        9.88339143e-01, -1.50450654e-01, -9.88060688e-01, -3.46944695e-18,
       -1.54065168e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0527347 , -0.0587517 ,  0.06174292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72488324e-05,-3.03782566e-05,-1.33576069e-05,-1.32628344e-05,
 -6.44643176e-05, 1.58840946e-05,-4.69114356e-05,-3.77959477e-07,
  1.92609199e-05,-6.14883574e-05,-4.70032598e-07,-9.75866196e-08,
  3.88162006e-06, 1.47320472e-06,-1.45235743e-06,-4.11256047e-05,
 -2.06085152e-05, 1.56664888e-05,-1.21645668e+00, 8.92800855e-04,
 -2.46575795e-02,-1.50650091e-04]


--- Step 2252 ---
qpos:
[ 3.29072819e-03,-3.21853311e-03, 1.19533637e-02, 4.17644978e-02,
  6.09644162e-03, 7.64890189e-01,-2.99737791e-02, 8.71025359e-01,
  5.83095686e-03, 1.64160490e-02,-9.33274622e-03, 2.60205273e-02,
  1.38511966e+00,-1.00573113e-04, 1.18814419e+00, 6.28113285e-02,
  7.59711875e-03,-3.61185073e-02, 7.31091057e-02, 6.67545940e-01,
 -2.13399188e-01,-6.72027446e-01,-2.39211863e-01]

qacc:
[-2.65724947e+00, 1.17498151e+00,-7.00579188e+00, 1.70970002e+01,
 -2.13573135e-01,-3.43336849e+00, 1.34350043e+01,-2.48635274e+01,
 -9.79177828e-01,-1.29432265e+00, 5.12862197e+00,-1.07848367e+01,
  1.53259477e-01,-1.89186830e-01,-6.03291097e+00, 2.03774811e+01,
  1.03819798e+00, 6.03583123e-02, 5.75025661e+00, 4.29616200e-01,
  3.55909813e-01, 7.97573184e+01]

qfrc_actuator:
[-7.27798862e-05, 3.69147026e-05, 1.24307241e-04, 8.88987861e-05,
 -9.57511812e-05, 2.56999068e-02, 8.59018518e-03, 2.26160107e-03,
 -5.18087757e-05, 3.66695192e-04,-2.17423679e-05,-2.88245266e-05,
  0.00000000e+00,-1.67344982e-03, 0.00000000e+00,-1.44635945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.09911111,  -2.99852898,  -8.09911111,
        13.93561131, -14.31341701,  -2.99852898, -14.31341701,
        47.29730553,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021113261510282283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57301943e-15, -3.28650971e-15,  1.00000000e+00,  2.16022922e-29,
        1.00000000e+00,  3.28650971e-15, -1.00000000e+00,  0.00000000e+00,
        6.57301943e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01304093, -0.02827942,  0.06174475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55970618e-05,-2.98110829e-05,-1.24524008e-05, 2.69857251e-05,
 -3.48966204e-05,-1.52503468e-05, 2.21730488e-05,-5.50645799e-05,
 -5.84508849e-06,-6.86042828e-05,-1.90181612e-05,-2.15903251e-05,
  1.99884223e-06, 6.00709505e-07,-8.57464226e-06, 9.62233726e-05,
 -1.65572828e-04,-5.60938880e-06,-1.21647537e+00, 9.24252415e-04,
 -2.46644425e-02,-1.49982151e-04]


--- Step 2253 ---
qpos:
[ 3.28947982e-03,-3.21846399e-03, 1.19530127e-02, 4.17651302e-02,
  6.09502884e-03, 7.64891392e-01,-2.99730940e-02, 8.71022761e-01,
  5.83057752e-03, 1.64150483e-02,-9.33432151e-03, 2.60194387e-02,
  1.38519281e+00,-1.01103492e-04, 1.18830317e+00, 6.28139806e-02,
  7.59130462e-03,-3.61122476e-02, 7.31198101e-02, 6.67552012e-01,
 -2.13626083e-01,-6.71980693e-01,-2.39123726e-01]

qacc:
[ 1.54794978e+00, 2.02609042e+00,-8.54500642e+00, 1.50086700e+01,
  1.06481573e-01,-7.19932355e+00, 2.99472167e+01,-6.31425032e+01,
 -6.51992459e-01, 6.80415384e-01,-3.14491822e+00, 5.34787442e+00,
  7.16553077e-01,-1.31508619e+00, 6.28080619e-01,-2.20995506e+00,
  1.77989424e+00,-5.00442496e-01,-1.55849280e+00,-5.94714174e+00,
  8.50495183e+01, 1.29517568e+02]

qfrc_actuator:
[-6.31612187e-05, 4.91111635e-05, 1.04137437e-04, 1.05844819e-04,
 -6.29557372e-05, 2.56550322e-02, 8.60450226e-03, 2.10530811e-03,
 -5.54427810e-05, 3.82348977e-04,-2.49552675e-05,-2.17515324e-05,
  0.00000000e+00,-1.72735089e-03, 0.00000000e+00,-1.45991957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.16236729,  6.05078558, -6.16236729,  6.67282132,
       -1.99975173,  6.05078558, -1.99975173,  6.59973476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002124430656753419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26623695e-15,  2.61298956e-14,  1.00000000e+00, -8.53464304e-29,
        1.00000000e+00, -2.61298956e-14, -1.00000000e+00,  0.00000000e+00,
        3.26623695e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05395979, -0.00866391,  0.0617435 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16313470e-06,-5.89377256e-06,-2.69274645e-05, 1.57634594e-05,
  1.71326092e-05,-5.07573067e-05, 1.21924894e-05,-1.57362949e-04,
 -3.82807186e-06,-2.75182600e-05,-2.04456690e-05, 3.06244920e-06,
  1.05161597e-06,-5.31968030e-05, 4.48440689e-06,-9.84240538e-06,
 -1.15662721e-04, 6.07352063e-05,-1.21644138e+00, 9.07911289e-04,
 -2.46562348e-02,-1.50014760e-04]


--- Step 2254 ---
qpos:
[ 3.28870118e-03,-3.21833071e-03, 1.19523968e-02, 4.17655995e-02,
  6.09411858e-03, 7.64892096e-01,-2.99728184e-02, 8.71019753e-01,
  5.82981184e-03, 1.64146199e-02,-9.33577727e-03, 2.60186670e-02,
  1.38526589e+00,-1.01728268e-04, 1.18846223e+00, 6.28157832e-02,
  7.59186632e-03,-3.61075192e-02, 7.31215325e-02, 6.67717236e-01,
 -2.13982689e-01,-6.71775827e-01,-2.38919107e-01]

qacc:
[ 4.11331045e+00, 4.80981032e-01,-9.17257292e-01,-1.51500001e+00,
  2.79878951e-01,-2.59717371e-01, 9.80972084e-01,-5.45012690e+00,
 -3.37546012e+00, 1.08153560e+00,-4.08565710e+00, 8.94692105e+00,
 -4.91850028e-02,-1.83245135e-02, 2.68631270e+00,-9.21880597e+00,
  1.59395752e+00,-3.82828945e-01,-2.24549838e+00,-6.06271535e+00,
  7.82976662e+01, 1.18377731e+02]

qfrc_actuator:
[-3.92448851e-05, 5.63739667e-05, 9.24512334e-05, 9.78071201e-05,
 -2.50741158e-05, 2.56101137e-02, 8.57700675e-03, 2.08541230e-03,
 -7.51795667e-05, 4.81001127e-04, 9.40055998e-06, 6.21667695e-07,
  0.00000000e+00,-1.72350882e-03, 0.00000000e+00,-1.50450326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51834813,  1.42285699,  8.51834813,  8.66353572,
       -0.16267363,  1.42285699, -0.16267363,  9.61025674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00211071305424175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.28746434e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.28746434e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05400381, -0.00863566,  0.06174509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41757314e-05,-9.12396530e-07,-1.56719404e-05,-8.91599700e-06,
  4.55650816e-05,-7.57007086e-05,-4.08553378e-05,-2.47256982e-05,
 -1.98604135e-05, 7.92262228e-05, 2.62915189e-05, 2.05543491e-05,
 -1.22763295e-05,-1.04353130e-05,-2.18961547e-06,-4.53201379e-05,
 -1.53914232e-05, 3.39293730e-05,-1.21637415e+00, 8.88560882e-04,
 -2.46410523e-02,-1.50318632e-04]


--- Step 2255 ---
qpos:
[ 3.28821548e-03,-3.21845724e-03, 1.19523218e-02, 4.17659544e-02,
  6.09368498e-03, 7.64892703e-01,-2.99731198e-02, 8.71017537e-01,
  5.82847065e-03, 1.64145548e-02,-9.33653818e-03, 2.60188451e-02,
  1.38533898e+00,-1.02609071e-04, 1.18862105e+00, 6.28187054e-02,
  7.58582257e-03,-3.60971711e-02, 7.31249441e-02, 6.67710217e-01,
 -2.14289299e-01,-6.71745576e-01,-2.38748914e-01]

qacc:
[   2.59249378,  -2.09676574,   7.45110303, -10.09449747,   0.26491334,
    2.80357743, -11.17189575,  19.57514328,  -5.00357728,   0.50290178,
   -5.08972678,  20.13059064,   0.27123406,  -0.50234551,  -3.77288207,
   12.60543674,  -1.65136194,   1.40495043,   0.42230287,   7.55914053,
 -106.49565937, -67.5445116 ]

qfrc_actuator:
[-2.48654671e-05, 4.28872024e-05, 1.21350066e-04, 9.28947093e-05,
 -2.28255492e-06, 2.56364376e-02, 8.56064486e-03, 2.12818202e-03,
 -1.04236197e-04, 5.04515083e-04, 4.82772837e-05, 4.96693239e-05,
  0.00000000e+00,-1.73864965e-03, 0.00000000e+00,-1.44270176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.82071458,  8.44226127, -1.82071458,  5.33145002,
       -0.7127598 ,  8.44226127, -0.7127598 ,  8.48264509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021271210856967666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49863406e-01,  1.49863406e-01,  9.77282927e-01,  2.27155740e-02,
        9.88706711e-01, -1.48131844e-01, -9.88445731e-01, -3.46944695e-18,
       -1.51575188e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05287903, -0.05888665,  0.06174857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50688471e-05,-1.76037644e-05, 2.64759799e-05,-5.66818194e-06,
  4.32303314e-05,-2.44857825e-05,-3.67516252e-05, 3.85578670e-05,
 -2.96031807e-05, 7.41543644e-05, 5.92153258e-05, 5.37591744e-05,
 -9.28254915e-06,-2.07172482e-05,-9.50267220e-06, 5.81870334e-05,
 -1.47242684e-04,-6.78353603e-05,-1.21627849e+00, 9.00188539e-04,
 -2.46236248e-02,-1.50011849e-04]


--- Step 2256 ---
qpos:
[ 3.28790611e-03,-3.21890616e-03, 1.19532121e-02, 4.17662258e-02,
  6.09341904e-03, 7.64893256e-01,-2.99734117e-02, 8.71015812e-01,
  5.82713674e-03, 1.64142681e-02,-9.33647016e-03, 2.60193305e-02,
  1.38541214e+00,-1.03937846e-04, 1.18877997e+00, 6.28206458e-02,
  7.58337119e-03,-3.60857216e-02, 7.31467448e-02, 6.67738984e-01,
 -2.14693070e-01,-6.71682972e-01,-2.38481698e-01]

qacc:
[  1.58357067, -3.30008021, 11.4943838 ,-14.23945549,  0.09333738,
   0.75791898, -3.69532043,  9.24750982,  0.09345017, -1.97683825,
   5.32526575, -1.16584116,  0.28581502, -0.62355013,  3.10445721,
 -10.68292503,  0.8980917 ,  0.27533519,  4.59726331,  0.12203022,
   0.82718604, 72.76329278]

qfrc_actuator:
[-1.62192934e-05, 3.50016482e-05, 1.73900038e-04, 8.98739370e-05,
 -6.47280170e-06, 2.56520482e-02, 8.56904711e-03, 2.15425556e-03,
 -1.03035754e-04, 4.47421038e-04, 7.14907683e-05, 6.07042423e-05,
  0.00000000e+00,-1.76498085e-03, 0.00000000e+00,-1.49622465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.02792638,  -3.18420711,  -8.02792638,
        13.78586093, -12.98275638,  -3.18420711, -12.98275638,
        41.36809521,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020733511283086217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.34670467e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.34670467e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01307965, -0.02826435,  0.06174914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.06883102e-06,-1.24922099e-05, 5.19801678e-05,-2.96989587e-06,
  1.52073393e-05,-3.98147165e-06, 4.97828635e-07, 2.50595780e-05,
  3.72193772e-07,-1.09463438e-06, 4.76939187e-05, 1.73103160e-05,
 -9.99833945e-06,-3.41004531e-05,-3.27093842e-07,-5.20800767e-05,
  2.46280569e-06, 8.73019457e-05,-1.21633894e+00, 8.38103732e-04,
 -2.46365165e-02,-1.47562135e-04]


--- Step 2257 ---
qpos:
[ 3.28804777e-03,-3.21950279e-03, 1.19547075e-02, 4.17664610e-02,
  6.09300509e-03, 7.64893335e-01,-2.99729380e-02, 8.71016139e-01,
  5.82651690e-03, 1.64140399e-02,-9.33607374e-03, 2.60189086e-02,
  1.38548489e+00,-1.04305897e-04, 1.18893922e+00, 6.28192514e-02,
  7.57501411e-03,-3.60694811e-02, 7.31645804e-02, 6.67619149e-01,
 -2.15055109e-01,-6.71770561e-01,-2.38244171e-01]

qacc:
[ 3.98021924e+00,-1.96950836e+00, 6.87774269e+00,-8.34805503e+00,
 -8.19715296e-02, 8.65968657e-01,-8.26833731e+00, 3.23090230e+01,
  6.23672728e+00,-2.72069928e+00, 1.36229577e+01,-2.98721690e+01,
 -1.22376157e+00, 2.02425927e+00, 1.06459497e+01,-3.63074507e+01,
 -1.47642217e+00, 1.19774072e+00,-9.91249934e-01, 5.91958699e+00,
 -9.18887894e+01,-5.77692400e+01]

qfrc_actuator:
[ 6.73898786e-06, 3.06433135e-05, 2.04494779e-04, 8.80030217e-05,
 -2.67338082e-05, 2.56257202e-02, 8.60970483e-03, 2.25905736e-03,
 -6.62810383e-05, 4.48917449e-04, 8.48942913e-05, 1.36886720e-05,
  0.00000000e+00,-1.69121612e-03, 0.00000000e+00,-1.67054645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.11594241,  2.95266924,  8.11594241,  9.07390395,
       -1.20265824,  2.95266924, -1.20265824, 11.9420861 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020967346959939546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.14984338,  0.14984338,  0.97728907,  0.02270944,  0.98870975,
       -0.14811253, -0.98844891,  0.        , -0.15155447])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05297378, -0.05896826,  0.06175198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32107254e-05,-7.25112084e-07, 3.43081602e-05,-6.67063059e-07,
 -1.34370550e-05,-2.76446667e-05, 4.06821916e-05, 1.05258529e-04,
  3.67616110e-05, 1.14823476e-05, 1.96509742e-05,-4.50762072e-05,
 -1.36910462e-05, 6.22183029e-05,-9.33859859e-06,-1.78069848e-04,
  1.98253144e-05, 1.11415829e-04,-1.21628454e+00, 8.08320851e-04,
 -2.46288291e-02,-1.46115778e-04]


--- Step 2258 ---
qpos:
[ 3.28846337e-03,-3.21984627e-03, 1.19558648e-02, 4.17666859e-02,
  6.09239351e-03, 7.64893077e-01,-2.99725218e-02, 8.71017750e-01,
  5.82668756e-03, 1.64136186e-02,-9.33568328e-03, 2.60183284e-02,
  1.38555751e+00,-1.04125043e-04, 1.18909815e+00, 6.28177803e-02,
  7.57359629e-03,-3.60552050e-02, 7.31752254e-02, 6.67668738e-01,
 -2.15555386e-01,-6.71689853e-01,-2.37880377e-01]

qacc:
[ 2.38947607e+00, 1.25403310e+00,-3.95024866e+00, 4.13531872e+00,
 -1.10241184e-01, 1.94418087e+00,-9.85204303e+00, 2.44697550e+01,
  6.89789558e+00,-5.77781435e-01, 2.33491694e+00,-4.89746972e+00,
 -4.53939273e-01, 8.84024564e-01,-1.88492001e-01, 8.68972293e-02,
  1.73481153e+00,-4.91093819e-01,-1.79767279e+00,-5.56421457e+00,
  8.30414529e+01, 1.26859990e+02]

qfrc_actuator:
[ 2.01866800e-05, 4.61082246e-05, 1.86385127e-04, 8.68081017e-05,
 -3.86360238e-05, 2.55924239e-02, 8.59794538e-03, 2.32057767e-03,
 -2.66560712e-05, 4.14366269e-04, 7.48281672e-05, 3.94516558e-06,
  0.00000000e+00,-1.66513912e-03, 0.00000000e+00,-1.66606512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.36324616,  -2.15473676,  -8.36324616,
        12.49394921, -14.97256571,  -2.15473676, -14.97256571,
        66.74984403,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002056364194090207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37435067e-15, -1.07979222e-13,  1.00000000e+00,  3.64359759e-28,
        1.00000000e+00,  1.07979222e-13, -1.00000000e+00,  0.00000000e+00,
        3.37435067e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05417621, -0.00852258,  0.06175132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41075342e-05, 2.21285848e-05,-1.40689407e-05,-5.53171701e-08,
 -1.79385527e-05,-3.72335490e-05,-9.36124287e-06, 6.42530644e-05,
  4.06833850e-05,-2.59872765e-05,-6.83667729e-06,-9.44983937e-06,
  6.76982509e-06, 4.03827030e-05,-2.83587700e-05,-7.60082457e-06,
 -2.58870681e-05, 3.18961625e-04,-1.21632265e+00, 7.60971084e-04,
 -2.46395930e-02,-1.43918089e-04]


--- Step 2259 ---
qpos:
[ 3.28869220e-03,-3.21997474e-03, 1.19568117e-02, 4.17665456e-02,
  6.09181414e-03, 7.64892826e-01,-2.99728771e-02, 8.71019058e-01,
  5.82733205e-03, 1.64132724e-02,-9.33585410e-03, 2.60186765e-02,
  1.38563046e+00,-1.04620587e-04, 1.18925655e+00, 6.28190006e-02,
  7.57841306e-03,-3.60424319e-02, 7.31760853e-02, 6.67873848e-01,
 -2.16182875e-01,-6.71453566e-01,-2.37401762e-01]

qacc:
[-1.64984069e+00, 1.23104507e-01, 1.51935015e+00,-7.66518461e+00,
  1.73311329e-02, 1.56652944e+00,-4.45054332e+00, 3.55476934e-01,
  4.11448063e+00, 3.57075793e+00,-1.65212333e+01, 3.34440108e+01,
  9.23263635e-01,-1.49411344e+00,-8.98422540e+00, 3.01105750e+01,
  1.55864865e+00,-3.75728750e-01,-2.44626629e+00,-5.64852013e+00,
  7.66633528e+01, 1.16319865e+02]

qfrc_actuator:
[ 1.01720533e-05, 5.53726697e-05, 1.75259266e-04, 6.82547306e-05,
 -2.76615068e-05, 2.55905033e-02, 8.55525244e-03, 2.30281620e-03,
 -3.42366447e-06, 4.29425156e-04, 5.08832521e-05, 5.16840082e-05,
  0.00000000e+00,-1.72090514e-03, 0.00000000e+00,-1.52072079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.49763689,  1.54173415,  8.49763689,  8.67449889,
       -0.21019159,  1.54173415, -0.21019159,  9.79488489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002039489840771805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05422773, -0.00849213,  0.0617532 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.60463389e-06, 1.87324136e-05,-8.30089164e-06,-1.80963797e-05,
  2.91769103e-06,-2.23448017e-05,-4.91816445e-05,-1.77734122e-05,
  2.43891024e-05,-1.26381608e-06,-3.04818121e-05, 4.62044148e-05,
  1.24416767e-05,-4.27099814e-05,-1.58348940e-05, 1.40832362e-04,
  4.57104329e-05, 1.62137776e-04,-1.21622655e+00, 7.48571128e-04,
 -2.46234178e-02,-1.43072535e-04]


--- Step 2260 ---
qpos:
[ 3.28845471e-03,-3.22034212e-03, 1.19580856e-02, 4.17662055e-02,
  6.09112850e-03, 7.64892424e-01,-2.99740051e-02, 8.71020159e-01,
  5.82790536e-03, 1.64130592e-02,-9.33613491e-03, 2.60202451e-02,
  1.38570365e+00,-1.05955811e-04, 1.18941491e+00, 6.28212423e-02,
  7.57958216e-03,-3.60365652e-02, 7.31891740e-02, 6.68021698e-01,
 -2.16564041e-01,-6.71268319e-01,-2.37162121e-01]

qacc:
[-4.07860519e+00,-1.63433814e+00, 6.22575769e+00,-1.00462639e+01,
 -5.97581430e-02, 1.53152920e+00,-4.80681932e+00, 1.93747935e+00,
 -6.25706740e-01, 2.99698710e+00,-1.55820460e+01, 3.67812261e+01,
  8.32610816e-01,-1.50765089e+00,-3.23722430e+00, 1.10332450e+01,
 -9.11916672e-01,-1.72661818e+00, 3.05719407e+00, 1.89551328e+00,
  1.88020618e+01,-1.74813065e+02]

qfrc_actuator:
[-1.35688224e-05, 2.53484572e-05, 1.86083898e-04, 5.73979376e-05,
 -3.86170088e-05, 2.55716952e-02, 8.51248907e-03, 2.29181824e-03,
 -7.77894127e-06, 4.56306611e-04, 5.46740310e-05, 1.15136359e-04,
  0.00000000e+00,-1.77151332e-03, 0.00000000e+00,-1.47112250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002021828754438973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424884, -0.00655467,  0.06175512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40073643e-05,-2.20489611e-05, 1.30361803e-05,-1.06950534e-05,
 -9.64852055e-06,-4.14500670e-05,-5.33662579e-05,-1.35967518e-05,
 -3.65852987e-06, 2.18826464e-05, 1.37890494e-06, 6.32421911e-05,
 -3.74754408e-06,-5.93542353e-05, 7.17014919e-06, 5.50990632e-05,
 -1.03138650e-04,-5.66818180e-05,-1.21610414e+00, 7.63734357e-04,
 -2.46050667e-02,-1.41608800e-04]


--- Step 2261 ---
qpos:
[ 3.28793450e-03,-3.22097414e-03, 1.19595102e-02, 4.17660991e-02,
  6.09013073e-03, 7.64891877e-01,-2.99759408e-02, 8.71020430e-01,
  5.82807739e-03, 1.64128514e-02,-9.33599937e-03, 2.60218504e-02,
  1.38577681e+00,-1.07629394e-04, 1.18957318e+00, 6.28247333e-02,
  7.57767275e-03,-3.60280507e-02, 7.32013373e-02, 6.68004787e-01,
 -2.16903623e-01,-6.71248561e-01,-2.36955253e-01]

qacc:
[  -2.4721082 ,  -0.28435997,  -0.47131675,   4.46053632,  -0.17435455,
    0.55279205,  -0.16921327,  -9.68028423,  -3.48714348,  -1.07423291,
    3.69756354,  -3.74523733,   0.30158295,  -0.60235147,  -3.9185706 ,
   13.46964628,  -0.76962781,   0.66193409,  -0.23135523,   4.67312429,
 -102.09528289, -62.36052519]

qfrc_actuator:
[-2.74385646e-05, 7.62422457e-06, 1.91872851e-04, 6.88924967e-05,
 -6.26049309e-05, 2.55606612e-02, 8.46999321e-03, 2.24939814e-03,
 -2.83313622e-05, 4.54688313e-04, 7.48794478e-05, 1.16342752e-04,
  0.00000000e+00,-1.78308770e-03, 0.00000000e+00,-1.40736772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.50808194, -5.67729217,  6.50808194, 18.45686037,
       11.2575847 , -5.67729217, 11.2575847 , 21.54133337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002025817166604618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74018565e-14, -4.11027847e-14,  1.00000000e+00,  1.12629261e-27,
        1.00000000e+00,  4.11027847e-14, -1.00000000e+00,  0.00000000e+00,
        2.74018565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05302849, -0.05905971,  0.06175494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45614197e-05,-2.78279434e-05, 2.46158607e-06, 1.07927662e-05,
 -2.83233211e-05,-4.49472608e-05,-5.72168745e-05,-4.56604657e-05,
 -2.06529978e-05, 1.36216827e-05, 2.70866746e-05, 3.42053302e-06,
 -1.60408365e-05,-2.87843071e-05, 6.44805248e-06, 6.70276580e-05,
 -1.05487307e-04,-5.24437062e-05,-1.21627478e+00, 7.39686343e-04,
 -2.46301867e-02,-1.40536056e-04]


--- Step 2262 ---
qpos:
[ 3.28725177e-03,-3.22169444e-03, 1.19608955e-02, 4.17668123e-02,
  6.08923205e-03, 7.64891218e-01,-2.99781572e-02, 8.71019814e-01,
  5.82834630e-03, 1.64129474e-02,-9.33541008e-03, 2.60227257e-02,
  1.38584975e+00,-1.08976539e-04, 1.18973187e+00, 6.28256130e-02,
  7.57186687e-03,-3.60264093e-02, 7.32230003e-02, 6.67935118e-01,
 -2.17012377e-01,-6.71276842e-01,-2.36971955e-01]

qacc:
[-1.42572045e+00, 1.68516585e+00,-9.62980487e+00, 2.39325183e+01,
  5.51712562e-02,-9.28993812e-01, 4.89032737e+00,-1.49495652e+01,
  8.53592566e-01,-2.37089823e+00, 1.21152368e+01,-2.56939010e+01,
 -5.99168322e-01, 8.92284026e-01, 8.54380405e+00,-2.88851278e+01,
 -9.74118893e-01,-1.71825382e+00, 2.37494164e+00, 2.03117927e+00,
  1.78426803e+01,-1.63604864e+02]

qfrc_actuator:
[-3.53826881e-05, 1.51539119e-05, 1.94685998e-04, 1.11196787e-04,
 -4.09060296e-05, 2.55720999e-02, 8.46350726e-03, 2.20658241e-03,
 -2.27382187e-05, 4.89302485e-04, 1.04451305e-04, 8.08972384e-05,
  0.00000000e+00,-1.75365462e-03, 0.00000000e+00,-1.54878717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.2591984 ,  5.95056403, -6.2591984 , 44.83705749,
       38.0782937 ,  5.95056403, 38.0782937 , 48.68964153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020304375777368405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.05046261e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.05046261e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042505 , -0.00655717,  0.06175456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.36858692e-06,-7.05792975e-06,-2.26608082e-06, 4.14067266e-05,
  8.98241404e-06,-2.61901249e-05,-2.32988777e-05,-4.70119878e-05,
  5.00446259e-06, 4.79689077e-05, 3.58385262e-05,-3.38604994e-05,
 -1.51940557e-05, 1.77293302e-05, 7.16305184e-06,-1.37624903e-04,
  1.28454515e-05, 1.25441129e-04,-1.21632506e+00, 6.75598208e-04,
 -2.46408965e-02,-1.38074811e-04]


--- Step 2263 ---
qpos:
[ 3.28613408e-03,-3.22248785e-03, 1.19620435e-02, 4.17676932e-02,
  6.08872044e-03, 7.64890129e-01,-2.99800531e-02, 8.71018340e-01,
  5.82833505e-03, 1.64135506e-02,-9.33511817e-03, 2.60231951e-02,
  1.38592257e+00,-1.10024852e-04, 1.18989057e+00, 6.28248072e-02,
  7.56248265e-03,-3.60310548e-02, 7.32503597e-02, 6.67816692e-01,
 -2.16907876e-01,-6.71349613e-01,-2.37195146e-01]

qacc:
[  -3.82369056,   0.92018356,  -4.11516166,   7.4352302 ,   0.21626254,
   -2.91734414,  10.84256167, -19.69954433,  -2.46175094,   0.67073773,
    0.30316938,  -7.23489664,  -0.41611886,   0.67541275,   5.15440311,
  -17.90456311,  -0.89458191,  -1.57173903,   1.42408593,   1.8956398 ,
   16.45070996,-151.14211029]

qfrc_actuator:
[-5.75311864e-05, 2.26017719e-06, 1.78090663e-04, 1.18049667e-04,
 -9.83403112e-06, 2.55437884e-02, 8.47842327e-03, 2.16391983e-03,
 -3.73006608e-05, 5.09850298e-04, 8.61811911e-05, 5.97177696e-05,
  0.00000000e+00,-1.73565177e-03, 0.00000000e+00,-1.63242395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020150588755202814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.75481535e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.75481535e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424502, -0.00653654,  0.06175646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23902391e-05,-1.55273993e-05,-1.69078138e-05, 7.27559067e-06,
  3.51002917e-05,-4.88890804e-05, 5.67102223e-06,-4.52693217e-05,
 -1.44012154e-05, 5.33144734e-05,-5.12870145e-06,-1.85463689e-05,
 -4.22845862e-06, 1.95586087e-05,-1.66564081e-05,-9.14539424e-05,
 -2.84936344e-05, 3.06821099e-05,-1.21642903e+00, 6.95703699e-04,
 -2.46605534e-02,-1.38382069e-04]


--- Step 2264 ---
qpos:
[ 3.28475957e-03,-3.22330107e-03, 1.19627014e-02, 4.17683153e-02,
  6.08858785e-03, 7.64888339e-01,-2.99811087e-02, 8.71017400e-01,
  5.82780475e-03, 1.64145084e-02,-9.33555264e-03, 2.60234572e-02,
  1.38599533e+00,-1.10852774e-04, 1.19004879e+00, 6.28259929e-02,
  7.54977603e-03,-3.60415125e-02, 7.32802194e-02, 6.67652625e-01,
 -2.16604565e-01,-6.71463768e-01,-2.37610697e-01]

qacc:
[-2.26940407e+00, 8.14708937e-01,-1.84315443e+00,-1.84505267e+00,
  2.12066310e-01,-2.26716377e+00, 5.10928813e+00, 2.28609226e+00,
 -4.55602706e+00, 2.08079855e+00,-5.84794280e+00, 3.14154966e+00,
 -3.28512577e-02, 1.62836205e-01,-6.72257265e+00, 2.24907405e+01,
 -8.30603475e-01,-1.45303371e+00, 6.25104002e-01, 1.77228257e+00,
  1.53012005e+01,-1.40866487e+02]

qfrc_actuator:
[-7.01122426e-05,-5.11482610e-06, 1.50064105e-04, 1.03955808e-04,
  8.78155746e-06, 2.55097421e-02, 8.52344420e-03, 2.19268378e-03,
 -6.36181625e-05, 5.03880755e-04, 3.97755180e-05, 4.70658300e-05,
  0.00000000e+00,-1.72461004e-03, 0.00000000e+00,-1.52149869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019809449707865467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.60451219e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.60451219e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423449, -0.00649575,  0.06176046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32226926e-05,-1.92295928e-05,-3.30686173e-05,-1.52040186e-05,
  3.43616158e-05,-6.14197983e-05, 3.46879044e-05, 2.63432940e-05,
 -2.67084133e-05, 2.19586794e-05,-3.66772095e-05,-1.09080370e-05,
  1.71743203e-06, 1.58015195e-05,-2.08362320e-05, 1.02997555e-04,
 -4.13128066e-05,-1.42653033e-05,-1.21648855e+00, 7.18598339e-04,
 -2.46765198e-02,-1.39498335e-04]


--- Step 2265 ---
qpos:
[ 3.28358954e-03,-3.22403064e-03, 1.19634904e-02, 4.17687069e-02,
  6.08894201e-03, 7.64886735e-01,-2.99822631e-02, 8.71017468e-01,
  5.82730847e-03, 1.64150445e-02,-9.33593421e-03, 2.60236126e-02,
  1.38606808e+00,-1.11533880e-04, 1.19020727e+00, 6.28251039e-02,
  7.53395261e-03,-3.60573978e-02, 7.33098977e-02, 6.67445307e-01,
 -2.16114303e-01,-6.71616581e-01,-2.38206923e-01]

qacc:
[ 1.79724656e+00,-7.34005574e-01, 3.74306025e+00,-7.99346448e+00,
  2.70792791e-01, 2.26096812e+00,-9.42366291e+00, 2.04129721e+01,
  3.05409595e-01,-9.25377298e-01, 2.93996556e+00,-4.55863671e+00,
 -2.61751044e-01, 4.20629338e-01, 6.66861321e+00,-2.27203834e+01,
 -7.79198449e-01,-1.35691311e+00,-4.53939409e-02, 1.65886507e+00,
  1.43521903e+01,-1.32405454e+02]

qfrc_actuator:
[-5.92043447e-05, 2.63026031e-05, 1.68784223e-04, 9.54059484e-05,
  3.75291776e-05, 2.55614617e-02, 8.53262218e-03, 2.24550356e-03,
 -6.11324834e-05, 4.46445210e-04, 3.02943635e-05, 3.94942644e-05,
  0.00000000e+00,-1.71778607e-03, 0.00000000e+00,-1.63413901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001932167491156593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43649946e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43649946e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422001, -0.00643932,  0.06176607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05283027e-05, 1.32026088e-05, 1.01514179e-05,-1.08140369e-05,
  4.41589911e-05, 2.54263109e-05, 1.87054145e-06, 5.24991566e-05,
  1.73234838e-06,-5.32409416e-05,-9.84646016e-06,-8.11264317e-06,
  4.35550939e-06, 1.17479461e-05, 1.92579664e-07,-1.09972809e-04,
 -3.13607606e-05,-1.94040865e-05,-1.21651241e+00, 7.45716004e-04,
 -2.46894010e-02,-1.41379025e-04]


--- Step 2266 ---
qpos:
[ 3.28290396e-03,-3.22454317e-03, 1.19649810e-02, 4.17685895e-02,
  6.09009122e-03, 7.64885986e-01,-2.99841239e-02, 8.71016757e-01,
  5.82684558e-03, 1.64152890e-02,-9.33674929e-03, 2.60240392e-02,
  1.38614083e+00,-1.12111768e-04, 1.19036565e+00, 6.28235454e-02,
  7.52385283e-03,-3.60741587e-02, 7.33299988e-02, 6.67396183e-01,
 -2.15753772e-01,-6.71610146e-01,-2.38689037e-01]

qacc:
[ 4.27021858e+00,-2.73274007e+00, 1.22921060e+01,-2.23662397e+01,
  4.42045767e-01, 1.67899949e+00,-2.36686407e+00,-7.81055109e+00,
  2.82890051e-01, 1.38392404e+00,-6.63951809e+00, 1.22413858e+01,
 -1.03518420e-01, 1.98485861e-01, 1.88072850e+00,-6.77577195e+00,
  1.43091190e+00,-2.18879637e-01,-2.39427687e+00,-6.84703989e+00,
  7.84860158e+01, 1.17696286e+02]

qfrc_actuator:
[-3.45616453e-05, 6.31473306e-05, 2.15127396e-04, 7.25049678e-05,
  8.98492901e-05, 2.56285291e-02, 8.50314475e-03, 2.20555224e-03,
 -5.94629677e-05, 4.29775123e-04, 6.97393125e-06, 5.27057771e-05,
  0.00000000e+00,-1.71350733e-03, 0.00000000e+00,-1.66461757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00192106834077959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.77919588e-14,  2.88959794e-14,  1.00000000e+00, -1.66995525e-27,
        1.00000000e+00, -2.88959794e-14, -1.00000000e+00,  0.00000000e+00,
        5.77919588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05460645, -0.00828958,  0.06176768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49486699e-05, 4.58849302e-05, 4.99455621e-05,-2.21958997e-05,
  7.21410782e-05, 8.32578466e-05,-2.26468643e-05,-3.78905468e-05,
  1.70266687e-06,-4.88405947e-05,-3.58143213e-05, 1.04304690e-05,
  4.53041685e-06, 8.82354373e-06,-1.59582762e-05,-3.74680409e-05,
 -2.82416162e-06, 7.94219639e-06,-1.21650694e+00, 7.77991808e-04,
 -2.46996501e-02,-1.43986357e-04]


--- Step 2267 ---
qpos:
[ 3.28286386e-03,-3.22439645e-03, 1.19662889e-02, 4.17678568e-02,
  6.09173750e-03, 7.64885187e-01,-2.99850914e-02, 8.71014189e-01,
  5.82640601e-03, 1.64156555e-02,-9.33831357e-03, 2.60242440e-02,
  1.38621351e+00,-1.12354093e-04, 1.19052346e+00, 6.28252884e-02,
  7.51902713e-03,-3.60915746e-02, 7.33383557e-02, 6.67493893e-01,
 -2.15513676e-01,-6.71455841e-01,-2.39066544e-01]

qacc:
[ 5.64790010e+00, 1.03580974e-01, 3.47066024e+00,-1.42862788e+01,
  2.78048241e-01,-5.70111926e+00, 2.28728134e+01,-4.27221827e+01,
  1.77760164e-01, 1.79808997e+00,-5.24125210e+00, 2.51022381e+00,
 -3.69942778e-02, 2.33161599e-01,-1.07975745e+01, 3.65744445e+01,
  1.31851624e+00,-1.63778802e-01,-2.93604473e+00,-6.86863853e+00,
  7.29929338e+01, 1.08825252e+02]

qfrc_actuator:
[-2.03984190e-06, 1.03081593e-04, 2.06410755e-04, 4.13642067e-05,
  1.02552013e-04, 2.55975450e-02, 8.53988433e-03, 2.11132368e-03,
 -5.82961415e-05, 4.55355461e-04,-2.41848270e-05, 4.25466886e-05,
  0.00000000e+00,-1.69301823e-03, 0.00000000e+00,-1.48660059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59175756, -0.87662925,  8.59175756,  8.6901271 ,
        0.5269305 , -0.87662925,  0.5269305 , 13.8007579 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018976749394820774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85043835e-14, -7.31304794e-15,  1.00000000e+00,  4.27845361e-28,
        1.00000000e+00,  7.31304794e-15, -1.00000000e+00,  0.00000000e+00,
        5.85043835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05468107, -0.00825673,  0.06177055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32474934e-05, 7.49711074e-05, 6.13326012e-06,-2.78818929e-05,
  4.50915140e-05, 9.51521971e-06, 4.94308117e-05,-9.31114797e-05,
  1.19962263e-06,-8.68372124e-06,-4.52926666e-05,-1.32881720e-05,
  3.88819480e-06, 2.42877369e-05,-1.40696221e-05, 1.73283321e-04,
  7.97422506e-05, 2.34653014e-04,-1.21651602e+00, 7.57116429e-04,
 -2.46915592e-02,-1.46453105e-04]


--- Step 2268 ---
qpos:
[ 3.28355904e-03,-3.22362599e-03, 1.19671939e-02, 4.17667767e-02,
  6.09328877e-03, 7.64884911e-01,-2.99863359e-02, 8.71009487e-01,
  5.82632883e-03, 1.64158339e-02,-9.33962372e-03, 2.60242952e-02,
  1.38628600e+00,-1.11834775e-04, 1.19068181e+00, 6.28237536e-02,
  7.51910256e-03,-3.61094658e-02, 7.33331268e-02, 6.67728883e-01,
 -2.15386168e-01,-6.71163056e-01,-2.39347217e-01]

qacc:
[ 6.43011619e+00, 1.22188589e+00,-1.71671164e+00,-4.08536596e+00,
 -5.29827137e-02,-2.26803575e+00, 1.31500779e+01,-3.77406227e+01,
  3.17182591e+00,-1.28126073e+00, 4.84565580e+00,-7.76052457e+00,
 -9.13722958e-01, 1.57729822e+00, 1.07757822e+01,-3.63453251e+01,
  1.22528530e+00,-1.18795594e-01,-3.39644202e+00,-6.82629085e+00,
  6.84141085e+01, 1.01448613e+02]

qfrc_actuator:
[ 3.48546334e-05, 1.26587904e-04, 1.83014711e-04, 2.33419581e-05,
  7.37116360e-05, 2.56325626e-02, 8.52627384e-03, 2.00366907e-03,
 -3.96815761e-05, 4.52731276e-04,-6.29958066e-06, 3.65023929e-05,
  0.00000000e+00,-1.64532392e-03, 0.00000000e+00,-1.66651062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59989563, -0.79282534,  8.59989563,  8.69507422,
        0.63684253, -0.79282534,  0.63684253, 15.54429035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018570906838083906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49457298e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.49457298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05480161, -0.00820989,  0.06177519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78669223e-05, 6.54954949e-05,-8.13652142e-06,-1.51443609e-05,
 -8.60192632e-06, 4.70981100e-05,-8.83239224e-06,-1.07977958e-04,
  1.86479000e-05,-1.74018623e-05, 1.00660226e-05,-8.24013075e-06,
  7.76565745e-06, 5.53347886e-05, 1.11015386e-05,-1.72460085e-04,
 -3.56758002e-05, 3.82100533e-04,-1.21649387e+00, 7.64580753e-04,
 -2.46806866e-02,-1.48424876e-04]


--- Step 2269 ---
qpos:
[ 3.28434684e-03,-3.22290405e-03, 1.19680771e-02, 4.17658951e-02,
  6.09460028e-03, 7.64885693e-01,-2.99884096e-02, 8.71005581e-01,
  5.82647533e-03, 1.64158816e-02,-9.34075534e-03, 2.60246162e-02,
  1.38635845e+00,-1.10746658e-04, 1.19084049e+00, 6.28177564e-02,
  7.51160453e-03,-3.61204946e-02, 7.33318971e-02, 6.67781074e-01,
 -2.15203172e-01,-6.71056734e-01,-2.39664122e-01]

qacc:
[   0.81312183,   0.40490772,  -2.37699993,   5.88629678,  -0.13490754,
    5.01288705, -16.58344668,  23.70801962,   1.95893797,  -0.1201266 ,
   -0.96835711,   5.45651006,  -0.73780067,   1.27859617,  14.03093606,
  -48.21534174,  -1.89336589,   1.71558143,   0.99977849,   8.99496985,
 -113.05524497, -72.6741477 ]

qfrc_actuator:
[ 3.85194388e-05, 8.67513742e-05, 1.68856701e-04, 3.09217511e-05,
  5.58438994e-05, 2.57243795e-02, 8.50101899e-03, 2.04875436e-03,
 -2.86993987e-05, 4.51198241e-04, 4.80314791e-06, 5.07001529e-05,
  0.00000000e+00,-1.61737204e-03, 0.00000000e+00,-1.89614452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.29270167,  8.63140212, -0.29270167,  1.64576396,
       -0.23706   ,  8.63140212, -0.23706   ,  8.62832463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019625622524369626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.16141902,  0.16141902,  0.9735953 ,  0.02640234,  0.98688596,
       -0.15924514, -0.98653272,  0.        , -0.163564  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346838, -0.05944638,  0.06176963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76407260e-06,-5.56579725e-06,-2.17528819e-06, 9.80591186e-06,
 -2.17197700e-05, 1.12736346e-04,-2.02225229e-05, 4.38716176e-05,
  1.15097986e-05,-9.52310232e-06, 8.47515080e-06, 1.36415639e-05,
  1.66295389e-05, 4.53137800e-05,-1.90314821e-05,-2.38952909e-04,
 -3.11410186e-04, 4.65972462e-04,-1.21644517e+00, 7.93581925e-04,
 -2.46672257e-02,-1.49935597e-04]


--- Step 2270 ---
qpos:
[ 3.28482793e-03,-3.22231264e-03, 1.19685844e-02, 4.17651475e-02,
  6.09548621e-03, 7.64887010e-01,-2.99904097e-02, 8.71003627e-01,
  5.82640741e-03, 1.64161063e-02,-9.34213412e-03, 2.60247492e-02,
  1.38643119e+00,-1.10043199e-04, 1.19099859e+00, 6.28127162e-02,
  7.49742368e-03,-3.61258979e-02, 7.33309287e-02, 6.67665921e-01,
 -2.14972263e-01,-6.71120159e-01,-2.40014327e-01]

qacc:
[-2.70152132e+00, 1.15931617e+00,-4.93908742e+00, 7.94221378e+00,
 -2.37620181e-01, 3.88849052e+00,-1.63479016e+01, 3.76660451e+01,
 -1.88101423e+00, 5.41393080e-01,-7.90721239e-01,-2.20530441e+00,
  5.79392824e-01,-8.85674477e-01,-3.79013242e+00, 1.19048181e+01,
 -1.67070542e+00, 1.40637563e+00, 6.53257237e-02, 7.15971242e+00,
 -1.03500779e+02,-6.55130603e+01]

qfrc_actuator:
[ 2.25950037e-05, 6.25897899e-05, 1.42269171e-04, 3.57030958e-05,
  2.69898827e-05, 2.57430175e-02, 8.50494559e-03, 2.14789954e-03,
 -4.00555340e-05, 4.68090428e-04,-5.94232306e-06, 4.11758760e-05,
  0.00000000e+00,-1.65463534e-03, 0.00000000e+00,-1.83356957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63429008, -0.18923982, -8.63429008,  8.6344274 ,
        0.08834298, -0.18923982,  0.08834298,  4.60561095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019832104498787055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59489163e-01,  1.59489163e-01,  9.74231191e-01,  2.57666141e-02,
        9.87199679e-01, -1.57394011e-01, -9.86863359e-01, -3.46944695e-18,
       -1.61557146e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338029, -0.05941431,  0.06176746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57940189e-05,-2.73385937e-05,-2.76835791e-05, 4.65658147e-06,
 -3.85855169e-05, 7.85130217e-05, 2.51654378e-05, 1.03135863e-04,
 -1.10313962e-05, 1.39173396e-05,-1.11850476e-05,-9.37239443e-06,
  1.83019178e-05,-2.02922077e-05,-3.88304128e-05, 4.60182416e-05,
 -1.01956709e-05, 2.20186491e-04,-1.21649158e+00, 8.10845814e-04,
 -2.46733075e-02,-1.49212968e-04]


--- Step 2271 ---
qpos:
[ 3.28545914e-03,-3.22153095e-03, 1.19683564e-02, 4.17641017e-02,
  6.09598923e-03, 7.64888834e-01,-2.99925510e-02, 8.71002199e-01,
  5.82585927e-03, 1.64161840e-02,-9.34295505e-03, 2.60247529e-02,
  1.38650414e+00,-1.09949782e-04, 1.19115595e+00, 6.28124108e-02,
  7.47731764e-03,-3.61266920e-02, 7.33270360e-02, 6.67396301e-01,
 -2.14699479e-01,-6.71339279e-01,-2.40395267e-01]

qacc:
[  1.29108352,  1.69059273, -4.4094288 ,  0.29242743, -0.21375766,
   1.96312877, -6.82990377, 12.0912851 , -4.1686698 , -2.01157894,
   7.450851  ,-10.48864354,  0.95489194, -1.51899496,-15.47977176,
  52.35850454, -1.48129777,  1.15228735, -0.7310567 ,  5.74657866,
 -95.48040026,-59.58410349]

qfrc_actuator:
[ 3.07845658e-05, 8.34398596e-05, 1.08586541e-04, 2.10380011e-05,
  9.57844386e-06, 2.57533526e-02, 8.49030489e-03, 2.17149291e-03,
 -6.44660299e-05, 4.60277028e-04, 2.38154706e-05, 3.55209029e-05,
  0.00000000e+00,-1.69479653e-03, 0.00000000e+00,-1.58155107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61821418, -0.55960811, -8.61821418,  8.62047664,
        0.24466681, -0.55960811,  0.24466681,  4.86838581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001975788853778892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.15842797,  0.15842797,  0.97457742,  0.02542047,  0.98737054,
       -0.15637526, -0.98704325,  0.        , -0.16045442])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339177, -0.05943403,  0.06176815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.72881546e-06, 1.09025015e-08,-4.25891719e-05,-1.67036637e-05,
 -3.47182761e-05, 6.20769299e-05, 6.85539865e-06, 2.92035701e-05,
 -2.47216742e-05,-2.73918262e-06, 3.09442183e-05,-5.62524731e-06,
  4.06793405e-06,-4.11057767e-05,-1.32601882e-05, 2.49463255e-04,
 -4.49736049e-06, 1.94331918e-05,-1.21650931e+00, 8.65079774e-04,
 -2.46770502e-02,-1.49287449e-04]


--- Step 2272 ---
qpos:
[ 3.28618329e-03,-3.22045633e-03, 1.19676042e-02, 4.17628601e-02,
  6.09640164e-03, 7.64889837e-01,-2.99933975e-02, 8.71001115e-01,
  5.82467820e-03, 1.64155461e-02,-9.34257720e-03, 2.60250628e-02,
  1.38657734e+00,-1.10821398e-04, 1.19131293e+00, 6.28170915e-02,
  7.45526111e-03,-3.61264749e-02, 7.33172475e-02, 6.66980528e-01,
 -2.14393965e-01,-6.71703039e-01,-2.40805378e-01]

qacc:
[ 7.94055021e-01, 1.44766581e+00,-3.77627554e+00, 1.01365934e+00,
 -4.90539440e-02,-3.98364102e+00, 1.09893511e+01,-5.18673815e+00,
 -5.47066118e+00,-3.65490885e+00, 1.03844967e+01,-6.49178619e+00,
  1.20431980e+00,-2.05315384e+00,-1.57293740e+01, 5.39492479e+01,
 -4.87621207e-01, 2.52836749e-01,-1.47397005e+00, 2.82687582e+00,
 -9.02595310e+01,-5.38151083e+01]

qfrc_actuator:
[ 3.53557433e-05, 1.13275679e-04, 8.89093672e-05, 1.28361043e-05,
  1.69127558e-05, 2.56520032e-02, 8.53571959e-03, 2.18590378e-03,
 -9.63575709e-05, 4.02388214e-04, 7.71690781e-05, 4.99567478e-05,
  0.00000000e+00,-1.75406986e-03, 0.00000000e+00,-1.32654298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.71319403, -5.43321293, -6.71319403,  6.12114003,
        3.10777147, -5.43321293,  3.10777147,  4.79644918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018964678872323629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9270810e-14,  1.4635405e-14,  1.0000000e+00, -4.2839016e-28,
        1.0000000e+00, -1.4635405e-14, -1.0000000e+00,  0.0000000e+00,
        2.9270810e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348194, -0.05949471,  0.06177109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79170323e-06, 2.03068397e-05,-2.55036663e-05,-9.99966238e-06,
 -8.23812231e-06,-6.47006849e-05, 5.93311334e-05, 1.72650119e-05,
 -3.26027229e-05,-5.32732735e-05, 5.64137079e-05, 1.52822566e-05,
 -7.43178301e-06,-6.97455698e-05, 2.07577535e-05, 2.66980910e-04,
 -2.26114867e-04,-1.43371482e-04,-1.21650691e+00, 9.48088401e-04,
 -2.46794429e-02,-1.49968297e-04]


--- Step 2273 ---
qpos:
[ 3.28626688e-03,-3.21937723e-03, 1.19669489e-02, 4.17618687e-02,
  6.09662500e-03, 7.64889891e-01,-2.99928777e-02, 8.70999185e-01,
  5.82346820e-03, 1.64149060e-02,-9.34201469e-03, 2.60248312e-02,
  1.38665052e+00,-1.12146905e-04, 1.19147025e+00, 6.28224561e-02,
  7.44115292e-03,-3.61281697e-02, 7.33068959e-02, 6.66771721e-01,
 -2.14256271e-01,-6.71861251e-01,-2.41064682e-01]

qacc:
[-5.61899063e+00, 2.61663865e-01,-1.96053560e+00, 6.10983157e+00,
 -1.03538027e-01,-6.40536018e+00, 2.14461489e+01,-2.87242030e+01,
 -2.46842900e-01,-1.63304164e+00, 8.10527581e+00,-1.77698516e+01,
  3.19427596e-01,-6.96255992e-01,-1.59624246e+00, 6.23767865e+00,
  1.98708391e+00,-4.78017698e-01,-1.40777154e-01,-7.88091476e+00,
  1.01686016e+02, 1.53608601e+02]

qfrc_actuator:
[ 2.24776767e-06, 1.12818943e-04, 9.54711030e-05, 2.62817419e-05,
  3.45011699e-06, 2.55912858e-02, 8.59803540e-03, 2.14152037e-03,
 -9.68876743e-05, 4.21597328e-04, 9.05581974e-05, 2.28052568e-05,
  0.00000000e+00,-1.77095355e-03, 0.00000000e+00,-1.30267043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019307806438936398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.75012510e-14,  2.87506255e-14,  1.00000000e+00, -1.65319693e-27,
        1.00000000e+00, -2.87506255e-14, -1.00000000e+00,  0.00000000e+00,
        5.75012510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05460153, -0.00821649,  0.06176709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29653501e-05, 5.17467636e-06, 7.26698948e-06, 1.32400285e-05,
 -1.71701116e-05,-8.43347944e-05, 5.69054534e-05,-4.42724037e-05,
 -1.48769799e-06, 1.72918529e-06, 9.86456855e-06,-2.71840725e-05,
 -1.97054515e-05,-3.82231825e-05, 3.66643095e-05, 4.07859270e-05,
 -6.33093910e-04,-2.72757956e-04,-1.21649657e+00, 1.05464609e-03,
 -2.46824734e-02,-1.51027842e-04]


--- Step 2274 ---
qpos:
[ 3.28629811e-03,-3.21852567e-03, 1.19667696e-02, 4.17610495e-02,
  6.09647879e-03, 7.64889955e-01,-2.99925532e-02, 8.70997768e-01,
  5.82260543e-03, 1.64148250e-02,-9.34212069e-03, 2.60242629e-02,
  1.38672346e+00,-1.13222950e-04, 1.19162768e+00, 6.28284502e-02,
  7.43412798e-03,-3.61313360e-02, 7.32924301e-02, 6.66750189e-01,
 -2.14270623e-01,-6.71833300e-01,-2.41189349e-01]

qacc:
[ -0.4407292 , -1.27605467,  3.38831962, -1.00460321, -0.2061456 ,
   1.43234832, -5.86106338, 11.4122949 ,  2.99791937,  1.9080278 ,
  -4.31896229, -0.84284314, -0.3221036 ,  0.48817295, -1.69530481,
   6.25362611,  1.77081418, -0.36784325, -1.02852803, -7.83686994,
  92.22574149,138.47883294]

qfrc_actuator:
[ 4.86502220e-07, 9.43579375e-05, 1.17364785e-04, 3.45956066e-05,
 -2.23560181e-05, 2.56264130e-02, 8.59889183e-03, 2.16942773e-03,
 -7.89517478e-05, 4.68885418e-04, 6.27506069e-05, 6.93181221e-06,
  0.00000000e+00,-1.74477597e-03, 0.00000000e+00,-1.27315055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63172352,  0.28306512,  8.63172352,  8.63952331,
       -0.0963505 ,  0.28306512, -0.0963505 , 11.57445401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019757129203085005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.61935397e-14, -2.80967699e-14,  1.00000000e+00,  1.57885695e-27,
        1.00000000e+00,  2.80967699e-14, -1.00000000e+00,  0.00000000e+00,
        5.61935397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05447227, -0.00824638,  0.06176208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70185117e-06,-1.35401275e-05, 2.43142435e-05, 9.04734527e-06,
 -3.35241458e-05,-1.80250797e-06,-1.05620584e-05, 2.59200708e-05,
  1.78931199e-05, 4.91405336e-05,-2.71757229e-05,-1.59865493e-05,
 -1.89819718e-05, 1.08053614e-05, 1.64310186e-05, 3.53339039e-05,
 -1.46848453e-04,-6.27773367e-05,-1.21650088e+00, 9.73340275e-04,
 -2.46719919e-02,-1.52890687e-04]


--- Step 2275 ---
qpos:
[ 3.28630752e-03,-3.21772709e-03, 1.19667797e-02, 4.17610244e-02,
  6.09619498e-03, 7.64889660e-01,-2.99926879e-02, 8.70997438e-01,
  5.82196449e-03, 1.64150395e-02,-9.34255088e-03, 2.60242092e-02,
  1.38679635e+00,-1.14311945e-04, 1.19178529e+00, 6.28337632e-02,
  7.43347520e-03,-3.61356178e-02, 7.32708147e-02, 6.66899407e-01,
 -2.14423732e-01,-6.71635167e-01,-2.41192550e-01]

qacc:
[-1.84101943e-01, 1.03788635e+00,-7.15110467e+00, 2.06260698e+01,
 -7.71031879e-02, 2.65406706e+00,-1.17674517e+01, 2.38102240e+01,
  1.92002302e+00, 2.35236197e+00,-9.99995195e+00, 1.92139341e+01,
 -8.99736304e-02, 8.79406204e-02, 2.31295525e+00,-7.71273847e+00,
  1.59303760e+00,-2.78899432e-01,-1.78741163e+00,-7.68575020e+00,
  8.43455901e+01, 1.25929312e+02]

qfrc_actuator:
[-5.51320620e-07, 1.00829871e-04, 1.30287063e-04, 7.53135697e-05,
 -1.98068417e-05, 2.55764479e-02, 8.56388789e-03, 2.22193537e-03,
 -6.80534184e-05, 4.79202613e-04, 4.65095537e-05, 3.33424179e-05,
  0.00000000e+00,-1.74654131e-03, 0.00000000e+00,-1.31147181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62597411,  0.42349448,  8.62597411,  8.64653423,
       -0.20716029,  0.42349448, -0.20716029, 12.85592106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019881983834723616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.18804922e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.18804922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05443374, -0.00824834,  0.06176056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12322090e-06, 4.28207731e-06, 1.34273714e-05, 4.11558737e-05,
 -1.24964314e-05,-5.22277140e-05,-3.57978588e-05, 5.27212010e-05,
  1.14296422e-05, 3.15072203e-05,-9.98896238e-06, 2.72658263e-05,
 -7.28002842e-06,-3.28752406e-06, 7.23282277e-06,-3.52335546e-05,
 -1.88481557e-05, 2.20529962e-05,-1.21645789e+00, 9.45911648e-04,
 -2.46576463e-02,-1.54114095e-04]


--- Step 2276 ---
qpos:
[ 3.28630438e-03,-3.21685730e-03, 1.19660591e-02, 4.17618808e-02,
  6.09567258e-03, 7.64889476e-01,-2.99936839e-02, 8.70997026e-01,
  5.82145940e-03, 1.64154521e-02,-9.34314180e-03, 2.60244736e-02,
  1.38686912e+00,-1.15168725e-04, 1.19194303e+00, 6.28375799e-02,
  7.43860552e-03,-3.61407278e-02, 7.32394582e-02, 6.67205474e-01,
 -2.14704380e-01,-6.71280043e-01,-2.41085022e-01]

qacc:
[ -0.13386304,  3.95414734,-17.67904698, 34.04576635, -0.13368631,
   2.33288305, -7.30609275,  5.51193635,  1.1766809 ,  1.36327307,
  -5.82775545, 11.446875  , -0.35382231,  0.55780551,  4.75053055,
 -16.25368477,  1.44577831, -0.20702161, -2.43526631, -7.45921097,
  77.76885624,115.49835675]

qfrc_actuator:
[-1.16469428e-06, 8.66727464e-05, 8.46649441e-05, 1.17030545e-04,
 -3.58338779e-05, 2.56000596e-02, 8.52546232e-03, 2.21741572e-03,
 -6.13911467e-05, 4.85129759e-04, 3.71315165e-05, 4.89014857e-05,
  0.00000000e+00,-1.72940452e-03, 0.00000000e+00,-1.38943900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61096847,  0.66181479,  8.61096847,  8.67054902,
       -0.44479104,  0.66181479, -0.44479104, 14.42360443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019744495481463994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12458991e-13,  1.40573739e-14,  1.00000000e+00, -1.58087810e-27,
        1.00000000e+00, -1.40573739e-14, -1.00000000e+00,  0.00000000e+00,
        1.12458991e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05446724, -0.00822806,  0.06176183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.48664420e-07,-7.25558369e-06,-4.16690486e-05, 4.31644896e-05,
 -2.16431552e-05,-1.06990421e-05,-5.12600078e-05,-6.06901587e-06,
  7.00037568e-06, 2.26506143e-05,-3.15518841e-06, 1.70942957e-05,
 -4.81893391e-06, 1.46438435e-05,-4.46692757e-06,-7.99181042e-05,
 -1.61459189e-04, 1.36293020e-05,-1.21637793e+00, 9.56888240e-04,
 -2.46399628e-02,-1.54756028e-04]


--- Step 2277 ---
qpos:
[ 3.28663886e-03,-3.21601972e-03, 1.19648710e-02, 4.17625357e-02,
  6.09494085e-03, 7.64889713e-01,-2.99953459e-02, 8.70996523e-01,
  5.82103864e-03, 1.64154559e-02,-9.34328183e-03, 2.60249585e-02,
  1.38694177e+00,-1.15581073e-04, 1.19210118e+00, 6.28367429e-02,
  7.43938787e-03,-3.61417756e-02, 7.32160326e-02, 6.67308533e-01,
 -2.14929625e-01,-6.71129631e-01,-2.41017835e-01]

qacc:
[ 2.94892693e+00, 8.43268060e-01,-2.22797299e+00,-4.77140042e-01,
 -1.17354797e-01, 2.19398003e+00,-6.32485369e+00, 4.29018389e+00,
  7.56753592e-01,-1.34781972e+00, 3.08771164e+00, 3.13533020e-01,
 -7.41662008e-01, 1.17482239e+00, 1.47214708e+01,-5.04680828e+01,
 -1.08699565e+00, 1.01552866e+00, 1.98271195e+00, 7.82548266e+00,
 -1.25421029e+02,-7.85006026e+01]

qfrc_actuator:
[ 1.62286986e-05, 7.77878389e-05, 5.80182946e-05, 1.05683974e-04,
 -4.50979906e-05, 2.56497389e-02, 8.50332213e-03, 2.21491713e-03,
 -5.72732564e-05, 4.35144311e-04, 4.95901339e-05, 5.79403955e-05,
  0.00000000e+00,-1.70116643e-03, 0.00000000e+00,-1.63212708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.89070685, -3.51048746,  7.89070685, 20.30493925,
       26.22806964, -3.51048746, 26.22806964, 67.59057187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019828474516255523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39978371e-14,  1.39978371e-14,  1.00000000e+00, -1.95939443e-28,
        1.00000000e+00, -1.39978371e-14, -1.00000000e+00,  0.00000000e+00,
        1.39978371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305942, -0.05933726,  0.06176069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73700818e-05,-1.97253739e-05,-3.17876282e-05,-1.22612011e-05,
 -1.89781151e-05, 3.34538844e-05,-3.03285794e-05,-4.52167484e-06,
  4.32661798e-06,-3.72460468e-05, 1.73409627e-05, 1.02325133e-05,
  4.41071695e-07, 3.14107186e-05,-1.45120966e-05,-2.48553603e-04,
 -5.11811340e-04,-6.53613836e-05,-1.21626805e+00, 9.95369035e-04,
 -2.46194258e-02,-1.54857479e-04]


--- Step 2278 ---
qpos:
[ 3.28683400e-03,-3.21503135e-03, 1.19635498e-02, 4.17626573e-02,
  6.09425427e-03, 7.64890074e-01,-2.99966268e-02, 8.70995618e-01,
  5.82067050e-03, 1.64152087e-02,-9.34325749e-03, 2.60252028e-02,
  1.38701446e+00,-1.15912577e-04, 1.19225929e+00, 6.28326589e-02,
  7.43603410e-03,-3.61394057e-02, 7.31961772e-02, 6.67227766e-01,
 -2.15107128e-01,-6.71164010e-01,-2.40987352e-01]

qacc:
[-1.22993225e+00,-5.25049773e-01, 4.41448887e+00,-1.35424879e+01,
  2.54974422e-02,-1.56419640e+00, 6.25303945e+00,-1.05066540e+01,
  4.68128203e-01,-1.28713695e+00, 5.12236092e+00,-9.36214934e+00,
 -2.39009251e-01, 3.65601162e-01, 9.76010838e+00,-3.41896462e+01,
 -1.03402968e+00, 8.54439961e-01, 8.92538679e-01, 6.12693091e+00,
 -1.13643759e+02,-7.02782291e+01]

qfrc_actuator:
[ 8.57574926e-06, 1.07646443e-04, 6.05386394e-05, 8.09823668e-05,
 -3.24855407e-05, 2.56614465e-02, 8.52660766e-03, 2.19592149e-03,
 -5.46848206e-05, 4.23149442e-04, 5.68507763e-05, 4.52847898e-05,
  0.00000000e+00,-1.70207792e-03, 0.00000000e+00,-1.79236561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.12988326,  4.87355533, -7.12988326,  8.2789499 ,
       -0.52288689,  4.87355533, -0.52288689,  7.87139387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020243312308214426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11329557e-14, -4.11329557e-14,  1.00000000e+00,  1.69192004e-27,
        1.00000000e+00,  4.11329557e-14, -1.00000000e+00,  0.00000000e+00,
        4.11329557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288542, -0.05925757,  0.06175602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.16483401e-06, 1.17241916e-05,-5.89192542e-06,-2.68866542e-05,
  4.10065955e-06, 2.41213431e-05, 2.62655112e-05,-1.89422388e-05,
  2.69829439e-06,-2.88019689e-05, 2.05682517e-06,-1.34536411e-05,
  6.59893161e-06, 8.40404267e-06,-3.82496546e-05,-1.76860501e-04,
 -9.24609134e-05,-1.24695658e-05,-1.21635482e+00, 9.19223996e-04,
 -2.46343375e-02,-1.52077881e-04]


--- Step 2279 ---
qpos:
[ 3.28659123e-03,-3.21418534e-03, 1.19628717e-02, 4.17631556e-02,
  6.09347850e-03, 7.64890097e-01,-2.99968726e-02, 8.70995192e-01,
  5.82033595e-03, 1.64151742e-02,-9.34361034e-03, 2.60249261e-02,
  1.38708734e+00,-1.16720976e-04, 1.19241656e+00, 6.28316547e-02,
  7.42874011e-03,-3.61341403e-02, 7.31761674e-02, 6.66979159e-01,
 -2.15242982e-01,-6.71366429e-01,-2.40990411e-01]

qacc:
[-3.82078837e+00,-1.20238978e+00, 2.43786270e+00, 3.14158985e+00,
 -4.87208410e-02,-2.41185190e+00, 6.29942843e+00, 2.99860137e-01,
  2.77307755e-01, 2.62110198e-01, 1.67228745e+00,-1.02427510e+01,
  7.31994772e-01,-1.16257402e+00,-1.06048419e+01, 3.51432125e+01,
 -9.85054161e-01, 7.23869411e-01,-3.85800840e-02, 4.83458393e+00,
 -1.03759070e+02,-6.34630193e+01]

qfrc_actuator:
[-1.37631166e-05, 1.07323154e-04, 9.81644924e-05, 1.01937949e-04,
 -4.24231506e-05, 2.56327474e-02, 8.57636798e-03, 2.22063208e-03,
 -5.30160673e-05, 4.51707174e-04, 4.33461694e-05, 1.99854026e-05,
  0.00000000e+00,-1.73804599e-03, 0.00000000e+00,-1.61863749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.14403568,  4.85278591, -7.14403568,  8.55104453,
       -0.12560265,  4.85278591, -0.12560265,  8.45145752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020319541808400676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73190959e-14, -4.78084179e-14,  1.00000000e+00,  1.30608276e-27,
        1.00000000e+00,  4.78084179e-14, -1.00000000e+00,  0.00000000e+00,
        2.73190959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05283646, -0.0592454 ,  0.06175485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25393052e-05, 3.84046143e-06, 3.83951767e-05, 2.07312529e-05,
 -8.09382269e-06,-1.07565932e-05, 5.69794434e-05, 2.58419854e-05,
  1.73581351e-06, 1.23077082e-05,-1.96646444e-05,-2.67245680e-05,
  4.21260574e-06,-3.14789857e-05,-3.93151645e-05, 1.58484129e-04,
 -3.61639257e-05, 6.86064697e-05,-1.21640353e+00, 8.92111460e-04,
 -2.46457195e-02,-1.50095436e-04]


--- Step 2280 ---
qpos:
[ 3.28642778e-03,-3.21399367e-03, 1.19634864e-02, 4.17639216e-02,
  6.09279665e-03, 7.64890093e-01,-2.99968686e-02, 8.70995423e-01,
  5.82002413e-03, 1.64151814e-02,-9.34411840e-03, 2.60247001e-02,
  1.38716030e+00,-1.17911364e-04, 1.19257353e+00, 6.28329957e-02,
  7.42780754e-03,-3.61301364e-02, 7.31547683e-02, 6.66933480e-01,
 -2.15543464e-01,-6.71367005e-01,-2.40846617e-01]

qacc:
[ 7.48307330e-01,-3.92966944e+00, 1.16242673e+01,-8.57730732e+00,
  5.24149872e-02, 4.31498135e-01,-2.95769996e+00, 1.05589116e+01,
  1.92678033e-01, 5.92731758e-01,-2.24819560e+00, 3.34333496e+00,
  4.93853788e-01,-8.39836173e-01,-7.56500605e+00, 2.57215027e+01,
  1.59035405e+00,-3.15384346e-01,-3.47333298e-01,-8.08724374e+00,
  9.97913467e+01, 1.50410737e+02]

qfrc_actuator:
[-9.05393879e-06, 5.36182971e-05, 1.56130665e-04, 1.14085966e-04,
 -3.02692729e-05, 2.56334736e-02, 8.58794870e-03, 2.25309525e-03,
 -5.19011543e-05, 4.50975394e-04, 3.56108690e-05, 2.29816955e-05,
  0.00000000e+00,-1.75901733e-03, 0.00000000e+00,-1.49809416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020406612565638457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.44050621e-14,  2.04018983e-14,  1.00000000e+00, -1.10996654e-27,
        1.00000000e+00, -2.04018983e-14, -1.00000000e+00,  0.00000000e+00,
        5.44050621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05423934, -0.0082589 ,  0.06175343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06400799e-06,-4.27694779e-05, 6.42039624e-05, 1.40441866e-05,
  8.51891292e-06, 6.83094708e-06, 1.68011801e-05, 3.44222175e-05,
  1.17034262e-06, 9.49040095e-07,-8.53505195e-06, 2.32455426e-06,
 -5.65936180e-06,-2.84604515e-05,-4.93139047e-07, 1.24297619e-04,
 -2.51636379e-04, 1.71937258e-04,-1.21642512e+00, 9.02600776e-04,
 -2.46548614e-02,-1.48722710e-04]


--- Step 2281 ---
qpos:
[ 3.28666668e-03,-3.21422765e-03, 1.19645545e-02, 4.17645113e-02,
  6.09243520e-03, 7.64890835e-01,-2.99972874e-02, 8.70995314e-01,
  5.81938349e-03, 1.64148813e-02,-9.34456403e-03, 2.60245418e-02,
  1.38723317e+00,-1.19099590e-04, 1.19273034e+00, 6.28367617e-02,
  7.43268211e-03,-3.61270836e-02, 7.31285209e-02, 6.67071267e-01,
 -2.15993025e-01,-6.71184370e-01,-2.40571153e-01]

qacc:
[ 3.55292389e+00,-2.20018059e+00, 7.75948113e+00,-1.12071102e+01,
  1.77851089e-01, 1.53161234e+00,-3.05799887e+00,-1.84612818e+00,
 -2.86070796e+00,-4.35649618e-01, 6.88060131e-01, 5.99230338e-01,
  1.04721702e-01,-1.57607580e-01,-7.57758493e+00, 2.61294748e+01,
  1.45178585e+00,-2.37777241e-01,-1.21206073e+00,-7.80401580e+00,
  9.05375836e+01, 1.35789603e+02]

qfrc_actuator:
[ 1.15419836e-05, 2.17113250e-05, 1.72136100e-04, 1.03155188e-04,
 -5.00791751e-06, 2.57049378e-02, 8.57699314e-03, 2.23658033e-03,
 -6.88737435e-05, 4.15003232e-04, 3.12660354e-05, 2.48394674e-05,
  0.00000000e+00,-1.75314216e-03, 0.00000000e+00,-1.37445376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.16214424, -2.8224419 ,  8.16214424,  9.30536966,
        1.93468063, -2.8224419 ,  1.93468063, 14.2312148 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020706749923552065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.68082396e-14,  5.36164791e-14,  1.00000000e+00,  1.43736342e-27,
        1.00000000e+00, -5.36164791e-14, -1.00000000e+00,  0.00000000e+00,
       -2.68082396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05414259, -0.0082793 ,  0.06174985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06921955e-05,-4.19744335e-05, 1.55539756e-05,-1.02714101e-05,
  2.90848422e-05, 7.96650028e-05,-6.63668097e-06,-1.50088827e-05,
 -1.69390066e-05,-3.70992615e-05,-5.11364032e-06, 1.64987329e-06,
 -9.64223566e-06,-3.33320823e-06, 1.11712839e-05, 1.29927686e-04,
 -9.78665188e-06, 1.21343066e-04,-1.21633908e+00, 8.65692251e-04,
 -2.46352441e-02,-1.49072297e-04]


--- Step 2282 ---
qpos:
[ 3.28680561e-03,-3.21485307e-03, 1.19661584e-02, 4.17642652e-02,
  6.09218845e-03, 7.64891923e-01,-2.99968853e-02, 8.70995323e-01,
  5.81854456e-03, 1.64139437e-02,-9.34432313e-03, 2.60244067e-02,
  1.38730564e+00,-1.19219192e-04, 1.19288712e+00, 6.28423192e-02,
  7.44287756e-03,-3.61239471e-02, 7.31012528e-02, 6.67365183e-01,
 -2.16580822e-01,-6.70844908e-01,-2.40174041e-01]

qacc:
[-8.54308859e-01,-3.73701006e+00, 1.61016021e+01,-3.11348612e+01,
  6.44364669e-02,-1.56067373e+00, 5.42089994e+00,-3.69582864e+00,
 -1.69716659e+00,-2.71013562e+00, 8.34805531e+00,-8.57960281e+00,
 -9.19063244e-01, 1.70563063e+00,-5.34869911e+00, 1.88760413e+01,
  1.33022081e+00, 2.09396347e-02,-2.55176035e-01,-7.28510807e+00,
  7.49383234e+01, 1.22681232e+02]

qfrc_actuator:
[ 5.80993252e-06, 2.91612149e-06, 1.98792800e-04, 6.09612946e-05,
 -7.65139688e-06, 2.57293192e-02, 8.62409881e-03, 2.24467173e-03,
 -7.86037542e-05, 3.75971679e-04, 6.43051871e-05, 2.59768577e-05,
  0.00000000e+00,-1.67813253e-03, 0.00000000e+00,-1.28547831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.96683956, -3.33410323,  7.96683956,  8.87397582,
        0.56777431, -3.33410323,  0.56777431,  9.99306032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020697636635928743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14634398e-07, -6.14634317e-07,  1.00000000e+00,  3.77775393e-13,
        1.00000000e+00,  6.14634317e-07, -1.00000000e+00,  5.04870979e-29,
        6.14634398e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04493666, -0.01274519,  0.06174958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15796602e-06,-3.94934533e-05, 1.95349040e-05,-4.36576963e-05,
  1.04212365e-05, 6.67258268e-05, 6.16010430e-05, 1.00963049e-05,
 -1.02297926e-05,-6.07547834e-05, 2.48121232e-05,-5.94700285e-07,
 -5.59197810e-06, 7.17187063e-05, 1.63414219e-05, 9.68891524e-05,
 -9.16738174e-05,-2.49341252e-05,-1.21621341e+00, 8.73594251e-04,
 -2.46122604e-02,-1.48767059e-04]


--- Step 2283 ---
qpos:
[ 3.28687489e-03,-3.21572806e-03, 1.19680683e-02, 4.17628224e-02,
  6.09197626e-03, 7.64892772e-01,-2.99959633e-02, 8.70996882e-01,
  5.81793964e-03, 1.64130068e-02,-9.34335513e-03, 2.60238551e-02,
  1.38737787e+00,-1.18244980e-04, 1.19304465e+00, 6.28432209e-02,
  7.44844677e-03,-3.61164133e-02, 7.30816866e-02, 6.67459166e-01,
 -2.17113968e-01,-6.70707087e-01,-2.39816161e-01]

qacc:
[-5.98242158e-01,-3.65043757e+00, 1.75860896e+01,-3.85974132e+01,
  1.95066450e-02, 9.71006776e-01,-7.09830023e+00, 2.51060082e+01,
  2.06337900e+00,-2.89247164e+00, 1.20658552e+01,-2.04278902e+01,
 -1.28624740e+00, 2.23567146e+00, 1.52770016e+01,-5.15667226e+01,
 -1.15656097e+00, 1.09931756e+00, 1.92544818e+00, 7.64040294e+00,
 -1.23534986e+02,-7.72669663e+01]

qfrc_actuator:
[ 2.37510665e-06,-7.87597215e-06, 2.13823664e-04, 7.39647773e-07,
 -9.20761336e-06, 2.56722952e-02, 8.63395627e-03, 2.32046305e-03,
 -6.62345860e-05, 4.24320844e-04, 1.19125674e-04, 8.94676309e-06,
  0.00000000e+00,-1.61596746e-03, 0.00000000e+00,-1.53718567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.82063086, -3.6639473 ,  7.82063086, 19.5022203 ,
       23.19297931, -3.6639473 , 23.19297931, 58.14136874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021370974352225014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05235862, -0.05905042,  0.06174219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59411206e-06,-3.07097459e-05, 7.75789616e-06,-6.20887008e-05,
  3.12953642e-06,-7.60402791e-06, 3.04076221e-05, 8.00080104e-05,
  1.20510176e-05, 1.94997282e-05, 4.53143123e-05,-1.87846261e-05,
  1.42843874e-05, 8.05745042e-05, 1.41405902e-05,-2.45163208e-04,
 -3.83380915e-04,-2.24978804e-04,-1.21605867e+00, 9.05761019e-04,
 -2.45869155e-02,-1.47714260e-04]


--- Step 2284 ---
qpos:
[ 3.28724710e-03,-3.21637278e-03, 1.19693069e-02, 4.17617112e-02,
  6.09216156e-03, 7.64892990e-01,-2.99946187e-02, 8.70998690e-01,
  5.81714217e-03, 1.64127394e-02,-9.34230993e-03, 2.60227158e-02,
  1.38745041e+00,-1.17530392e-04, 1.19320249e+00, 6.28391231e-02,
  7.44968124e-03,-3.61051976e-02, 7.30654422e-02, 6.67372118e-01,
 -2.17600328e-01,-6.70751208e-01,-2.39493989e-01]

qacc:
[ 2.63406506e+00, 2.85955458e+00,-1.11609794e+01, 1.78106494e+01,
  2.22021629e-01,-1.53747257e+00, 3.47070384e+00, 3.06306757e-01,
 -1.68867525e+00,-5.37467983e-01, 5.68777013e+00,-1.64826042e+01,
  6.37346876e-02,-1.46644318e-01, 1.55339967e+01,-5.37113262e+01,
 -1.08368420e+00, 9.20489454e-01, 8.30484320e-01, 5.80316683e+00,
 -1.11942453e+02,-6.90649010e+01]

qfrc_actuator:
[ 1.80809341e-05, 2.16537704e-05, 1.86389447e-04, 1.91596641e-05,
  2.54280655e-05, 2.56023793e-02, 8.63919000e-03, 2.32887873e-03,
 -7.64641436e-05, 4.89209940e-04, 1.33441869e-04,-1.85534420e-05,
  0.00000000e+00,-1.65072492e-03, 0.00000000e+00,-1.79229308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.64769463,  4.01242366, -7.64769463,  8.29684672,
       -0.64712052,  4.01242366, -0.64712052,  7.40294949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021650205324551114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05223589, -0.05900048,  0.06173893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55961063e-05, 1.13107585e-05,-3.49791853e-05, 1.61653967e-05,
  3.60376134e-05,-6.56012989e-05, 9.63266892e-06, 1.09057940e-05,
 -9.88045866e-06, 8.43748814e-05, 2.32753450e-05,-2.54616774e-05,
  2.58561730e-05,-8.77712719e-06,-2.63333477e-05,-2.68234311e-04,
 -4.49675507e-06, 8.99488165e-05,-1.21616345e+00, 7.70677258e-04,
 -2.46070436e-02,-1.43549841e-04]


--- Step 2285 ---
qpos:
[ 3.28780461e-03,-3.21673897e-03, 1.19698262e-02, 4.17611712e-02,
  6.09294642e-03, 7.64893084e-01,-2.99927692e-02, 8.70999843e-01,
  5.81588375e-03, 1.64129611e-02,-9.34164417e-03, 2.60220013e-02,
  1.38752305e+00,-1.16854731e-04, 1.19335984e+00, 6.28346499e-02,
  7.44684024e-03,-3.60908766e-02, 7.30487778e-02, 6.67119812e-01,
 -2.18046166e-01,-6.70960693e-01,-2.39204463e-01]

qacc:
[   1.59922661,   3.55330137, -14.54944764,  25.38357993,   0.33461224,
   -2.66675305,  10.05219325, -16.78838805,  -4.04046669,   2.58913658,
  -10.07357679,  17.65630356,   0.11100691,  -0.13097328,   0.42454083,
   -2.52399342,  -1.01886954,   0.77630574,  -0.10503576,   4.39492613,
 -102.19888155, -62.26403276]

qfrc_actuator:
[ 2.71737786e-05, 3.94913508e-05, 1.52083657e-04, 4.82098714e-05,
  6.36494954e-05, 2.56317310e-02, 8.67704400e-03, 2.29754995e-03,
 -9.99200025e-05, 4.92343323e-04, 1.06061915e-04, 1.26007139e-06,
  0.00000000e+00,-1.65395682e-03, 0.00000000e+00,-1.79869762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.66565278,  3.97800758, -7.66565278,  8.46472575,
       -0.33074759,  3.97800758, -0.33074759,  7.99901035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002159777780482819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28511256e-14,  2.57022513e-14,  1.00000000e+00, -3.30302861e-28,
        1.00000000e+00, -2.57022513e-14, -1.00000000e+00,  0.00000000e+00,
        1.28511256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05223359, -0.05901566,  0.06173905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54276461e-06, 1.76455332e-05,-3.57239424e-05, 2.86394311e-05,
  5.43847469e-05,-4.76066687e-06, 2.63403078e-05,-3.28879467e-05,
 -2.37095107e-05, 5.40270614e-05,-7.97227664e-06, 2.37402211e-05,
  1.01080488e-05, 1.08164651e-06,-4.47114872e-05,-2.53936107e-05,
  2.50188413e-05, 4.08798900e-04,-1.21622684e+00, 6.86935212e-04,
 -2.46227487e-02,-1.40158014e-04]


--- Step 2286 ---
qpos:
[ 3.28812202e-03,-3.21698314e-03, 1.19702324e-02, 4.17609614e-02,
  6.09385414e-03, 7.64893796e-01,-2.99916637e-02, 8.71000608e-01,
  5.81435428e-03, 1.64132702e-02,-9.34171327e-03, 2.60222980e-02,
  1.38759574e+00,-1.16187107e-04, 1.19351661e+00, 6.28327384e-02,
  7.43824797e-03,-3.60846347e-02, 7.30509361e-02, 6.66805964e-01,
 -2.18220170e-01,-6.71226196e-01,-2.39175998e-01]

qacc:
[-2.11277657e+00, 1.16229125e+00,-5.29541828e+00, 1.10907481e+01,
  6.75961766e-02, 2.15221900e+00,-5.19489457e+00,-4.05111799e-01,
 -2.38781021e+00, 4.25562917e+00,-1.92677173e+01, 3.78705922e+01,
  2.44730451e-01,-3.00272549e-01,-8.63559869e+00, 2.88830318e+01,
 -1.43781459e+00,-2.01978276e+00, 4.70571157e+00, 3.08242564e+00,
  2.16419917e+01,-1.91742505e+02]

qfrc_actuator:
[ 1.45426770e-05, 5.01732504e-05, 1.49476582e-04, 6.55132359e-05,
  5.04034079e-05, 2.56848853e-02, 8.64545590e-03, 2.27868495e-03,
 -1.13213570e-04, 4.58335973e-04, 5.40900517e-05, 4.86844077e-05,
  0.00000000e+00,-1.65614287e-03, 0.00000000e+00,-1.65850476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.57333516,  5.60161063, -6.57333516, 44.56636731,
       42.16286566,  5.60161063, 42.16286566, 58.11332046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021570165169224817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57351535e-14,  6.43378838e-15,  1.00000000e+00, -1.65574532e-28,
        1.00000000e+00, -6.43378838e-15, -1.00000000e+00,  0.00000000e+00,
        2.57351535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425721, -0.00670101,  0.06173878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23521439e-05, 1.44071100e-05,-2.37291083e-06, 1.73809202e-05,
  1.11604266e-05, 5.46536124e-05,-3.04980314e-05,-1.89716912e-05,
 -1.39537459e-05,-4.45097803e-06,-4.09814628e-05, 4.99261563e-05,
  4.59273828e-06, 9.51612387e-07,-2.42095871e-05, 1.32842060e-04,
 -2.06495763e-04, 7.29690146e-04,-1.21626082e+00, 6.42791158e-04,
 -2.46355838e-02,-1.37348056e-04]


--- Step 2287 ---
qpos:
[ 3.28828570e-03,-3.21720209e-03, 1.19708975e-02, 4.17612921e-02,
  6.09413753e-03, 7.64894889e-01,-2.99914627e-02, 8.71000828e-01,
  5.81336673e-03, 1.64137638e-02,-9.34189000e-03, 2.60231052e-02,
  1.38766853e+00,-1.15789135e-04, 1.19367344e+00, 6.28304593e-02,
  7.43581030e-03,-3.60796508e-02, 7.30519324e-02, 6.66693848e-01,
 -2.18558397e-01,-6.71290313e-01,-2.38999698e-01]

qacc:
[ -1.34127008,  0.42631838, -3.74739575, 12.66286743, -0.34863455,
   1.99691457, -4.71226801, -2.56713248,  4.72041355,  1.58635903,
  -7.47377967, 16.36226796,  0.23846167, -0.43646705,  1.1910697 ,
  -4.06829246,  1.53864819, -0.31448508, -0.29051157, -7.20957038,
  99.07759899,150.50206957]

qfrc_actuator:
[ 6.98110792e-06, 5.66068537e-05, 1.65570393e-04, 9.35337374e-05,
 -1.12389479e-05, 2.56806155e-02, 8.59100190e-03, 2.24953959e-03,
 -8.49100406e-05, 4.91013400e-04, 5.88807437e-05, 7.64135740e-05,
  0.00000000e+00,-1.67546936e-03, 0.00000000e+00,-1.68167727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022111420760521847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51051942e-14,  2.51051942e-14,  1.00000000e+00, -6.30270776e-28,
        1.00000000e+00, -2.51051942e-14, -1.00000000e+00,  0.00000000e+00,
        2.51051942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0536723 , -0.00835959,  0.06173285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.90861289e-06, 1.47436972e-05, 1.93775713e-05, 2.88944296e-05,
 -5.66251680e-05, 1.93692616e-05,-4.77700125e-05,-2.87479905e-05,
  2.79025452e-05, 2.38419149e-05, 5.46570450e-07, 2.70911541e-05,
  2.36395520e-06,-1.78607555e-05, 2.47094134e-06,-1.91530758e-05,
 -4.00821159e-04, 3.04350345e-04,-1.21640843e+00, 7.40958234e-04,
 -2.46625811e-02,-1.38265750e-04]


--- Step 2288 ---
qpos:
[ 3.28801227e-03,-3.21719116e-03, 1.19716793e-02, 4.17619392e-02,
  6.09373597e-03, 7.64896013e-01,-2.99915615e-02, 8.71001388e-01,
  5.81341555e-03, 1.64146756e-02,-9.34212330e-03, 2.60238584e-02,
  1.38774138e+00,-1.15608908e-04, 1.19383054e+00, 6.28255767e-02,
  7.43900884e-03,-3.60756217e-02, 7.30482399e-02, 6.66763988e-01,
 -2.19045275e-01,-6.71171793e-01,-2.38690963e-01]

qacc:
[-3.83659467e+00, 6.36908682e-01,-3.15131681e+00, 8.25406557e+00,
 -3.81901800e-01, 1.44157194e+00,-5.46088151e+00, 8.95403689e+00,
  9.03036347e+00, 5.82136813e-01,-1.07645213e+00,-4.15671165e-02,
 -3.98962676e-03,-1.16419298e-01, 8.25671442e+00,-2.83118628e+01,
  1.40905185e+00,-2.38700072e-01,-1.17221873e+00,-7.00994311e+00,
  8.98181639e+01, 1.35778610e+02]

qfrc_actuator:
[-1.52816998e-05, 7.82920866e-05, 1.74805297e-04, 1.09889383e-04,
 -4.79631240e-05, 2.56773888e-02, 8.57654440e-03, 2.26779702e-03,
 -3.23527860e-05, 5.28064338e-04, 6.18904346e-05, 7.46692696e-05,
  0.00000000e+00,-1.68706265e-03, 0.00000000e+00,-1.81871704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.96553743, -3.33721296,  7.96553743,  9.58793496,
        2.27128957, -3.33721296,  2.27128957, 14.05766647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022330596867384048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48587853e-14, -2.48587853e-14,  1.00000000e+00,  6.17959205e-28,
        1.00000000e+00,  2.48587853e-14, -1.00000000e+00,  0.00000000e+00,
        2.48587853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05360493, -0.00836993,  0.06173042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24849702e-05, 3.51662696e-05, 1.56610152e-05, 1.82187615e-05,
 -6.21329734e-05,-2.87211245e-06,-1.70127018e-05, 1.67858414e-05,
  5.33657503e-05, 5.16463527e-05, 8.93162715e-06,-1.80290163e-07,
 -3.26533961e-06,-1.58530061e-05,-4.25567188e-06,-1.38549635e-04,
 -3.65375673e-05, 2.46886519e-04,-1.21632263e+00, 6.88536845e-04,
 -2.46424465e-02,-1.38604088e-04]


--- Step 2289 ---
qpos:
[ 3.28712894e-03,-3.21668482e-03, 1.19721923e-02, 4.17624242e-02,
  6.09318168e-03, 7.64897434e-01,-2.99914174e-02, 8.71002452e-01,
  5.81409448e-03, 1.64158398e-02,-9.34279726e-03, 2.60242878e-02,
  1.38781430e+00,-1.15823448e-04, 1.19398685e+00, 6.28251134e-02,
  7.43746203e-03,-3.60776185e-02, 7.30588827e-02, 6.66776267e-01,
 -2.19277017e-01,-6.71106494e-01,-2.38627480e-01]

qacc:
[-5.37015755e+00, 1.08325486e+00,-2.21075767e+00,-5.46088854e-01,
 -8.50945785e-02, 6.07916079e-01,-2.66229877e+00, 8.21684249e+00,
  5.47764049e+00, 8.87537294e-01,-1.33129878e+00,-3.73689386e+00,
  6.72069735e-01,-1.07051156e+00,-1.45696070e+01, 4.91344872e+01,
 -1.18633485e+00,-1.50647275e+00, 3.58383491e+00, 2.76999681e+00,
  2.01501886e+01,-1.80116750e+02]

qfrc_actuator:
[-4.60203810e-05, 1.08913559e-04, 1.62210827e-04, 1.01501539e-04,
 -3.39207637e-05, 2.57282427e-02, 8.60359460e-03, 2.29607601e-03,
 -1.45978143e-06, 5.14174004e-04, 2.83182461e-05, 5.56011135e-05,
  0.00000000e+00,-1.71171270e-03, 0.00000000e+00,-1.57787833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.6348767 , -0.16025346,  8.6348767 ,  8.66060367,
        1.30611685, -0.16025346,  1.30611685, 79.01336628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022309619865352875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426377, -0.00678368,  0.06173055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13692261e-05, 5.42837667e-05,-2.78089361e-06,-5.98712997e-06,
 -1.38425079e-05, 4.64067985e-05, 2.50232611e-05, 2.80571352e-05,
  3.24431283e-05, 1.68146527e-05,-2.18217585e-05,-1.65547646e-05,
 -6.11033211e-06,-2.94963146e-05,-2.09690130e-05, 2.31743859e-04,
 -4.31698401e-06, 9.46684693e-05,-1.21619835e+00, 6.81963597e-04,
 -2.46194997e-02,-1.38239922e-04]


--- Step 2290 ---
qpos:
[ 3.28657402e-03,-3.21609929e-03, 1.19726996e-02, 4.17631859e-02,
  6.09265526e-03, 7.64898865e-01,-2.99905824e-02, 8.71004539e-01,
  5.81444944e-03, 1.64168473e-02,-9.34283734e-03, 2.60241186e-02,
  1.38788713e+00,-1.16069362e-04, 1.19414238e+00, 6.28325057e-02,
  7.43166569e-03,-3.60852230e-02, 7.30792122e-02, 6.66735690e-01,
 -2.19276123e-01,-6.71090047e-01,-2.38787878e-01]

qacc:
[ 2.88099069e+00, 6.85174128e-01,-3.46782294e+00, 8.21606402e+00,
  1.59231407e-02,-7.82730805e-02,-2.04831395e+00, 1.40841770e+01,
 -2.80363618e+00,-3.20509092e+00, 1.36637694e+01,-2.49290312e+01,
  5.27351621e-01,-7.11444550e-01,-2.49248283e+01, 8.54031481e+01,
 -1.06238511e+00,-1.40191584e+00, 2.42169271e+00, 2.46734450e+00,
  1.82798782e+01,-1.64363669e+02]

qfrc_actuator:
[-2.82390554e-05, 9.12814044e-05, 1.54610310e-04, 1.14124663e-04,
 -2.51819968e-05, 2.57225031e-02, 8.63737403e-03, 2.34782101e-03,
 -1.90788845e-05, 5.05222736e-04, 6.19668110e-05, 2.64302191e-05,
  0.00000000e+00,-1.70842742e-03, 0.00000000e+00,-1.16955199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.96440161,  -5.10723869,  -6.96440161,
        20.72668939, -16.48677283,  -5.10723869, -16.48677283,
        31.11827885,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002229075312265856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98064385e-14,  2.49032193e-14,  1.00000000e+00, -1.24034066e-27,
        1.00000000e+00, -2.49032193e-14, -1.00000000e+00,  0.00000000e+00,
        4.98064385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425984, -0.00678326,  0.06173091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69048830e-05, 1.18589438e-05, 3.05148348e-06, 1.47337315e-05,
  2.53253232e-06, 2.57700557e-05, 4.66494248e-05, 5.46192426e-05,
 -1.66786420e-05,-4.78719673e-06, 3.38539371e-05,-2.95308233e-05,
 -1.01305128e-05,-6.33972474e-06, 1.53584285e-05, 4.18358947e-04,
 -3.06429984e-05, 3.18722811e-05,-1.21636505e+00, 6.86242140e-04,
 -2.46492145e-02,-1.38160509e-04]


--- Step 2291 ---
qpos:
[ 3.28692615e-03,-3.21548321e-03, 1.19728648e-02, 4.17644685e-02,
  6.09200567e-03, 7.64900127e-01,-2.99894335e-02, 8.71006231e-01,
  5.81424609e-03, 1.64175099e-02,-9.34209715e-03, 2.60239604e-02,
  1.38795998e+00,-1.16571074e-04, 1.19429819e+00, 6.28423781e-02,
  7.42201705e-03,-3.60980898e-02, 7.31053157e-02, 6.66646183e-01,
 -2.19061076e-01,-6.71118646e-01,-2.39154499e-01]

qacc:
[ 7.95030983e+00, 2.05465502e+00,-9.49085711e+00, 1.90560154e+01,
 -6.81904013e-02,-1.75419800e+00, 6.38709840e+00,-1.03327265e+01,
 -4.83937550e+00,-2.60459843e+00, 8.59555657e+00,-9.41690384e+00,
  3.40643425e-01,-5.83532135e-01,-7.09011574e+00, 2.53554919e+01,
 -9.63073205e-01,-1.31558241e+00, 1.44347574e+00, 2.20820551e+00,
  1.67428162e+01,-1.51387221e+02]

qfrc_actuator:
[ 1.79599352e-05, 8.04203764e-05, 1.32097853e-04, 1.38980476e-04,
 -3.74975227e-05, 2.56829749e-02, 8.63914047e-03, 2.32416164e-03,
 -4.73505760e-05, 4.81790322e-04, 9.95442850e-05, 2.71070447e-05,
  0.00000000e+00,-1.72409170e-03, 0.00000000e+00,-1.05649481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.27043565,  -4.66128119,  -7.27043565,
        19.78241055, -17.38505222,  -4.66128119, -17.38505222,
        35.75270749,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022032876149644595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51946913e-14,  2.51946913e-14,  1.00000000e+00, -6.34772468e-28,
        1.00000000e+00, -2.51946913e-14, -1.00000000e+00,  0.00000000e+00,
        2.51946913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424971, -0.00675595,  0.06173395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.66813952e-05,-2.98925299e-06,-1.91918569e-05, 2.57514674e-05,
 -1.11764845e-05,-1.43418020e-05, 1.38512244e-05,-2.01902492e-05,
 -2.87484509e-05,-2.04222963e-05, 3.97267446e-05, 1.06731757e-06,
 -5.77720784e-06,-2.02996115e-05, 5.16242029e-05, 1.37868362e-04,
 -2.37725409e-05, 2.65988675e-05,-1.21647200e+00, 6.92662017e-04,
 -2.46733923e-02,-1.38931817e-04]


--- Step 2292 ---
qpos:
[ 3.28782927e-03,-3.21474336e-03, 1.19727350e-02, 4.17656786e-02,
  6.09122287e-03, 7.64901820e-01,-2.99889570e-02, 8.71005554e-01,
  5.81370507e-03, 1.64182240e-02,-9.34105082e-03, 2.60241384e-02,
  1.38803292e+00,-1.17531855e-04, 1.19445468e+00, 6.28499114e-02,
  7.41766303e-03,-3.61118188e-02, 7.31219206e-02, 6.66713506e-01,
 -2.18973987e-01,-6.70989857e-01,-2.39407822e-01]

qacc:
[ 4.82458720e+00, 8.29963267e-01,-2.43230378e+00, 1.57685913e+00,
 -7.45236136e-02,-1.72991438e+00, 1.17648045e+01,-3.92487658e+01,
 -2.93622754e+00,-8.96750997e-02,-9.91466363e-01, 6.27317220e+00,
  1.84894616e-01,-4.93909005e-01, 8.04048807e+00,-2.67242735e+01,
  1.32365339e+00,-2.15564867e-01,-2.37465261e+00,-6.27528720e+00,
  7.73772534e+01, 1.16695025e+02]

qfrc_actuator:
[ 4.49942395e-05, 9.13916346e-05, 1.18729463e-04, 1.35315761e-04,
 -4.45530979e-05, 2.57121128e-02, 8.60404721e-03, 2.20300937e-03,
 -6.38972612e-05, 5.03178011e-04, 1.21326522e-04, 4.53225072e-05,
  0.00000000e+00,-1.75088873e-03, 0.00000000e+00,-1.18937644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61503319, -0.60661353, -8.61503319,  8.99650826,
       -5.11471929, -0.60661353, -5.11471929, 81.27483015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002168806875688205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05379249, -0.0082655 ,  0.06173801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83602763e-05, 6.42665796e-06,-1.54728219e-05,-3.96218478e-06,
 -1.20734229e-05, 2.32367754e-05,-3.69516731e-05,-1.21651863e-04,
 -1.73766717e-05, 1.81762914e-05, 2.24787480e-05, 1.87340171e-05,
 -7.01916028e-06,-3.41660071e-05, 3.38889036e-05,-1.19802843e-04,
  8.56347402e-06, 6.53611427e-05,-1.21653264e+00, 7.03270046e-04,
 -2.46931525e-02,-1.40504546e-04]


--- Step 2293 ---
qpos:
[ 3.28870498e-03,-3.21413900e-03, 1.19728160e-02, 4.17668336e-02,
  6.09053371e-03, 7.64903703e-01,-2.99886644e-02, 8.71004808e-01,
  5.81331471e-03, 1.64189426e-02,-9.34024883e-03, 2.60242323e-02,
  1.38810563e+00,-1.18054570e-04, 1.19461159e+00, 6.28538418e-02,
  7.41821798e-03,-3.61261902e-02, 7.31267782e-02, 6.66926008e-01,
 -2.19005379e-01,-6.70715013e-01,-2.39557332e-01]

qacc:
[-2.31735621e-01,-8.81734936e-01, 3.11731540e+00,-4.30995930e+00,
  5.19338525e-02, 6.26772864e-01,-1.59814991e+00, 4.80040283e-01,
  1.30630582e+00, 5.13056832e-01,-1.46945347e+00, 4.04071231e-01,
 -7.46427671e-01, 1.14192465e+00, 1.15547828e+01,-3.93821418e+01,
  1.22724336e+00,-1.60588905e-01,-2.93680195e+00,-6.25586875e+00,
  7.18457617e+01, 1.07726013e+02]

qfrc_actuator:
[ 4.27703484e-05, 7.98515533e-05, 1.28690073e-04, 1.32676368e-04,
 -3.06407652e-05, 2.57286599e-02, 8.60095667e-03, 2.20302177e-03,
 -5.56536335e-05, 4.80188870e-04, 9.82883908e-05, 3.82261999e-05,
  0.00000000e+00,-1.71304930e-03, 0.00000000e+00,-1.37723115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.41996556, -1.9211863 ,  8.41996556,  8.92956099,
        1.28499336, -1.9211863 ,  1.28499336, 14.26809226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002128243942206412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60830773e-14,  2.60830773e-14,  1.00000000e+00, -6.80326921e-28,
        1.00000000e+00, -2.60830773e-14, -1.00000000e+00,  0.00000000e+00,
        2.60830773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05391222, -0.00821644,  0.06174267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41548679e-06,-1.13329169e-05, 9.23329220e-06,-2.98206224e-06,
  8.49940138e-06, 1.81993006e-05,-6.44106345e-06,-3.12081780e-06,
  7.75356653e-06,-7.42498610e-06,-1.58874558e-05,-5.17870194e-06,
 -1.18350668e-05, 2.67734523e-05,-3.23475750e-06,-1.91485622e-04,
 -5.34965872e-05, 1.68575670e-04,-1.21648418e+00, 7.02946409e-04,
 -2.46775827e-02,-1.42157807e-04]


--- Step 2294 ---
qpos:
[ 3.28920262e-03,-3.21386869e-03, 1.19734225e-02, 4.17676063e-02,
  6.09017689e-03, 7.64905253e-01,-2.99882271e-02, 8.71004444e-01,
  5.81337119e-03, 1.64193902e-02,-9.33959007e-03, 2.60242699e-02,
  1.38817814e+00,-1.17929138e-04, 1.19476888e+00, 6.28521450e-02,
  7.41509586e-03,-3.61449230e-02, 7.31366162e-02, 6.67089188e-01,
 -2.18821594e-01,-6.70485213e-01,-2.39913950e-01]

qacc:
[-3.29613837e+00,-2.69264648e+00, 1.05832318e+01,-1.78040684e+01,
  1.85330711e-01,-1.64107892e-01,-8.64665712e-01, 5.58302728e+00,
  3.89746805e+00,-8.12765368e-02,-5.96955950e-03,-5.23803004e-01,
 -9.99575699e-01, 1.60243285e+00, 1.76491142e+01,-6.07069010e+01,
 -9.19267361e-01,-1.09034712e+00, 1.24509243e+00, 2.29268578e+00,
  1.68916073e+01,-1.52064520e+02]

qfrc_actuator:
[ 2.33495524e-05, 5.50144217e-05, 1.52260208e-04, 1.12911214e-04,
 -4.32125689e-06, 2.56844635e-02, 8.59909563e-03, 2.22112159e-03,
 -3.28890781e-05, 4.48352563e-04, 8.42913272e-05, 3.39813999e-05,
  0.00000000e+00,-1.67264676e-03, 0.00000000e+00,-1.66688068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63596926,  0.08253338,  8.63596926,  8.64218576,
       -0.60920369,  0.08253338, -0.60920369, 72.38104601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020996252253235315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.32192999e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.32192999e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421409, -0.00665148,  0.06174599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94675446e-05,-2.94237485e-05, 2.22519090e-05,-1.99933688e-05,
  3.01367212e-05,-3.55295062e-05, 8.77621554e-07, 1.84165591e-05,
  2.29881823e-05,-3.95262477e-05,-1.76855663e-05,-5.21750188e-06,
 -5.96459781e-07, 4.54007546e-05,-2.71565740e-05,-3.01752348e-04,
 -2.98252285e-04, 2.03509378e-04,-1.21640929e+00, 7.27377920e-04,
 -2.46599214e-02,-1.43274174e-04]


--- Step 2295 ---
qpos:
[ 3.28980866e-03,-3.21409960e-03, 1.19747038e-02, 4.17681474e-02,
  6.09014277e-03, 7.64906201e-01,-2.99873570e-02, 8.71003964e-01,
  5.81335555e-03, 1.64192048e-02,-9.33839300e-03, 2.60246014e-02,
  1.38825066e+00,-1.17578965e-04, 1.19492582e+00, 6.28486380e-02,
  7.40834372e-03,-3.61595636e-02, 7.31485446e-02, 6.67075695e-01,
 -2.18588237e-01,-6.70434737e-01,-2.40304937e-01]

qacc:
[   0.98101374,  -3.02811147,  10.8083015 , -15.52039058,   0.1804219 ,
   -2.16078537,   6.39229251,  -6.70112193,  -0.60128928,  -1.73491455,
    3.73355084,   0.95539791,  -0.24320099,   0.45215585,   4.96943303,
  -18.08653654,  -0.90750718,   1.02303551,   0.5225984 ,   7.19406059,
 -109.33405912, -68.89531086]

qfrc_actuator:
[ 2.94774793e-05, 2.24518256e-05, 1.83596941e-04, 1.00972429e-04,
  1.14137700e-05, 2.56397721e-02, 8.61546997e-03, 2.21414520e-03,
 -3.72736753e-05, 4.11481778e-04, 1.11220781e-04, 4.92058039e-05,
  0.00000000e+00,-1.66659694e-03, 0.00000000e+00,-1.74785223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.85640742, -6.34738284,  5.85640742, 36.59238538,
       25.79359985, -6.34738284, 25.79359985, 32.43480676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002078921914334217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.34037867e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.34037867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05247117, -0.05937069,  0.06174857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.56144393e-06,-4.53035585e-05, 2.72963411e-05,-1.28213397e-05,
  2.92546395e-05,-6.36545900e-05, 1.00072697e-05,-7.66745609e-06,
 -3.73642681e-06,-6.28666889e-05, 1.63919877e-05, 1.28135581e-05,
  9.06321784e-06, 1.91545842e-05,-4.96773382e-05,-1.02105452e-04,
 -1.59121312e-04, 4.67787245e-04,-1.21648967e+00, 6.78820880e-04,
 -2.46828703e-02,-1.44228072e-04]


--- Step 2296 ---
qpos:
[ 3.29013824e-03,-3.21458622e-03, 1.19757192e-02, 4.17689206e-02,
  6.09035562e-03, 7.64906303e-01,-2.99856112e-02, 8.71004095e-01,
  5.81328808e-03, 1.64181213e-02,-9.33753828e-03, 2.60252088e-02,
  1.38832330e+00,-1.17361358e-04, 1.19508211e+00, 6.28471243e-02,
  7.39804800e-03,-3.61707756e-02, 7.31590898e-02, 6.66900243e-01,
 -2.18311831e-01,-6.70547751e-01,-2.40727487e-01]

qacc:
[  -2.43036412,   0.88827896,  -4.62770528,   9.2462478 ,   0.13859583,
   -2.42015052,   5.20400612,   3.22036772,  -0.44728552,   0.33856045,
   -4.09303327,  10.07500202,   0.35131027,  -0.48938871,  -7.01860343,
   23.07304373,  -0.88589232,   0.8571574 ,  -0.34581405,   5.72020014,
 -100.19932131, -62.28621895]

qfrc_actuator:
[ 1.50941560e-05, 3.30736048e-06, 1.65976379e-04, 1.11484231e-04,
  2.06748194e-05, 2.55951869e-02, 8.66019209e-03, 2.24572547e-03,
 -3.98549030e-05, 3.18802661e-04, 7.33187446e-05, 5.80315690e-05,
  0.00000000e+00,-1.68099458e-03, 0.00000000e+00,-1.63417251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.24338692,  4.70320346, -7.24338692,  7.94604285,
       -1.06316059,  4.70320346, -1.06316059,  6.99899379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002078605955760565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67059522e-14,  2.67059522e-14,  1.00000000e+00, -7.13207881e-28,
        1.00000000e+00, -2.67059522e-14, -1.00000000e+00,  0.00000000e+00,
        2.67059522e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05247267, -0.05939276,  0.06174889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42419749e-05,-3.93970994e-05,-2.40741329e-05, 9.26226614e-06,
  2.23809792e-05,-7.81543703e-05, 3.30745160e-05, 2.96727368e-05,
 -2.71075482e-06,-1.23908828e-04,-4.84380741e-05, 6.94536795e-06,
  8.06405906e-06,-6.36801833e-06,-3.52910604e-05, 1.01356663e-04,
  2.95062823e-05, 1.99091661e-04,-1.21653001e+00, 7.19500557e-04,
 -2.46893119e-02,-1.43764650e-04]


--- Step 2297 ---
qpos:
[ 3.28994757e-03,-3.21476111e-03, 1.19759901e-02, 4.17694286e-02,
  6.09054214e-03, 7.64906214e-01,-2.99841573e-02, 8.71005295e-01,
  5.81353483e-03, 1.64163098e-02,-9.33692830e-03, 2.60262351e-02,
  1.38839600e+00,-1.17275350e-04, 1.19523841e+00, 6.28449076e-02,
  7.38429784e-03,-3.61790938e-02, 7.31652903e-02, 6.66575111e-01,
 -2.17997538e-01,-6.70810939e-01,-2.41179144e-01]

qacc:
[-4.59511064e+00, 1.95592634e+00,-5.24122757e+00, 1.59627030e+00,
 -1.50465692e-02, 2.39497944e+00,-1.06081259e+01, 2.24618354e+01,
  2.74564738e+00, 5.78959595e-01,-5.23833053e+00, 1.34257531e+01,
  9.03337321e-02,-1.76504347e-01, 2.14275531e+00,-7.47427593e+00,
 -8.63611502e-01, 7.23460050e-01,-1.08616664e+00, 4.61181356e+00,
 -9.25219735e+01,-5.68167500e+01]

qfrc_actuator:
[-1.12544219e-05, 4.54266490e-05, 1.37404750e-04, 9.95901773e-05,
  8.24549192e-06, 2.56044082e-02, 8.65029630e-03, 2.29976060e-03,
 -2.35929217e-05, 2.99672783e-04, 6.81936715e-05, 8.06711518e-05,
  0.00000000e+00,-1.68964068e-03, 0.00000000e+00,-1.67307095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.23283575,  4.71941351, -7.23283575,  8.17078838,
       -0.71352709,  4.71941351, -0.71352709,  7.5428328 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002052972928755524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70393976e-14,  2.70393976e-14,  1.00000000e+00, -7.31129021e-28,
        1.00000000e+00, -2.70393976e-14, -1.00000000e+00,  0.00000000e+00,
        2.70393976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05256474, -0.05946308,  0.06175174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67670646e-05, 1.55105507e-05,-3.93615954e-05,-1.42367531e-05,
 -2.39709197e-06,-2.66251221e-05,-2.06225642e-05, 5.32071035e-05,
  1.61402728e-05,-9.81016438e-05,-3.64446490e-05, 1.57879819e-05,
  2.20421834e-06,-8.26523123e-06,-5.60034804e-06,-3.79429935e-05,
 -4.83218195e-05,-2.09015845e-05,-1.21654595e+00, 7.92769652e-04,
 -2.46940385e-02,-1.43987805e-04]


--- Step 2298 ---
qpos:
[ 3.28944240e-03,-3.21468766e-03, 1.19761545e-02, 4.17694078e-02,
  6.09063406e-03, 7.64905704e-01,-2.99831663e-02, 8.71010273e-01,
  5.81362918e-03, 1.64141367e-02,-9.33603036e-03, 2.60274393e-02,
  1.38846873e+00,-1.17283674e-04, 1.19539478e+00, 6.28412270e-02,
  7.37640109e-03,-3.61886583e-02, 7.31678643e-02, 6.66441099e-01,
 -2.17837977e-01,-6.70883547e-01,-2.41491499e-01]

qacc:
[-2.76820100e+00,-4.58191251e-01, 4.34940991e+00,-1.35195978e+01,
 -5.36311296e-02, 7.25182967e+00,-3.30977484e+01, 7.52464419e+01,
 -1.31392596e+00,-9.14005703e-01, 1.81880705e+00, 1.06095862e+00,
 -1.86686558e-02,-2.78720678e-02, 4.51821726e+00,-1.56635108e+01,
  1.46335317e+00,-3.11583121e-01,-9.06612974e-01,-6.99777503e+00,
  9.37781293e+01, 1.42145608e+02]

qfrc_actuator:
[-2.66751541e-05, 7.05811394e-05, 1.38352750e-04, 7.46570952e-05,
  7.29093528e-07, 2.55745852e-02, 8.62619980e-03, 2.49083368e-03,
 -3.18755975e-05, 3.24861470e-04, 1.00526743e-04, 9.35930170e-05,
  0.00000000e+00,-1.69478378e-03, 0.00000000e+00,-1.74835948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020537304696032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40588476e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.40588476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05413056, -0.008088  ,  0.06175162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61754015e-05, 2.50811705e-05,-1.18996278e-06,-2.59080570e-05,
 -8.59654924e-06,-4.69524483e-05,-3.01309523e-05, 1.90809952e-04,
 -7.85835925e-06,-3.64593359e-05, 8.13753531e-06, 7.76379984e-06,
 -1.23384503e-06,-6.70639205e-06,-9.78645365e-06,-7.88175200e-05,
 -3.31486253e-04,-2.00232373e-04,-1.21654471e+00, 8.91491306e-04,
 -2.46977516e-02,-1.44747308e-04]


--- Step 2299 ---
qpos:
[ 3.28875621e-03,-3.21453489e-03, 1.19763704e-02, 4.17690987e-02,
  6.09043845e-03, 7.64904299e-01,-2.99819081e-02, 8.71016816e-01,
  5.81293324e-03, 1.64124666e-02,-9.33595039e-03, 2.60277168e-02,
  1.38854145e+00,-1.17346297e-04, 1.19555045e+00, 6.28416795e-02,
  7.37390255e-03,-3.61991707e-02, 7.31637058e-02, 6.66481025e-01,
 -2.17819361e-01,-6.70782491e-01,-2.41678750e-01]

qacc:
[ -1.58880045, -0.63065242,  3.62192903, -8.75628497, -0.15984295,
   0.81866088, -7.68995976, 26.26841744, -6.92774944,  1.05688575,
   1.13225705,-16.25802263,  0.3497501 , -0.4762337 ,-13.5384782 ,
  45.79657114,  1.3495524 , -0.23697103, -1.68311924, -7.02453592,
  85.56925695,128.88361607]

qfrc_actuator:
[-3.55368346e-05, 6.77428178e-05, 1.38919750e-04, 6.00228223e-05,
 -2.15133944e-05, 2.55038906e-02, 8.62937587e-03, 2.56571454e-03,
 -7.22967721e-05, 3.76566174e-04, 6.61367487e-05, 4.74998491e-05,
  0.00000000e+00,-1.69780971e-03, 0.00000000e+00,-1.52489251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.95400589, -3.36460506,  7.95400589,  9.17310068,
        1.26885905, -3.36460506,  1.26885905, 11.63597641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002068105626711711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36830910e-14,  2.68415455e-14,  1.00000000e+00, -1.44093713e-27,
        1.00000000e+00, -2.68415455e-14, -1.00000000e+00,  0.00000000e+00,
        5.36830910e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05408733, -0.00809043,  0.06175011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.31294059e-06, 9.82293933e-06, 4.70298053e-06,-1.41051429e-05,
 -2.61096293e-05,-9.65527270e-05,-3.81325723e-06, 7.68077304e-05,
 -4.06655282e-05, 3.33931072e-05,-4.06375900e-05,-4.72224378e-05,
 -2.81261603e-06,-4.89342092e-06,-1.62983202e-05, 2.17120106e-04,
 -4.09028559e-05,-3.77844262e-06,-1.21652570e+00, 8.38307608e-04,
 -2.46830810e-02,-1.46918723e-04]


--- Step 2300 ---
qpos:
[ 3.28831397e-03,-3.21434926e-03, 1.19766165e-02, 4.17686242e-02,
  6.08977356e-03, 7.64902578e-01,-2.99809573e-02, 8.71021420e-01,
  5.81210315e-03, 1.64108512e-02,-9.33591815e-03, 2.60277894e-02,
  1.38861407e+00,-1.17192363e-04, 1.19570623e+00, 6.28427496e-02,
  7.37641794e-03,-3.62103889e-02, 7.31501629e-02, 6.66680463e-01,
 -2.17930071e-01,-6.70521728e-01,-2.41752469e-01]

qacc:
[  2.14140295, -0.38554473,  2.12794134, -5.05351998, -0.26116566,
  -2.94680391, 13.58045564,-35.19169918, -1.17255383, -0.21414482,
   1.73804275, -5.25489784, -0.18658016,  0.34052908, -1.69094911,
   6.18370116,  1.25348444, -0.17644834, -2.34613191, -6.9461782 ,
  78.72738385,117.87701303]

qfrc_actuator:
[-2.27181169e-05, 6.59311251e-05, 1.39142562e-04, 5.15388733e-05,
 -5.23607539e-05, 2.54980782e-02, 8.61286531e-03, 2.46506563e-03,
 -7.80442842e-05, 3.72449945e-04, 6.37141653e-05, 3.80415084e-05,
  0.00000000e+00,-1.68181500e-03, 0.00000000e+00,-1.49998902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.97983295, -3.30288403,  7.97983295,  9.37491664,
        1.78435863, -3.30288403,  1.78435863, 12.94740926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020552371308659306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40192179e-14,  8.10288269e-14,  1.00000000e+00, -4.37711386e-27,
        1.00000000e+00, -8.10288269e-14, -1.00000000e+00,  0.00000000e+00,
        5.40192179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05411988, -0.00806924,  0.0617515 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25566285e-05, 4.04007975e-06, 2.34040990e-06,-8.17463223e-06,
 -4.25802562e-05,-5.75897301e-05,-3.36807786e-05,-1.02104121e-04,
 -6.90304594e-06, 4.18198858e-06,-2.14519400e-06,-1.03479451e-05,
 -2.55657452e-06, 1.39432724e-05, 1.54425908e-05, 3.46232657e-05,
 -4.50599633e-05, 8.64193530e-05,-1.21646799e+00, 8.28797224e-04,
 -2.46656624e-02,-1.48451288e-04]


--- Step 2301 ---
qpos:
[ 3.28802886e-03,-3.21432423e-03, 1.19769368e-02, 4.17684191e-02,
  6.08889556e-03, 7.64901195e-01,-2.99807863e-02, 8.71023711e-01,
  5.81155521e-03, 1.64089239e-02,-9.33521749e-03, 2.60280906e-02,
  1.38868665e+00,-1.16866555e-04, 1.19586230e+00, 6.28421180e-02,
  7.37463896e-03,-3.62171474e-02, 7.31415333e-02, 6.66691308e-01,
 -2.17987941e-01,-6.70452301e-01,-2.41862913e-01]

qacc:
[   1.38438079,   0.13262093,  -1.92191529,   6.58761346,  -0.11909306,
   -1.46304548,  10.60794729, -37.46531071,   2.48732148,  -1.81444705,
    4.89747081,  -1.769388  ,  -0.27861138,   0.446071  ,   5.59434025,
  -18.88605623,  -1.07359601,   1.11492936,   1.22834744,   7.87983562,
 -116.61871968, -73.60201182]

qfrc_actuator:
[-1.49963562e-05, 4.69975050e-05, 1.39159832e-04, 6.44901574e-05,
 -5.25690149e-05, 2.55487260e-02, 8.58501043e-03, 2.35073978e-03,
 -6.33276376e-05, 3.52840961e-04, 9.77816287e-05, 5.02131403e-05,
  0.00000000e+00,-1.67240969e-03, 0.00000000e+00,-1.59236132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.79146205, -3.72557325,  7.79146205, 19.88766421,
       23.53036042, -3.72557325, 23.53036042, 57.84648456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020649664994150246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68823495e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.68823495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05248573, -0.0594999 ,  0.06175045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08033846e-06,-1.65439030e-05, 8.53116455e-07, 1.30458546e-05,
 -1.93246288e-05, 8.85894623e-06,-4.61622211e-05,-1.19499165e-04,
  1.45156824e-05,-1.81040470e-05, 3.43268180e-05, 1.20787304e-05,
  2.01807879e-06, 1.26405937e-05, 7.00044503e-06,-8.93741880e-05,
 -2.74875055e-04, 9.61157869e-05,-1.21637927e+00, 8.50719162e-04,
 -2.46457570e-02,-1.49404047e-04]


--- Step 2302 ---
qpos:
[ 3.28818345e-03,-3.21425292e-03, 1.19768838e-02, 4.17687208e-02,
  6.08812147e-03, 7.64900371e-01,-2.99814721e-02, 8.71024942e-01,
  5.81084261e-03, 1.64070855e-02,-9.33426373e-03, 2.60288574e-02,
  1.38875915e+00,-1.16168337e-04, 1.19601859e+00, 6.28387216e-02,
  7.36878631e-03,-3.62201797e-02, 7.31338953e-02, 6.66530346e-01,
 -2.18000201e-01,-6.70556384e-01,-2.42006911e-01]

qacc:
[ 3.84704473e+00, 2.14182895e+00,-9.69804662e+00, 1.90423664e+01,
  5.70887776e-02, 1.20901176e+00,-6.65314221e-01,-1.24880358e+01,
 -1.42955120e+00, 3.71541863e-01,-3.11547049e+00, 1.06992957e+01,
 -5.18522893e-01, 8.59120278e-01, 8.71754917e+00,-2.99179871e+01,
 -1.01841443e+00, 9.31530777e-01, 2.47894439e-01, 6.21253796e+00,
 -1.06259984e+02,-6.61634083e+01]

qfrc_actuator:
[ 7.40909940e-06, 5.34763188e-05, 1.21244873e-04, 8.99339256e-05,
 -3.44622771e-05, 2.55972180e-02, 8.55094444e-03, 2.30036869e-03,
 -7.22004015e-05, 3.77538878e-04, 1.17540791e-04, 7.50110865e-05,
  0.00000000e+00,-1.64924732e-03, 0.00000000e+00,-1.73527409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.64459585,  4.01832443, -7.64459585,  8.19838138,
       -0.83323222,  4.01832443, -0.83323222,  7.05119458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002081377055665218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66703964e-14,  2.66703964e-14,  1.00000000e+00, -7.11310047e-28,
        1.00000000e+00, -2.66703964e-14, -1.00000000e+00,  0.00000000e+00,
        2.66703964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05241342, -0.05947952,  0.06174863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26289010e-05,-2.03798406e-06,-2.07792761e-05, 2.50179902e-05,
  9.43743435e-06, 4.05065451e-05,-4.12245826e-05,-5.41921808e-05,
 -8.47022450e-06, 2.22465742e-05, 2.06780588e-05, 2.54462786e-05,
  3.66412413e-06, 2.73241328e-05,-1.07889739e-05,-1.47935973e-04,
 -3.73793955e-05, 3.41698169e-05,-1.21644445e+00, 8.30540729e-04,
 -2.46577777e-02,-1.47486070e-04]


--- Step 2303 ---
qpos:
[ 3.28860545e-03,-3.21429331e-03, 1.19772243e-02, 4.17692919e-02,
  6.08751663e-03, 7.64899694e-01,-2.99828609e-02, 8.71027661e-01,
  5.81037404e-03, 1.64054318e-02,-9.33313204e-03, 2.60302531e-02,
  1.38883155e+00,-1.14934043e-04, 1.19617476e+00, 6.28339614e-02,
  7.35905955e-03,-3.62200775e-02, 7.31239016e-02, 6.66211585e-01,
 -2.17972587e-01,-6.70818979e-01,-2.42181695e-01]

qacc:
[ 2.36155601e+00,-6.97101833e-01, 1.12688805e+00, 2.99538961e+00,
  9.33236071e-02, 4.67738859e+00,-1.85167779e+01, 3.43473551e+01,
  2.13125077e+00, 1.03726688e+00,-6.00702043e+00, 1.64793182e+01,
 -5.31666698e-01, 9.72120830e-01, 3.99603781e+00,-1.41122622e+01,
 -9.68528767e-01, 7.83627870e-01,-5.88928202e-01, 4.94690355e+00,
 -9.75527835e+01,-6.00008665e+01]

qfrc_actuator:
[ 2.05267134e-05, 5.73073134e-05, 1.46246317e-04, 1.04775444e-04,
 -2.33509336e-05, 2.55908027e-02, 8.51354054e-03, 2.37680576e-03,
 -5.93875882e-05, 3.93039603e-04, 1.28862926e-04, 1.07056372e-04,
  0.00000000e+00,-1.61810000e-03, 0.00000000e+00,-1.80025174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.65596589,  3.99661896, -7.65596589,  8.36569702,
       -0.51849186,  3.99661896, -0.51849186,  7.6431351 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002068465202262497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05244717, -0.05951641,  0.06174979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37610374e-05,-5.24263756e-07, 2.28848830e-05, 1.45205184e-05,
  1.53539269e-05, 6.19341032e-06,-3.57829876e-05, 7.52591287e-05,
  1.25711933e-05, 3.33514531e-05, 1.93531255e-05, 3.42098304e-05,
  7.60735760e-06, 3.99551707e-05,-2.49121487e-05,-7.54064435e-05,
 -1.03779780e-04, 7.88108758e-06,-1.21647768e+00, 8.50464796e-04,
 -2.46669431e-02,-1.46328690e-04]


--- Step 2304 ---
qpos:
[ 3.28849166e-03,-3.21434981e-03, 1.19778401e-02, 4.17700318e-02,
  6.08706272e-03, 7.64899221e-01,-2.99841493e-02, 8.71030879e-01,
  5.81006233e-03, 1.64042664e-02,-9.33221049e-03, 2.60309737e-02,
  1.38890393e+00,-1.13316710e-04, 1.19633102e+00, 6.28264104e-02,
  7.35539374e-03,-3.62212482e-02, 7.31129988e-02, 6.66098091e-01,
 -2.18110696e-01,-6.70877395e-01,-2.42207717e-01]

qacc:
[-4.69369193e+00,-4.34198813e-01, 8.20822235e-01, 1.65446678e+00,
  8.39784187e-02, 8.61543268e-01,-3.63814672e+00, 9.10515480e+00,
  1.35288512e+00,-1.59889868e-01, 4.35272010e+00,-1.60569198e+01,
 -4.63511580e-01, 8.19139095e-01, 8.59902906e+00,-2.97942912e+01,
  1.51523776e+00,-3.18205018e-01,-2.27270536e-01,-7.65961882e+00,
  1.00581043e+02, 1.52247349e+02]

qfrc_actuator:
[-7.43723370e-06, 5.96890832e-05, 1.60874924e-04, 1.13290291e-04,
 -1.65437466e-05, 2.56226403e-02, 8.52758077e-03, 2.40293455e-03,
 -5.16588886e-05, 4.20643353e-04, 1.17344133e-04, 7.20900035e-05,
  0.00000000e+00,-1.60022697e-03, 0.00000000e+00,-1.94303185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021225475425862006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61530779e-14, -2.61530779e-14,  1.00000000e+00,  6.83983484e-28,
        1.00000000e+00,  2.61530779e-14, -1.00000000e+00,  0.00000000e+00,
        2.61530779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05389868, -0.00809571,  0.06174371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75740173e-05, 7.43722661e-06, 1.78357013e-05, 9.56434700e-06,
  1.36981999e-05, 3.06452408e-05, 1.34212786e-05, 2.69586383e-05,
  8.09465780e-06, 5.17642082e-05,-1.06014575e-06,-3.22042655e-05,
  1.26364862e-05, 3.11173263e-05,-2.22455928e-05,-1.50722262e-04,
 -4.00309894e-04, 1.07823771e-05,-1.21648838e+00, 9.01377861e-04,
 -2.46743225e-02,-1.45757027e-04]


--- Step 2305 ---
qpos:
[ 3.28804381e-03,-3.21453352e-03, 1.19787031e-02, 4.17708844e-02,
  6.08691820e-03, 7.64899204e-01,-2.99853465e-02, 8.71033671e-01,
  5.80950127e-03, 1.64031313e-02,-9.33148433e-03, 2.60306378e-02,
  1.38897660e+00,-1.12219532e-04, 1.19648705e+00, 6.28178455e-02,
  7.35729720e-03,-3.62233860e-02, 7.30976467e-02, 6.66170021e-01,
 -2.18398717e-01,-6.70750871e-01,-2.42100749e-01]

qacc:
[-2.92194625e+00,-6.21052065e-01, 1.50498867e+00, 1.31901728e-01,
  1.72302917e-01,-3.87641599e-01, 2.97944272e+00,-8.09978856e+00,
 -2.18219238e+00,-1.58435421e+00, 1.01752807e+01,-2.81773919e+01,
  5.19938510e-01,-8.90812385e-01, 2.67553804e+00,-9.96266960e+00,
  1.39231647e+00,-2.41797633e-01,-1.11231646e+00,-7.49414889e+00,
  9.11343375e+01, 1.37202475e+02]

qfrc_actuator:
[-2.38486032e-05, 4.33977837e-05, 1.69240485e-04, 1.18001939e-04,
  5.38420063e-06, 2.56595629e-02, 8.53646003e-03, 2.38151963e-03,
 -6.47437358e-05, 3.84120914e-04, 9.24376976e-05, 1.57217979e-05,
  0.00000000e+00,-1.64363780e-03, 0.00000000e+00,-1.98849964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.77312611, -3.76368003,  7.77312611,  9.5899396 ,
        1.96941986, -3.76368003,  1.96941986, 12.7038053 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021522089334279487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57926405e-14,  2.57926405e-14,  1.00000000e+00, -6.65260302e-28,
        1.00000000e+00, -2.57926405e-14, -1.00000000e+00,  0.00000000e+00,
        2.57926405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05380587, -0.00811467,  0.06174034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71959148e-05,-8.05474038e-06, 1.24225406e-05, 5.83185338e-06,
  2.80795291e-05, 5.74358210e-05, 1.72940271e-05,-1.94191472e-05,
 -1.28359897e-05,-9.14300407e-06,-1.54581034e-05,-5.48147818e-05,
  1.30082585e-05,-3.13599027e-05,-2.97828995e-05,-5.73513201e-05,
 -6.36632886e-05, 6.16163696e-05,-1.21642521e+00, 8.47103654e-04,
 -2.46552044e-02,-1.46914088e-04]


--- Step 2306 ---
qpos:
[ 3.28774744e-03,-3.21483829e-03, 1.19796915e-02, 4.17717948e-02,
  6.08705624e-03, 7.64899364e-01,-2.99860801e-02, 8.71037227e-01,
  5.80913294e-03, 1.64016573e-02,-9.33090500e-03, 2.60300200e-02,
  1.38904947e+00,-1.11820855e-04, 1.19664206e+00, 6.28154491e-02,
  7.36435302e-03,-3.62262428e-02, 7.30748151e-02, 6.66410708e-01,
 -2.18823321e-01,-6.70455267e-01,-2.41873640e-01]

qacc:
[ 1.33556789e+00,-3.94085841e-01, 9.24597350e-01,-3.12348944e-02,
  1.57577507e-01, 3.03465096e-01,-2.44796563e+00, 1.12243733e+01,
  1.68203816e+00,-6.21242504e-01, 2.75013688e+00,-7.13995718e+00,
  1.11455436e+00,-1.77223816e+00,-2.02248198e+01, 6.83399648e+01,
  1.28809025e+00,-1.79738530e-01,-1.86988256e+00,-7.23990814e+00,
  8.32623898e+01, 1.24715566e+02]

qfrc_actuator:
[-1.55632242e-05, 3.37728101e-05, 1.73766392e-04, 1.20420307e-04,
  1.84131460e-05, 2.56636969e-02, 8.55996442e-03, 2.42106788e-03,
 -5.44679735e-05, 3.44890660e-04, 7.73206055e-05, 4.21717124e-07,
  0.00000000e+00,-1.68756371e-03, 0.00000000e+00,-1.65669341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.81035829, -3.68579438,  7.81035829,  9.89118915,
        2.65902974, -3.68579438,  2.65902974, 14.27096308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021501614970442784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16344017e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.16344017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05380176, -0.00810555,  0.06174034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.79154358e-06,-1.13233809e-05, 4.58534362e-06, 2.61411316e-06,
  2.56392109e-05, 3.87643297e-05, 3.62492016e-05, 4.14631218e-05,
  9.90463287e-06,-4.98581062e-05,-2.08008685e-05,-1.72914620e-05,
 -1.46328862e-06,-4.91753077e-05,-2.15496114e-05, 3.24444345e-04,
 -6.54537635e-05, 6.65046462e-06,-1.21632103e+00, 8.41358579e-04,
 -2.46330027e-02,-1.47385248e-04]


--- Step 2307 ---
qpos:
[ 3.28755225e-03,-3.21479723e-03, 1.19799522e-02, 4.17730715e-02,
  6.08740483e-03, 7.64899574e-01,-2.99863622e-02, 8.71039860e-01,
  5.80923486e-03, 1.64004228e-02,-9.33077840e-03, 2.60291703e-02,
  1.38912216e+00,-1.11173713e-04, 1.19679748e+00, 6.28122967e-02,
  7.37620383e-03,-3.62296168e-02, 7.30419145e-02, 6.66806126e-01,
 -2.19373241e-01,-6.70003672e-01,-2.41536852e-01]

qacc:
[  0.85936094,  3.24504074,-12.45468323, 19.70553041,  0.11783794,
  -2.75370029, 11.23002942,-21.16553783,  4.08328634,  1.09635497,
  -2.48443385, -0.9674608 , -0.38723488,  0.58432843,  2.90870273,
  -9.23539894,  1.19874877, -0.12928949, -2.51726182, -6.92442868,
  76.69190096,114.33467112]

qfrc_actuator:
[-1.05643355e-05, 6.36976359e-05, 1.40506103e-04, 1.39225133e-04,
  2.60057632e-05, 2.56482553e-02, 8.57408235e-03, 2.37190577e-03,
 -3.05181902e-05, 3.93155931e-04, 6.81067112e-05,-8.34201952e-06,
  0.00000000e+00,-1.66040173e-03, 0.00000000e+00,-1.70888908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.89057437, -3.51078525,  7.89057437, 10.18717892,
        3.48549469, -3.51078525,  3.48549469, 16.47009687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021225965145900347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61524745e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.61524745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05386793, -0.00807412,  0.06174302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21635772e-06, 2.46529849e-05,-3.49539871e-05, 1.85255192e-05,
  1.91038987e-05, 1.45192046e-05, 2.71916303e-05,-4.58901087e-05,
  2.42136501e-05, 1.53968563e-05,-2.26620785e-05,-1.19537282e-05,
 -1.21413638e-05, 1.30344847e-05, 2.61358137e-05,-3.69037477e-05,
 -3.20974545e-04,-1.25688572e-04,-1.21618502e+00, 8.69589304e-04,
 -2.46082446e-02,-1.47229257e-04]


--- Step 2308 ---
qpos:
[ 3.28741865e-03,-3.21461035e-03, 1.19798682e-02, 4.17742174e-02,
  6.08809088e-03, 7.64899932e-01,-2.99860994e-02, 8.71039798e-01,
  5.80962297e-03, 1.63995035e-02,-9.33087691e-03, 2.60281954e-02,
  1.38919474e+00,-1.10270477e-04, 1.19695288e+00, 6.28095875e-02,
  7.38321836e-03,-3.62277437e-02, 7.30201640e-02, 6.66988015e-01,
 -2.19862701e-01,-6.69768742e-01,-2.41240984e-01]

qacc:
[   0.52722648,   0.88556547,  -2.32732975,   0.5084559 ,   0.18890657,
   -5.95549525,  25.93403033, -55.65787363,   2.48369558,   0.78350581,
   -1.66939015,  -0.35842701,  -0.22973632,   0.41452643,  -1.34136542,
    4.7063892 ,  -1.20907224,   1.31175464,   2.78753667,   9.19418806,
 -131.97958464, -83.44954436]

qfrc_actuator:
[-7.54762539e-06, 6.36759772e-05, 1.20882225e-04, 1.32024877e-04,
  4.80481935e-05, 2.56566278e-02, 8.60014763e-03, 2.23539309e-03,
 -1.64712437e-05, 4.22465238e-04, 6.27993734e-05,-1.31212123e-05,
  0.00000000e+00,-1.64451248e-03, 0.00000000e+00,-1.68523408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.77675077, -3.7561848 ,  7.77675077, 20.79918187,
       25.18172323, -3.7561848 , 25.18172323, 60.77223974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022077726616391916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.51435087e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.51435087e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05184304, -0.05928201,  0.0617338 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17389215e-06, 7.33302944e-06,-1.82022829e-05,-6.99683114e-06,
  3.06184813e-05, 2.03146930e-05, 3.06795501e-05,-1.36272492e-04,
  1.47438315e-05, 3.27797776e-05,-5.31784869e-06,-5.13276164e-06,
 -3.20882392e-06, 1.66080316e-05, 2.93151839e-06, 2.38236253e-05,
 -7.69723171e-04,-3.15459184e-04,-1.21602333e+00, 9.21630767e-04,
 -2.45813911e-02,-1.46488940e-04]


--- Step 2309 ---
qpos:
[ 3.28766724e-03,-3.21428023e-03, 1.19792701e-02, 4.17749350e-02,
  6.08906898e-03, 7.64900350e-01,-2.99857610e-02, 8.71037790e-01,
  5.80983188e-03, 1.63986352e-02,-9.33069442e-03, 2.60275148e-02,
  1.38926744e+00,-1.09701647e-04, 1.19710812e+00, 6.28081815e-02,
  7.38572107e-03,-3.62215088e-02, 7.30046470e-02, 6.66977683e-01,
 -2.20300864e-01,-6.69728207e-01,-2.40982214e-01]

qacc:
[ 3.33567346e+00, 7.38047698e-01,-5.61884998e-01,-6.11666007e+00,
  1.63101526e-01,-3.50268977e+00, 1.60298658e+01,-3.77385330e+01,
 -1.55497355e+00,-1.09548702e-01,-7.48482100e-01, 5.34692431e+00,
  4.21097221e-01,-6.99763716e-01,-4.20525521e+00, 1.42849636e+01,
 -1.12795325e+00, 1.09046948e+00, 1.55838880e+00, 7.00096456e+00,
 -1.18935947e+02,-7.41064856e+01]

qfrc_actuator:
[ 1.20315138e-05, 6.35007431e-05, 9.15956365e-05, 1.09572290e-04,
  6.07967586e-05, 2.56436673e-02, 8.59760215e-03, 2.13737465e-03,
 -2.61226645e-05, 4.22476750e-04, 7.75420771e-05, 2.22886405e-06,
  0.00000000e+00,-1.67099914e-03, 0.00000000e+00,-1.61696534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.74251635,  3.8262537 , -7.74251635,  8.21357257,
       -0.85552789,  3.8262537 , -0.85552789,  6.90518239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002254746095122273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46196906e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.46196906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05165241, -0.05919605,  0.06172861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96724012e-05,-1.40872092e-07,-3.02597344e-05,-2.29074276e-05,
  2.64942598e-05,-1.33073677e-08, 8.87055186e-07,-9.95413663e-05,
 -9.22014861e-06, 1.70667149e-05, 2.06950962e-05, 1.64748423e-05,
  2.11375873e-06,-2.25804470e-05, 6.47987903e-07, 6.92104314e-05,
 -1.67717555e-04,-7.10738880e-05,-1.21615817e+00, 7.70469772e-04,
 -2.46047602e-02,-1.41961673e-04]


--- Step 2310 ---
qpos:
[ 3.28814853e-03,-3.21375901e-03, 1.19782622e-02, 4.17753648e-02,
  6.09006061e-03, 7.64900696e-01,-2.99859941e-02, 8.71035016e-01,
  5.80992333e-03, 1.63980651e-02,-9.33014884e-03, 2.60269853e-02,
  1.38934013e+00,-1.09169235e-04, 1.19726353e+00, 6.28059200e-02,
  7.38399838e-03,-3.62116242e-02, 7.29911618e-02, 6.66792888e-01,
 -2.20695005e-01,-6.69863361e-01,-2.40757217e-01]

qacc:
[ 2.02595930e+00, 8.00709308e-01,-1.28059482e+00,-3.17913683e+00,
  7.22085737e-03, 1.23070987e-01, 1.21708028e+00,-1.02072560e+01,
 -1.01804739e+00,-3.07214946e-01, 1.03241936e+00, 7.81106985e-01,
 -6.08347124e-02, 4.61776228e-02, 2.83495376e+00,-9.54769308e+00,
 -1.05635048e+00, 9.12401680e-01, 5.07921282e-01, 5.32313691e+00,
 -1.07987391e+02,-6.63778780e+01]

qfrc_actuator:
[ 2.34502389e-05, 8.09302336e-05, 7.45714632e-05, 9.60705516e-05,
  5.01267949e-05, 2.56179353e-02, 8.56038878e-03, 2.09828715e-03,
 -3.18895554e-05, 4.58305723e-04, 1.03898731e-04, 1.15347063e-05,
  0.00000000e+00,-1.66916540e-03, 0.00000000e+00,-1.66498680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.74883359,  3.81344396, -7.74883359,  8.34556869,
       -0.59088888,  3.81344396, -0.59088888,  7.43569052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002263755661606137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22608531e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22608531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0516    , -0.05918561,  0.06172733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19806322e-05, 1.01187203e-05,-2.15725031e-05,-1.50026570e-05,
  1.22172110e-06,-2.87545117e-05,-4.01168193e-05,-4.13227993e-05,
 -6.02943430e-06, 5.03819318e-05, 3.30112300e-05, 1.10773962e-05,
 -4.31676564e-06,-3.91183590e-06, 5.33482163e-06,-4.47056726e-05,
  1.76370607e-05, 1.87548873e-04,-1.21624201e+00, 6.78586907e-04,
 -2.46225231e-02,-1.38393334e-04]


--- Step 2311 ---
qpos:
[ 3.28841841e-03,-3.21340505e-03, 1.19771762e-02, 4.17756524e-02,
  6.09098324e-03, 7.64900969e-01,-2.99861870e-02, 8.71032798e-01,
  5.80994519e-03, 1.63973070e-02,-9.32879594e-03, 2.60269484e-02,
  1.38941269e+00,-1.08379335e-04, 1.19741877e+00, 6.28044460e-02,
  7.37830461e-03,-3.61986642e-02, 7.29761181e-02, 6.66448464e-01,
 -2.21050911e-01,-6.70158442e-01,-2.40563095e-01]

qacc:
[-1.85511992e+00,-2.91750371e-01, 1.32522814e+00,-3.54266567e+00,
 -3.84794487e-02, 7.59524483e-01,-3.87510712e+00, 1.01802753e+01,
 -5.78361207e-01,-1.48977449e+00, 2.87312307e+00, 4.49850958e+00,
 -1.99504035e-01, 3.77061515e-01,-2.60289110e+00, 8.79541915e+00,
 -9.92769308e-01, 7.68882170e-01,-3.89613195e-01, 4.04298647e+00,
 -9.87737871e+01,-5.99630439e+01]

qfrc_actuator:
[ 1.22167160e-05, 5.55595205e-05, 6.50059350e-05, 8.79703720e-05,
  4.33200448e-05, 2.56379060e-02, 8.57400224e-03, 2.12966094e-03,
 -3.53158042e-05, 4.26594227e-04, 1.37029267e-04, 3.49919113e-05,
  0.00000000e+00,-1.65050363e-03, 0.00000000e+00,-1.62137124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.77171811,  3.76658659, -7.77171811,  8.50079708,
       -0.2797188 ,  3.76658659, -0.2797188 ,  8.05921093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022419773356016567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05165721, -0.05923527,  0.06172915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08879410e-05,-2.48162340e-05,-1.06479040e-05,-8.70573571e-06,
 -6.26159098e-06,-5.20353542e-06, 2.07600722e-06, 2.83080776e-05,
 -3.58463761e-06, 3.76965517e-06, 4.79887442e-05, 2.69755952e-05,
 -3.45897549e-06, 1.66820887e-05,-6.22545248e-06, 4.09561524e-05,
 -1.04750915e-04, 4.56247259e-04,-1.21628958e+00, 6.31751231e-04,
 -2.46366700e-02,-1.35532059e-04]


